3.5.0rc1: Input shaping causes layer shifts!?

Jimborr

Seeing now (not sure how I missed it) that there is already another thread on this.

y slope with 3.5.0-rc1, not seen with 3.4.6

NeoDue

@Jimborr Ah, yes, that seems to be something else that affects Delta printers.

agmeadows

Sorry to resurrect this. was there every a resolution to this problem? I am running into similar issues. I am also showing tons of errors on CAN. Here is the diagnostic after a skip log:

m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.2 (2023-12-14 10:32:22) running on Duet 3 MB6HC v1.01 (standalone mode)
Board ID: 08DJM-956BA-NA3TJ-6JTD8-3SJ6J-1UA2U
Used output buffers: 3 of 40 (40 max)
=== RTOS ===
Static ram: 154844
Dynamic ram: 121700 of which 104 recycled
Never used RAM 65432, free system stack 129 words
Tasks: NETWORK(1,ready,37.6%,145) ETHERNET(5,nWait,0.1%,317) HEAT(3,nWait,0.0%,307) Move(4,nWait,1.2%,217) CanReceiv(6,nWait,0.0%,942) CanSender(5,nWait,0.0%,334) CanClock(7,delaying,0.0%,342) TMC(4,nWait,8.7%,59) MAIN(1,running,52.3%,103) IDLE(0,ready,0.0%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:57:30 ago, cause: software
Last software reset at 2024-01-04 23:56, reason: User, Gcodes spinning, available RAM 96264, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x04
MCU temperature: min 31.1, current 32.5, max 32.7
Supply voltage: min 23.7, current 23.7, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.1, max 12.2, under voltage events: 0
Heap OK, handles allocated/used 99/8, heap memory allocated/used/recyclable 2048/544/396, gc cycles 0
Events: 1 queued, 1 completed
Driver 0: ok, SG min 0, mspos 897, reads 63179, writes 4 timeouts 0
Driver 1: ok, SG min 0, mspos 280, reads 63180, writes 4 timeouts 0
Driver 2: ok, SG min 0, mspos 280, reads 63179, writes 4 timeouts 0
Driver 3: ok, SG min 0, mspos 232, reads 63179, writes 4 timeouts 0
Driver 4: ok, SG min 0, mspos 472, reads 63179, writes 4 timeouts 0
Driver 5: phase A may be disconnected, SG min 0, mspos 361, reads 63180, writes 3 timeouts 0
Date/time: 2024-01-05 00:55:37
Slowest loop: 206.82ms; fastest: 0.05ms
=== Storage ===
Free file entries: 18
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 3.1ms, write time 1.1ms, max retries 0
=== Move ===
DMs created 125, segments created 44, maxWait 132190ms, bed compensation in use: mesh, height map offset -0.034, max steps late 1, ebfmin -1.00, ebfmax 1.00
next step interrupt due in 84 ticks, disabled
Moves shaped first try 986, on retry 262, too short 1372, wrong shape 2444, maybepossible 169
=== DDARing 0 ===
Scheduled moves 7741, completed 7701, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 1], 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 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 F6000 X98.532 Y184.403 E1.64932" 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
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
=== Filament sensors ===
check 3911776 clear 15534836
Extruder 0: no data received, errs: frame 0 parity 0 ovrun 0 pol 0 ovdue 0
=== CAN ===
Messages queued 4954, received 0, lost 0, errs 2619108, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 2752/0/0
Tx timeouts 0,0,2752,0,0,2202 last cancelled message type 4514 dest 127
=== Network ===
Slowest loop: 142.85ms; 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: 1 of 8
= Ethernet =
Interface state: active
Error counts: 0 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

I am also having issues uploading files. I switched SD cards and the problem persists. Sometimes they will upload but I have to keep retrying and eventually it uploads. I can still ping the IP when it disconnects.

I don't know if my board is on the way out or what. It has been nothing but problems over the last 2 months. I recently disassembled the entire printer and reconnected everything. My random crashes have stopped (for now) but these other issues are getting worse.

Here is my config:

;Initialize variables
if !exists(global.materialtype)
	global materialtype = ""
if !exists(global.materialprint)
	global materialprint = ""
if !exists(global.materialstandby)
	global materialstandby = ""
if !exists(global.materialbed)
	global materialbed = ""
if !exists(global.machineheater)
	global machineheater = 0
if !exists(global.inFilamentError)	
	global inFilamentError = false

;General Setup - RailCore RRF Duet3
M552 P0.0.0.0 S1
G21								;Work in millimetres
G90								;Send absolute coordinates...
M83								;...but relative extruder moves

; Stepper configuration
M569 P1 S1 D3					;Drive 0 X / Rear
M569 P0 S0 D3					;Drive 1 Y / Front
;M569 P0 S0 D3					;Drive 0 X / Rear
;M569 P1 S1 D3					;Drive 1 Y / Front
M569 P2 S1 D3					;Drive 2 Z Front Left
M569 P3 S1 D3					;Drive 3 Z Rear Left
M569 P4 S1 D3					;Drive 4 Z Right
M569 P5 S1 D3					;Drive 5 Extruder

;Axis configuration
M669 K1							;CoreXY mode
M584 X0 Y1 Z2:3:4 E5			;Map X to drive 0 Y to drive 1, Z to drives 2, 3, 4, and E to drive 5

;Leadscrew locations
M671 X-13.6:-13.3:340 Y22:278:149 S7.5

M350 X16 Y16 Z16 E16 I1				;Set 16x microstepping for axes with interpolation
M906 X1500 Y1500 Z1200 E1200 I30	;Set motor currents (mA)

; Fully commissioned speeds.
M201 X3000 Y3000 Z100 E1500       ; Accelerations (mm/s^2)
M203 X24000 Y24000 Z800 E3600     ; Maximum speeds (mm/min)
M566 X1000 Y1000 Z100 E600 P1     ; Maximum jerk speeds mm/minute

M208 X290 Y290 Z275				;Set axis maxima and high homing switch positions (adjust to suit your machine)
M208 X0 Y0 Z0 S1				;Set axis minima and low homing switch positions (adjust to make X=0 and Y=0 the edges of the bed)
M92 X200 Y200 Z1600 E696		;Orbiter
;M92 X200 Y201 Z1600 E835    	;Bowden

; End Stops
M574 X1 S1 P"io1.in"				;Map the X endstop to io1.in
M574 Y1 S1 P"io2.in"				;May the Y endstop to io2.in

; Filament Sensor 
M591 D0 P5 C"io5.in" R60:215 E3.0 S0 A1 L0.406 ;Duet3D laser sensor for extruder drive 0, connected to IO 5, tolerance 60 to 215%, 3mm comparison length, disabled
 
; Thermistors
M308 S2 P"temp0" Y"thermistor" A"chamber_temp" T100000 B3950 H0 L0			;Chamber thermistor
M308 S0 P"temp2" Y"thermistor" A"plate_heat" T100000 B3960 H0 L0			;Plate thermistor	
M308 S1 P"temp1" Y"thermistor" A"e0_heat" T100000 B4725 C7.06e-8 H0 L0		;E3D thermistor

;Define Heaters
M950 H0 C"out0" T0				;Bed heater is on out0
M950 H1 C"out1" T1				;Hotend heater is on out1
M950 H2 C"out2" T2				;Chamber heater is on out2

;Define Bed
M140 H0

;Define Chamber
M141 H2

M307 H0 R0.394 K0.158:0.000 D13.55 E1.35 S1.00 B0		;Bed Duet 3 configuration
M307 H1 R2.812 K0.374:0.000 D4.13 E1.35 S1.00 B0 V23.8  ;Phaetus Hotend Duet 3 configuration
M307 H2 R0.048 K0.134:0.000 D16.81 E1.35 S1.00 B0		;Chamber calibration
;M307 H2 R0.425 K0.744:0.000 D14.76 E1.35 S1.00 B0		
;old hotend value M307 H1 A310.1 C144.7 D2.6 S1.00 B0 		
;old bed value M307 H0 A90.0 C700.0 D10.0 S1.00 B0

M570 H0 T15							;Set hot end fault behaviour. 15C excursion before error
M143 H1 S300						;Set max hotend temperature	
M143 H0 S150						;Set max bed temp

; Fans
M950 F0 C"out6"	Q100				;Layer fan on  "out6" connector
M106 P0 S0 H-1 C"Part Fan"			;Layer fan						
M950 F1 C"out8"                     ;Hotend fan on "out8" connector without PWM
M106 P1 C"Hotend Fan" 	            ;M106 P1 S255 H1 T50 "Hotend Fan"	;enable thermostatic mode for hotend fan
M950 F2 C"out7" Q2500				;Heater cooling fan on  "out7" connector
M106 P2 S0 C"Cooling Fan"			;Heater cooling fan
M950 F3 C"out4"     		    	;Extruder fan on "out4" connector	
M106 P3 T40 H2 C"Extruder Fan"		;Extruder fan

; Accelerometer
;M955 P0 I50 C"spi.cs3+spi.cs2" ; all wires connected to temp DB connector

; Input Shaping
M593 P"zvd" F70 S0.3

; Tool definitions
M563 P0 D0 H1 F0	                        ;Define tool 0 uses extruder 1, heater 1 and fan 1
G10 P0 S0 R0                        		;Set tool 0 operating and standby temperatures

; Pressure Advance
;M572 D0 S0.06 ; set extruder 0 pressure advance to 0.01 seconds

; Euclid
M558 P5 C"^io0.in" H2 F250:15 T24000 A6 S0.02

;Tip: A larger trigger height in G31 moves you CLOSER to the bed
G31 X1 Y37.5 Z6.58 P25 			;Nozzle-X set the probe offsets
;G31 X0 Y40 Z2.8 P25 			;0.25mm nozzle set the probe offsets

T0						;Select first hot end

dc42

@agmeadows I have a couple of suggestions:

Do you have a PanelDue connected? One known cause of network disconnections is running older PanelDueFirmware with recent versions of RRF. Older PanelDueFirmware can't handle the longer object model keys in more recent versions of RRF, causing PanelDueFirmware to recognis that it doesn't have enough buffer space and abandon the JSON parse. Unfortunately it then asks for the data again immediately without leaving a pause. This is fixed in recent beta versions of PaneDueFirmware.
The large number of CAN errors probably means that you have a CAN wiring error, or perhaps that you have two boards configured to use the same CAN address. I suggest you try disconnecting some boards from CAN to see which one(s) trigger the errors. Also check that all boards are running the same 3.5.0-rc.2.

agmeadows

@dc42 I do not have a PanelDue connected. Also, I don't have any second boards connected. I downgraded to 3.5.0-beta.4 which seemed to resolve the layer shifts, but the errors and connection issues persist. If I keep retrying it eventually goes through. The larger the file the more I have to retry.

This is the log after a reset, boot up and then home all:

m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-beta.4 (2023-06-08 23:41:30) running on Duet 3 MB6HC v1.01 (standalone mode)
Board ID: 08DJM-956BA-NA3TJ-6JTD8-3SJ6J-1UA2U
Used output buffers: 1 of 40 (28 max)
=== RTOS ===
Static ram: 155012
Dynamic ram: 121864 of which 120 recycled
Never used RAM 65756, free system stack 117 words
Tasks: NETWORK(1,ready,38.1%,182) ETHERNET(5,nWait,0.1%,317) HEAT(3,nWait,0.0%,325) Move(4,nWait,0.0%,251) CanReceiv(6,nWait,0.0%,941) CanSender(5,nWait,0.0%,335) CanClock(7,delaying,0.0%,343) TMC(4,nWait,8.5%,59) MAIN(1,running,53.2%,137) IDLE(0,ready,0.0%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:18:27 ago, cause: power up
Last software reset at 2024-01-04 23:56, reason: User, Gcodes spinning, available RAM 96264, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
MCU temperature: min 21.1, current 30.5, max 31.5
Supply voltage: min 23.8, current 23.8, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.1, max 12.2, under voltage events: 0
Heap OK, handles allocated/used 99/6, heap memory allocated/used/recyclable 2048/372/268, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min 0, mspos 328, reads 14665, writes 21 timeouts 0
Driver 1: standstill, SG min 0, mspos 200, reads 14665, writes 21 timeouts 0
Driver 2: standstill, SG min 0, mspos 120, reads 14665, writes 21 timeouts 0
Driver 3: standstill, SG min 0, mspos 168, reads 14665, writes 21 timeouts 0
Driver 4: standstill, SG min 0, mspos 744, reads 14665, writes 21 timeouts 0
Driver 5: standstill, SG min n/a, mspos 8, reads 14671, writes 16 timeouts 0
Date/time: 2024-01-09 22:46:22
Slowest loop: 42.83ms; fastest: 0.08ms
=== Storage ===
Free file entries: 20
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.4ms, write time 18.5ms, max retries 0
=== Move ===
DMs created 125, segments created 16, maxWait 728978ms, bed compensation in use: none, height map offset 0.000, ebfmin 0.00, ebfmax 0.00
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 50, completed 50, 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 2 -1 -1 -1, ordering errs 0
Heater 1 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 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
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
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
=== Filament sensors ===
Extruder 0: no data received
=== CAN ===
Messages queued 9968, received 0, lost 0, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 5539/0/0
Tx timeouts 0,0,5538,0,0,4428 last cancelled message type 4514 dest 127
=== Network ===
Slowest loop: 1589.55ms; 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: 2 of 8
= Ethernet =
Interface state: active
Error counts: 0 0 0 1 0 0
Socket states: 5 5 2 2 2 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

gloomyandy

@agmeadows Just to be clear, can you confirm that you do not have any CAN based boards connected to the main control board? Do you have anything connected to the CAN connector on the board? Perhaps a photo of the board showing your connections would help?

agmeadows

@gloomyandy I have no additional boards connected to the 6HC and nothing plugged into the RJ11 connector. Here are two pictures of the board:

I am having strange disconnects as well when uploading files. I spoke with another person on the Railcore Discord server and they are having the same issue. They said, and I quote, "When uploading g code files to my duet3 connection is lost. The larger the file the larger the chance that connection is lost during upload. Using a wired connection directly to the duet."

I am doing the same thing. I had a keystone hack mounted on an external panel. I bypassed that and plugged straight in and it still had the issue.

T3P3Tony

@agmeadows do you see later shifts?

I see there is this thread:
https://forum.duet3d.com/topic/34247/duet-6hc-randomly-crasing-again/16?_=1705047609298

Where you are discussing the crashes you see on the 6HC.

agmeadows

@T3P3Tony Yes. I have since disassembled the printer and reassembled it. The crashing seems to be resolved. Mind you, I could go several months without a problem.

The board just seems to be acting strange. Either the board or the firmware.

skrotz

@NeoDue I was seeing major layer shifting on 3.5.0-rc2, like an inch or two at a certain height consistently on a certain print I was doing. Going back to 3.4.6 resolved the issue. Seems like there are still some major kinks to work out in rc2. This was on a railcore II with a duet2 wifi and duex.

NeoDue

@skrotz Thanks for the information! I guess your message saves me from re-testing with 3.5.0rc2 for now, at least until the Duet team asks me to do some tests.

I am aware that it works with 3.4.6. But I am afraid going back is not an option for me since I use some of the new functionality introduced in 3.5.

Thus, no input shaping for me until this issue is resolved.

NeoDue

@skrotz One more thing: it might be great to keep / post the affected print file and your config.g from when the issue happened here to give the Duet team the chance to take a look at these files as well.

T3P3Tony

@NeoDue

Github issue:
https://github.com/Duet3D/RepRapFirmware/issues/945

T3P3 created this issue in Duet3D/RepRapFirmware

closed IS triggered Layer shifts in 3.5rc1+ #945

dc42

@NeoDue and @skrotz please can you both try the firmware at https://www.dropbox.com/scl/fo/8mwsfwo61tacbyxsu39j9/h?rlkey=zwyd8luhpj7hnanldm4rzm5om&dl=0. If you encounter any layer shifts, then to help me track down the cause please report the following:

A M122 report taken after layer shifts have occurred. Don't run M122 more than once unless further layer shifts occur, because each time M122 is run it clears the data it reports, and I want the data that may relate to a layer shift.
Your config.g file
What M593 input shaping command you were using, if it isn't in the config.g file
What height the layer shift(s) occurred at
A link to the GCode file you were printing.

Also please verify that you don't get layer shifts if you do the same print with input shaping disabled (i.e. M593 P"none").

NeoDue

@dc42 thanks! I might only be able to do that the coming weekend, but I definitely will as soon as I can!

vaike_peeter

@dc42

Made test print with your rc2+ firmware. Layer shifted at 16,05mm

I didn't get M122 directly after layer shift, I did it when I disovered it.

M122 toolhead

M122 B121
Diagnostics for board 121:
Duet TOOL1LC rev 1.1 or later firmware version 3.5.0-rc.2 (2023-12-14 08:58:51)
Bootloader ID: SAMC21 bootloader version 2.8 (2023-07-25)
All averaging filters OK
Never used RAM 2672, free system stack 89 words
Tasks: Move(3,nWait,1.6%,71) HEAT(2,nWait,6.4%,91) CanAsync(5,nWait,0.0%,54) CanRecv(3,nWait,0.6%,77) CanClock(5,nWait,0.4%,67) ACCEL(3,nWait,0.0%,17) TMC(2,nWait,61.9%,57) MAIN(1,running,86.2%,316) IDLE(0,ready,0.0%,27) AIN(2,delaying,92.7%,114), total 249.8%
Last reset 21:44:27 ago, cause: software
Last software reset time unknown, reason: OutOfMemory, available RAM 16088, slot 0
Software reset code 0x01c0 ICSR 0x00000000 SP 0x20002770 Task MAIN Freestk 784 ok
Stack: 00004000 00005e8b 00004000 000041cf a5a5a5a5 00004000 a5a5a5a5 a5a5a5a5 a5a5a5a5 0001d199 a5a5a5a5 0001d1b5 a5a5a5a5 00005a4f a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5 a5a5a5a5
Driver 0: pos 0, 617.6 steps/mm, ok, SG min 0, read errors 2, write errors 1, ifcnt 144, reads 54569, writes 16, timeouts 140, DMA errors 0, CC errors 0, failedOp 0x71, steps req 0 done 15440450
Moves scheduled 261208, completed 261207, in progress 1, hiccups 4282, segs 40, step errors 0, maxLate 1 maxPrep 564, maxOverdue 5374, maxInc 2158, mcErrs 0, gcmErrs 0, ebfmin -1.00 max 1.00
Peak sync jitter -6/8, peak Rx sync delay 260, resyncs 0/0, no timer interrupt scheduled
VIN voltage: min 24.2, current 24.4, max 29.8
MCU temperature: min 28.9C, current 75.1C, max 75.2C
Last sensors broadcast 0x00001002 found 2 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 1568794, send timeouts 6, received 969293, lost 0, errs 34187, boc 0, free buffers 18, min 17, error reg 110000
Last cancelled message type 4525 dest 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 420, adv 35575/74660
Accelerometer: LIS3DH, status: 00
Inductive sensor: not found
I2C bus errors 0, naks 6, contentions 0, other errors 0

M122 Mainboard

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 Mini 5+ version 3.5.0-rc.2+ (2024-01-15 11:56:10) running on Duet 3 Mini5plus Ethernet (standalone mode)
Board ID: KHLQ8-GU8LU-F65J0-409N2-1313Z-H6T1G
Used output buffers: 8 of 40 (32 max)
=== RTOS ===
Static ram: 103168
Dynamic ram: 116132 of which 16 recycled
Never used RAM 18404, free system stack 128 words
Tasks: NETWORK(1,ready,23.0%,173) ETHERNET(5,nWait 7,0.2%,569) HEAT(3,nWait 6,0.7%,326) Move(4,nWait 6,6.8%,241) CanReceiv(6,nWait 1,1.0%,774) CanSender(5,nWait 7,0.2%,327) CanClock(7,delaying,0.1%,348) TMC(4,nWait 6,15.4%,66) MAIN(1,running,35.8%,667) IDLE(0,ready,0.0%,30) AIN(4,delaying,16.6%,256), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 21:45:00 ago, cause: software
Last software reset at 2024-01-15 21:55, reason: User, Gcodes spinning, available RAM 27976, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00000000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
MCU revision 3, ADC conversions started 78301312, completed 78301310, timed out 0, errs 0
MCU temperature: min 17.7, current 33.9, max 34.4
Supply voltage: min 23.7, current 23.8, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/3, heap memory allocated/used/recyclable 2048/1296/1220, gc cycles 0
Events: 1 queued, 1 completed
Driver 0: ok, SG min 0, read errors 0, write errors 1, ifcnt 196, reads 57358, writes 25, timeouts 0, DMA errors 0, CC errors 0
Driver 1: ok, SG min 0, read errors 0, write errors 1, ifcnt 196, reads 57358, writes 25, timeouts 0, DMA errors 0, CC errors 0
Driver 2: standstill, SG min 0, read errors 0, write errors 1, ifcnt 39, reads 57352, writes 30, timeouts 0, DMA errors 0, CC errors 0
Driver 3: standstill, SG min 0, read errors 0, write errors 1, ifcnt 38, reads 57352, writes 30, timeouts 0, DMA errors 0, CC errors 0
Driver 4: standstill, SG min 0, read errors 0, write errors 1, ifcnt 37, reads 57353, writes 30, timeouts 0, DMA errors 0, CC errors 0
Driver 5: not present
Driver 6: not present
Date/time: 2024-01-16 19:51:08
Cache data hit count 4294967295
Slowest loop: 258.21ms; fastest: 0.11ms
=== Storage ===
Free file entries: 18
SD card 0 detected, interface speed: 22.5MBytes/sec
SD card longest read time 4.8ms, write time 10.9ms, max retries 0
=== Move ===
DMs created 83, segments created 35, maxWait 68167851ms, bed compensation in use: none, height map offset 0.000, max steps late 1, ebfmin 0.00, ebfmax 0.00
next step interrupt due in 35 ticks, enabled
Moves shaped first try 9805, on retry 12276, too short 53284, wrong shape 153332, maybepossible 8084
=== DDARing 0 ===
Scheduled moves 281191, completed 281158, hiccups 0, stepErrors 0, LaErrors 211, Underruns [0, 0, 5], 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, chamber heaters 9 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.5
Heater 1 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 X220.349 Y71.367 E.00382" 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 doing "M0" in state(s) 0, sync state 1
Queue2 is idle in state(s) 0
Q0 segments left 1, axes/extruders owned 0x0000807
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 970855, received 1569669, lost 0, errs 1, boc 0
Longest wait 5ms for reply type 4014, peak Tx sync delay 420, free buffers 26 (min 24), ts 391502/391501/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 230.49ms; fastest: 0.03ms
Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
Interface state: active
Error counts: 0 0 9158 0 0 0
Socket states: 5 2 2 2 2 2 0 0

config.g

; Configuration file for Duet 3 Mini 5+ (firmware version 3.5)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.3.16 on Thu Nov 23 2023 20:11:54 GMT+0200 (Eastern European Standard Time)

; General preferences
M575 P1 S1 B57600                                ; enable support for PanelDue
G90                                              ; send absolute coordinates...
M83                                              ; ...but relative extruder moves
M550 P"VT1011"                                   ; set printer name
M669 K1                                          ; select CoreXY mode

; Wait a moment for the CAN expansion boards to start
G4 S2

; Network
M552 P192.168.90.200 S1                          ; enable network and set IP address
M553 P255.255.255.0                              ; set netmask
M554 P192.168.90.1                               ; set gateway
M586 P0 S1                                       ; enable HTTP
M586 P1 S1                                       ; enable FTP
M586 P2 S0                                       ; disable Telnet

;          --- Drive map ---
; (While looking at the printer top down)

;             0.0-----0.1
;              |  0.2  |
;              |-------|
;              |0.3|0.4|
;               ---+---
;                Front

; Drives for X & Y
M569 P0.0 S1 D2                                    ; physical drive 0.0 goes forwards
M569 P0.1 S1 D2                                    ; physical drive 0.1 goes forwards

; Drives for Z
M569 P0.2 S0 D3                                     ; physical drive 0.2 goes backwards Stealthchop  | Z1
M569 P0.3 S0 D3                                    ; physical drive 0.3 goes backwards Stealthchop  | Z0
M569 P0.4 S0 D3                                    ; physical drive 0.4 goes backwards Stealthchop  | Z2

; Drive for Extruder 
M569 P121.0 S0 D2                                   ; physical drive 121.0 goes backwards

; Motor mapping and steps per mm
M584 X0.0 Y0.1 Z0.3:0.2:0.4 E121.0               ; set drive mapping
M350 X16 Y16 Z16 E16 I1                          ; configure microstepping with interpolation
M92 X160 Y160 Z800                               ; set steps per mm
M92 E617.6470588                                 ; galileo 2 steps per mm

; Drive currents
M906 X1700 Y1700 Z1000 E700 I30                   ; set motor currents (mA) and motor idle factor in per cent
M84 X Y Z E0 S30                                 ; Set idle timeout

; Axis accelerations and speeds
M566 X500 Y500 Z120 E300 P1                       ; set maximum instantaneous speed changes (mm/min)
M203 X18000 Y18000 Z900 E7200                    ; set maximum speeds (mm/min)
M201 X8000 Y8000.00 Z350 E2000                    ; set accelerations (mm/s^2)

; Reduced accelerations
;M201.1 X500 Y500 Z80 E500                        ; Set reduced acceleration for special move types (mm/s²)

; Printing and travel accelerations
M204 P5000 T7000                                 ; Set printing acceleration and travel accelerations (mm/s²)


; Axis Limits
M208 X0 Y0 Z0 S1                                  ; set axis minimal

M208 X300 Y305 Z240 S0                           ; set axis maximal

; Endstops
M574 X2 S1 P"121.io1.in"                         ; configure sensorless endstop for high end on X
M574 Y2 S1 P"io6.in"                             ; configure sensorless endstop for high end on Y

; Klicky
M558 P8 C"^121.io2.in" T18000 F600:180 H2 A10 S0.01   ; set Z probe type to KLICKY and the dive height + speeds
G31 P500 X0 Y28 Z4.80                            ; 5,4 set Z probe trigger value, offset and trigger height(Z_offset - bigger number bed closer to nozzle)

; Bed leveling
M671 X-50:150:350 Y18:348:18 S5                  ; front left, back, front right
M557 X15:285 Y30:285 P5                         ; define grid for mesh bed compensation, bed mesh distance 83mm to get 4x4 square

; Accelerometer
M955 P121.0 I10                                  ; Configure accelerometer
M593 P"mzv" F25 S0.01 L0.15                           ; disabled 3.5.0rc1 has layer shift issues when IS enabled

; Heaters
; Bed heater
M308 S0 P"temp0" Y"thermistor" T100000 B4725 C7.06e-8 A"Bed" ; 4138 configure sensor 0 as thermistor on pin temp0
M950 H0 C"out0" T0                               ; create bed heater output on out0 and map it to sensor 0
M307 H0 B0 S1.00                                 ; disable bang-bang mode for the bed heater and set PWM limit
M140 H0                                          ; map heated bed to heater 0
M143 H0 S120                                     ; set temperature limit for heater 0 to 120C
M143 H0 A2 C0 S120                               ; Make sure bed heater stays below 120C
M143 H0 A1 C0 S125                               ; Make sure bed heater shuts down at 125C

; Hodend heater
M308 S1 P"121.temp0" Y"pt1000" A"Hotend"         ; configure sensor 1 as thermistor on pin 121.temp0
M950 H1 C"121.out0" T1                           ; create nozzle heater output on 121.out0 and map it to sensor 1
M307 H1 B0 S1.00                                 ; disable bang-bang mode for heater  and set PWM limit
M143 H1 S350                                     ; set temperature limit for heater 1 to 350C


; Chamber heater
M308 S9 P"temp1" Y"thermistor" A"Chamber" T100000 B4725 C7.06e-8 ; Chamber thermistor conf - ATC Semitec 104NT-4-R025H42G
M950 H9 C"io5.in" Q1 T9                           ; dummy port used
M307 H9 B0 S1.00
M141 H9 ; fake chamber heater for reporting in DWC
M143 H9 P0 S40 A2
M143 H9 P1 S60

; Duet5+ mcu temp
M308 S3 Y"mcu-temp" A"MCU"                       ; Configure sensor 2 as MCU temperature
M912 P0 S-2.9                                    ; MCU temp calibration parameters

; toolhead temp
M308 S12 Y"mcu-temp" P"121.dummy" A"1LC MCU"

; Fans
;Part cooling
M950 F0 C"121.out1"                              ; create fan 0 on pin 121.out1 and set its frequency
M106 P0 S0 H-1 C"Part Cooling"                   ; set fan 0 value. Thermostatic control is turned off

;Hotend fan
M950 F1 C"121.out2"                              ; create fan 1 on pin 121.out2 and set its frequency
M106 P1 S1 H1 T45 C"Hotend Fan"                  ; set fan 1 value. Thermostatic control is turned on

; Bed fan
M950 F2 C"out3"                                  ; create fan 2 on pin out3 and set its frequency
M106 P2 C"BEDF_12V" S0 H-1                       ; set fan 2 value. Thermostatic control is turned on

; Exhaust fan
M950 F3 C"out6"                                  ; create fan 3 on pin out6 and set its frequency
M106 P3 C"EXHAUSTF" S0 B0.1 H9 T45               ; set fan 3 value. Thermostatic control is turned on

; Nevermore filter
M950 F4 C"out5"                                  ; create fan 4 on pin out5 and set its frequency
M106 P4 C"FILTER" S0 B0.1 H0 T90                 ; set fan 4 value. Thermostatic control is turned on

; Tools
M563 P0 S"Mosquito Magnum" 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 are not defined

; Miscellaneous
M950 P0 C"out1"                                  ; Create output Port0 attached to out1 connector for LED lights
M501                                             ; load saved parameters from non-volatile memory
T0                                               ; select first tool

Print file 3DBenchy-Voron-Trident-300-0.4-nozzle-1011-ABS-Orange-Polymaker.gcode

Active IS graph IS

oliof

@vaike_peeter do you have a spec sheet of your stepper drivers at hand?

vaike_peeter

@oliof

Z-motors - LDO-42STH40-1684L300E

A and B(x,y) motors - LDO-42STH48-2004MAH

I already checked current if you think that.

oliof

@vaike_peeter with your .9 degree steppers you hit like 48kHz step rate per axis on CoreXY with 16x microstepping. You should get fine prints dropping down to 8x microstepping and giving more headroom for additional computation like IS.

There are some other considerations like maximum RPM and torque that you may be hitting with the 2004s. Check the back emf calculator and the TDS of your steppers for the physical stepper limits too. https://www.reprapfirmware.org/emf.html

vaike_peeter

@oliof
I will test this when I get back home

Solved 3.5.0rc1: Input shaping causes layer shifts!?

closed IS triggered Layer shifts in 3.5rc1+ #945