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    Duet3 Motor Stopping Options

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    Duet Hardware and wiring
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    • ChunkyPandaundefined
      ChunkyPanda
      last edited by

      Hi,

      I'm wondering if there are any options when stopping the motor? I'm using a 6HC and also a 1HCL.

      According to the documentation, M18 puts the motors into "freewheeling" mode, but there doesn't seem to be any options.

      I'm looking for a way to short the motor coils to brake the motor without applying current.

      I see that the Trinamic driver supports "coiling shorting" either on highside or lowside drivers when using the "standstill" (idle?) feature. This would work for me. Is there any way to access this feature?

      Thanks.

      droftartsundefined 1 Reply Last reply Reply Quote 0
      • droftartsundefined
        droftarts administrators @ChunkyPanda
        last edited by

        @ChunkyPanda Currently, the coil shorting option of the driver is not supported by a parameter in Gcode. It might be possible to enable it using M569.2 to write to the driver register, but note that using M569.2 incorrectly may result in damage to the stepper drivers.

        On page 53 of the TMC2160 datasheet (https://www.analog.com/media/en/technical-documentation/data-sheets/TMC2160A_datasheet_rev1.10.pdf), it says:

        FREEWHEEL
        Stand still option when motor current setting is zero (I_HOLD=0). Only available with StealthChop enabled. The freewheeling option makes the motor easy movable, while both coil short options realize a passive brake.
        0 Normal operation
        1 Freewheeling
        2 Coil short via LS drivers
        3 Coil short cia HS drivers

        Unfortunately, I don't know how to derive the correct register and value to send using M569.2. There is some information on page 30 (5.2 Velocity Dependent Driver Feature Control Register Set) and page 40 (5.3.4 PWMCONF – Voltage PWM Mode StealthChop) for the address.

        Also, I don't think this will continue to hold after power is turned off.

        It might be possible to use a solenoid to short the motor coils (search the forums, this has been discussed before), but I'm not sure this has been done using the Duet on-board stepper drivers before, as the driver enable signal is not accessible. I'd be concerned that software/firmware solutions to enable a solenoid might be too slow to react, or be enabled while the stepper driver is still powered up, which would short and most likely damage the stepper driver.

        Ian

        TronXY X5S with Duet 3 MB6HC and Roto toolboard : Cartesian bed-slinger with Duet 3 Mini 5+ WiFi and 1LC : RRP Fisher Delta v1 with Duet 2 Maestro : Polargraph with Duet 2 WiFi

        ChunkyPandaundefined 1 Reply Last reply Reply Quote 0
        • ChunkyPandaundefined
          ChunkyPanda @droftarts
          last edited by

          @droftarts Thank you very much.

          I will not attempt to write to the register and risk damaging the board. I try to see if I can find other solutions.

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