Hey @dc42,
Currently I removed +5V from dedicated PCI-Ex to USB adapter for Duet 3 Main Board 6XD and the system is working as intended.
When I catch some time I will investigate the option with daemon.g and VIN power monitoring so that this external modification is not needed.
Thank you,
Cheers Ian,
That works as intended, but unfortunately, it is not "bulletproof" as much as I hoped so.
In case Main switch is powered off, extension boards lose power but Duet 3 Main Board 6XD still has power from USB meaning extension boards drop the CAN connection, and powering up the main switch from the enclosure will not re-initialize the config.g to sync extension boards.
It seems to me I will need to cut/remove the USB power, or make some constant monitoring loop.
Thank you,
@droftarts
Hi Ian,
I have 4 separate PCI-E to USB controllers connected to MB, one is like 8Eur and one of them is only dedicated to Duet, so removing 5V regulator from a single card is not an issue.
I tried to modify the config.g with boards[0].vIn.current, but I end up in some kind of a loop, need to investigate that approach in more detail.
Thank you,
Hello Ian,
Thank you for the replay,
I do not need to communicate with the system when the main power is off.
It was also my idea to modify the cable as you mentioned or to remove the +5V regulator from PCI-E which is used only for Duet 3 Main Board 6XD.
I will investigate if I can implement it with boards[0].vIn.current, thanks for the tip!
Hello David, thank you for the replay.
In that case, I would need to use one gpIn[1].value as a "sensor" where I connect +24V to detect its presence, right? Or is there some other elegant solution?
Or is it better to do it over daemon.g and config.g together and to implement some kind of continuous monitoring?
Thank you,
Hello,
I am trying to find the best Power-On sequence for my PnP machine.
I have an enclosure with complete electronics where the Duet 3 Main Board 6XD and Duet 3 Mini 5+ are. From the enclosure to the head of the machine, I run the +24V and CAN-FD lines for two Duet 3 Expansion Board 3HC-s.
The computer on which the complete machine runs is outside of the enclosure, and I run the USB cable through the panel connector to the Duet 3 Main Board 6XD, and also the LAN.
The problem I am facing is that if I Power on the computer first, the USB will power Duet 3 Main Board 6XD, and when I activate the Main Switch located on the enclosure, power will be delivered to servo drives and +24V PSU which delivers power to Duet 3 Mini 5+ and two Duet 3 Expansion Board 3HC-s in the head of the machine. In this sequence, all three boards do not initialize properly, I need to run M999 in DWC then everything is ok, all boards are synchronized perfectly and the machine is working as it should.
Option two is, when the computer is turned off and there is no power over USB, I activate the Main Switch on the enclosure to power up the servo drives and +24PSU, all Duet boards power on inside of the enclosure and in the head of the machine in the same time then I turn on the computer and I can see all boards are connected/synced successfully.
Is there a way to combat this, for example using only data cable for USB (without +5V) or something else so that if the computer is powered on first I do not have an issue if the +24V is powered on after, what would be the best approach to this?
Thank you,
@Zseven Hi,
It is a bit messy as all of it is outside of the encolure now, there are two resistors, one for STEP and one for DIR, I soldered them on the wire terminals and insert them in a connector, you will need to put some shrinking tube so that you don't short the pins/wires.
@dc42 Hi,
I received Duet 3 Mini5+ and Duet 3 Mini 2+, I managed to get it working without any issues for now, first I was super scared as the conveyor width stepper was making super weird noise then I researched a bit and found out that I needed this:
M569 P05.0 D3 H50 v50 S0; Conveyor_Width
M915 P05.0 T50
After adjustment, the motor is working well, no more weird noises, now I need to finish 3 "Zones" of the conveyor, and sensors and put all the electronics in the Industrial enclosure, this should all be easy. 
https://www.youtube.com/watch?v=PELvjKmPtk0&feature=youtu.be
This combination of Duet 3 Mini5+,Duet 3 Mini 2+,6XD and 2x3HCs, was a super nice decision, thank you.
Zdenko,
@dc42 Hi!
Ok, will place an order for the additional Duet HW, hopefully I will manage all connections without any issues.
Thank you,
@dc42 Hi,
Thank you, that makes sense, it would be the best solution, all would be integrated into the Duet3 Eco system, no external drivers would be required, space in an enclosure will be saved, and no additional wiring would be needed.
When it comes to connecting Duet 3 Mini 5+ with the rest of the Duet3 hardware in my case with 6XD and 2 pieces of 3HCs, to connect it on the CAN-FD line I would only need a short "stub" for CAN-FD and configure the Duet 3 Mini 5 config.g with M954 and set the CAN-FD ID, all other is then configured in 6XD config.g right?
As I have motors that are working in parallel, in config.g, drivers should have the same "letter of axis" assigned to Drivers that are moving at the same time, is that correct?
@dc42 Hi!
6pcs - Nema 17 26Ncm(36.82oz.in) 1.2A 42x42x30mm
1pc - Dual Shaft Nema 17 Nominal Voltage: 4.83V 1.5A 42x42x60mm
@dc42 Hi,
I am looking for a way to connect 7 more steppers, as I can not use the 6XD which has timings set for two axis (X and Y) for external AC Servo Drivers, and as these timings are too fast external stepper motor drivers I need to find another solution that is cost-effective.
Now I basically have 4 STEP/DIR outputs on 6DX that can not be used because of this setup, so I need a way to have at least an additional 4 STEP/DIR outputs that are not "triggered" by those timings for X and Y Servo axis.
I would need 4 STEP/DIR outputs, or some combination of Duet 3 hardware to reach 7 integrated motor drivers, in that case, I would not need 7 external drivers.
If I go in the direction of Duet hardware, I would need two additional 3HC and one 1HC to have 7 integrated motor drivers, and that is in the end more expensive than one additional 6XD and 7 external drivers (where I need to buy 5 more only as I already have two)
With an additional 6XD, I would probably be more flexible, and I would only use 4 STEP/DIR from the board.
3 - Step/Dir outputs for (Two Stepper Drivers in parallel) = 6 drivers
1 - Step/Dir output for Conveyor Width Driver = 1 driver
If there is any other solution, I would be happy to hear.
@T3P3Tony Hi!
Quick question, If I would connect one more 6XD on the CAN-FD line as a "slave", I would love to connect it like this:
6XD -> 6XD(Slave) ----------- Longer CAN cable to the head of the machine ------------>3HC -> 3HC(Termination)
But as mentioned in Duet Documentation, 6XD has only one CAN-FD connection and it should be connected last in line if used as Slave, in that case, I would need to run a new cable from the head of the machine back to the enclosure where the rest of the electronic is and I don't like that, is there any other option?
Thank you,
@T3P3Tony Hi!
Yes, you are correct, it would give me more options and even connectivity as a separate controller on its own USB or over CAN-FD, so I am positive I will go in that direction.
Thank you for your support.
@T3P3Tony Hi!
I only tested one output where I discovered that issue and that was for "Conveyor Width".
But as mentioned I need a total 7 new stepper motors, my plan was to use three outputs from 6XD to control 6 external drivers for "zones" as these steppers will work in pairs and one output for Conveyor Width, so a total of 4 outputs are needed.
I think the most cost-effective solution would be to go with an additional 6XD. 
@T3P3Tony Hi!
I was considering that, as all would be on the same COM port in the end:
USB COM_1 ---> 6XD ---> 3HC ---> 3HC --->1XD --->1XD --->1XD --->1XD
There is an option in OpenPnP to have multiple controllers, in that case, I would go with:
USB COM_1 ---> 6XD ---> 3HC ---> 3HC
USB COM_2 ---> 6XD ---> External drivers
Or even:
USB COM_1 ---> 6XD ---> 6XD ---> 3HC ---> 3HC
When I compare prices of another 6XD or 4 pieces of 1XD, 6XD would be a better choice as it would be in the end same price but I would get many more options and I/O-s, so I am not smart here what to choose, hmm.
Are there any limitations that I do not see?
Thank you,
@dc42 Hello,
After some time I settled for now on T1.0:1.6:3.0:3.0 on all 6 outputs on 6XD, but I ran into another issue.
6XD is controlling two external servo drivers, and over CAN-FD I have two 3HCs where I have a total of 6 stepper motors and this is all working well.
I want to implement the conveyor system for the PCBs, There will be 3 zones:
So a total 7 new stepper motors are needed, my plan was to use three outputs from 6XD to control 6 external drivers for "zones" as they will work in pairs and one output for Conveyor Width.
A problem in what I ran was on testing the Conveyor Width is, with all outputs on 6XD setup to T1.0:1.6:3.0:3.0 external driver is too slow to process the step/direction as the signal is too fast, and if I change the settings only of the output that is controlling the external driver for Conveyor Width and get it to work, servo outputs get slow and I can not reach the 3k RPM any more, only around 1750.
Is there a way to set it up, or do I need to buy another 6XD just for the complete conveyor system?
Thank you,
@dc42 Hi,
I tested:
0.8:1.8:2.7:2.7 (M569 P0 actual 0.8:1.9:4.0:3.2us) - again some minor shifts
0.6:2.0:2.7:2.7 (M569 P0 actual 0.6:2.0:4.0:3.4us) - can not even move the X motor, but Y is moving, strange...
0.8:2.0:2.7:2.7 (M569 P0 actual 0.8:3.2:4.0:3.2us) - just tested to see what would hapen, no improvements.
Does maybe grace period have anything to with this, I am shooting blind now?
M595 P120 R3
I will need to spend a lot of time probably on this during a weekend to try and find sweet spot. 
Thank you,
@dc42 Hi,
T1.3:1.3 :2.7:2.7 is not working, the same random shifts unfortunately.
T1.0:1.6 :2.7:2.7 works much better, I am getting on Long-distance move around 0.01mm shift on X-Axis in negative (so it is losing steps), so in 10 Long-distance moves I lose around 0.1mm in X axis.
Long-distance movement is machine Max Diagonal travel, so both X and Y axis are moving at rapid speed.
The thing I noticed with T1.0:1.6 :2.7:2.7 after around 30mins of testing, 2 times I had like motor "stall", motors on Long-distance rapid speed in the middle of movement lost the acceleration and continued to move which resulted in a position shift, and in all other cases it was like I mentioned above.
Thank you,
@dc42 Hi,
After further testing, it seems that I am actually getting position shifts, it is quite random, sometimes only in X and sometimes only in Y, and sometimes X and Y. Shift warry from 0.02mm to almost 0.2mm on long-distance moves.
Wires from 6XD to Servo drivers are around 30cm, and both X and Y have pull-up resistors on STEP and DIR.
For a test, I changed T1.3:1.3:1:1.3 to T1.4:1.4:1:1.4 and T1.5:1.5:1:1.5, it works good but I need to reduce the overall acceleration speed, it seems I will need to change overall precision to 0.02mm in the end If I want to move that fast and in a repeatable way.
Thank you,
@dc42 Hi,
I will just put 1k on DIR pins also, to be on a safe note.
Yes, this is my second revision of the Pick and Place machine, I am currently working on a conveyor system for it and later I need to implement feeders.