Y axis moves on wrong direction when homing after power cycle
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Hi all,
on this third installment of the ongoing series featuring my last printer, today I bring you a weird issue.
The printer I'm trying to set up is a cartesian powered by an original Duet 3 Mini 5+ WiFi. I set up the firmware manually by comparing my other printers and some examples I found in internet, since this is my first Duet 3 board.
A part from some issues due to new-to-me features, I thought the printer was well setup. The motors do move along the correct directions, the fans do work, etc. Homing X and Y works sensorless.
However there is still something that eludes me:
after a power cycle, whenever I try to home the Y axis it has a weird behavior depending on how I do it:
- If I hit "Home All" on the web interface or send a G32 command, the Y axis moves towards me, so in the opposite direction.
- If I hit "Home Y" on the web interface in moves just a tiny bit to the home position and then it sets itself as homed.
The only workaround I found to be able to home all 3 axis and keep tuning the printer is to do a "Home Y", then move the Y -50mm (towards me), and then home again. If I do a "Home all" after that, it homes without an issue.
here is my config files:
config.g
; Configuration file for Duet WiFi (firmware version 3.11) ; executed by the firmware on start-up ;##### General preferences G90 ; Send absolute coordinates... M83 ; ...but relative extruder moves M550 P"Black Bear" ; set printer name ;##### PanelDue Display M575 P1 S1 B57600 ; Network M552 S1 ; Enable network M586 P0 S1 ; Enable HTTP M586 P1 S0 ; Disable FTP M586 P2 S0 ; Disable Telnet ;##### Drives M569 P1 S1 D3 V10 ; Drive 1 (X) goes Backwards M569 P2 S1 D3 V10 ; Drive 2 (Y) goes backwards M569 P0 S1 D3 V100 ; Drive 0 (Z left) goes forwards M569 P4 S0 D3 V100 ; Drive 4 (Z right) goes forwards M569 P3 S1 D3 V0 ; Drive 3 (E) goes backwards M584 X1 Y2 Z0:4 E3 ; Drivers mapping M671 X-45:314 Y0:0 S5 ; define dual driven z-axis M350 X16 Y16 Z16 E16 I1 ; Configure microstepping with interpolation M92 X99.36 Y100.16 Z400.00 E424 ; Set steps per mm M566 X600.00 Y600.00 Z48.00 E300 ; Set maximum instantaneous speed changes (mm/min) M203 X8000.00 Y8000.00 Z720.00 E3600 ; Set maximum speeds (mm/min) M201 X1500.00 Y1500.00 Z100.00 E10000 ; Set accelerations (mm/s^2) M906 X750.00 Y750.00 Z600.00 E800.00 I30 ; Set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout ;##### Axis Limits M208 X-15.0 Y-47.3 Z0 S1 ; Set axis minima M208 X250 Y210 Z210 S0 ; Set axis maxima ;##### Endstops M574 X1 S3 ; Motor Stall X Endstop M574 Y1 S3 ; Motor Stall Y Endstop M574 Z1 S2 ; Probe Z Endstop M915 X Y S30 F0 R0 ; Stall guard config when not homing ;##### Pinda Settings M558 P5 C"io2.in" I1 H1 F1000 T6000 A3 ; Prusa Pindav2 Probe M308 S2 P"temp2" A"Pinda V2" Y"thermistor" T100000 ; Pinda thermistor G31 P1000 X-23 Y7 Z0.54 S21 H2 T0.02 ; Nozzle offset with temperature compensation (0.02mm/°C) M557 X20:215 Y10:205 P4 ; Define mesh grid for probing M376 H5 ; Fade heigth 5mm ;##### Bed Heater M308 S0 P"temp1" Y"thermistor" B4725 C7.060000e-8 ; Define thermistor M950 H0 C"out0" Q25 T0 ; Link pin name with heater M307 H0 R0.250 K0.280:0.000 D11.93 E1.35 S1.00 B0 ; Bed PID M140 H0 ; Links everything on the GUI M143 H0 S95 ; Set temperature limit for heater 0 to 95C ;##### HotEnd Heater M308 S1 P"temp0" Y"thermistor" B4725 C7.06e-8 R4725 ; Define thermistor ;M308 S1 P"e0temp" Y"thermistor" T100000 B4725 C7.06e-8 R4725 M950 H1 C"out1" T1 ; Link pin name with heater M307 H1 R2.501 K0.327:0.000 D8.35 E1.35 S1.00 B0 V23.8 ; Hotend Autotune M143 H1 S260 ; Set temperature limit for heater 1 to 260C ;##### Fans ;Part cooling fan M950 F0 C"out3" Q100 ; Create fan 0 on pin out3 and set its frequency M106 P0 S0 H-1 ; Set fan 0 value. Thermostatic control is turned off ; Hotend cooling fan M950 F1 C"out4" Q100 ; Create fan 1 on pin out4 and set its frequency M106 P1 T45 S255 H1 ; Thermostatic control is turned on at 45°C ; Housing cooling fan M950 F2 C"out5" Q100 ; Create fan 1 on pin out4 and set its frequency M106 P2 T30 S200 H1 ; Thermostatic control is turned on at 30°C (when drivers are about to start) ;##### Tool M563 P0 D0 H1 F0 G10 P0 X0 Y0 Z0 G10 P0 R0 S0 M572 D0 S0.06 T0 ; Select toolhomey.g
; homey.g ; called to home the Y axis G91 ; set relative mode G1 H2 Y0.2 ; Move Y by 0.2 mm, clear stall status G29 S2 ; to clear the height map before Z homing M561 ; reset bed compensation M400 ; make sure everything has stopped before we make changes M913 Y65 ; Y motor % current M915 Y S-10 R0 F0 ; set Y sensitivity, do nothing when stall, unfiltered G1 H2 Z5 F1200 ; lift Z G1 H1 Y-260 F4800 ; move Y back, stopping at the end stop M400 ; make sure everything has stopped M913 Y100 ; XY motors to 100% current M915 Y S30 R0 F0 ; set Y sensitivity high, pause when stall, filtered G1 H2 Z-5 F1200 ; reset z G90 ; back to absolute modehomeall.y
; homeall.g ; called to home all axes G91 ; set relative mode G1 H2 Z5 F1200 ; lift Z G29 S2 ; to clear the height map before Z homing M561 ;reset bed compensation ; homex.g G1 H2 X0.2 ; Move X by 0.2 mm, clear stall status M400 ; make sure everything has stopped before we make changes M913 X70 ; X motor % current M915 X S-3 R0 F0 ; set X sensitivity, do nothing when stall, unfiltered ;M574 X1 S3 ; set endstops to use motor stall G1 H1 X-260 F3600 ; move X back, stopping at the end stop M400 ; make sure everything has stopped M913 X100 ; XY motors to 100% current M915 X S30 R0 F0 ; set X sensitivity high, do nothing when stall, unfiltered M400; ; make sure everything has stopped ; homey.g G1 H2 Y0.2 ; Move Y by 0.2 mm, clear stall status M913 Y65 ; Y motor % current M915 Y S-10 R0 F0 ; set X sensitivity, do nothing when stall, unfiltered ;M574 Y S3 ; set endstops to use motor stall G1 H1 Y-260 F4800 ; move Y back, stopping at the end stop M400 ; make sure everything has stopped M913 Y100 ; XY motors to 100% current M915 Y S30 R0 F0 ; set Y sensitivity high, pause when stall, filtered M400 ; make sure everything has stopped ;homez.g G90 ; absolute positioning G1 X125 Y105 F6000 ; go to first probe point G30 ; home Z by probing the bedany kind of help, would be appreciated. I don't really know what I am missing.
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I tried "sensorless" homing but experienced the same - sometimes movement in the wrong direction.
I never found the fix and gave up and installed actual endstop sensors.
Someone here must know the fix.
Frederick
Printers: A FT-5 with the 713 upgrade bits, a custom MarkForged style, a small Utilmaker style, a small CoreXY from kit and a E3D MS/TC setup. Various hotends. Using Duets (2 and 3) running 3.4.6
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@fcwilt I have 2 other machines with Duets and Sensoreless homing. Not an issue whatsoever...
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@fcwilt Going to watch this because my attempt at sensorless homing X and Y on a Sunlu S8 did the same. Also gave up and installed endstops.
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@FelixH said in Y axis moves on wrong direction when homing after power cycle:
@fcwilt I have 2 other machines with Duets and Sensoreless homing. Not an issue whatsoever...
I know that many folks use it without problems.
However to me it's like stopping my car by running into a tree rather than use the brakes.
Good luck.
Frederick
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@FelixH Your two Y homing sequences are different (one has a Z move between changing the motor current and adjusting the stall settings, the other does not). You should probably also add an M400 or a small dwell after changing the motor current and stall detection settings (see examples here: https://docs.duet3d.com/User_manual/Connecting_hardware/Sensors_stall_detection)
I'd recommend just calling the individual homex, homey, homez macros from homeall, it just keeps things simple and avoids having to update the same things in multiple places.
From what you describe it sounds like stall detection is happening when you first try to move the motors,you may need to adjust the stall level and/or the M915 H setting,I'd try increasing the H setting until you no longer get a stall straight away. The 5+ uses Trinamic TMC2209 drivers, these need to be in stealthchop mode for stall detection to work, when operating in this mode the drivers need a specific start up sequence to ensure that the stealthchop autotune mechanism is operating correctly. I assume that your other printers do not use TMC2209 drivers? If so then any settings (like motor current reduction during homing), may need to be adjusted (along with the M915 parameters and homing acceleration and speed), for correct stall detection, settings used on other boards (that have different Trinamic drivers), will probably not carry over. It can be tricky to get stall detection to work and the settings will almost certainly vary from one printer to another, often a physical endstop is simpler! For some general notes on the process see:
https://docs.duet3d.com/User_manual/Connecting_hardware/Sensors_stall_detection
and
https://teamgloomy.github.io/btt_octopus_1.1_f429_sensorless.html (ignore the stuff about board.txt and the diag pins that is not required on Duet3D boards).Good luck!
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@gloomyandy thanks for your response. I already did play quite a bit with the M913 value (% current) as well as the M915 S parameter (sensitivity). I have been playing even more for the last hour. I see no improvement on my part. I have the impression the M915 S parameter does absolutely nothing. It makes no difference if I set it to -10 or +25, the Y axis does not work correctly.
However, I found an example configuration on the documentation in which a second pass is used for homing. I added this and in the first pass, the Y stalls immediately but the second pass goes all the way to the back end of the printer, which is good. Just for kicks I added a third pass, so I have the benefit of having two good passes for setting the Y-home.
I will have to live with it until I learn more about this.
On a related topic, I will have a read to setting the drivers correctly. On the first print tests the results are quite underwhelming. More precisely, I have been having problems with the extrusion in which as soon as the model has some gap where retraction has to be done, it begins to underextrude or something similar. I have check every hardware issue and I am confident that it is not a hardware problem at all. So I will look if there is something I left when configuring the drivers.
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@FelixH Did you try changing the M915 H parameter as I suggested? Did you add the M400/G4 commands after changing the current/stall settings?
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@gloomyandy I changed the H parameter. I actually calculated the value with the formula I found in the documentation, which gave me around 130 as minimum speed.
I did not yet tried to add the M400/G4 commands. I had yesterday so many things going on, I completely forgot.
What I wanted to mention, however is that the homeall.g files is diferent because if I just call the diferent macros for each axis, the z is lifted three times instead of just the one. Just a matter of elegance for me
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@FelixH Don't assume that the calculated figure for the H parameter is correct. You can use it to prevent stalling until the motor is up to speed. If you are having problems with the motor stalling as it tries to start to move, you can raise the H setting until that no longer happens (though this may mean that the stall is not detected at all), as I said before it is all part of the tuning process.
I would not worry about the Z move happening multiple times (does it really matter), if it really bothers you, then fix it after you have a homing sequence that works correctly and reliably.
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@gloomyandy I actually set it to 200. I experimented with higher but since there was no change I left it at 200.
I will experiment further this afternoon
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well, I just found this post here which has some insightful info:
https://forum.duet3d.com/topic/20622/duet-3-mini-5-sensorless-homing-configuration
I will have a look later this afternoon and report back.
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for the life of me, I cannot understand what is going on here.
After having a look at the thread I posted, I got my printer homing perfectly every single time. I was so happy. here is my homey.g file:
; homey.g ; called to home the Y axis M913 Y70 ; drop motor current to 70% G4 P100 ; wait 100ms M915 Y S-3 R0 F0 ; set Y sensitivity, do nothing when stall, unfiltered G4 P100 ; wait 100ms M400 ; wait for current moves to finish G91 ; set relative movements G1 H2 Z5 F1200 ; lift Z ; tune drivers ; relative positioning G1 H2 Y0.4 F3000 ; power up motors to ensure they are not stalled G4 P100 ; wait 100ms M400 ; wait for current moves to finish ; home Y G1 H1 Y5 F1200 ; move slowly away G1 H1 Y-300 F6000 ; move to Y axis endstop and stop there (first pass) ; eren 3600 G1 Y5 F1200 ; go back a few mm G1 H1 Y-10 F6000 ; move to Y axis endstop once more (second pass) ; eren 3000 G1 Y10 F1200 ; go back a few mm M400 ; wait for current moves to finish M913 Y100 ; restore motor current to 100% G4 P100 ; wait 100ms G1 H2 Z-5 F1200 ; reset Z G90 ; reset absolute movementsNow, I came yesterday from my winter break. Today I wanted to try a new method of steps calibration I though out. I moved the printer over the bench so I can have better access to it (the calibration involves having a pen attached to the extruder, a piece of paper and so on).
I start up the printer and I home it. The Y homing starts failing miserably again in the same fashion it did before.
I cannot understand how come it worked perfectly before, I change absolutely nothing at all and starts failing again. It did work perfectly. Nice homing, nice prints, reliable... and all of the sudden it stopped working again.
Any insights?
