Hi
That worked. I can now reliably detect the stall. Ideally I would like to stop the filament feeding when the stall is detected.
At present I use G1 E1000 F1000 to feed filament up to a second extruder, how would be best to interrupt the G code part way if a stall is detected if it reaches the second extruder after 900mm (bearing in mind the end stop limitations with the canbus boards)
Thanks Ian, Will try that in the morning and let you know how I got on.
Thanks for that. I was looking to sense when the filament had completed its feed from the feed extruder to the main extruder before that started its load sequence.
Reporting the stall would be a useful event, but I cant see how to configure that?
Alternatively monitoring the main extruder during the actual operation of G1 E2000 F1000 controlled by the 3HC board (running the feed extruder) (The main extruder has a filament sensor on it (albeit that's controlled by a tool board) Is it possible to monitor sensors (located on other boards) whilst a G1 command is executing on a distinct and separate canbus board, if so how and do I have any choice on monitoring frequency?
The error message I get is unable to initiate extruder end stops
m122 b1
Diagnostics for board 1:
Duet EXP3HC rev 1.01 or earlier firmware version 3.4.6 (2023-07-21 14:15:46)
Bootloader ID: not available
All averaging filters OK
Never used RAM 158504, free system stack 173 words
Tasks: Move(notifyWait,0.0%,128) HEAT(notifyWait,0.1%,88) CanAsync(notifyWait,0.0%,69) CanRecv(notifyWait,0.5%,80) CanClock(notifyWait,0.1%,71) TMC(notifyWait,57.0%,99) MAIN(running,32.1%,409) IDLE(ready,0.0%,40) AIN(delaying,10.2%,263), total 100.0%
Last reset 01:49:18 ago, cause: software
Last software reset at 2021-08-15 15:42, reason: HardFault bfarValid precise, available RAM 154828, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x00008200 ICSR 0x00000803 BFAR 0x30303051 SP 0x20002fd8 Task MAIN Freestk 350 ok
Stack: 30303030 20002ff8 00000000 00000000 70707070 00023a09 ffffffff 61000000 ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff 0000007c ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff
Driver 0: pos 212040, 684.0 steps/mm,standstill, SG min 0, mspos 344, reads 50872, writes 19 timeouts 0, steps req 212040 done 212040
Driver 1: pos 0, 684.0 steps/mm,standstill, SG min 0, mspos 8, reads 50875, writes 16 timeouts 0, steps req 0 done 0
Driver 2: pos 0, 80.0 steps/mm,standstill, SG min 0, mspos 8, reads 50881, writes 11 timeouts 0, steps req 0 done 0
Moves scheduled 3, completed 3, in progress 0, hiccups 0, step errors 0, maxPrep 24, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter -3/15, peak Rx sync delay 180, resyncs 0/0, no step interrupt scheduled
VIN voltage: min 24.0, current 24.0, max 24.0
V12 voltage: min 12.2, current 12.2, max 12.3
MCU temperature: min 31.7C, current 32.7C, max 32.7C
Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 52504, send timeouts 0, received 321264, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 292, adv 37101/37190
The extruder is simply to convey filament to the other extruders and its "Load" code is below
;Motor stall detection
;T2 ; select tool 2
;M302 P1 ; enable cold extrusion
;G4 S1 ; wait for one second
;G4 S1
;G1 P1.1 F3000 ; retract a little filament
;M400 ; wait for move to finish before changing current
;M915 E2 S3 ; set stall sensitivity
;M913 E80 ; motor current to 30%
;M83 ; relative extrusion
;G1 H1 E800 F1000 ; feed up to 800mm until stall
;M913 E100 ; restore normal motor current
;M302 P0 ; disable cold extrusion
;M291 P"Filament Prime complete!" S0 T3 ; display message
(The lines appear above appear commented out - in the macro they are not)
Hi
Just a quick question when will stall detection be available via canbus satellite boards (In latest full release (3.4.6) it does not appear to be possible. I am trying to get stall detection via a 3HC expansion board connected via canbus. The drive is connected to the 3HC board
Hi,
We are using a mixture of conventional stepper motors both with and without closed loop encoders and a mixture of 6HC Motherboard and 1XD and 1HCL boards with Clearpath servos. The performance of the Clearpath Servos is stunning.
Thank you for your reply and an insight into the latest firmware. The good news is that the firmware has not caused any obvious issues (we are always very wary / cautious)
However the dwell timing issue is still present. I have been through the three points you listed and it has not cured the issue.
The most significant "controlling" factor seems to be the direction called in the M569 call. after dwell the motor with S1 starts earlier than the motor with S0.
M569 P31.0 S1 ; Y (first Y)
M569 P32.0 S0 ; Y (second Y)
The Clearpath servos give us the option to reverse motor direction in the firmware of the servo (we can then run both Y M569 lines as S1 or S0 - that gets round the issue on an operational level but does require a service engineer to configure a motor dependent on if its on the left or right side of the gantry. We would prefer not to do that (it increases the risk of an error during replacement of a servo - should it be needed. It seems much simpler to take a stock motor and simply fit it rather than having to use left hand or right hand direction motors)
We are fairly certain that the issue is Firmware related rather than a fault on the 1XD boards.
How is the dwell period controlled for timing from the hardware?
Thanks, please see below the macro used for testing Y axis. (number of cycles at line 3 varied between 4 and 100 - dwell issue is present in every cycle)
M122 B32
Diagnostics for board 32:
Duet EXP1XD firmware version 3.5.0-rc.1 (2023-08-31 16:26:49)
Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1)
All averaging filters OK
Never used RAM 5160, free system stack 73 words
Tasks: Move(3,nWait,0.0%,83) HEAT(2,nWait,0.1%,131) CanAsync(5,nWait,0.0%,55) CanRecv(3,nWait,0.2%,76) CanClock(5,nWait,0.0%,67) MAIN(1,running,80.3%,421) IDLE(0,ready,0.0%,40) AIN(2,nWait,19.4%,112), total 100.0%
Last reset 00:12:30 ago, cause: power up
Last software reset data not available
Driver 0: pos -789853, 519.6 steps/mm, steps req 0 done 2998360
Moves scheduled 10, completed 10, in progress 0, hiccups 233461, segs 15, step errors 0, maxPrep 679, maxOverdue 12203782, maxInc 2442506, mcErrs 0, gcmErrs 0, ebfmin 0.00 max 0.00
Peak sync jitter 0/5, peak Rx sync delay 360, resyncs 0/0, no timer interrupt scheduled
VIN voltage: min 17.5, current 24.3, max 24.6
MCU temperature: min 15.4C, current 17.0C, max 17.3C
Last sensors broadcast 0x00000200 found 1 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 12030, send timeouts 0, received 33729, lost 0, free buffers 18, min 17, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 438, adv 36171/37181
M122 B31
Diagnostics for board 31:
Duet EXP1XD firmware version 3.5.0-rc.1 (2023-08-31 16:26:49)
Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1)
All averaging filters OK
Never used RAM 5136, free system stack 71 words
Tasks: Move(3,nWait,0.0%,87) HEAT(2,nWait,0.1%,125) CanAsync(5,nWait,0.0%,55) CanRecv(3,nWait,0.2%,76) CanClock(5,nWait,0.0%,67) MAIN(1,running,80.3%,421) IDLE(0,ready,0.0%,40) AIN(2,nWait,19.4%,112), total 100.0%
Last reset 00:11:44 ago, cause: power up
Last software reset data not available
Driver 0: pos -789853, 519.6 steps/mm, steps req 0 done 2998277
Moves scheduled 10, completed 10, in progress 0, hiccups 233422, segs 15, step errors 0, maxPrep 673, maxOverdue 12203598, maxInc 2443085, mcErrs 0, gcmErrs 0, ebfmin 0.00 max 0.00
Peak sync jitter 1/6, peak Rx sync delay 462, resyncs 0/0, no timer interrupt scheduled
VIN voltage: min 17.6, current 24.3, max 24.7
MCU temperature: min 18.2C, current 21.5C, max 21.7C
Last sensors broadcast 0x00000100 found 1 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 11294, send timeouts 0, received 31655, lost 0, free buffers 18, min 17, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 359, adv 35880/36912
M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.1 (2023-08-31 16:19:24) running on Duet 3 MB6HC v1.01 (standalone mode)
Board ID: 08DJM-956BA-NA3TJ-6JKDG-3SS6M-TUBAV
Used output buffers: 3 of 40 (22 max)
=== RTOS ===
Static ram: 154852
Dynamic ram: 122464 of which 0 recycled
Never used RAM 65676, free system stack 148 words
Tasks: NETWORK(1,ready,38.4%,155) ETHERNET(5,nWait,0.1%,319) HEAT(3,nWait,0.0%,325) Move(4,nWait,0.0%,216) CanReceiv(6,nWait,0.2%,794) CanSender(5,nWait,0.0%,330) CanClock(7,delaying,0.0%,349) TMC(4,nWait,8.3%,59) MAIN(1,running,52.9%,444) IDLE(0,ready,0.0%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:10:41 ago, cause: power up
Last software reset at 2023-12-04 17:11, reason: User, Gcodes spinning, available RAM 65652, 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
Aux0 errors 0,0,0
MCU temperature: min 18.5, current 29.4, max 29.4
Supply voltage: min 24.1, current 24.1, max 24.3, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.0, max 12.1, under voltage events: 0
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/4/4, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min n/a, mspos 8, reads 13165, writes 11 timeouts 0
Driver 1: standstill, SG min n/a, mspos 8, reads 13166, writes 11 timeouts 0
Driver 2: standstill, SG min n/a, mspos 8, reads 13166, writes 11 timeouts 0
Driver 3: standstill, SG min n/a, mspos 8, reads 13166, writes 11 timeouts 0
Driver 4: standstill, SG min n/a, mspos 8, reads 13166, writes 11 timeouts 0
Driver 5: standstill, SG min n/a, mspos 8, reads 13166, writes 11 timeouts 0
Date/time: 2023-12-04 17:30:53
Slowest loop: 13.67ms; fastest: 0.08ms
=== Storage ===
Free file entries: 20
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.9ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 6, maxWait 545988ms, bed compensation in use: none, height map offset 0.000, ebfmin 0.00, ebfmax 0.00
no step interrupt scheduled
Moves shaped first try 0, on retry 0, too short 0, wrong shape 0, maybepossible 0
=== DDARing 0 ===
Scheduled moves 17, completed 17, 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
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 0x0000001
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 5953, received 107668, lost 0, boc 0
Longest wait 13ms for reply type 6018, peak Tx sync delay 101, free buffers 50 (min 48), ts 3209/3208/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 13.02ms; 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 1 0 0
Socket states: 5 2 2 2 2 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0
M115
FIRMWARE_NAME: RepRapFirmware for Duet 3 MB6HC FIRMWARE_VERSION: 3.5.0-rc.1 ELECTRONICS: Duet 3 MB6HC v1.01 FIRMWARE_DATE: 2023-08-31 16:19:24
M115 B31
Duet EXP1XD firmware version 3.5.0-rc.1 (2023-08-31 16:26:49)
M115 B32
Duet EXP1XD firmware version 3.5.0-rc.1 (2023-08-31 16:26:49)
Thanks for looking.
; General preferences
M575 P1 S1 B57600 ; enable support for PanelDue
G90 ; send absolute coordinates...
M83 ; ...but relative extruder moves
; Wait a moment for the CAN expansion boards to start
G4 S2
; Network
M552 P0.0.0.0 S1 ; enable network and acquire dynamic address via DHCP
M586 P0 S1 ; enable HTTP
M586 P1 S0 ; disable FTP
M586 P2 S0 ; disable Telnet
; Drives
M569 P24.0 S1 ; X
M569 P31.0 S1 ; Y(first Y)
M569 P32.0 S0 ; (second Y)
M569 P23.0 S0 ; Z
M569 P21.0 S1 ; First Extruder
M569 P22.0 S1 ; Second Extruder
M569 P10.0 S0 ; U(V lift 1)
M569 P11.0 S0 ; V (V lift 2)
M569 P12.0 S0 ; W (V lift 3)
M569 P13.0 S0 ; A (V lift 4)
M569.1 P10.0 T2 C2048 R100 I0 D0
M569.1 P11.0 T2 C2048 R100 I0 D0
M569.1 P12.0 T2 C2048 R100 I0 D0
M569.1 P13.0 T2 C2048 R100 I0 D0
M569.1 P24.0 T2 C1000 R200 I0 D0 A0.0 V0
M569.7 P10.0 C"out1"
M569.7 P11.0 C"out1"
M569.7 P12.0 C"out1"
M569.7 P13.0 C"out1"
M564 H0
M584 X24.0 Y31.0:32.0 Z23.0 E21.0:22.0 U10.0:11.0:12.0:13.0 ; set drive mapping
M350 X16 Y16 Z32 E16:16 U16 I1 ; configure microstepping with interpolation
M92 X160 Y519.64 Z13072 E684.00:684.00 U640 ; set steps per mm
M566 X200.00 Y100.00 Z400 E684.00:684.00 U600 ; set maximum instantaneous speed changes (mm/min)
M203 X20000.00 Y200000.00 Z800 E7200.00:7200.00 U1000 ; set maximum speeds (mm/min)0
M201 X200.00 Y1000.00 Z500 E3000:3000.00 U500 ; set accelerations (mm/s^2)
M906 Z1000 I30 ; set motor currents (mA) and motor idle factor in per cent
M906 X2000 I60
;M906 Y5000 I60
M906 E1300 I10
M906 U5000 I10
M84 S60
; Axis Limits
M208 X0 Y0 Z0 U0 S1 ; set axis minima
M208 X1050 Y1200 Z200 U1150 S0 ; set axis maxima
; Endstops
M574 X0 S1 P"24.io0.in"
M574 Y0 S1 P"31.io0.in+32.io0.in"
M574 Z2 S1 P"23.io0.in"
M574 U0 S1 P"10.io0.in+11.io0.in+12.io0.in+13.io0.in"
; Z-Probe
M950 S0 C"21.io0.out" ; create servo pin 0 for BLTouch
M558 P9 C"21.io0.in" H5 F120 T6000 ; set Z probe type to bltouch and the dive height + speeds
G31 P500 X0 Y0 Z2.5 ; set Z probe trigger value, offset and trigger height
M557 X15:215 Y15:195 S20 ; define mesh grid
M950 S0 C"21.io0.out" ; create servo pin 0 for BLTouch
M558 P9 C"21.io0.in" H5 F120 T6000 ; set Z probe type to bltouch and the dive height + speeds
G31 P500 X0 Y0 Z2.5 ; set Z probe trigger value, offset and trigger height
M557 X15:215 Y15:195 S20 ; define mesh grid
; Heaters
M308 S0 P"temp0" Y"thermistor" T100000 B4138 ; configure sensor 0 as thermistor on pin temp0
M950 H0 C"out1" T0 ; create bed heater output on out1 and map it to sensor 0
M307 H0 B1 S1.00 ; enable 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
M308 S1 P"21.temp0" Y"thermistor" T500000 B4723 C1.196220e-7 ; configure sensor 1 as thermistor on pin 121.temp0
M950 H1 C"21.out0" T1 ; create nozzle heater output on 21.out0 and map it to sensor 1
M307 H1 R2.802 K0.427:0.000 D9.65 E1.35 S1.00 B0 V24.1
M143 H1 S350 ; set temperature limit for heater 1 to 350C
M308 S2 P"22.temp0" Y"thermistor" T500000 B4723 C1.196220e-7 ; configure sensor 2 as thermistor on pin 22.temp0
M950 H2 C"22.out0" T2 ; create nozzle heater output on 22.out0 and map it to sensor 2
M307 H2 R2.864 K0.486:0.000 D8.37 E1.35 S1.00 B0 V24.2
M143 H2 S350 ; set temperature limit for heater 2 to 350C
; Fans
M950 F0 C"21.out2" Q500 ; create fan 0 on pin 121.out1 and set its frequency
M106 P0 S1 H1 T35 ; set fan 0 value. Thermostatic control is turned on
M950 F1 C"22.out2" Q500 ; create fan 1 on pin 122.out1 and set its frequency
M106 P1 S1 H2 T35 ; set fan 1 value. Thermostatic control is turned on
M950 F3 C"23.out0" Q500 ; create fan 3 on pin 23.out0 and set its frequency
M950 F4 C"24.out0" Q500 ; create fan 4 on pin 24.out0 and set its frequency
M950 F5 C"31.out0" Q500 ; create fan 5 on pin 31.out0 and set its frequency
M950 F6 C"32.out0" Q500 ; create fan 6 on pin 32.out0 and set its frequency
M950 F8 C"10.out0" Q500 ; create fan 10 on pin 10.out0 and set its frequency (V Lift)
M950 F9 C"11.out0" Q500 ; create fan 11 on pin 11.out0 and set its frequency
M950 F10 C"12.out0" Q500 ; create fan 12 on pin 12.out0 and set its frequency
M950 F11 C"13.out0" Q500 ; create fan 13 on pin 13.out0 and set its frequency
M106 P3 S255
M106 P4 S255
M106 P8 S255
M106 P9 S255
M106 P10 S255
M106 P11 S255
;MCU Fan
M950 F7 C"!out4+out4.tach" A"MCU" Q500
M308 S3 Y"mcu-temp" P"0.dummy" A"MB MCU"
M106 P7 H7 T33:45 L0.3
;MCU Temp Z
M308 S4 Y"mcu-temp" P"23.dummy" A"Z"
;MCU Temp X Canbus
M308 S5 Y"mcu-temp" P"24.dummy" A"X"
;MCU Temp Y1 fan Canbus 31
M308 S8 Y"mcu-temp" P"31.dummy" A"Y1"
M106 P5 H5 T20:50 L0.3
;MCU Fan Canbus 32
M308 S9 Y"mcu-temp" P"32.dummy" A"Y2"
M106 P6 H6 T20:50 L0.3
;MCU Temp V Canbus
M308 S10 Y"mcu-temp" P"10.dummy" A"V10"
M308 S11 Y"mcu-temp" P"11.dummy" A"V11"
M308 S12 Y"mcu-temp" P"12.dummy" A"V12"
M308 S13 Y"mcu-temp" P"13.dummy" A"V13"
; Tools
M563 P0 S"Main" 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
M563 P1 S"Support" D1 H2 F0 ; define tool 1
G10 P1 X0 Y0 Z0 ; set tool 1 axis offsets
G10 P1 R0 S0 ; set initial tool 1 active and standby temperatures to 0C
; Custom settings T0 Autoload and unload
M950 J1 C"^!21.io2.in" ; define logical input for filament auto load
M581 P1 T2 S0 R0 ;define trigger for filament auto load triggers trigger2.g
M950 J2 C"^!21.io3.in" ; define logical input for filament unload
M581 P2 T3 S0 R0 ; define trigger for filament auto load triggers trigger3.g
; Custom settings T1 Autoload and unload
M950 J3 C"^!22.io2.in" ; define logical input for filament auto load
M581 P3 T4 S0 R0 ;define trigger for filament auto load triggers trigger4.g
M950 J4 C"^!22.io3.in" ; define logical input for filament unload
M581 P4 T5 S0 R0 ; define trigger for filament auto load triggers trigger5.g
I am running two 1xd boards on a gantry system for Y axis. The servos are driven by step/direction commands.
The left motor is configured CCW with the right motor CW (from the duet config.sys file) The motion is correct.
In order to configure the servos a simple macro was setup to dwell the motor at start of stroke (G4 Y P500), move 1000mm to the end of the stroke, again dwelling for P500 before returning to zero position.
Looking at the timing of the stroke (on the scope), the dwell on the left motor is only 200ms before motion begins and 1200ms at the other end of the cycle.
However the right hand motor has a dwell of 1200ms before motion begins and then 200ms at the other end of the cycle.
The result is that the Gantry has a twisting load applied to it at each start of motion as the two motors are NOT starting the motion at exactly the same time when using dwell (G4) to pause before a motion.
What is causing this?
Without dwell the motion is correct and the two motors run in sync. The issue is only apparent when using dwell for a pause. It just that the left hand motor seems to use 200ms of time before starting its motion (both motors should be using 500ms of time elapsed as the trigger to start the next motion) and the right motor is starting after 1200ms.
URIKA - I reloaded the DWC Web Control - SD file.zip and all sorted
https://github.com/Duet3D/RepRapFirmware/releases/download/3.5.0-rc.1/DuetWebControl-SD.zip
Thanks everyone for the help
But - General tab still shows it as DWC 3.4.6
@jay_s_uk - Just reinstalled 3.5RC1 and attempted to install plugin 3.5b4 (Powered down after install of3.RC1 and booted again)
I am uploading using the "upload system files" and "install plugin buttons", both methods give the same result