need Guru on duet 3 mini5 using stall guard/sensor less homing

moth4017

can anyone explain to me the following info , this was after Drive 4 failed to move the Z axis.

the only big difference i can see is the "POS" value drive 4, 40 but drive 5,6 600 and 680, what is "POS"

Drive 4 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (234.4 mm/sec), pwmScaleSum 15, pwmScaleAuto 0, pwmOfsAuto 60, pwmGradAuto 18, pos 40
Drive 5 runs in reverse, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (234.4 mm/sec), pwmScaleSum 22, pwmScaleAuto 2, pwmOfsAuto 61, pwmGradAuto 18, pos 600
Drive 6 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (234.4 mm/sec), pwmScaleSum 24, pwmScaleAuto 0, pwmOfsAuto 72, pwmGradAuto 19, pos 680

moth4017

running M122 within the macro i can see that the drive is stalled , its not always the same drive and its a random event

part of the M122 file

MCU temperature: min 29.8, current 31.4, max 32.9
Supply voltage: min 23.8, current 23.9, max 24.0, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/522/522, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min 0, read errors 0, write errors 0, ifcnt 214, reads 8942, writes 18, timeouts 0, DMA errors 0, CC errors 0
Driver 1: standstill, SG min 0, read errors 0, write errors 0, ifcnt 207, reads 8943, writes 17, timeouts 0, DMA errors 0, CC errors 0
Driver 2: standstill, SG min 0, read errors 0, write errors 0, ifcnt 109, reads 8959, writes 0, timeouts 0, DMA errors 0, CC errors 0
Driver 3: standstill, SG min 0, read errors 0, write errors 0, ifcnt 115, reads 8959, writes 0, timeouts 0, DMA errors 0, CC errors 0
Driver 4: standstill, SG min 0, read errors 0, write errors 0, ifcnt 188, reads 8945, writes 15, timeouts 0, DMA errors 0, CC errors 0
Driver 5: stalled, standstill, SG min 0, read errors 0, write errors 0, ifcnt 188, reads 8945, writes 15, timeouts 0, DMA errors 0, CC errors 0
Driver 6: standstill, SG min 0, read errors 0, write errors 0, ifcnt 186, reads 8945, writes 14, timeouts 0, DMA errors 0,

moth4017

Have also noticed M122 does not always report the Stalled motor , sometimes the motor does not move but is this because its NOT stalled but just didn't move for other reasons

oliof

Without having seen either your machine, your config.g, your stall test macro, it's really hard to say anything about your setup.

The gurus luckily wrote down their wisdom at https://docs.duet3d.com/en/User_manual/Connecting_hardware/Sensors_stall_detection

AFAIR, pos is the microstep position as reported by the driver, usually a value between 0 and 1024. it will wrap around multiple times when you move your axis. I would not worry about them being different per axis, especially if you use something like automatic bed alignment.

Regarding the irregular report of stall in M122 -- this may be a simple race condition. Usually if you detect a stall for homing, the motor stops moving, so if M122 runs, the stall flag may have already cleared from the driver.

moth4017

@oliof
Hi i can post everything , just when i think ive fixed it it happens again, when a motor stalls do you know if it turns of the power to that stepper motor?

oliof

@moth4017 See the M915 description. With R0 a stall is only reported but nothing is done beyond that. If your motor stops while it should be moving and you haven't set R2/R3, then it is most likely a physical issue, i.e. binding.

I can tell you that I can create stall reports on Z when enabling Z hop just from the back emf of stopping a short movement if sensitivity is high enough (-:

moth4017

@oliof
Hi yes im using R0 , the file below is using R1 as i have just tried it

I have 3 stepper motors on the Z axis , when i send the Z axis to the bottom of the printer , 1 or 2 of the motors will loose drive , its not always the same motor and its not all the tame.

; home_max_Z
echo "start home max Z"
M122
;M569 P0.4 ; Check status in console
;M569 P0.5
;M569 P0.6
G91 ; relative positioning
M569 P0.4 S1 D3 V10 ; set to stelth chop
M569 P0.5 S0 D3 V10 ; set to stelth chop
M569 P0.6 S1 D3 V10 ; set to stelth chop

M915 P0.4 S2 F0 R1 H400 ; Configure Z-Axis Stall Detection
M915 P0.5 S2 F0 R1 H400 ; Configure Z-Axis Stall Detection
M915 P0.6 S2 F0 R1 H400 ; Configure Z-Axis Stall Detection

echo "diag before stall detection setup"

G1 P50
echo "stall detection setup"
M17 Z ;energise a motor for stealthChop tuning
G1 P240 ; pause to allow the drivers to characterise the motor
G1 H1 Z-2.4 F6000 ; move a little for cal of sensorless homing / not stalled
echo "after stall detection setup"
;M569 P0.4 ; Check status in console
;M569 P0.5
;M569 P0.6

echo "lower motor current"
M913 Z80 ; Lower motor current %
M566 Z15.00 ;jerk
M201 Z50.00 ; set accelerations (mm/s^2)
G4 P150 ;wait time ms
M574 Z2 S4 ; Configure Z-Axis stall detection homing
;M569 P0.4 ; Check status in console
;M569 P0.5 ; Check status in console
;M569 P0.6 ; Check status in console

echo "home max z"
G1 H1 Z350 F3000 ; Home Z-Axis actuators independently
G92 Z300 ; set a Z height
;M569 P0.4 ; Check status in console
;M569 P0.5 ; Check status in console
;M569 P0.6 ; Check status in console
G90 ; absolute positioning

G4 P300
;revert back
echo "after revert back"
M913 Z100 ; Reset motor current
M569 P0.4 S1 D2 V2000 ; reset motors back to spread cycle,
M569 P0.5 S0 D2 V2000 ; reset motors back to spread cycle,
M569 P0.6 S1 D2 V2000 ; reset motors back to spread cycle,
;M569 P0.4 ; Check status in console
;M569 P0.5 ; Check status in console
;M569 P0.6 ; Check status in console
M84 ; turn off motors
echo "The bed has landed"

moth4017

ive also tries
s values from 1 to 50
H values 200, 400,
F1 and F0
jerk settings and acceleration

dc42

@moth4017 what firmware version are you using? Use M115 to check.

moth4017

@dc42 release 3.4.1
the one you did 7 days ago

dc42

@moth4017 we'll need to see your config.g file and your homing files.

moth4017

@dc42

; Config.g
G90                                            	; send absolute coordinates...
M83                                            	; ...but relative extruder moves
M550 P"Valkyrie 3030 V004"                     	; set printer name
M669 K1    										; core xy

; Network
M552 S1                                        	; enable network
M586 P0 S1                                     	; enable HTTP
M586 P1 S0                                     	; disable FTP
M586 P2 S0                                     	; disable Telnet

; Drives
M569 P0.0 S1	D2								; physical drive 0 goes forwards   
M569 P0.1 S1    D2								; physical drive 1 goes forwards
M569 P0.2 S1                                 	; physical drive 2 goes forwards ( blown needs replacing)
M569 P0.3 S0                                	; physical drive 3 extruder
M569 P0.4 S1 	D2								; physical drive 4 goes forwards D3=stealthchop
M569 P0.5 S0 	D2								; physical drive 5 goes backwards
M569 P0.6 S1 	D2								; physical drive 6 goes forwards 
 

M584 X0.1 Y0.0 Z0.4:0.5:0.6 E0.3		     	; set drive mapping FL,FR,RC
M350 X16 Y16 I1                       			; configure microstepping with interpolation
M350 Z16 E16 I1  								; configure microstepping with interpolation
M92 X80.00 Y80.00  Z320.00  E562.00           	; set steps per m
M566 X800.00 Y800.00 Z100.00 E100.00 P1        	; set maximum instantaneous speed changes (mm/min) jerk
M203 X24000.00 Y24000.00 Z6000.00 E400.00   	; set maximum speeds (mm/min)
M201 X2200.00 Y2200.00 Z100.00 E250.00 	     	; set accelerations (mm/s^2)
M906 X1000 Y1000 Z1000 E800 I50					; set motor currents (mA) and motor idle factor in per cent
M84  X Y S20									; Set idle timeout sec

; Axis Limits
M208 S1 X-28 Y-50 Z0								; set axis minima "Travel Area"
M208 S0 X290 Y295 Z405                          ; set axis maxima "Travel area"

; Endstops
M574 X1 S3										; configure sensorless endstop, 1 = low end, 2 = high end. s3 = single motor, S4 multipule motors
M574 Y2 S3										; configure switch-type (e.g. microswitch) endstop for low end on Y via pin io1.in
M574 Z2 S4										; configure sensorless endstop for high end on Z, 1 = low end, 2 = high end. S4 multipule motors
M671 X-20:300:150 Y0:0:280 S25					; leadscrews at front left,front right, rear Center s= max correction factor  must be in same order as M584



M558 P8 C"!io3.in" H10 F8000 T8000 R0 A2 S0.05  	; set Z probe type to unmodulated and the dive height + speeds

G31 P500 Z0.9										; set Z probe trigger value, offset and trigger height bigger the posative number the closer to the bed
G31 P500 X27 Y-15              						; set x,y trigger value, offset and trigger height


M557 X10:290 Y10:285 S100                     		; define mesh grid

; Heaters
;Bed
M308 S0 P"temp0" Y"thermistor" T100000 B3950 A"Bed T °C" 		; configure sensor 0 as thermistor on pin bedtemp
M950 H0 C"out0" T0 Q10                      					; create bed heater output on bedheat and map it to sensor 0
M307 H0 R0.838 K0.331:0.000 D3.08 E1.35 S0.90 B0				; PDI info for 8mm aluminium bed 700w Heater NTC 100K 3950
M140 H0                                       					; map heated bed to heater 0
M143 H0 S130                                   					; set temperature limit for heater 0 to max C
;extruder
M308 S1 P"temp1" Y"pt1000" A"Extruder T °C"						; configure sensor 1 as thermistor on pin e0temp (104gt2)
M950 H1 C"out1" T1                           					; create nozzle heater output on e0heat and map it to sensor 1
M307 H1 R3.558 K0.357:0.000 D9.14 E1.35 S1.00 B0 V23.8			; disable bang-bang mode for heater  and set PWM limit
M143 H1 S320                                   					; set temperature limit for heater 1 to max C
;Chamber      
M308 S2 P"temp2" Y"thermistor" T100000 B4267 A"Chamber T °C"	; configure sensor 2 as thermistor on pin temp2
M950 H2 C"out5" T2												; create chamber heater output on 1.out0 and map it to sensor 2
M307 H2 B0 S1.00												; disable bang-bang mode for the chamber heater and set PWM limit
M141 H2															; map chamber to heater 2
M143 H2 S100													; set temperature limit for heater 2 to 280C

M308 S10 Y"mcu-temp" A"MCU"                           ; defines sensor 10 as MCU temperature sensor
M308 S11 Y"drivers" A"Duet stepper drivers"           ; defines sensor 11 as stepper driver temperature sensor

G1 H1 Z-0.2 F3000

; Fans
M950 F0 C"out4" Q250								; create fan 0 on pin fan0 and set its frequency
M106 P0 S0 H-1	C"Part Fan"							; set fan 0 value. Thermostatic control is turned off
M950 F1 C"out3" Q250								; create fan 1 on pin fan1 and set its frequency
M106 P1 S1 H1 T35	C"Extruder Fan"					; set fan 1 value. Thermostatic control is turned on

; Tools
M563 P0 D0 H1 F0									; define tool 0
G10 P0 X0 Y0 Z0										; set tool 0 axis offsets
G10 P0 R0 S0										; set initial tool 0 active and standby temperatures to 0C
T0

; Custom settings are not defined
M98 P"/macros/home_max_Z"

;External Buttons
M950 J1 C"!io2.in"			;config input pin	switch NO  connected to io2 and Gnd 
M581 P1 T0 C0				;T0 = emergency stop on trigger; T1 = pause print; T{N} = runs the macro "sys/trigger{N}.g", rising edge S1 falling edge S0
;M581 P1 T4 c0				;run a macro trigger4.g
M582 T0 					; Check External Trigger

; homex.g
echo "start"
M569 P0.0										; Check status in console
M569 P0.1										; Check status in console
G91                                             ; relative positioning
M569 P0.0 S1 D3 V10                             ; set to stealth chop
M569 P0.1 S1 D3 V10								; set to stealth chop
M915 P0.0 S30 F0 R1 H200                   		; Configure Z-Axis Stall Detection 
M915 P0.1 S30 F0 R1 H200						; Configure Z-Axis Stall Detection 

echo "stall detection setup"
M17 X Y											; Check status in console
G1 P140											;pause to allow the drivers to characterise the motor    
G1 H1 X-0.2 F3000								; move a  little  for cal of sensorless homing / not stalled
G1 H1 Y-0.2 F3000    							; move a  little  for cal of sensorless homing / not stalle							

echo "lower motor current"
M913 X70 Y70									; Lower motor current %
G4 P150											; wait 150ms
M574 X1 Y2 S3									; Configure Z-Axis stall detection homing
M569 P0.0										; Check status in console
M569 P0.1										; Check status in console
		
echo "home x"
G1 H1 X-350 F6000
G1 H2 X10 Y10
G1 H1 X-350 F6000								; Home Z-Axis actuators independently
M569 P0.0										; Check status in console
M569 P0.1										; Check status in console
G90 											; absolute positioning
G1 X150 F6000									; move to center of bed

;revert back 
echo "after revert back"
M913 X100  Y100									; Reset motor current %
M569 P0.0 S1 D2									; reset motors back to spread cycle,
M569 P0.1 S1 D2									; reset motors back to spread cycle,
M569 P0.0										; Check status in console
M569 P0.1										; Check status in console

;homey.g
												
echo "Home Y"
M569 P0.0										; check status in console Y
M569 P0.1										; check status in console X
G91												; Relative positioning
M569 P0.0 S1 D3 V10                             ; set to stelth chop
M569 P0.1 S1 D3 V10								; set to stelth chop
M915 P0.0 S10 F0 R1 H200						; Configure x-Axis Stall Detection
M915 P0.1 S10 F0 R1 H200                    	; Configure x-Axis Stall Detection

echo "stall detection setup"
M17 X Y	
G1 P140
G1 H1 X-0.5 F3000                               ; move a  little  for cal of sensorless homing / not stalled
G1 H1 Y-0.5 F3000    							; move a  little  for cal of sensorless homing / not stalled

echo "lower motor current"
M913 X70 Y70									; Lower motor current %
G4 P150
M574 X1 Y2 S3                           		; Configure Z-Axis stall detection homing
M569 P0.0										; check status in console
M569 P0.1										; check status in console

echo "Home Y"
G1 H1 Y350 F6000
G1 H2 X-10 Y10
G1 H1 Y350 F6000                       			; Home Z-Axis actuators independently											
M569 P0.0										; check status in console
M569 P0.1										; check status in console
G90 											; absolute positioning
G1 Y150 F6000									; move to center of bed		

;revert back 
echo "after revert  back"
M913 X100  Y100                               	; Reset motor current
M569 P0.0 S1 D2                                 ; reset motors back to spread cycle,
M569 P0.1 S1 D2									; reset motors back to spread cycle,
M569 P0.0										; check status in console
M569 P0.1										; check status in console

and this is the one thats causing the issues

; home_max_Z
echo "start home max Z"
M122
;M569 P0.4											; Check status in console
;M569 P0.5	
;M569 P0.6
G91                                 				; relative positioning
M569 P0.4 S1 D3 V10                                	; set to stelth chop
M569 P0.5 S0 D3 V10     							; set to stelth chop
M569 P0.6 S1 D3 V10									; set to stelth chop


M915 P0.4 S2 F0 R1 H400                   			; Configure Z-Axis Stall Detection
M915 P0.5 S2 F0 R1 H400                   			; Configure Z-Axis Stall Detection
M915 P0.6 S2 F0 R1 H400                   			; Configure Z-Axis Stall Detection

echo "diag before stall detection setup"

G1 P50
echo "stall detection setup"
M17 Z												;energise a motor for stealthChop tuning
G1 P240												; pause to allow the drivers to characterise the motor    
G1 H1 Z-2.4 F6000									; move a  little  for cal of sensorless homing / not stalled
echo "after stall detection setup"
;M569 P0.4											; Check status in console
;M569 P0.5	
;M569 P0.6

echo "lower motor current"
M913 Z80											; Lower motor current %
M566 Z15.00											;jerk 
M201 Z50.00											; set accelerations (mm/s^2)
G4 P150												;wait  time ms
M574 Z2 S4                                       	; Configure Z-Axis stall detection homing
;M569 P0.4											; Check status in console
;M569 P0.5											; Check status in console	
;M569 P0.6											; Check status in console

echo "home max z"
G1 H1 Z350 F3000                       				; Home Z-Axis actuators independently
G92 Z300											; set a Z height
;M569 P0.4											; Check status in console
;M569 P0.5											; Check status in console
;M569 P0.6											; Check status in console
G90													; absolute positioning

G4 P300
;revert back 
echo "after revert back"
M913 Z100                                    		; Reset motor current
M569 P0.4 S1 D2 V2000                                   	; reset motors back to spread cycle,
M569 P0.5 S0 D2  V2000   								; reset motors back to spread cycle,
M569 P0.6 S1 D2	V2000									; reset motors back to spread cycle,
;M569 P0.4											; Check status in console
;M569 P0.5											; Check status in console	
;M569 P0.6											; Check status in console
M84													; turn off motors
echo "The bed has landed"

A Former User

This post is deleted!

oliof

@Arnold_R_Clark no, you are absolutely right. Simple microswitches are far superior to sensorless homing in ease of configuration, repeatability, and reliability. I have so far spent more time dealing with weird behavior of the sensorless homing setup I am running purely to be able to show how it would work for those that insist, than it would have been to order microswitches, wait a week for them to arrive, and fitting them -- including the wait time I guess.

moth4017

@arnold_r_clark hi I do agree with you, i had 3 micro switches on the z axis but I needed the inputs for other functions and as the x an y axis work fine 100 % after the first homing , I thought it was going to become an easy exercise..... yes I could get an extension board but progress of stepper drivers and software can be archived . I'm not one to give up so I have persevered for 3 versions of software and a lot of reading and testing I'm sure at some point it will be as reliable as the X and Y. Wish me luck and a few more beers ..

pro3d

@oliof

The thing is I am running stalldetect homing on all 5 axis on the same printer flawlessly. I mean its bonkers! The difference is I run the Duet 2 wifi + Duex 5 as is TMC 2660 drivers. I still find it strange that the TMC 2209 drivers act so different

oliof

The 2660s do StallGuard2 in SpreadCycle, the 2209s do StallGuard4 in StealthChop. They work differently, so it's not a super big surprise that they need specific tuning.

moth4017

@dc42

hi any thoughts on how i can track the homing issues ?

moth4017

No more Gurus out there playing with the Duet 3 mini5 tmc2209

infiniteloop

@moth4017 Guru meditation …