Duet3D 1HCL - Closed Loop Controller Beta test
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it dawned on me that I probably would have to disconnect the encoder from the 1HCL board as well... you guys did a great job on these boards... very smart...lol
Hmm you should never need to disconnect the encoder from the board unless you want to - the board should work in open-loop mode without anything needing to be disconnected, and you shouldn't need to disconnect it to cycle power or anything.
That yes to the closed loop enable was there before I updated the 1HCL board to the latest firmware and now at power up it reports "no" to the close loop enable
Righty I'm just looking over your
config.g, it's been posted a few times, so let me just re-post here so that we're all looking at the same thing:G4 S3 ;wait for expansion boards to start M569.1 P50.0 S1 T2 C20 E20 R100 I0 D0 ; Configure the 1HCL board at CAN address 50 with a quadrature encoder on the motor shaft that has 20 steps per motor full step. M569.1 P51.0 S1 T2 C20 E20 R100 I0 D0 ; Configure the 1HCL board at CAN address 51 with a quadrature encoder on the motor shaft that has 20 steps per motor full step. M569 P50.0 D4 S1 ; Configure the motor on the 1HCL at can address 50 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) X axis M569 P51.0 D2 S1 ; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) Y axis M569 P0.0 S1 ; physical drive 0.0 goes forwards Z 1-2 axis M569 P0.4 S1 ; physical drive 0.4 goes forwards Extruder M584 X50.0 Y51.0 Z0.0:0.1 E0.4 ; set drive mapping M671 X-122.25:689.20 Y0:0 S3.0 ; leadscrews at left (connected to Z0) and right (connected to Z1) of X axis M350 X32 Y32 Z32 E16 I1 ; configure microstepping with interpolation M92 X106.5 Y257 Z795.00 E339.00 ; set steps per mm M566 X900.00 Y900.00 Z60.00 E120.00 ; set maximum instantaneous speed changes (mm/min) M203 X6000.00 Y6000.00 Z180.00 E1200.00 ; set maximum speeds (mm/min) M201 X500.00 Y500.00 Z20.00 E250.00 ; set accelerations (mm/s^2) M906 X1000 Y3000 Z3000 E800 I30 ; set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout M917 X0 Y0 ; Set the closed loop axes to have a holding current of zeroThe first thing that jumps out is line 5:
M569 P51.0 D2 S1 ; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) Y axisYour comment says it's closed loop, but the actual command is using
D2, which is an open loop mode.
However, your line above usingP50.0is correct, and that seems to be the driver you have been using, so I assume you are aware of this and this is all fine.It might be worth only having one closed loop board plugged in at a time whilst we're diagnosing this issue. Just to rule out issues like them accidentally sharing a CAN address or something like that.
I suspect the problem here is line 2:
M569.1 P50.0 S1 T2 C20 E20 R100 I0 D0This might be our fault - that particular command has gone through a number of changes, and it should have been updated in all the docs - except we seem to have missed this section! So if you've copy-pasted from that, this may be where our issues are coming from - I'll update that page now.
The GCODE dictionary page for M569.1 is definitely correct though, so I'll re-write your M569.1 command from first principles:- Your motor driver is 50.0 - so P50.0
- Your encoder is a quadrature on motor shaft - so T2
- From googling your motor serial number, you have this motor? That page gives a 'resolution' of 1000. No units though, how helpful. I'll assume that's CPR. That motor is also 200 step/rev, so we do 1000 ÷ 200 = 5 - so C5
- Sensible error thresholds are maybe 5 & 10 - so E5:10
- We'll leave R,I,D as default so you don't need to include them for now
Putting that all together:
M569.1 P50.0 T2 C5 E5:10I suspect when your config.g file was running, it was erroring at your M569.1 command - so never getting to M569 to turn the 'no' to 'yes' in M122.
It might be worth running
M98 P"config.g"manually and seeing if any errors come back. Then, change your M569.1 command for my M569.1 command, runM98 P"config.g"and hopefully no errors will come back.
Once that's done, turn it off and on again, and you should be good to go
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Edit: I got my .5 and .6s confused
I've corrected them nowYes, Tony is also right here:
I think you are using M569.5 instead of M569.6
What does sending
M569.6 P50.0 V31
Result in?The M569.5 command is for recording. This does let you pass in a manoeuvre (V parameter) to do. So running M569.5 as you describe would technically work to do a tuning move...
However, you'll also be making a recording each time, so you'll quickly fill up your SD card with recordings. For this reason, unless you intend to do a recording, using M569.6 is preferable to do a tuning move.For anyone curious as to why there are 2 GCODE commands to do tuning moves, the rationale is that with HTTP delays etc, it is unlikely that you'd be able to send M569.5 and M569.6 quickly enough to record a tuning move. For that reason, M569.5 allows you to specify a tuning move that gets started just before the recording is started.
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@t3p3tony said in Duet3D 1HCL - Closed Loop Controller Beta test:
M569.6 P50.0 V31
9/21/2021, 7:00:28 AM M569.6 P50.0 V31
Error: M569.6: Drive is not in closed loop mode. -
@supertb1 with M569 P50.0 D4 S1 first?
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@lirwin17 said in Duet3D 1HCL - Closed Loop Controller Beta test:
M569.1 P50.0 T2 C5 E5:10
the motor has a 4000 pulse per rotation that I verified
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@lirwin17 said in Duet3D 1HCL - Closed Loop Controller Beta test:
M98 P"config.g"
before change to P50.0
9/21/2021, 7:10:36 AM Error: Response timeout: CAN addr 51, req type 6045, RID=27
Pulse-type filament monitor on pin io5.in, enabled, sensitivity 7.000mm/pulse, allowed movement 55% to 150%, check every 22.0mm, no data received
Error: bad model parameters
9/21/2021, 7:10:35 AM Error: Response timeout: CAN addr 51, req type 6043, RID=25
9/21/2021, 7:10:34 AM Error: Response timeout: CAN addr 51, req type 6042, RID=23
9/21/2021, 7:10:33 AM Error: Response timeout: CAN addr 51, req type 6042, RID=21
9/21/2021, 7:10:32 AM Error: Response timeout: CAN addr 51, req type 6042, RID=19
9/21/2021, 7:10:31 AM Error: Response timeout: CAN addr 51, req type 6018, RID=17
9/21/2021, 7:10:30 AM Error: Response timeout: CAN addr 51, req type 6041, RID=15
Error: No encoder specified for closed loop drive mode
9/21/2021, 7:10:29 AM Error: Error threshold value must be greater than zero. -
@supertb1 I have P51.0 disconnected at the moment as advised
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Short update:
I am on my third print with the closed loop drivers and so far they are working quite well. The axes are sticking to their position very well. I really have to apply a lot of force to push them off course, and they will snap right back.
I am printing with up to 300mm/s and was able to increase my acceleration and jerk significantly. On the downside I had to limit my max. speeds to 20000mm/min or 300mm/s.
@lirwin17 I have two motors on my Y axis. They are both wired to one 1HCL board, but only one has an encoder. It calibrates fine, and I did not spot a significant problem during printing. Only the recorded graphs were of no use on this axis (at least for me). Maybe something to keep in mind for future development.(especially for autotuning.
)Furthermore, I have the impression that the drivers run in full step without any microstepping as soon as I switch to closed loop. It sounds very much like my very first printer.
The prints also show a strong stepping pattern.Cheers Max
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@lirwin17
After change to P50.0
Error: Response timeout: CAN addr 51, req type 6045, RID=27
Pulse-type filament monitor on pin io5.in, enabled, sensitivity 7.000mm/pulse, allowed movement 55% to 150%, check every 22.0mm, no data received
Error: bad model parameters
9/21/2021, 7:14:52 AM Error: Response timeout: CAN addr 51, req type 6043, RID=25
9/21/2021, 7:14:51 AM Error: Response timeout: CAN addr 51, req type 6042, RID=23
9/21/2021, 7:14:50 AM Error: Response timeout: CAN addr 51, req type 6042, RID=21
9/21/2021, 7:14:49 AM Error: Response timeout: CAN addr 51, req type 6042, RID=19
9/21/2021, 7:14:48 AM Error: Response timeout: CAN addr 51, req type 6018, RID=17
9/21/2021, 7:14:47 AM Error: Response timeout: CAN addr 51, req type 6041, RID=15
9/21/2021, 7:14:43 AM M98 P"config.g"
HTTP is enabled on port 80
FTP is disabled
TELNET is disabled
Again channel 51 is disconnected -
@t3p3tony
G4 S3 ;wait for expansion boards to start
M569.1 P50.0 T2 C5 E5:10 ; Configure the 1HCL board at CAN address 50 with a quadrature encoder on the motor shaft that has 20 steps per motor full step.
M569.M51 P51.0 S1 T2 C20 E20 R100 I0 D0 ; Configure the 1HCL board at CAN address 51 with a quadrature encoder on the motor shaft that has 20 steps per motor full step.
M569 P50.0 D4 S1 ; Configure the motor on the 1HCL at can address 50 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) X axis
M569 P51.0 D2 S1 ; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) Y axis
M569 P0.0 S1 ; physical drive 0.0 goes forwards Z 1-2 axis -
@supertb1 sorry I should have been clearer. After start up send the following from the console:
M569 P50.0 D4 S1 M569.6 P50.0 V31 -
@lirwin17
since the change on the M569.1 line to P50.0 T2 C5 E5:10
I am now getting closed loop enabled : yes
on P50 V8 it is saying that the drive has an incorrect polarity
V32 made the drive run off to the end of it's travel
M569.6 P50.0 V64
Warning: No new tuning errors have been found, but some existing tuning errors exist. The drive has not been zeroed. The drive has not had it's polarity checked. The drive has not had it's control checked. The encoder has not had it's count per revolution and V128 is the same result -
@t3p3tony said in Duet3D 1HCL - Closed Loop Controller Beta test:
M569.6 P50.0 V31
M569.6 P50.0 V31
Warning: M569.6: One or more tuning errors occurred. The drive has been found to have an incorrect polarity. -
@t3p3tony does this mean that I need to switch the positive and negative wires?
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does this mean that I need to switch the positive and negative wires?
Sorry, this error message is a bit misleading - I'll change that. The polarity should be detected automatically, so a better error message may be "encoder polarity failed to be detected"
Please could you follow the same instructions I gave to maxgyver above (here), although on the 'movement' checkboxes down the right hand side, please could you check 'polarity detection'
We should then be able to take a look at the graph and see what's going on
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@lirwin17 is there another report with different variables I need to run for more information?
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@lirwin17 I'm not sure how to read these... it looks like coil A is out of step phase and coil B doesn't appear to be doing anything... target motor steps says there are 4 errors
