Motor speeds

alankilian

This group has a lot of people who can help with your questions.

I'll start with the speed question.

Are you saying your printer is moving slowly while it's printing?
Are you saying your printer is moving slowly when you ask it to move through the web interface?

There are settings in a file called config.g that affect the maximum speed of your motors.

From the web interface, click on "System" and then on config.g. Copy and paste that text here. That will help people see how your system is configured.

Then, click on "Console" and type M122 and copy and paste that text here. That will help people know what board you have and what version of firmware you have installed.

The Chairman

@alankilian Thanks for the quick reply! I haven't tried to print yet, but I'm getting there. During homing, these guys move at a glacial pace.

[code]; Configuration file for Duet WiFi (firmware version 3.3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.3.10 on Sat Apr 23 2022 20:06:08 GMT-0400 (Eastern Daylight Time)

; General preferences
M575 P1 S1 B57600 ; enable support for PanelDue
G90 ; send absolute coordinates...
M83 ; ...but relative extruder moves
M550 P"TEVO" ; set printer name

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

; Drives
M569 P0 S1 ; physical drive 0 goes forwards
M569 P1 S1 ; physical drive 1 goes forwards
M569 P2 S1 ; physical drive 2 goes forwards
M569 P3 S0 ; physical drive 3 goes backwards
M584 X0 Y1 Z2 E3 ; set drive mapping
M350 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 E932.00 ; 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 X800 Y800 Z800 E800 I30 ; set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1 ; set axis minima
M208 X360 Y366 Z400 S0 ; set axis maxima

; Endstops
M574 X1 S1 P"!xstop" ; configure switch-type (e.g. microswitch) endstop for low end on X via pin !xstop
M574 Y1 S1 P"!ystop" ; configure switch-type (e.g. microswitch) endstop for low end on Y via pin !ystop
M574 Z1 S1 P"!zstop" ; configure switch-type (e.g. microswitch) endstop for low end on Z via pin !zstop

; Z-Probe
M558 P0 H5 F120 T6000 ; disable Z probe but set dive height, probe speed and travel speed
M557 X15:285 Y15:285 S20 ; define mesh grid

; Heaters
M308 S0 P"bedtemp" Y"thermistor" T100000 B4138 ; configure sensor 0 as thermistor on pin bedtemp
M950 H0 C"bedheat" T0 ; create bed heater output on bedheat and map it to sensor 0
M307 H0 B1 S1.00 ; enable bang-bang mode for the bed heater and set PWM limit
M307 H0 R0.515 K0.266:0.000 D18.04 E1.35 S1.00 B0
M140 H0 ; map heated bed to heater 0
M143 H0 S120 ; set temperature limit for heater 0 to 120C
M308 S1 P"e0temp" Y"thermistor" T100000 B4138 ; configure sensor 1 as thermistor on pin e0temp
M950 H1 C"e0heat" T1 ; create nozzle heater output on e0heat and map it to sensor 1
M307 H1 B0 S1.00 ; disable bang-bang mode for heater and set PWM limit
M143 H1 S280 ; set temperature limit for heater 1 to 280C

; Fans
M950 F0 C"fan0" Q500 ; create fan 0 on pin fan0 and set its frequency
M106 P0 S0 H-1 ; set fan 0 value. Thermostatic control is turned off

; Tools
M563 P0 S"BiquH2" 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

; Custom settings
M575 P1 S1 B57600

[/code]

alankilian

@the-chairman

OK, homing speeds are set in the files homex.g homey,g homez.g and homeall.g

Post those to take a look at the requested speeds.

Your speeds:

M350 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 E932.00 ; 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)

Don't look THAT different than my speeds:

M350 X16 Y16 Z16 E16 I1                                 ; configure microstepping with interpolation
M92 X100.00 Y100.00 Z100.00 E91.00                      ; set steps per mm
M566 X1200.00 Y1200.00 Z1200.00 E1200.00                ; set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z18000.00 E1200.00             ; set maximum speeds (mm/min)
M201 X1000.00 Y1000.00 Z1000.00 E1000.00                ; set accelerations (mm/s^2)

Your Z is pretty slow at 60mm/min Try setting that higher.

Here's my homedelta.g file:

; homedelta.g
; called to home all towers on a delta printer
;
; generated by RepRapFirmware Configuration Tool v3.2.3 on Tue Mar 09 2021 13:21:24 GMT-0500 (Eastern Standard Time)
G91                        ; relative positioning
G1 H1 X505 Y505 Z505 F3000 ; move all towers to the high end stopping at the endstops (first pass)
G1 H2 X-5 Y-5 Z-5 F3000    ; go down a few mm
G1 H1 X10 Y10 Z10 F300     ; move all towers up once more (second pass)
G1 Z-5 F3000               ; move down a few mm so that the nozzle can be centred
G90                        ; absolute positioning
G1 X0 Y0 F3000             ; move X+Y to the centre

It uses F3000 to move "fast" and f300 to move "slow"

Your homeing files will be different since you don't have a delta, but they should have speeds in them.

The Chairman

code_text

; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.3.10 on Sat Apr 23 2022 20:06:08 GMT-0400 (Eastern Daylight Time)
G91                     ; relative positioning
G1 H2 Z5 F6000          ; lift Z relative to current position
G1 H1 X-365 Y-371 F1800 ; move quickly to X and Y axis endstops and stop there (first pass)
G1 H2 X5 Y5 F6000       ; go back a few mm
G1 H1 X-365 Y-371 F360  ; move slowly to X and Y axis endstops once more (second pass)
G1 H1 Z-405 F360        ; move Z down stopping at the endstop
G90                     ; absolute positioning
G92 Z0                  ; set Z position to axis minimum (you may want to adjust this)

; Uncomment the following lines to lift Z after probing
;G91                    ; relative positioning
;G1 Z5 F100             ; lift Z relative to current position
;G90                    ; absolute positioning


; homex.g
; called to home the X axis
;
; generated by RepRapFirmware Configuration Tool v3.3.10 on Sat Apr 23 2022 20:06:08 GMT-0400 (Eastern Daylight Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 X-365 F1800 ; move quickly to X axis endstop and stop there (first pass)
G1 H2 X5 F6000    ; go back a few mm
G1 H1 X-365 F360  ; move slowly to X axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning



; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v3.3.10 on Sat Apr 23 2022 20:06:08 GMT-0400 (Eastern Daylight Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 Y-371 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 H2 Y5 F6000    ; go back a few mm
G1 H1 Y-371 F360  ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

; homez.g
; called to home the Z axis
;
; generated by RepRapFirmware Configuration Tool v3.3.10 on Sat Apr 23 2022 20:06:08 GMT-0400 (Eastern Daylight Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 Z-405 F1800 ; move Z down until the endstop is triggered
G92 Z0            ; set Z position to axis minimum (you may want to adjust this)

; Uncomment the following lines to lift Z after probing
;G91              ; relative positioning
;G1 Z5 F100       ; lift Z relative to current position
;G90              ; absolute positioning```
code_text

alankilian

@alankilian said in Motor speeds:

Your Z is pretty slow at 60mm/min Try setting that higher.

The Chairman

@alankilian Z should be closer to 6000, then?

alankilian

@the-chairman

It depends on how fast your Z can move.

At 400 steps-per-mm you are going to eventually hit the steps-per-second limit.

Just try setting it at 120 and see if it moves twice as fast or 240 and see if it moves four times as fast.

I wouldn't jump from 60 to 6000 without taking some smaller steps in between.

jens55

Just to add my two cents in here, a homing speed of 1000, while slow, isn't THAT slow. Remember that at this stage the printer has no idea where the printhead is and is just trying to find it's indexing position. There are actually two speeds involved in homing, the speed the printer goes to find roughly where zero position is, then it moves away a bit from zero followed by another, much slower (glacial) approach to set the zero position accurately.
I would probably up that to 3000 if 1000 is too slow but be careful going too high. This step is only happening when you first turn on the motors (you can make it so it only happens once when you turn on the printer) so it doesn't cost you much time. Only after you are comfortable with all things Duet should you up the initial homing speeds to 6000 (100 mm/sec).
Depending on your definition of 'incredibly slow' there might be something else out of whack. Not unheard of.
Z should never home as fast as x/y and again I would say 6000 is pushing things in the beginning. Slower speeds mean you might just have enough time to turn off the power if things go sideways.

Phaedrux

Can you make a video of what you're actually seeing?

The Chairman

How do you look up your max motor speed? .

jens55

@the-chairman, copy and pasting from your config.g file above
M203 X6000.00 Y6000.00 Z180.00 E1200.00 ; set maximum speeds (mm/min)
That is the maximum that the system allows but not necessarily the fastest it can go. That becomes a trial and error thing where you increase the speed until you loose steps and then you back off on the speed until you are happy with te safety margin.