many thanks... I'll get it ordered today... I'll leave you guys be for a while... headed to Cancun after christmas so it will be after that before I can get to this project... have a great holiday

@dc42 Hello DC42, the suspense is breathtaking on the completion of the closed loop duet stepper controller... any good news?

Update, I looked at another forum page and saw that some one changed there "P" value in there G31 P500 X10 Y10 Z2.5 ; set Z probe trigger value, offset and trigger height line from P500 to P100 and they claimed that this solved their problem. I made this same change with no effect. then I ran a 2 meter long cable outside of the wire tray to the sensor and vwala, it is homing and printing perfectly. So in my case it appears that EMF and wire length plaid a role in the culprit

@jay_s_uk increased S1 to S3:
; Drives
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 zero

@chernogorsky I agree, I would be willing to put some money on this for pre-order.

@dc42 Hello dc42, it is that time of the month and I am as excited as I have been to take part in field testing the new closed loop controller and steppers. How close is Duet3D to coming to market? As always best regards.

@dc42 OH MY GOD... the chip set on the new 1HCL boards are so much more efficient than the drivers on the Duet 3 6HCL boards.... I love it... you guys are awesome!!!!!

@dc42 I added that line to the first line of code in my home”x” and I’m still getting the same error “ driver 50.0 error: failed to maintain position. It is homing in open loop and is working that way but the error persists… I’m going to put it back in close loop and see what it does. I put it back into closed loop and of course the error persists. I switch the cards around and manually operated the switches by hand, the problem follows the motor. I disconnected the motor leads from the board, ran M122 B50 looking for the raw count being zero, then moved the motor armature and ran M122 B50 again and no change in the raw count so I think I have a bad encoder on my motor. I guess I am back to the drawing board on my end... aside from this issue I have all my other areas of concern addressed. Thank you all for your help @dc42, @Phaedrux

@supertb1 @Phaedrux, please go ahead and mark this issuer as solved. Thanks for every one help.

@OwenD thank you

@Phaedrux yes

@dc42, @Phaedrux, @T3P3Tony Any idea why I get this error on start up?

4/27/2023, 9:21:26 PM 	m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5.0-beta.3 (2023-04-14 11:28:15) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-956BA-NA3TJ-6J1F8-3S06R-1U82S
Used output buffers: 1 of 40 (40 max)
Error in macro line 1 while starting up: Bad command: =
=== RTOS ===
Static ram: 154728
Dynamic ram: 118912 of which 200 recycled
Never used RAM 69224, free system stack 135 words
Tasks: NETWORK(ready,72.2%,207) ETHERNET(nWait,0.0%,401) HEAT(nWait,0.0%,324) Move(nWait,0.0%,243) CanReceiv(nWait,0.0%,772) CanSender(nWait,0.0%,334) CanClock(delaying,0.0%,341) TMC(nWait,16.0%,59) MAIN(running,11.7%,137) IDLE(ready,0.0%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 02:58:10 ago, cause: software
Last software reset at 2023-04-27 18:21, reason: User, Gcodes spinning, available RAM 69224, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x04
Aux0 errors 0,0,0
MCU temperature: min 32.1, current 34.7, max 35.4
Supply voltage: min 23.6, current 23.7, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 11.7, current 12.1, max 12.5, under voltage events: 0
Heap OK, handles allocated/used 99/2, heap memory allocated/used/recyclable 2048/28/0, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min 0, mspos 680, reads 35246, writes 19 timeouts 0
Driver 1: standstill, SG min 0, mspos 680, reads 35246, writes 19 timeouts 0
Driver 2: standstill, SG min 0, mspos 680, reads 35246, writes 19 timeouts 0
Driver 3: standstill, SG min 0, mspos 680, reads 35247, writes 19 timeouts 0
Driver 4: standstill, SG min n/a, mspos 8, reads 35252, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 8, reads 35255, writes 11 timeouts 0
Date/time: 2023-04-27 21:19:28
Slowest loop: 27.39ms; fastest: 0.06ms
=== Storage ===
Free file entries: 20
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.5ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 3, maxWait 60276ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 20, completed 20, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], 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
Heater 0 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 0x0000005
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0 sensor: ok
=== CAN ===
Messages queued 96343, received 171224, lost 0, boc 0
Longest wait 13ms for reply type 6018, peak Tx sync delay 63438, free buffers 50 (min 46), ts 53452/53450/0
Tx timeouts 0,0,1,0,0,0 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 46.76ms; 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 =
State: active
Error counts: 0 0 0 1 0 0
Socket states: 5 2 2 2 2 0 0 0
= WiFi =
Network state is disabled
Module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0
4/27/2023, 9:17:08 PM 	Error in start-up file macro line 1: Bad command: =

@dc42 I'm not sure what changes need to be made to my homing sequence as listed above, the first line of the sequece shows "M569 P51.0 D0" that should take it out of closed loop and then the axis homes 2 times, then moves to a safe spot and then turns the closed loop feature back on the axis "M569 P51.0 D4" and then performs the polarity detection and zeroing move "M569.6 P51.0 V1" ... as I am typing this I realized that I have the wrong 1HCL listed at the beginning of the sequence...lol... I can't wait for the online configurator to make this stupid proof...lol.

@dc42 I put the count back to 1000 the one drive.. it was the firmware that gave that feedback in an error as to the read counts.
on the Home sequence instead of M569 P50.0/P51.0 "D0" it should read M569 P50.0/51.0 "D2"? What should the closed loop homing sequence look like with the 3.5.0-B3?

@supertb1 @T3P3Tony @dc42 @Phaedrux Another development that I have now noticed. Why would homing in closed loop on a core XY kick the second axis out of closed loop?

4/25/2023, 9:42:56 AM	M122 b50
Diagnostics for board 50:
Duet EXP1HCL firmware version 3.5.0-beta.3 (2023-04-14 13:08:48)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
Never used RAM 53412, free system stack 180 words
Tasks: Move(nWait,0.0%,110) HEAT(nWait,0.0%,82) CanAsync(nWait,0.0%,63) CanRecv(nWait,0.0%,43) CanClock(nWait,0.0%,70) TMC(nWait,42.9%,344) CLSend(nWait,0.0%,152) MAIN(running,55.2%,407) IDLE(ready,0.0%,29) AIN(nWait,1.9%,267), total 100.0%
Last reset 00:01:39 ago, cause: software
Last software reset data not available
Closed loop enabled: no, pre-error threshold: 2.00, error threshold: 4.00, encoder type rotaryQuadrature, position 10
Encoder reverse polarity: yes, raw count 65526
Driver 0: pos -116735, 82.5 steps/mm,standstill, SG min 0, mspos 632, reads 57493, writes 42675 timeouts 0, steps req 3 done 1643
Moves scheduled 13, completed 13, in progress 0, hiccups 0, step errors 0, maxPrep 15, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter -5/5, peak Rx sync delay 205, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4282244676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 24.2C, current 24.6C, max 24.9C
Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 368, send timeouts 0, received 394, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 288, adv 37175/37190
Accelerometer: none
I2C bus errors 0, naks 0, other errors 0
4/25/2023, 9:42:41 AM	G28 X
Driver 51.0 basic tuning succeeded, measured backlash 0.091 step
4/25/2023, 9:42:23 AM	M122 b51
Diagnostics for board 51:
Duet EXP1HCL firmware version 3.5.0-beta.3 (2023-04-14 13:08:48)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
Never used RAM 53412, free system stack 190 words
Tasks: Move(nWait,0.0%,104) HEAT(nWait,0.0%,82) CanAsync(nWait,0.0%,63) CanRecv(nWait,0.0%,43) CanClock(nWait,0.0%,68) TMC(nWait,42.0%,344) CLSend(nWait,0.0%,152) MAIN(running,56.0%,407) IDLE(ready,0.0%,29) AIN(nWait,1.9%,267), total 100.0%
Last reset 00:01:06 ago, cause: software
Last software reset data not available
Closed loop enabled: no, pre-error threshold: 2.00, error threshold: 4.00, encoder type rotaryQuadrature, position 2
Encoder reverse polarity: yes, raw count 65534
Driver 0: pos -81260, 82.5 steps/mm,standstill, SG min 0, mspos 24, reads 12053, writes 29607 timeouts 0, steps req 1 done 4129
Moves scheduled 8, completed 8, in progress 0, hiccups 0, step errors 0, maxPrep 16, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter -6/3, peak Rx sync delay 206, resyncs 0/0, next timer interrupt due in 16 ticks, enabled, next step interrupt due in 4285859782 ticks, disabled
VIN voltage: min 24.1, current 24.1, max 24.1
V12 voltage: min 12.0, current 12.0, max 12.1
MCU temperature: min 25.4C, current 25.8C, max 25.8C
Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 332, send timeouts 0, received 351, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 290, adv 36887/36909
Accelerometer: none
I2C bus errors 0, naks 0, other errors 0
4/25/2023, 9:42:13 AM	M122 b50
Diagnostics for board 50:
Duet EXP1HCL firmware version 3.5.0-beta.3 (2023-04-14 13:08:48)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
Never used RAM 53412, free system stack 180 words
Tasks: Move(nWait,0.0%,110) HEAT(nWait,0.0%,82) CanAsync(nWait,0.0%,63) CanRecv(nWait,0.0%,43) CanClock(nWait,0.0%,70) TMC(nWait,40.4%,344) CLSend(nWait,0.0%,152) MAIN(running,56.5%,415) IDLE(ready,1.2%,29) AIN(nWait,1.8%,267), total 100.0%
Last reset 00:00:57 ago, cause: software
Last software reset data not available
Closed loop enabled: yes, pre-error threshold: 2.00, error threshold: 4.00, encoder type rotaryQuadrature, position -1
Encoder reverse polarity: yes, raw count 1
Tuning mode: 0, tuning error: 0, collecting data: no
Control loop runtime (us): min=6, max=21, frequency (Hz): min=10563, max=16667
Driver 0: pos -16912, 82.5 steps/mm,ok, SG min 0, mspos 840, reads 48087, writes 36536 timeouts 0, steps req 4 done 5352
Moves scheduled 8, completed 8, in progress 0, hiccups 0, step errors 0, maxPrep 62, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter -6/5, peak Rx sync delay 204, resyncs 0/0, next timer interrupt due in 13 ticks, enabled, next step interrupt due in 4284715151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 24.2C, current 24.6C, max 24.6C
Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 502, send timeouts 0, received 538, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 309, adv 36965/37193
Accelerometer: none
I2C bus errors 12, naks 0, other errors 0
4/25/2023, 9:42:02 AM	G28 Y
Driver 50.0 basic tuning succeeded, measured backlash 0.128 step
4/25/2023, 9:41:45 AM	M122 b51
Diagnostics for board 51:
Duet EXP1HCL firmware version 3.5.0-beta.3 (2023-04-14 13:08:48)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
Never used RAM 53412, free system stack 194 words
Tasks: Move(nWait,0.0%,104) HEAT(nWait,0.0%,86) CanAsync(nWait,0.0%,63) CanRecv(nWait,0.0%,43) CanClock(nWait,0.0%,68) TMC(nWait,39.1%,356) CLSend(nWait,0.0%,152) MAIN(running,55.2%,417) IDLE(ready,3.8%,29) AIN(nWait,1.9%,267), total 100.0%
Last reset 00:00:29 ago, cause: software
Last software reset data not available
Closed loop enabled: yes, pre-error threshold: 2.00, error threshold: 4.00, encoder type rotaryQuadrature, position 4
Encoder reverse polarity: yes, raw count 65532
Tuning mode: 0, tuning error: 0, collecting data: no
Control loop runtime (us): min=6, max=21, frequency (Hz): min=11538, max=16667
Driver 0: pos -49086, 82.5 steps/mm,ok, SG min n/a, mspos 8, reads 38729, writes 64036 timeouts 0, steps req 2 done 0
Moves scheduled 4, completed 4, in progress 0, hiccups 0, step errors 0, maxPrep 56, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter -7/3, peak Rx sync delay 202, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4273061101 ticks, disabled
VIN voltage: min 24.1, current 24.1, max 24.1
V12 voltage: min 12.0, current 12.0, max 12.1
MCU temperature: min 25.4C, current 25.6C, max 25.8C
Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 273, send timeouts 0, received 278, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 306, adv 36670/37183
Accelerometer: none
I2C bus errors 12, naks 0, other errors 0
4/25/2023, 9:41:37 AM	G28 X
Driver 51.0 basic tuning succeeded, measured backlash 0.100 step

@T3P3Tony Hi. I am almost scared to update... I am currently working through issues with my new coreXY (https://forum.duet3d.com/topic/32222/corexy-1hcl-issues/2?_=1682288729468). Apparently the close loop tuning maneuver has changed from the previous coding and it may be part of what is going on with this new machine. I will update and see if any errors develope

@Herve_Smith thanks... apparently I did that wrong on the first line

@supertb1 50_2023-04-23_07.58.02.csv