Solved 3.5.0rc1: Input shaping causes layer shifts!?

[NeoDue]

@dc42 thanks a lot! That lets me hope - I prefer in general to run the steppers with a somewhat reduced current to avoid them getting too hot if the printer is running closed since they are located inside the compartment.

@oliof said in 3.5.0rc1: Input shaping causes layer shifts!?:

@dc42 PA or not has no effect in my testing.

The harsh noises I heard clearly came from the motion system with no blobs in sight. In my testing, the layer shifts were in the Y direction -- most likely because my test machine is a bed slinger so that is where the most weight is.

@oliof Hm, due to the fan noise I could not hear any noise from the motion system in your video (by the way, the printer seems to fast for the camera ). I wonder though if it is coincidence that your printer creates that layer shift in the very moment it is speeding up...

While max speed of my printer is actually a little higher (but I tuned it down for print moves since I found that part strength becomes somewhat reduced when printing that fast) I use only modest jerk and acceleration values since the J1 has rather heavy print heads with a direct drive extruder included, and I made them even heavier by adding more substantial cooling fans... I do fear a bit for the linear guide which is positioned much more off-centre than in your printer.

But: that one layer shift that actually started this topic (height 5.5...5.65mm in my test part) was indeed in Y direction as well, and that one seemed also unaffected by PA, at least it still occurred in my last test for @dc42. On my printer, it is "just" the gantry with the two print heads and their x steppers that is moving there and the Y motor is definitely quite a bit more powerful than the X steppers, therefore I am unsure if that is actually mass related.

But one step after another - first I will wait for @dc42 to find and solve that IS/PA issue, and then (if that layer shift and bang does not vanish from the solution) I will continue tests about that issue.

[dc42]

@oliof said in 3.5.0rc1: Input shaping causes layer shifts!?:

@dc42 PA or not has no effect in my testing.

The harsh noises I heard clearly came from the motion system with no blobs in sight. In my testing, the layer shifts were in the Y direction -- most likely because my test machine is a bed slinger so that is where the most weight is.

Thanks for that info. Please can you run a print until you have had some of the harsh noises, then send M122 (just once, because sending it resets the data I am interested in) and post the report here.

[oliof]

@dc42 just after the noises, or at the end of the print? If the latter, here goes:

This is after a print without IS and without Layershift

M122
=== Diagnostics ===
RepRapFirmware for STM32H7 based Boards (fly_super5_h723) version 3.5.0-rc.3+102 (2024-02-05 10:38:45) running on STM32H723 (standalone mode)
Board ID: V1001-042KA-D43WN-6R1DU-YF6XX-70000
Used output buffers: 3 of 40 (29 max)
=== RTOS ===
Static ram: 44872
Dynamic ram: 92640 of which 0 recycled
Never used RAM 105536, free system stack 107 words
Tasks: NETWORK(2,nWait 7,11.5%,197) HEAT(3,nWait 6,0.0%,321) Move(4,nWait 6,1.1%,255) CanReceiv(6,nWait 1,0.0%,427) CanSender(5,nWait 7,0.0%,337) CanClock(7,delaying,0.0%,331) TMC22xx(4,nWait 6,0.7%,113) FSWRITE(2,nWait 4,0.0%,561) MAIN(1,running,86.2%,1094) IDLE(0,ready,0.4%,29), total 100.0%
Owned mutexes: BITIO(TMC22xx)
=== Platform ===
Last reset 00:05:18 ago, cause: software
Last software reset at 2024-02-08 12:10, reason: User, Gcodes spinning, available RAM 109544, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x04454000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
MCU temperature: min 36.2, current 37.6, max 37.6
Supply voltage: min 23.8, current 24.2, max 24.3, under voltage events: 1, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/40/40, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill 2209, SG min 2, reads 25420, writes 6
Driver 1: standstill 2209, SG min 4, reads 25420, writes 6
Driver 2: standstill 2209, SG min 4, reads 25421, writes 6
Driver 3: standstill 2209, SG min 0, reads 25424, writes 2
Driver 4: 
Driver 5: 
Driver 6: 
Driver 7: 
Driver 8: 
Driver 9: 
Driver 10: 
Driver 11: 
Driver 12: 
Driver 13: 
Date/time: 2024-02-08 12:15:49
Slowest loop: 187.18ms; fastest: 0.02ms
=== Storage ===
Free file entries: 20
SD card 0 detected
SD card longest read time 1.3ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 47, maxWait 80978ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval 0, bad calcs 0, ebfmin -0.98, ebfmax 1.00
no step interrupt scheduled
Moves shaped first try 0, on retry 0, too short 0, wrong shape 0, maybepossible 0
=== DDARing 0 ===
Scheduled moves 20603, completed 20603, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 1], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.3
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x80000003
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 2747, received 0, lost 0, errs 0, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0 free buffers 50 (min 50), ts 1526/0/0
Tx timeouts 0,0,1526,0,0,1221 last cancelled message type 0 dest 1
=== Network ===
Slowest loop: 181.96ms; fastest: 0.07ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0)
HTTP sessions: 1 of 8
Uploads/Errors: 0/0
=== WiFi ===
Interface state: active
Module is connected to access point 
Failed messages: pending 0, notrdy 0, noresp 0
Bad header: 0/0
Firmware version 2.1beta6-01
MAC address 54:43:b2:4a:17:90
Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 181412
WiFi IP address 192.168.86.46
Signal strength -47dBm, channel 1, mode 802.11n, reconnections 0
Clock register 00003043
Socket states: 0 0 0 0 0 0 0 0

And this after a print with IS and Layershift

M122
=== Diagnostics ===
RepRapFirmware for STM32H7 based Boards (fly_super5_h723) version 3.5.0-rc.3+102 (2024-02-05 10:38:45) running on STM32H723 (standalone mode)
Board ID: V1001-042KA-D43WN-6R1DU-YF6XX-70000
Used output buffers: 3 of 40 (30 max)
=== RTOS ===
Static ram: 44872
Dynamic ram: 92640 of which 0 recycled
Never used RAM 105536, free system stack 107 words
Tasks: NETWORK(2,nWait 7,11.3%,197) HEAT(3,delaying,0.0%,321) Move(4,nWait 6,1.2%,251) CanReceiv(6,nWait 1,0.0%,427) CanSender(5,nWait 7,0.0%,337) CanClock(7,delaying,0.0%,331) TMC22xx(4,delaying,0.7%,113) FSWRITE(2,nWait 4,0.0%,561) MAIN(1,running,86.3%,1094) IDLE(0,ready,0.4%,29), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:10:08 ago, cause: software
Last software reset at 2024-02-08 12:10, reason: User, Gcodes spinning, available RAM 109544, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x04454000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
MCU temperature: min 36.9, current 37.5, max 37.7
Supply voltage: min 23.8, current 24.2, max 24.3, under voltage events: 1, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/72/72, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill 2209, SG min 2, reads 24155, writes 4
Driver 1: standstill 2209, SG min 2, reads 24155, writes 4
Driver 2: standstill 2209, SG min 4, reads 24155, writes 4
Driver 3: standstill 2209, SG min 0, reads 24156, writes 4
Driver 4: 
Driver 5: 
Driver 6: 
Driver 7: 
Driver 8: 
Driver 9: 
Driver 10: 
Driver 11: 
Driver 12: 
Driver 13: 
Date/time: 2024-02-08 12:20:39
Slowest loop: 187.01ms; fastest: 0.02ms
=== Storage ===
Free file entries: 20
SD card 0 detected
SD card longest read time 2.5ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 47, maxWait 129214ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval -3020, bad calcs 0, ebfmin -0.97, ebfmax 1.00
no step interrupt scheduled
Moves shaped first try 198, on retry 32, too short 929, wrong shape 15913, maybepossible 258
=== DDARing 0 ===
Scheduled moves 20597, completed 20597, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 1], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.3
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x80000003
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 2610, received 0, lost 0, errs 0, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0 free buffers 50 (min 50), ts 1450/0/0
Tx timeouts 0,0,1450,0,0,1160 last cancelled message type 0 dest 1
=== Network ===
Slowest loop: 181.97ms; fastest: 0.07ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0)
HTTP sessions: 1 of 8
Uploads/Errors: 0/0
=== WiFi ===
Interface state: active
Module is connected to access point 
Failed messages: pending 0, notrdy 0, noresp 0
Bad header: 0/0
Firmware version 2.1beta6-01
MAC address 54:43:b2:4a:17:90
Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 183532
WiFi IP address 192.168.86.46
Signal strength -47dBm, channel 1, mode 802.11n, reconnections 0
Clock register 00003043
Socket states: 0 0 0 0 0 0 0 0

[dc42]

@oliof thanks. Can you try a print with IS enabled and PA disabled? I'm interested n the "min interval" field in the Move section, but currently the combination of IS and PA causes this value to be wrong for extruders. I'd like to see what this value is when that interaction isn't present.

[oliof]

@dc42 Will do that tomorrow.

[oliof]

@dc42

Here goes

M122
=== Diagnostics ===
RepRapFirmware for STM32H7 based Boards (fly_super5_h723) version 3.5.0-rc.3+102 (2024-02-05 10:38:45) running on STM32H723 (standalone mode)
Board ID: V1001-042KA-D43WN-6R1DU-YF6XX-70000
Used output buffers: 3 of 40 (29 max)
=== RTOS ===
Static ram: 44872
Dynamic ram: 100024 of which 0 recycled
Never used RAM 98056, free system stack 102 words
Tasks: NETWORK(2,nWait 7,10.7%,197) HEAT(3,nWait 1,0.0%,321) Move(4,nWait 6,1.4%,247) CanReceiv(6,nWait 1,0.0%,427) CanSender(5,nWait 7,0.0%,337) CanClock(7,delaying,0.0%,331) TMC22xx(4,delaying,0.7%,113) FSWRITE(2,nWait 4,0.0%,508) MAIN(1,running,86.7%,1094) IDLE(0,ready,0.4%,29), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:20:59 ago, cause: power on/off
Last software reset at 2024-02-08 19:58, reason: User, Gcodes spinning, available RAM 109544, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x04454000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
MCU temperature: min 38.2, current 39.2, max 39.3
Supply voltage: min 23.9, current 24.3, max 24.4, under voltage events: 1, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/188/188, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill 2209, SG min 2, reads 19879, writes 2
Driver 1: standstill 2209, SG min 14, reads 19879, writes 2
Driver 2: standstill 2209, SG min 4, reads 19880, writes 2
Driver 3: standstill 2209, SG min 0, reads 19880, writes 2
Driver 4: 
Driver 5: 
Driver 6: 
Driver 7: 
Driver 8: 
Driver 9: 
Driver 10: 
Driver 11: 
Driver 12: 
Driver 13: 
Date/time: 2024-02-09 10:43:20
Slowest loop: 211.78ms; fastest: 0.02ms
=== Storage ===
Free file entries: 20
SD card 0 detected
SD card longest read time 1.6ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 51, maxWait 1582ms, bed compensation in use: mesh, height map offset 0.014, max steps late 1, min interval -3183, bad calcs 0, ebfmin -0.91, ebfmax 1.00
no step interrupt scheduled
Moves shaped first try 174, on retry 19, too short 924, wrong shape 16866, maybepossible 250
=== DDARing 0 ===
Scheduled moves 20612, completed 20612, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 1], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x80000007
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 2148, received 0, lost 0, errs 0, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0 free buffers 50 (min 50), ts 1193/0/0
Tx timeouts 0,0,1193,0,0,955 last cancelled message type 0 dest 1
=== Network ===
Slowest loop: 202.51ms; fastest: 0.07ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0)
HTTP sessions: 1 of 8
Uploads/Errors: 0/0
=== WiFi ===
Interface state: active
Module is connected to access point 
Failed messages: pending 0, notrdy 0, noresp 0
Bad header: 0/0
Firmware version 2.1beta6-01
MAC address 54:43:b2:4a:17:90
Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 184580
WiFi IP address 192.168.86.46
Signal strength -55dBm, channel 1, mode 802.11n, reconnections 0
Clock register 00003043
Socket states: 0 0 0 0 0 0 0 0

Note that with more appropriate current setting for the motor, I don't observe any layershifts anymore.

[dc42]

@NeoDue @oliof please try the new firmware at https://www.dropbox.com/scl/fo/p0136wx04h8xf6ejwdnn9/h?rlkey=efrfwyb6o5tqid11gustz3uvy&dl=0. This fixes the interaction between extruder PA and IS.

If you get any layer shifts or hear any strange noises (e.g. bangs) from the motion motors, please run M122 and post the report here. Note, each time you run M122 it clears the accumulated debug data after reporting it, so only the first M122 report taken after a layer shift or strange noises contains useful data - although of course if you get another layer shift or strange noises after running M122 then you can run M122 again to report data relevant to those events.

[oliof]

@dc42 I will do so next weekend, unfortunately no play time beforehand.

[NeoDue]

@dc42 Great! I hope I can manage to test tomorrow or wednesday!

[adrian]

@dc42 I'm still getting layer shifts.

=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-12 16:39:08) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-956BA-NA3TJ-6J1F8-3S06Q-1U86S
Used output buffers: 9 of 40 (40 max)
=== RTOS ===
Static ram: 155208
Dynamic ram: 124316 of which 592 recycled
Never used RAM 62228, free system stack 132 words
Tasks: NETWORK(1,ready,138.6%,172) ETHERNET(5,nWait 7,0.3%,117) ACCEL(6,nWait 6,0.0%,344) HEAT(3,nWait 1,0.2%,321) Move(4,nWait 6,10.1%,218) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.1%,334) TMC(4,nWait 6,49.4%,54) MAIN(1,running,291.4%,103) IDLE(0,ready,0.5%,30), total 490.5%
Owned mutexes:
=== Platform ===
Last reset 01:59:53 ago, cause: software
Last software reset at 2024-02-12 18:35, reason: User, Gcodes spinning, available RAM 62948, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x04
Aux0 errors 0,0,0
MCU temperature: min 33.2, current 34.3, max 35.2
Supply voltage: min 23.9, current 24.0, max 24.2, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 11.7, current 12.1, max 12.7, under voltage events: 0
Heap OK, handles allocated/used 99/1, heap memory allocated/used/recyclable 2048/56/32, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: ok, SG min 0, mspos 516, reads 45133, writes 19 timeouts 0
Driver 1: ok, SG min 0, mspos 632, reads 45133, writes 19 timeouts 0
Driver 2: ok, SG min 0, mspos 913, reads 45134, writes 19 timeouts 0
Driver 3: ok, SG min 0, mspos 1000, reads 45134, writes 19 timeouts 0
Driver 4: ok, SG min 0, mspos 1000, reads 45134, writes 19 timeouts 0
Driver 5: ok, SG min 0, mspos 1000, reads 45134, writes 19 timeouts 0
Date/time: 2024-02-12 20:35:21
Slowest loop: 235.39ms; fastest: 0.05ms
=== Storage ===
Free file entries: 18
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 19.1ms, write time 12.9ms, max retries 0
=== Move ===
DMs created 125, segments created 33, maxWait 279212ms, bed compensation in use: mesh, height map offset 0.000, max steps late 1, min interval -1929, bad calcs 0, ebfmin -1.00, ebfmax 1.00
next step interrupt due in 7 ticks, disabled
Moves shaped first try 11539, on retry 6730, too short 23478, wrong shape 45756, maybepossible 2855
=== DDARing 0 ===
Scheduled moves 101367, completed 101335, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters 2 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.3
Heater 1 is on, I-accum = 0.3
Heater 2 is on, I-accum = 0.0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is doing "G1 X164.421 Y253.435 E.11265" in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0, sync state 1
Queue2 is idle in state(s) 0
Q0 segments left 1, axes/extruders owned 0x80000007
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 64737, received 0, lost 0, errs 34184089, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 35966/0/0
Tx timeouts 0,0,35965,0,0,28770 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 216.55ms; fastest: 0.03ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 3 of 8
= Ethernet =
Interface state: active
Error counts: 0 0 11 1 0 0
Socket states: 5 2 2 2 2 0 0 0
=== WiFi ===
Interface state: disabled
Module is disabled
Failed messages: pending 0, notrdy 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0
2/12/2024, 8:35:23 PM	m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-12 16:39:08) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-956BA-NA3TJ-6J1F8-3S06Q-1U86S
Used output buffers: 9 of 40 (40 max)
=== RTOS ===
Static ram: 155208
Dynamic ram: 124316 of which 592 recycled
Never used RAM 62228, free system stack 132 words
Tasks: NETWORK(1,ready,138.6%,172) ETHERNET(5,nWait 7,0.3%,117) ACCEL(6,nWait 6,0.0%,344) HEAT(3,nWait 1,0.2%,321) Move(4,nWait 6,10.1%,218) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.1%,334) TMC(4,nWait 6,49.4%,54) MAIN(1,running,291.4%,103) IDLE(0,ready,0.5%,30), total 490.5%
Owned mutexes:
=== Platform ===
Last reset 01:59:53 ago, cause: software
Last software reset at 2024-02-12 18:35, reason: User, Gcodes spinning, available RAM 62948, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x04
Aux0 errors 0,0,0
MCU temperature: min 33.2, current 34.3, max 35.2
Supply voltage: min 23.9, current 24.0, max 24.2, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 11.7, current 12.1, max 12.7, under voltage events: 0
Heap OK, handles allocated/used 99/1, heap memory allocated/used/recyclable 2048/56/32, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: ok, SG min 0, mspos 516, reads 45133, writes 19 timeouts 0
Driver 1: ok, SG min 0, mspos 632, reads 45133, writes 19 timeouts 0
Driver 2: ok, SG min 0, mspos 913, reads 45134, writes 19 timeouts 0
Driver 3: ok, SG min 0, mspos 1000, reads 45134, writes 19 timeouts 0
Driver 4: ok, SG min 0, mspos 1000, reads 45134, writes 19 timeouts 0
Driver 5: ok, SG min 0, mspos 1000, reads 45134, writes 19 timeouts 0
Date/time: 2024-02-12 20:35:21
Slowest loop: 235.39ms; fastest: 0.05ms
=== Storage ===
Free file entries: 18
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 19.1ms, write time 12.9ms, max retries 0
=== Move ===
DMs created 125, segments created 33, maxWait 279212ms, bed compensation in use: mesh, height map offset 0.000, max steps late 1, min interval -1929, bad calcs 0, ebfmin -1.00, ebfmax 1.00
next step interrupt due in 7 ticks, disabled
Moves shaped first try 11539, on retry 6730, too short 23478, wrong shape 45756, maybepossible 2855
=== DDARing 0 ===
Scheduled moves 101367, completed 101335, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters 2 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.3
Heater 1 is on, I-accum = 0.3
Heater 2 is on, I-accum = 0.0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is doing "G1 X164.421 Y253.435 E.11265" in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0, sync state 1
Queue2 is idle in state(s) 0
Q0 segments left 1, axes/extruders owned 0x80000007
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 64737, received 0, lost 0, errs 34184089, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 35966/0/0
Tx timeouts 0,0,35965,0,0,28770 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 216.55ms; fastest: 0.03ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 3 of 8
= Ethernet =
Interface state: active
Error counts: 0 0 11 1 0 0
Socket states: 5 2 2 2 2 0 0 0
=== WiFi ===
Interface state: disabled
Module is disabled
Failed messages: pending 0, notrdy 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

[dc42]

@adrian thanks. Your M122 report contains useful data. Please can you share your config.g file and any other macros it calls, daemon.g if you.use it, and the print file. Also the approximate height at which the first layer shift occurs.

[dc42]

@NeoDue @oliof @adrian I have identified and corrected another step timing anomaly. Please try the updated files at https://www.dropbox.com/scl/fo/p0136wx04h8xf6ejwdnn9/h?rlkey=efrfwyb6o5tqid11gustz3uvy&dl=0.

As before, if you get any layer shifts or hear any strange noises (e.g. bangs) from the motion motors, please run M122 and post the report here. Note, each time you run M122 it clears the accumulated debug data after reporting it, so only the first M122 report taken after a layer shift or strange noises contains useful data - although of course if you get another layer shift or strange noises after running M122 then you can run M122 again to report data relevant to those events.

[NeoDue]

@dc42 I am afraid your last changes might have made things worse: one slight "bang" noise already layer 3, and layer shift at height 1.4mm.

The test part is the same as in my previous tests.

Here is the M122 readout of the bang:

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-13 13:34:06) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-956BA-NA3TN-6JTDL-3SN6L-998UU
Used output buffers: 3 of 40 (33 max)
=== RTOS ===
Static ram: 155208
Dynamic ram: 123408 of which 0 recycled
Never used RAM 63896, free system stack 134 words
Tasks: NETWORK(2,nWait 7,16.3%,172) HEAT(3,nWait 1,0.0%,323) Move(4,nWait 6,2.2%,227) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.0%,334) TMC(4,nWait 6,9.5%,56) MAIN(1,running,70.6%,103) IDLE(0,ready,1.3%,30), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:15:37 ago, cause: software
Last software reset at 2024-02-13 18:34, reason: User, Gcodes spinning, available RAM 64248, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
MCU temperature: min 36.5, current 43.8, max 44.0
Supply voltage: min 23.6, current 23.8, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.3, max 12.7, under voltage events: 0
Heap OK, handles allocated/used 99/3, heap memory allocated/used/recyclable 2048/1612/1560, gc cycles 2
Events: 0 queued, 0 completed
Driver 0: ok, SG min 0, mspos 623, reads 19231, writes 29 timeouts 0
Driver 1: standstill, SG min 0, mspos 232, reads 19231, writes 29 timeouts 0
Driver 2: standstill, SG min 0, mspos 424, reads 19238, writes 23 timeouts 0
Driver 3: ok, SG min 0, mspos 840, reads 19238, writes 23 timeouts 0
Driver 4: standstill, SG min 0, mspos 746, reads 19242, writes 19 timeouts 0
Driver 5: ok, SG min 0, mspos 46, reads 19242, writes 19 timeouts 0
Date/time: 2024-02-13 18:49:49
Slowest loop: 212.35ms; fastest: 0.05ms
=== Storage ===
Free file entries: 18
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 5.1ms, write time 2.7ms, max retries 0
=== Move ===
DMs created 125, segments created 26, maxWait 145311ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 1.00
next step interrupt due in 480 ticks, disabled
Moves shaped first try 6, on retry 81, too short 745, wrong shape 6305, maybepossible 347
=== DDARing 0 ===
Scheduled moves 24526, completed 24466, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.4
Heater 1 is on, I-accum = 0.3
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 3
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0, sync state 1
Queue2 is idle in state(s) 0
Q0 segments left 15, axes/extruders owned 0x80000007
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
check 10347352 clear 326009
Extruder 0 sensor: ok
Extruder 1 sensor: ok
=== CAN ===
Messages queued 8429, received 0, lost 0, errs 4443556, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 4686/0/0
Tx timeouts 0,0,4685,0,0,3742 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 11.99ms; fastest: 0.00ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
Interface state: disabled
Error counts: 0 0 0 0 0 0
Socket states: 0 0 0 0 0 0 0 0
=== WiFi ===
Interface state: active
Module is connected to access point 
Failed messages: pending 0, notrdy 0, noresp 0
Firmware version 2.1beta6
MAC address 70:04:1d:be:ad:b8
Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 225152
WiFi IP address 192.168.178.31
Signal strength -57dBm, channel 2, mode 802.11n, reconnections 0
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

And this is the one taken after the layer shift occurred:

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-13 13:34:06) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-956BA-NA3TN-6JTDL-3SN6L-998UU
Used output buffers: 5 of 40 (35 max)
=== RTOS ===
Static ram: 155208
Dynamic ram: 123408 of which 0 recycled
Never used RAM 63896, free system stack 134 words
Tasks: NETWORK(2,nWait 7,16.5%,172) HEAT(3,nWait 6,0.0%,323) Move(4,nWait 6,3.2%,227) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.0%,334) TMC(4,nWait 6,9.7%,56) MAIN(1,running,70.5%,103) IDLE(0,ready,0.1%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:23:52 ago, cause: software
Last software reset at 2024-02-13 18:34, reason: User, Gcodes spinning, available RAM 64248, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
MCU temperature: min 43.7, current 45.1, max 45.6
Supply voltage: min 23.6, current 23.9, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.1, current 12.3, max 12.7, under voltage events: 0
Heap OK, handles allocated/used 99/3, heap memory allocated/used/recyclable 2048/628/576, gc cycles 4
Events: 0 queued, 0 completed
Driver 0: standstill, SG min 0, mspos 296, reads 39704, writes 0 timeouts 0
Driver 1: standstill, SG min n/a, mspos 232, reads 39705, writes 0 timeouts 0
Driver 2: standstill, SG min 0, mspos 936, reads 39704, writes 0 timeouts 0
Driver 3: ok, SG min 0, mspos 532, reads 39704, writes 0 timeouts 0
Driver 4: standstill, SG min n/a, mspos 746, reads 39704, writes 0 timeouts 0
Driver 5: ok, SG min 0, mspos 178, reads 39704, writes 0 timeouts 0
Date/time: 2024-02-13 18:58:05
Slowest loop: 6.91ms; fastest: 0.07ms
=== Storage ===
Free file entries: 17
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 5.2ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 26, maxWait 226ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 1.00
next step interrupt due in 143 ticks, disabled
Moves shaped first try 2, on retry 108, too short 1478, wrong shape 13289, maybepossible 867
=== DDARing 0 ===
Scheduled moves 42846, completed 42786, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.4
Heater 1 is on, I-accum = 0.3
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 3
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is doing "G4 S10" in state(s) 0 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0, sync state 1
Queue2 is idle in state(s) 0
Q0 segments left 30, axes/extruders owned 0x80000007
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
check 15731742 clear 326009
Extruder 0 sensor: ok
Extruder 1 sensor: ok
=== CAN ===
Messages queued 4463, received 0, lost 0, errs 2356269, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 2479/0/0
Tx timeouts 0,0,2479,0,0,1984 last cancelled message type 4514 dest 127
=== Network ===
Slowest loop: 20.79ms; fastest: 0.07ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
Interface state: disabled
Error counts: 0 0 0 0 0 0
Socket states: 0 0 0 0 0 0 0 0
=== WiFi ===
Interface state: active
Module is connected to access point 
Failed messages: pending 0, notrdy 0, noresp 0
Firmware version 2.1beta6
MAC address 70:04:1d:be:ad:b8
Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 225152
WiFi IP address 192.168.178.31
Signal strength -59dBm, channel 2, mode 802.11n, reconnections 0
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

[NeoDue]

@dc42 Out of curiosity, I also tested what @oliof mentioned. Increasing currents to the maximum did not change anything either, however, layer shift at 1.75mm:

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-13 13:34:06) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-956BA-NA3TN-6JTDL-3SN6L-998UU
Used output buffers: 7 of 40 (32 max)
=== RTOS ===
Static ram: 155208
Dynamic ram: 123544 of which 0 recycled
Never used RAM 63760, free system stack 128 words
Tasks: NETWORK(2,nWait 7,16.0%,172) HEAT(3,nWait 1,0.0%,323) Move(4,nWait 6,2.9%,239) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.0%,334) TMC(4,nWait 6,9.7%,56) MAIN(1,running,70.1%,103) IDLE(0,ready,1.2%,30), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:22:55 ago, cause: software
Last software reset at 2024-02-13 19:10, reason: User, Gcodes spinning, available RAM 64672, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
MCU temperature: min 43.9, current 46.4, max 46.6
Supply voltage: min 23.6, current 23.9, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.3, max 12.6, under voltage events: 0
Heap OK, handles allocated/used 99/3, heap memory allocated/used/recyclable 2048/248/196, gc cycles 4
Events: 0 queued, 0 completed
Driver 0: ok, SG min 0, mspos 750, reads 57987, writes 27 timeouts 0
Driver 1: standstill, SG min 0, mspos 264, reads 57987, writes 27 timeouts 0
Driver 2: standstill, SG min 0, mspos 504, reads 57991, writes 23 timeouts 0
Driver 3: stalled, SG min 0, mspos 53, reads 57989, writes 25 timeouts 0
Driver 4: standstill, SG min 0, mspos 466, reads 57995, writes 19 timeouts 0
Driver 5: ok, SG min 0, mspos 238, reads 57996, writes 19 timeouts 0
Date/time: 2024-02-13 19:33:15
Slowest loop: 816.19ms; fastest: 0.05ms
=== Storage ===
Free file entries: 18
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 4.3ms, write time 102.7ms, max retries 0
=== Move ===
DMs created 125, segments created 26, maxWait 117938ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 1.00
next step interrupt due in 64 ticks, disabled
Moves shaped first try 7, on retry 280, too short 2460, wrong shape 21310, maybepossible 1427
=== DDARing 0 ===
Scheduled moves 45790, completed 45740, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.4
Heater 1 is on, I-accum = 0.4
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 3
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0, sync state 1
Queue2 is idle in state(s) 0
Q0 segments left 10, axes/extruders owned 0x80000007
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
check 14945236 clear 310047
Extruder 0 sensor: ok
Extruder 1 sensor: ok
=== CAN ===
Messages queued 12375, received 0, lost 0, errs 6525776, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 6878/0/0
Tx timeouts 0,0,6877,0,0,5496 last cancelled message type 4514 dest 127
=== Network ===
Slowest loop: 784.06ms; fastest: 0.00ms
Responder states: MQTT(0) HTTP(0) HTTP(2) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
Interface state: disabled
Error counts: 0 0 0 0 0 0
Socket states: 0 0 0 0 0 0 0 0
=== WiFi ===
Interface state: active
Module is connected to access point 
Failed messages: pending 0, notrdy 0, noresp 0
Firmware version 2.1beta6
MAC address 70:04:1d:be:ad:b8
Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 220536
WiFi IP address 192.168.178.31
Signal strength -59dBm, channel 2, mode 802.11n, reconnections 0
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

But I also tried a print where I switched between IS on and off every couple of layers - and I finally could see one of the blobs you were talking about. I could directly turn blob occurrance (and therefore rumbling on the next layer) and off by switching between IS on and IS off.

Edit: In case it matters: the "test-blob" I found occurs on layer 2, 4 and 6 in the middle of the last line of the solid infill of my test part. Prusaslicer decided in its wisdom to split this line into two long pieces which are connected by two very short ones. This is the gcode that causes the blob:

; (tool position before this snippet begins: X-7.877 Y28.826)
G1 X-7.823 Y28.723 E.00266
G1 X-7.815 Y-7.037 E.75823
G1 X-7.867 Y-7.142 E.00277
G1 X-7.919 Y-7.246 E.00303
G1 X-7.922 Y-42.252 E.91196

[adrian]

@dc42 Here is my config

; Configuration file for RepRapFirmware on Duet 3 Main Board 6HC
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.5.0-rc.1+1 on Mon Dec 11 2023 18:26:16 GMT-0600 (Central Standard Time)

; General
M550 P"SeaMonster" ; set hostname

; Accessories
M575 P1 S0 B57600 ; configure PanelDue support

; Network
M552 P0.0.0.0 S1 ; configure Ethernet adapter
M586 P0 S1 ; configure HTTP

; LED Strips
M950 E0 C"led" T2 U3 ; LEDs on SB Toolhead (3) (LED 0)
M950 E1 C"io7.out" T2 U25 ; Left Overhead LEDs (25) (LED 1)
M950 E2 C"io8.out" T2 U25 ; Right Overhead LEDs (25) (LED 2)

; ====================---------------------------------------------------------
; Driver config
; ====================

;          --- Drive map ---
; (While looking at the printer top down)
;			   B	   A
;             0.0-----0.1
;              |  0.5  |
;              |-------|
;              |0.3|0.4|
;               ---+---
;                Front

; Smart Drivers
M569 P0.0 S1 D2 ; driver 0.0 goes forwards (X axis)
M569 P0.1 S1 D2 ; driver 0.1 goes forwards (Y axis)
M569 P0.2 S0 D2 ; driver 0.2 goes backwards (extruder 0)
M569 P0.3 S0 D2 ; driver 0.3 goes backwards (Z axis) (Front Leftt)
M569 P0.4 S0 D2 ; driver 0.4 goes backwards (Z axis) (Front Right)
M569 P0.5 S0 D2 ; driver 0.5 goes backwards (Z axis) (Rear Center)

; Motor Idle Current Reduction
M906 I30 ; set motor current idle factor
M84 S30 ; set motor current idle timeout

; Axes
M584 X0.0 Y0.1 Z0.3:0.5:0.4 ; set axis mapping (Front Left, Rear Center, Front Right)
M350 X16 Y16 Z16 I1 ; configure microstepping with interpolation
M906 X1500 Y1500 Z1200 ; set axis driver currents (xy1300)
M92 X160 Y160 Z800 ; configure steps per mm
M208 S1 X13 Y-5 Z0 ; set axis minima
M208 S0 X350 Y350 Z215 ; set axis maxima
M566 X720 Y720 Z30 ; set maximum instantaneous speed changes (mm/min) (700)
M203 X36000 Y36000 Z900 ; set maximum speeds (mm/min) (X9000 Y9000 Z900)
M201 X6000 Y6000 Z150 ; set accelerations (mm/s^2) (X6000 Y6000)

; Extruders
M584 E0.2 ; set extruder mapping
M350 E16 I1 ; configure microstepping with interpolation
M906 E1000 ; set extruder driver currents
M92 E724.1379 ; configure steps per mm
M566 E120 ; set maximum instantaneous speed changes (mm/min)
M203 E7200 ; set maximum speeds (mm/min) (3600)
M201 E2000 ; set accelerations (mm/s^2) (250)

; Kinematics
M669 K1 ; configure CoreXY kinematics

; Bed Level
M671 X-35:175:390 Y3:420:3 S10;S0.5 ; position of leadscrew/bed pivot point at front left, rear middle and front right

; Probes
M558 P5 C"!io3.in" H10 F300 T6000 ; configure digital probe via slot #0
G31 P500 X0 Y0 Z-0.352 ;-0.269 ;-0.330 ; -0.346 ; -0.345 ; set Z probe trigger value, offset and trigger height

; Endstops
M574 X2 P"io4.in" S1 ; configure X axis endstop
M574 Y2 P"io5.in" S1 ; configure Y axis endstop
;M574 Z2 S2 ; configure Z axis endstop

; Sensors
M308 S0 P"temp0" Y"thermistor" A"Heated Bed" T100000 B4725 C7.06e-8 ; configure sensor #0
M308 S1 P"temp1" Y"pt1000" A"Nozzle" ; configure sensor 1 as PT1000 on pin temp1
M308 S2 P"temp2" Y"thermistor" A"Chamber" T100000 B4725 C7.06e-8    ; configure sensor #2

; Chamber (Fake)
M950 H2 C"out4" T2                            ; create a heater, but not actually anything connected to this output
M141 H2                                       ; set this to be chamber
M141 S0                                       ; set chamber to 0 - normal dont get too hot temperature

; Heaters
M950 H0 C"out0" T0 ; create heater #0
M143 H0 P0 T0 C0 S140 A0 ; configure heater monitor #0 for heater #0
M307 H0 R2.43 D5.5 E1.35 K0.56 B0 ; configure model of heater #0
M950 H1 C"out1" T1 ; create heater #1
M143 H1 P0 T1 C0 S285 A0 ; configure heater monitor #0 for heater #1
M307 H1 R2.43 D5.5 E1.35 K0.56 B0 ; configure model of heater #1

; Heated beds
M140 P0 H0 ; configure heated bed #0

; Fans
M950 F0 C"out2" ; create fan #0
M106 P0 S0 L0 X1 B0.1 ; configure fan #0
M950 F1 C"out3" ; create fan #1
M106 P1 S0 B1.1 H1 T45 ; configure fan #1

M950 F7 C"out7"                        ; create fan #7
M106 P7 C"Exhaust Fan" S0 L0 X1 B0.1   ; configure fan #7
M950 F8 C"out8"                        ; create fan #8
M106 P8 C"Electronics 1" S0 L0 X1 B0.1 ; configure fan #8
M950 F9 C"out9"                        ; create fan #9
M106 P9 C"Electronics2" S0 L0 X1 B0.1  ; configure fan #9

; Mesh Grid
M557 X15:335 Y15:335 P7                          ; define mesh grid 7x7

; Accelerometer
M955 P0 C"spi.cs1+spi.cs0" I56 ; configure accelerometer on board #0

; Input Shaping
;M593 P"MZV" F37.6 S0.0

; Taper
M376 H10

; Pressure Advance
M572 D0 S0.055 ; 0.04

; Tools
M563 P0 S"StealthBurner" D0 H1 F0 ; create tool #0
M568 P0 R0 S0 ; set initial tool #0 active and standby temperatures to 0C

; Miscellaneous
M501
T0 ; select first tool

[dc42]

@NeoDue thanks for testing the latest firmware. TBH I wasn't really expecting this latest change to fix bangs and/or layer shifts, because it shouldn't directly affect axis motors. However, the anomalies reported by the "min interval" report in the Move section have disappeared in your latest M122 reports, also the ebfmin value is now zero as expected instead of -1.

I ran your compete print (without filament) on my bench system, apart from the first few layers which I had previously removed because no anomalies were detected in them. The print completed without incident. I didn't hear any bangs, but I can't say whether there were any layer shifts because the motors were not connected to axes.

I would love to have a print in which bangs always occur at the same places, because that would give me a chance to replicate the issue. However, the impression I have from the reports in this thread is that the bangs and layer shifts are somewhat random, because they don't consistently occur at the same places in the print. Would you agree?

Are you still confident that the bangs and layer shifts don't occur when IS is not enabled?

[NeoDue]

@dc42 said in 3.5.0rc1: Input shaping causes layer shifts!?:

I would love to have a print in which bangs always occur at the same places, because that would give me a chance to replicate the issue. However, the impression I have from the reports in this thread is that the bangs and layer shifts are somewhat random, because they don't consistently occur at the same places in the print. Would you agree?
Are you still confident that the bangs and layer shifts don't occur when IS is not enabled?

Yes, to doublecheck that was the intent behind the test I mentioned in my second post today.

The blob I mentioned there seems to reliably be created with IS on even if it is obviously not large enough to create a layer shift every time. The randomness of the layer shifts (edit: except the one at 5.65mm, which seems to be reliable so far!) might indicate that these are created by such blobs as well - there are numerous occurrances of such short moves in the code file.

Edit: Maybe one more question...: let's assume my thought above is correct. On the other hand, I am confident that you dug out and eliminated all the issues of the code.
Can you think of a setting or a combination of settings that - with the RRF input shaping code working as intended - might be responsible for creating a larger blob with IS enabled for this given gcode snippet than it does with IS off? I am thinking of things like "IS changes Pressure Advance which may have such an effect on very small moves if PA is not 100% correctly calibrated" or such.
In addition, I would assume it should be something that does not happen in the Marlin implementation of IS since I did not have any of such issues prior to switching to the Duet.

[adrian]

@dc42
My layer shifts are in random places and directions. Mine seem like it decides randomly to turn early.

[adrian]

@dc42
I would upload my gcode on here but its capped 4mb. Even zipped its 5mb plus.

Here is the stl
01_K.stl

[gloomyandy]

@adrian Can you place the gcode file on a file sharing service and make it available via that?

Have you confirmed that if you print the same part with input shaping turned off (and no other changes), that you do not see any layer shifts?