Interfacing with Duet 3D printer controller - motor slowly losing track of position in negative direction

[John Grouse]

Hi all!  

I've had three of these Mechaduino boards in my possession for a week and have managed to get the step and dir output from my Duet 3D printer controller talking to the board via pin 2 and 3 (3.3V logic levels from Duet) for DIR and STEP (not using ENA).  X and Y are calibrated and PID tuned.  Unfortunately what seems to be happening is that when the axis moves in the negative direction it will just start moving on its own towards zero very slowly (with a random speed).  Why it doesn't do this when I move in the positive direction I can't tell?  What I have observed is that stepInterrupt() gets triggered like noise is present on the step pin when it changes to the negative direction (adding SerialUSB.println(r); to see it getting triggered).  In this state I also tried unplugging the DIR pin to see if it had any bearing on this however STEP still seems to be getting random noise on it.  So at this point I am trying to get to the bottom of why the STEP pin out of the Duet is getting noise it when the DIR pin changes to the negative direction.  

And now, just as I was writing this I went to upload a change to the code and all of a sudden the board is not identifying itself correctly to the OS.  I now get Unknown USB Device (Device Descriptor Request failed).   So is there some way to recover the board when it does this??  Right now I cannot seem to make it talk to the PC.  LED on the board just stays on now.

Following the manual it does say that I can connect a USB cable while the board is powered via 5V from another source (this being the Duet controller 5V pin).  Have to now wonder if that has pickled it?  What components should I be replacing to get it going again?  5V to 3.3V rectifiers?  Fuse?  

Here I was hoping to get this one last issue resolved and I'd be up and running!  

Any help greatly appreciated.

[John Grouse]

Just testing with the Y axis motor now that the X axis Mechaduino is dead.  Changed the pin allocations back to 0-Dir/1-Step and that seems to work as well, however I still get this drift I mentioned.  You can see the effect on the attached image from the cube printout I just created.  Even with a day's worth of PID adjustments I still get unwanted patterns along the y axis moves.  So, sure, the idea of keeping its position if something disrupts it is a great thing but if it cannot even do that and just mess up the surface quality then what purpose are these boards if I cannot at least get the same smooth motion as I would without the board hooked up?  Reading the DIR and STEP pulses should be a no nonsense task but it cannot even do that correctly.

Ultimately what I would like to see happen is the Duet (Arduino Due) talking to the Mechaduino boards via SPI or I2C to request a move to a position at a given speed and do that as smoothly as possible.  Once that position is reached report back to the Duet that it's ready for the next move command.  If the move is not completed in the expected time the Duet should lift the head and pause to allow the operator to correct the obstruction.  Would also like to see a working auto PID tune that caters to various speeds and takes into consideration the mechanical properties of the axis (friction, mass, belt stretch etc.).

So far the existing firmware does not seem to cater to this requirement, just go into closed loop mode and go to a specific rotation angle at full speed with the r command.  No speed command seems to exist??

If there are no suggestions out there I'm just going to have to ditch the Mechaduino for now and get back to 3D printing the regular way.

[Kai Wolter]

 John,

you can test my version if you want to. I've implemented most of the things you mentioned (PID autotune, friction compensation, velocity feedforward, and mass). But I need more feedback from other machines to know if it's working correctly.

Here is the link to my version:
GITHUB

give it a try and let me know ho it works.

Here is a picture of a calibration cube I've printed on my machine after running the autotune for 5 cycles and nothing else.

- Kai

[John Grouse]

Thanks Kai!

Dug up my digital oscilloscope yesterday and had a poke around the signals for STEP and DIR from the Duet.  What I found is that the 12V I was tapped into from the PC PSU it uses must have had a different ground to the 12V that the Duet was using for heater power as the STEP and DIR pins had heaps of little spikes all over the signal.  As soon as I switched to the GND of the Duet's 12V source the spikes practically vanished.  Puzzled why a PC PSU would have a different ground for each of the 12/5V wires that come out of the box?  Wouldn't be great for the peripherals communicating to the motherboard? 

I've also ordered some thin coax to use for the STEP and DIR signals to really shield them as they pass up next to the heater wires in the cable guides. 

Thought I read that your printer was a CoreXY in another post?  Doesn't that use the Duet?

Hopefully I should be able to get far better PID's with your auto PID routine.  Are there any steps I should know about to initiate it via serial to the PC?

Wish the Duet V0.6 board I have could do better that 1/16 microstepping as the GT2 belt drives only give 80 steps per mm.  My newer Duet Wifi goes much higher than that however from testing I'm finding the max mm/min the Mechaduino can handle is 10,000.  For my little Duplicator i3 that is fine for fast moves, however on the big 1200x900mm CNC I am building my Duet Wifi can drive the axis at 20,000 mm/min.  So I'm hoping these new 10A NEMA23 boards that should be coming out the start of next month will be up to the task of reading the STEP pules at that rate?

Also, out of curiosity, if I wanted to stick a BT module on the Tx Rx pins (currently mapped to Step and Dir) do you think that would also allow for code uploads wirelessly or just give me access to serial commands?

Regards,

John

[Kai Wolter]

Hi John,

you're right I'm using a CoreXY system. currently with a Rumba board and upgrading to the Re-Arm in the future.
Right now I'm using 1/16 microstepping as well with 16 teeth GT2 pulleys (keep in mind that this setup already produces an accuracy of 0.01 mm), the extruder will generate a bigger error that that)

To setup everything you have to do the following steps:
1. upload the firmware on a mechaduino with no load attached to the motor
2. open the serial monitor with baudrate of 250000
3. send "help" (you have to select "CR" in the little dropdown menu at the bottom) you should get a promt of all commands
4. send "calibrate" the motor will start spinning and calibrate itself and post the new lookup table

(if you have matlabyou can run this stpe if not skip it and post you lookup_tables here and i will do it for you. right now the firmware can't do this step on it's own. But you can run the motors without this extra step, they run smoother with it)
5. copy the lookup_table to the matlab scrip and run it. it will generate a .txt file with the new lookup

6. copy the lookup to the file " lookup_table.cpp"
7. reupload the firmware
8. attach your mechaniks to the motor
9. make sure the motor can move to all directions
10. send "autotune" with the serial monitor
11. wait for the answer and then send a 5 (i usually use 5 cycles)
12. let the magic happen (your motor will vibrate quiete a bit)
13 send "param" with the serial monitor
14. copy the values to the file "configuration.h"
15. reupload everthing

[Kai Wolter]

Here is the Matlab file.

The max speed you can get is depending on you PID settings and the current and many more things. So I'm not sure qhat you can get with it. The max motor speed I can get were about 500-600 rpm so that would be equal to 20.000 mm/min (only tested with a step response ).

If you use the Bluetooth module you should be able to communicate with the machaduino serialport but I'm not sure (I'm not a really good electronics guy,.. more affine to software and things like that)

- Kai

[Kai Wolter]

I've uploaded a new versions a few minutes ago with some small fixes make sure to use this version.

- Kai

[John Grouse]

Thanks Kai! 

Was away in Queensland at the start of the week but back now and will try out your latest code today.

Will let you know how all that goes.

Regards,

John

[John Grouse]

Hi Kai,

please find attached the calibration values your code generated.  I did start going through the process of getting a copy of MATLAB however it's asking for a lot of personal info just to get a free trial.

Once I have the smoothed values I'll run with them.  I might also look through the code you use in the .m file to see if I can do the same in VB.NET.

Thanks,

John

[John Grouse]

Hi Kai,

after analysing the original calibration values it looks like they do not require smoothing so ran with them.

Unfortunately after numerous auto tunes the PID values it returned just resulted in vibrations on each upload.  So out of curiosity I set P to 2.0 and I/D to 0.0.  Strangely enough I now do not have any vibrations and the motion seems to be reasonably smooth.  Might try small values for D and I to see if that makes any difference.

Another interesting observation is that it's now not losing steps as it was with the original code.  Wiring is as it was when I last tested the regular code which showed a consistent loss of steps when going in one direction causing a cube to look like a slope in the Y axis.  Now the cube is a cube again.  So something about the way you read the STEP and DIR pins must differ from the regular code I started with?

So I'm hopeful again that this really is a positive upgrade to a 3d printer/router.

I had hoped to get these new boards from Trampas for the NEMA23's I have however he had to cancel the orders as he couldn't complete the FW he was writing.  Hope he can complete the code before the end of Feb?

[Kai Wolter]

Hi John,

i smoothed the calibration. It seems smooth for us but if you plot the error you can see the difference.
Here is a picture of the error from you lookup. (blue is original, red is the smoothed version)

- Kai

[Kai Wolter]

Can you post the output from the serial monitor after running the calibration?
Besides the PID autotune doesn't work perfectly every time, you may have to tweak the values you get.

You can also try to set the Kvffterm to zero at the start and then increase it slowly after tuning the PID settings.

- Kai

[tomek...@googlemail.com]

Hi Kai,

I tried your Firmware, because the Mechaduino loses steps with current Mechaduino-Firmware as John described.

I'm using a Stepcraft 420 (with 1,7A stepper motors) for CNC, especially 3D-Printing and I had the same vibrations with auto tune at the beginning.

So I changed in the configuration.h - file "#define mass_load 300" to "2300" (for another axes 1300 and 3300) ; "#define  iMAX 1000" to "1700" and ran the auto tune routine again. Finally it works really nice at low and high speeds.

On the other hand, I found out that after moving any axes until -119.3 mm or +119.3 mm all works great. But if the machine moves farther than approximate -119.3 mm or 119.3 the axis stops at this point and makes a loud noise (Motor oscillation) until i moves it back below the "magic 119.3" and the axes begin to move again and everything is okay. The Stepcraft 420 moves 2 mm with one rotation of a motor. So it needs 100 rotations for 200 mm and a normal 3D Printer maybe 6.25 rotations. And maybe there is a limit in your Firmware. It would be nice to increase or remove this "limit".

At this point...Thanks all the people working at this project

[Kai Wolter]

The magic number of 119.3mm is an overflow of the angle variable
119.3mm / 2mm gives 59.65 rotations
angle = 59.65 * 36000 = 2,147,400 (the angle is multiplied wit 100 so 360 deg = 36000)

and the limit of a long in c++ is 2,147,483,647 and the code multiplies the angle with 1000 at some points so we get 2,147,400,000 and this is to much

I will take a look into this to find a solution.

if you set you iMAX to 1700 it's possible that you need extra cooling on your A4954 chip.
The mass_load will change for every setup. The mechaduino will try to compensate the inertia of the system and if the mass is off by too much it's possible that the mechaduino overshoots and therefore start to oscillate.


- Kai

[John Grouse]

Hi Kai, just in the middle of a large print so won't be able to try this again till the morning.  Will let you know the results then.

[Kai Wolter]

I've uploaded a version that uses larger variables to account the problem. I can't test it right now. If you want to tet it for me just download it and copy you look_table.pp and configuration.h and reupload everything it should work with values higher than 119.3 mm

You can find it here:
GITHUB-Mechaduino-development

- Kai

[tomek...@googlemail.com]

I've tested the new dev-version. And WOW!

First the issue with values higher than 119.3 mm don't work. I downloaded it, made calibration-routine and so on...

But the top-speed is fantastic! It's your "dynamic phase advance"?

Now the max usable speed is for me 2200 mm/min with a pitch of 2 mm (Stepcraft 420, first generation).

The max speed with the old firmware was 1100 mm/min.

Thanks for your advice about the cooling at 1.7 Ampere. I'm using a passive-aluminium-cooler. Approximate 9 mm x 16 mm x 16 mm.

In the past I have played with openloop driver like the drv8825 or tmc2100 (silent step stick), so my experience, if i wanted higher speeds, i needed higher voltage. I didn't really know, if i would need higher voltage for this closed loop system, but i did it.

I removed the original 100µF cap, which is limited to 25 V and replaced it with a 100µF 63 V cap. Now the limit is 40 V, because of the operating voltages to 40 V by the A4954 motor driver.

The Mechaduinos are powered with a 36 V, now. 

- Tom

[Kai Wolter]

Hi Tom,

it could be the dynamic phase advance. The magnetic field of the motor is calculated bases on the desired speed so it can get up to higher rpm.

I changed some things in the file Controller.cpp can you try it again? You don't need to do all the calibrations again just download the new Controller.cpp and copy it in your direction and reupload everything.

-Kai

[Kai Wolter]

The higher voltage helps with the higher speed. If the voltage is higher the time to get the wanted current is lower. So the mechaduino can alternate the current between the phases faster.

You can also post you lookup_tables here ( in some .txt files) and .i will smooth them you should get even better results with them. I#m currently working on a way to implement this smoothing in the firmware directly but it's not so easy.

- Kai

[Salam Siddique]

hey kai, why does it say frequency not in usable range???

:>autotune

//---- Autotuning the PID controller ---

press c to cancle

Enter number of tuning cycles!

Cycles = 3

| loop | Noise | Frequency | lookback | P      | I      | D       |

|-----------------------------------------------------------------|

|   1  |   5   |   inf   

Autotune failed, frequency not in usable range!

:> //---- Calculating friciton ----

|---+----+----+----+----+----+----+----+----+----|

.................................

[Kai Wolter]

does the motor vibrate/oscillate while tuning?

make sure your motor hast power.

if both don't help send the following lines

"autotune"
"d1"

and then upload the output as a .txt file and I will look at it.

- Kai

[John Grouse]

Without pulling the Y axis heat bed off my Duplicator i3 to weigh it, is there anyone out there who has a ball park figure as to how much it weighs so I can put that value into Kai's code and retune?  The bed is just a 210x210x3mm aluminium plate with integrated heater and a BuildTak like surface.  Guess you would add on the weight of the four linear bearing blocks underneath it.  Possibly 400g??

[Kai Wolter]

You can guess it it's not the most critical setting. I think 400g sounds about right.
You can set it to 0 and compare the step response of both settings and you should see if it's in the right area.

- Kai

[tomek...@googlemail.com]

Smoothing the lookup-table in the firmware? Sounds good!

The issue with higher values than 119.3 mm: It don't get better after adding the new Controller.cpp (with "long long- variables"). Additionally I have a new issue: After jogging the axis quickly in different directions, some mm in plus, some mm in minus, the axis began run away with full speed and stopped after a while. When I'm changing to the Controller.pp-file before (with int- variables"), then jogging works perfect. But still the 119.3-issue.

Here is my current lookup-table:

const PROGMEM int lookup[] = {28649 , 28651 , 28653 , 28655 , 28657 , 28659 , 28661 , 28663 , 28666 , 28668 , 28670 , 28672 , 28674 , 28676 , 28678 , 28680 , 28682 , 28684 , 28686 , 28688 , 28690 , 28692 , 28694 , 28697 , 28699 , 28701 , 28703 , 28705 , 28707 , 28709 , 28711 , 28713 , 28715 , 28717 , 28719 , 28721 , 28723 , 28726 , 28728 , 28730 , 28732 , 28734 , 28736 , 28738 , 28740 , 28742 , 28744 , 28746 , 28748 , 28750 , 28752 , 28754 , 28757 , 28759 , 28761 , 28763 , 28765 , 28767 , 28769 , 28771 , 28773 , 28775 , 28777 , 28779 , 28781 , 28783 , 28786 , 28788 , 28790 , 28792 , 28794 , 28796 , 28798 , 28800 , 28802 , 28805 , 28807 , 28809 , 28811 , 28814 , 28816 , 28818 , 28821 , 28823 , 28825 , 28827 , 28830 , 28832 , 28834 , 28836 , 28839 , 28841 , 28843 , 28846 , 28848 , 28850 , 28852 , 28855 , 28857 , 28859 , 28862 , 28864 , 28866 , 28868 , 28871 , 28873 , 28875 , 28877 , 28880 , 28882 , 28884 , 28887 , 28889 , 28891 , 28893 , 28896 , 28898 , 28900 , 28903 , 28905 , 28907 , 28909 , 28912 , 28914 , 28916 , 28918 , 28921 , 28923 , 28925 , 28928 , 28930 , 28932 , 28934 , 28937 , 28939 , 28941 , 28944 , 28946 , 28948 , 28950 , 28953 , 28955 , 28957 , 28959 , 28962 , 28964 , 28966 , 28969 , 28971 , 28973 , 28975 , 28978 , 28980 , 28982 , 28984 , 28986 , 28988 , 28991 , 28993 , 28995 , 28997 , 28999 , 29001 , 29003 , 29005 , 29008 , 29010 , 29012 , 29014 , 29016 , 29018 , 29020 , 29022 , 29024 , 29027 , 29029 , 29031 , 29033 , 29035 , 29037 , 29039 , 29041 , 29044 , 29046 , 29048 , 29050 , 29052 , 29054 , 29056 , 29058 , 29060 , 29063 , 29065 , 29067 , 29069 , 29071 , 29073 , 29075 , 29077 , 29080 , 29082 , 29084 , 29086 , 29088 , 29090 , 29092 , 29094 , 29096 , 29099 , 29101 , 29103 , 29105 , 29107 , 29109 , 29111 , 29113 , 29116 , 29118 , 29120 , 29122 , 29124 , 29126 , 29128 , 29130 , 29132 , 29135 , 29137 , 29139 , 29141 , 29143 , 29145 , 29147 , 29149 , 29152 , 29154 , 29156 , 29158 , 29160 , 29162 , 29165 , 29167 , 29169 , 29172 , 29174 , 29176 , 29178 , 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, 28639 , 28641 , 28643 , 28645 , 28647 , 

};

[Kai Wolter]

Sound like a deeper problem.... I will investigate it further. For now, you have to use the old version then.

Here is you smoothed lookup table (just delete the date in the name of the file). If you want another one just upload you lookup_table.cpp so there is no extreme long post.

- Kai

[Kai Wolter]

I changed back all the long long variables and edited some other parts could you try it again? (dev branch)

[John Grouse]

Kai,

using your latest code (4 days ago) I ran the autotune about 8 times in two runs, using the suggested values and updating the board each time to see if it would hone in on a sweet spot.  I tried setting Kvff to zero and 15 on each run of autotunes.  Each time I am left with the heatbed Y axis vibrating.  Even slowly raising Kvff I was unable to get rid of the vibration.

I also used the loop command to see how high I could set FPID while the motor was moving at 300mm/min and came up with 13550.  So I set this back a bit to 13500.  Even that could not resolve the auto PID tune vibrations.

So then I just tuned the PID the hard way and finally came up with these settings -

//---- PID Values -----
#define Kp 1.91000
#define Ki 0.00800
#define Kd 2.40000

//---- friction compensation ----
#define Kfr 5.00000

//---- velocity feedforward----
#define Kvff 33.00000

Also had to try the test values at various mm/min from 300 to 9000 as I was hearing patches of loud buzzing at certain speeds.  Dropping pLPF to 240 (from 250) seemed to remove the buzzing.

So I was able to get close to what I want using your code however it does seem that the autotune is not providing the correct PID's for my hardware.  The Y axis is just your basic Prusa Mk2 setup with a GT2 2mm belt attached to the base of the heatbed which slides along two 8mm rods with 4 linear bearings.  Very little friction and not a great deal of mass. 

FIY, the autotune seemed to come back with this -

//---- Autotuning the PID controller ---
press c to cancle
Enter number of tuning cycles!

Cycles = 5

| loop | Noise | Frequency | lookback | P      | I      | D       |
|-----------------------------------------------------------------|

|   1  |   1   |   253.2   |   19     | 2.3661 | 0.0887 | 15.7718 |
|-----------------------------------------------------------------|
|   2  |   5   |   238.1   |   20     | 2.3071 | 0.0814 | 16.3515 |
|-----------------------------------------------------------------|
|   3  |   4   |   243.9   |   20     | 2.3245 | 0.0840 | 16.0826 |
|-----------------------------------------------------------------|
|   4  |   5   |   241.0   |   20     | 2.3855 | 0.0852 | 16.7058 |
|-----------------------------------------------------------------|
|   5  |   5   |   238.1   |   20     | 2.2909 | 0.0808 | 16.2366 |
|-----------------------------------------------------------------|

//---- Calculating friciton ----
|---+----+----+----+----+----+----+----+----+----|

..................................................

//---- PID Values -----
#define Kp 2.33500
#define Ki 0.08400
#define Kd 16.23000

//---- friction compensation ----
#define Kfr 3.65600

//---- velocity feedforward----
#define Kvff 33.00000

[Kai Wolter]

Hi John,

that's kind of strange. The Kd term normally accounts for such vibrations, that's why it's so high.
I run my motors with 10 kHz and they run pretty well. I wouldn't change that.
Did you set all the other parameters in the configuration.h file? Like M_max and J?

You can also try the newest version (dev branch) from GITHUB
It has some advantages but the autotune works the same.

You can run the following commands and upload the serial output as .txt file I will take a look at it:

"autotune"
"d1"

maybe I can figure out why it's not working with your setup.

Can you also upload a picture of both step responses (one with your settings and one with the autotune settings)?

Thanks for your input.

- Kai

[tomek...@googlemail.com]

Hi Kai,

Thanks! It works! I tested your newest Firmware (dev branch / 3 hours ago).

Now, it moves above the 119.3 mm in both directions and I'm very satisfied. So I can use the Stepcraft 420 as CNC and 3D-Printer at 1800 mm/min with closed loop.

That's 900 rpm with high acceleration and tested with the largest axis with the most friction.

There is only a small issue that I found:

The axis moves at 2200 mm/min, too. But if I'm jogging at this velocity and changing very quickly the direction between plus and minus, the axis runs away for some seconds, stops and the green LED turns off.

After that it can be moves again, but the green LED stays off, until I touch the reset button. 

Maybe it helps for improving the firmware in the future.

That's the reason, why I reduced the velocity from 2200 mm/min (1100 rpm) to 1800 mm/min (900 rpm).

2000 mm/min works, too. But I'm using 1800 mm/min to be sure all works.

- Tom

[Kai Wolter]

Hi Tom,

nice to hear that it works!

I will take a look at the mentioned bugs. I'm not sure where they're coming from. For now I'm working on a firmware version that generates the smoothed lookup table on its own.

- Kai

[John Grouse]

Hey Kai,

Attached is my current configuration.h with the manually tuned PID's.  What I had not done already is adjusted M_max and J for my specific NEMA17 (picture of model number attached) so I started again with what I think are the correct values.

Once again the autotune comes back with values that cause the tray to vibrate.  What I did find is that if I dramatically lower the I term the vibration eventually goes away.  Dropping it from 0.063 to 0.0125 resolved the vibration.  If I raise it to 0.013 I get a little bit of buzzing when the tray moves at 3500mm/min.  Also, using the auto PID values the response curve is returning all negative values, but this could just be due to the tray already being in a vibrating state?  Had to plot them in Excel.  The response curve with the lowered I term looks ok to me and as the tray starts, moves and stops I still feel a small oscillation on the change of direction so I will still need to play with the values to see which one smooths that out.  I did raise P and D terms to the point where there were vibrations and then backed off.

All this reminds me of hours of PID tuning multicopters and brushless camera gimbals, in particular the SimpleBGC boards.  They eventually had working autotune routines, however I always needed to go back and tweak the values.

Regards,

John

[John Grouse]

Hey Kai,

did some more tweaking of the values and strangely enough dropping the I term down to almost nothing reduced the pattern on the print I was getting significantly.  At the moment only the Y axis has the Mechaduino on it and as you can see from the XYZ cube print I seem to get more ringing on edges on the Y axis than I do with the X axis.  The belt is tight however I will see if I can tighten it more.  Attached is the config I ended up with.  Experimented with the velocity feed forward and friction values to see if I could completely remove any patterns on the Y axis as well as the PID settings and nothing seemed to completely remove it so I'm hoping that making the Y axis belt tighter will sort that out.

Getting there...

Regards,

John

[3d.m...@gmail.com]

The ringing on the Y axis looks to be caused by a step in X.  I suspect it is the X axis ringing as it is trying to settle into the proper position.  This is commonly associated with having accelerations set too high.  There is a little ringing from a step in Y as well, but it is not as severe, so I think the Mechaduino is actually helping in this case.

Mike

[Kai Wolter]

Hi John,

I see the ringing as the same issue as mike.

The oscillation and vibration of the mechaduino will always be lower with a lower Ki setting. Normally the Kd setting lowers these oscillations (you may want to look into PID controller a little bit)

If I have enough time I will take a look at your debug output from the autotune.

Also how high are your acceleration settings from the printer?

-Kai

[Kai Wolter]

I've taken a look at you debug output and it seems fine. I get the same values if I calculate it with MATLAB (note the autotune function is not my work it's based on the Ziegler-Nichols-method)

Could you set everything else to zero and post a step response with the autotuned values?
(Kvff = 0 , J = 0, Mass_load = 0, Kfr = 0)

I can't find your motor online, the only one I can find is this one: 42HS34-0844 www.jss-motor.com
If this is the same as you use you have set some settings wrong in you configuration.h.

They should be:
#define M_max 0.28
#define A_max 1700

I found one other side that mentioned the motor 3dprinterwiki.info
if this one is the right they should be:
#define M_max 0.28 (not sure isn't mentioned anywhere)
#define A_max 0950


- Kai

[John Grouse]

Kai - as you've seen, information really is limited on the internet on that motor.  Have to wonder if Wanhao had them made specifically for their Duplicator i3?  The closest info I could find is that the max amps were 0.95.  The M_max will have to be a guess as I cannot find any reference to moment of inertia.  It does show 1.8kg.cm as the holding torque.  As for A_max, I would imagine that the motor can take a bit more than 950mA in burst.  Would I not set iMax to 950 and perhaps A_max to perhaps 1100?  Will post step response when I get a chance.

Mike - yes, you are right about the ringing.  I was assuming that the speed of the Y axis was fluctuating after a sharp angle causing uneven flow of the extruder along the Y axis, however the X axis probably has more mass than the Y axis due to the extruder and its motor, so will try dropping the X acceleration down from 1000 to 700 in the Duet firmware.  Might also drop the instantaneous speed change value as well (although I'm yet to find a sweet spot for these anyhow).  Printing a tube already shows a reasonably smooth surface.  Accelerations and jerk speeds are currently -

M201 X1000 Y1000 Z600 E1000    ;accelerations (mm/s^2)

M566 X800 Y800 Z800 E800       ;instantaneous speed change

New values -

M201 X900 Y900 Z600 E1000

M566 X500 Y500 Z600 E600

Definitely less ringing, however I think putting the replacement Mechaduino on the X axis should improve things once it is also dialled in.

[3d.m...@gmail.com]

It's probably a good idea to keep the accelerations the same for both axis, or you might see some strange artifacts from that.  I'm thinking if the printer was accelerating at a 45 degree angle, that having different accelerations might cause it to deviate from the ideal line during the acceleration, but perhaps this doesn't actually happen.  It might be that the lowest value ends up limiting the other axis as well.

[Kai Wolter]

Hi John,

the A_max setting is not the maximal current the mechaduino will output, it's the rated current of your stepper (i think the configuration needs a little bit more description) So you stepper is rated for 0.18 Nm with a current of 0950 mA.
The maximal current the mechaduino will output is the setting:

#define iMAX 1000

this sets the maximal current output of the mechaduino to 1000mA.

The setting
#define A_max 0950
is needed to calculate roughly the torque depending on the current that is flowing.

- Kai

[Kai Wolter]

I've uploaded a newer version to the dev branch. This one includes the mentioned smoothing of the lookup table and has also a new configuration.h file. I hope the newer configuration is a little bit clearer.

for every feedback i would be thankfull!

- Kai

[tomek...@googlemail.com]

Hi Kai,

I think, I found the reason for my problem a few days ago by playing with the configuration.h file.

Problem:

The axis moves at 2200 mm/min, too. But if I'm jogging at this velocity and changing very quickly the direction between plus and minus, the axis runs away for some seconds, stops and the green LED turns off.

After that it can be moves again, but the green LED stays off, until I touch the reset button.

 

Too much pulses/sec! Buffer overflow or something like that...

In my case I'm using a leadscrew with a pitch of 2mm and a controller, which supports 125 kHz pulses. (Pokeys57cnc)

I used a nice Excel-Stepper-Calculator: Google: "steppercalc_alenz_rev1.xls"

16 µsteps and 2200 mm/min means 58666,67 pulses/sec (58 kHz) and a resolution of 0,000625 mm/step.

- Too High frequency, too high resolution.

Solution:

So I changed it to 8 µsteps and 1800 mm/min and get 24000 pulses/sec (24 kHz).

-> Now, no more axis is running away!

=====================================

After that I've uploaded your latest master firmware with fresh calibrating and autotuning. I have a feeling, the response got a little bit better... All okay.

Thanks!

- Tom

[Kai Wolter]

Hi Tom,

nice to hear that you found the problem.

The firmware in the master branch is now the same as the dev before (merged dev into master). The newest version in the dev branch now supports it's own smoothing algorithms for the lookup table, you might want to check it out. Thanks to the smoothing the motor runs quieter and less jerky in a rest.

- Kai

[Kai Wolter]

I found a pretty big bug in the inertia compensation and fixed it. Make sure to download the new dev branch!


- Kai

[John Grouse]

Kai - just tried your last fix for the i term in the dev branch and I can now use higher values without vibrations.  Have a feeling all other updates I was using were from the master branch so may have missed some of the other fixes till now.

Just testing a basic hollow cube now to check for ringing on the cube walls...

[Kai Wolter]

Hi John,

nice to hear make sure to post a picture of your progress.

- Kai

[John Grouse]

Now that I have the X axis set up with the replacement Mechaduino I'm seeing something odd - the motor force to push it back to where it needs to be if you force it in either direction is not consistent.  If I force it towards - the motor tension feels much weaker than pushing it towards +.  It also seems sluggish moving from the -ve pos back to where it needs to be.  It just snaps back quickly if I held it in a +ve position.  Not seeing this with the other Mechaduino on the Y axis.  I've calibrated about four times now and that does not seem to make any difference.  Could the stepper driver have something wrong with it on the new board?  Interestingly out of the two replacement boards I received, the other one I tried wouldn't even drive the motor.  I'm just going to check that the motor coils are the same resistance as it may even be a motor issue.

[Trampas Stern]

If the motor could are different then swapping the coils on mechaduino will cause difference to swap directions. If it is the same after coil swap it is most likely not motor.

Check that the sense resistors are same value.

Trampas
www.misfittech.net

[John Grouse]

Correction - I just uploaded Joe's original FW and it does have the same holding force in both direction.  So Kai, it does look like something is amiss in your firmware which is causing this inconsistent motor torque.  Really relieved that the hardware is ok.

[John Grouse]

And as for the other replacement board which I thought had a dud stepper driver - with Joe's code it is able to drive the motor in both directions using the "S" and "D" menu commands without issue.

So Joe's code works apart from the fact that it misses some of the steps on pin 1 when pin 0 (DIR) is at a high state.

[John Grouse]

Trampas - motor coil resistance is the same on both coils and the stepper driver on both replacement boards are confirmed to be working using Joe's code.  Somehow Kai needs to get to the bottom of why his code appears to be delivering a different amount of torque in each direction.  Would explain why I was getting more of a bulge on printed parts when the head was going in one direction on the X axis.  PID's were tuned as best I could however the inconsistency in torque applied was never going to remove the overruns.

[John Grouse]

Trampas - any chance your own FW could work on the Mechaduino board?  Is the hardware quite different to your own board?

[Kai Wolter]

I've never seen this behavior before and right now I'm not sure where this is coming from. The firmware uses a PID controller like joes so in theory, it should work the same in both directions....
Maybe it correlates with the phase advanced settings that will be calculated dynamically, but I have to take a deeper look into that.

Have you checked the behavior with all settings (other than the PID values) set to zero? So Kvff, Kfr, m_load and J set to 0?
 

[Trampas Stern]

Yes my firmware should work on the Mechaduino hardware, in the board.h just uncomment the line that declares you are using the Mechaduino hardware. 

There are a few difference in the Mechaduino hardware and the NZS:

1. The ground slug on the A4954 is soldered to the PCB on the NZS, this allows better heat sinking 

2. The NZS has a power switch on encoder as that if power is removed from board which firmware is reading encoder it can lock up encoder until you hard reset encoder.

3. There is an error pin which is also level shifted, this pin can be used to flag when you have large errors or used as an enable pin. 

4. Of course there is no LCD on the Mechaduino

The firmware I have does not have Kai's wonderful autotune functionality yet. It does however have a simple PID mode. This simple mode works with most systems out of the box, but at the cost of noise and slightly larger power consumption.  This simple PID is enabled by default, to use the PID like Mechaduino you will need to change to the positional PID (pPID) mode and then manually tune it for your system. The tuning parameters will be different than the ones for the Mechaduino firmware as that my firmware used fixed point math, see:

http://misfittech.net/2017/01/12/fixed-point-verse-floating-point-math/

If you have any further questions please feel free to send me a private message and we can discuss off line. 

Here is the firmware: https://github.com/Misfittech/nano_stepper

Trampas

www.misfittech.net

[John Grouse]

Hi Trampas,

Thanks for the tip about board.h.  I now have your FW loaded on the Mechaduino and the menu functions appear to work, however the code did require the 0/1 pins to be reversed to match the DIR and STEP allocations from the regular FW.  Once that was done it was responding to movement from the controller correctly.  Does feel smoother during motion however I may need to tune it to reduce the sudden start/stops.  Will do a cube print now and just examine the walls to see where the tuning needs attention.  The Duet is set to 900 for acceleration and 700 for the jerk speed.  Setting steps per mm in the Duet is a little puzzling - I set microsteps to 32 and was expecting 160/mm however I ended up with an odd figure of 313/mm when I measured the motion.  The motor pinion I have provides 40mm per 360 rotation (GT2 2mm belt).  Where in the code could I specify this setting?

So far this looks to be the most promising firmware.  I certainly agree that Kai's autotune has the potential to make this whole process far more pleasant, however for now I've just had unfortunate luck with his code on my setup.  

Kai, I really appreciate the amount of effort you have put into helping me out and I do plan on coming back to your code for a revisit on how it is going in the next few weeks.

[3d.m...@gmail.com]

Wow, that is the most aggressive jerk setting that I've heard of anyone using.  Typically this is more like 10 or 20mm/s.  I think on my printer, a MendelMax V1.5, I run a jerk of 20mm/s, and acceleration of 1800mm/s^2.  What kind of printer do you have?

Mike

[Trampas Stern]

John, 

Thanks for the feedback! 

Keep in mind that the maximum step input frequency on the NZS is 50kHz.  So if you have 16x microstepping a 20 tooth 2mm gear and a 1.8 degree motor then 50khz is 625mm/s, hence your speed should be set to maximum of 600mm/s if you are doing 32x microstepping it would need to be half of that. 

Note that the encoder accuracy and control system is such that more than 16x microstepping becomes overkill therefore I would recommend keeping at 16x or lower.  

I assume you are using a 1.8 degree motor, if it is a 0.9 degree motor the ~320/mm makes sense. 

Trampas

[John Grouse]

Mike - it's a Duet controller (32bit).  The values will be different to regular printer firmware.  I think the values are in mm/min in its config.g file.

Trampas - yes, I did notice that fast moves (10,000mm/min) were losing track of steps so set it back to 16x microstepping and 80/mm.  It's a regular 1.8deg NEMA17.  Working just fine now.  Just trying to work out which value to change on the spid values to remove the ringing on the corners of the printout.  Fast moves are now set at a max of 6000mm/min (100mm/s) so might try 32x microstepping again.

[Trampas Stern]

You will get better results by tuning the pPID mode than with the sPID, however it is difficult to tune the pPID. 

Anthony did some tuning on the pPID and found: "My settings are Kp 4.00, Ki .001, Kd 10.00 and it runs like a sewing machine." 

However that is dependent on your machine but you might want to start around those numbers.. 

The Kp is the proportional term, normally it is high as it multiplies the error and determines how much current to put to the motor to move. 

The Ki is the integral term, it makes sure over the long term the error is zero, it should be low, setting it too high will oscillate. 

The Kd is the derivative term, it is how much to slow down the current as you approach the objective and can keep machine from oscillating. 

use the "ctrlmode" command to change to the pPID mode, then you can use the "ppid" command to set the tuning parameters

Trampas

www.misfittech.net

[cool...@gmail.com]

My initial settings that got me going were Kp 4.00, Ki .001, Kd 10.00

After some firmware changes that Trampas and I worked on and the Phase Advance implementation, My settings changed to Kp 4.00, Ki 0.01, Kd 3.00.

One thing to note that I'm not sure has been considered is the input voltage to the controller. Most people have been running 12v into the board and I have too have had the sudden jerk stop when trying to run the axis very fast (500mm/s). My issue was the motors I am using are 4.2v motors (76oz-in) and the voltage was lagging the current. I turned the voltage up to 24v and now I can run at 500mm/s without the sudden stopping. Also, turning up the current also eliminated the idle noise that some users have when using a high Kd parameter.

I have not been able to break the 625mm/s barrier (at 16x stepping) as Trampas said due to the 50Khz input frequency. But 16x has been fine for my printing resolution. I can't think of making it any higher than 16x at this point since the motors run so quiet now. They are even more quiet than the Trinamic TMC2100 with 256x interpolated microstepping.

[John Grouse]

I think the pulse frequency limit may become more of an issue when this FW is ready for Trampas' high amp boards as (in my case) they will be driving ball screws.  So high rotation speeds will be needed to get the final movement speed up to 600mm/s.  TBH, I would be happy to even go at a max speed of 250mm/s on my new router.

Will try out the pPID mode now with the base settings at Kp 4.00, Ki 0.01, Kd 3.00.  Note that the upper speed I have at the moment is a relatively slow 100mm/s.  Printing PETG on a regular E3D V6 head just ends up with weak inter-layer bonds at that speed so I usually go at about 3500mm/min (48.33mm/s) and have the G0 fast moves at 6000mm/min.

[John Grouse]

Happy to report that the pPID mode with Kp 4.00, Ki 0.01, Kd 3.00 has made the motion feel silky smooth (finger tip on the extruder as the x axis moves).  Just going to do another print test and compare the box sides to see if the ringing is less than the other Mechaduino running Kai's code (Y axis).

[Trampas Stern]

Yes I am discussing with the Atmel FAE as to how to use a counter to count the step pin. It appears that through the event system of the SAMD21 this might be possible which will increase the frequency of the step pin's input. 

Another thing to consider is that if you need more speed you might want to drop to 8x microstepping.  For example with a 20 tooth 2mm pulley at 16x microstepping the resolution for each step is ~0.012mm, while with 8x it is ~0.024mm. My bet is that most machines have more mechanical error than this.. However I will continue to work on getting the timer/counter working for higher speeds. 

Trampas

[John Grouse]

Tried a fairly intricate print last night and it looks like the X axis lost some steps (perhaps about 10-20) about 25mm up from the bed (step offset to the right from the point up).  Seems to be the only spot it did lose steps on the entire print.  Guess this is one more reason to find a more robust method of keeping track of the step pulses.  Perhaps the 3.3V logic level going into D1 which has a built in step down to cope with 5V logic levels is borderline for it to be triggering a pulse?  Perhaps I need to change the mapping so that step is on D2 which natively takes in 3.3V?

Apart from that the quality is up there with just directly driving the stepper from the Duet controller with the added benefit of the cat not being able to screw the print up midway at 3am.  Still need to do some more tuning and playing with maxcurrent / input voltage.  Bit tricky trying to up the 12v coming out of the PC PSU I'm using (ability to tell the PSU to shut off from the Duet).  Might need to go with a different power source for the steppers which could pose an issue with a common ground within the Mechaduino?  Might need ditch the PC PSU and use a 24V PSU with a 5V BEC on the back of that?

[John Grouse]

Also, the getcal command is not returning anything even though it is calibrated.  Just going to download the build from 3 days ago in case I missed that one and recalibrate.

[Trampas Stern]

I will check the getcal, I might of broke something... 

For the power supply I would recommend a 24V power supply and a solid state relay to turn on and off. 

https://www.amazon.com/NEWSTYLE-Universal-Regulated-Switching-Computer/dp/B01CS5G8J6/ref=sr_1_4?ie=UTF8&qid=1486680809&sr=8-4&keywords=24v+power+supply

https://www.amazon.com/SMAKN-SSR-25DA-Solid-State-24-380V/dp/B00PQ7Y8ZU/ref=sr_1_3?ie=UTF8&qid=1486680832&sr=8-3&keywords=solid+state+relay

The 24V will allow faster moves than 12V, the solid state relay can be used to turn the AC power to the power supply off and on and be controlled by the Duet. 

As far as loosing pulses the grounds should be connected. Also you might want to make sure the motors and frame are connected to the same ground.  

Olivier did a neat thing with his machine and had the NZS report the position and error out the USB. This allowed him to map binding points on his machine. I will see about adding this to the firmware, then you could have some feedback to see where the steps are getting lost. 

As far as the 3.3V how do you have the system connected to you Duet controller?  That is the VIN pin should be 3.3V for 3.3V logic pins, and then the board needs to powered by putting 3.3V on the 3.3V pin (assuming your 3.3V power source can power the NZS) or you might have to power the NZS/Mechaduin through the USB port when VIN is 3.3V.  VIN should not be 5V when using 3.3V logic unless your controller is 5V tolerant!

Thanks

Trampas

[Trampas Stern]

I checked the Duet Schematics and they are using a TC2117 LDO for the 3.3V which has 800mA output.  With the SD card and other loads on the Duet this regulator most likely does not have enough current to power 3 Mechaduino boards. 

So you might want to run VIN as 5V and then remove resistor  R2 and R21 on the Mechaduino, this will remove the pull up resistors on the level shifter transistors, which should work  fine as the Duet most likely has a push pull on the Step and Dir pins.  Alternatively you can use an external regulator and power the Mechaduino from the motor voltage. 

Trampas

www.misfittech.net

[Trampas Stern]

I also checked and the SAM3X8E on the Duet is NOT 5V tolerant.  

Trampas

www.misfittech.net

[cool...@gmail.com]

John,

If you want to experiment you can try this:

http://www.ebay.com/itm/122256632674?_trksid=p2060353.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT

It will take your 12v and turn it into anything above 12v to 36v.

I ordered some of these and I am awaiting delivery, but since the current draw is pretty low at 24v i think for the most part they should be able to do that with a small heatsink.

My current draw at 24v is about 60mA idle, and 180mA full load, and these units are capable of up to 1000mA (heatsinked)

[John Grouse]

Current setup powering the Duet is a PC PSU with the 12V going in to drive the motors (only the extruder at this point as it does not require closed loop) and 5V from the PSU which is shifted to 3.3v onboard for the SAM chip and logic pins.  The Duet also has a pin which can allow the PSU to enable or disable the 12V out (not the 5V out as this will also stop the Duet from working).  The 5V out from the PSU is also fed to the X and Y Mechaduino's as well as the PSU 12V for the motor drivers.  So the Duet is not delivering the power to drive the Mechaduino's, only the 3.3v logic output for DIR, STEP and ENA.

I do have a 24V/15A supply and a bunch of 3A 5V BEC's which can take up to 6S lipo voltages (for RC).  Will experiment with those.

[John Grouse]

Also, I don't think losing steps is related to any mechanical binding as it would be seen in the print all the way up the printed object from the bed upwards.  When it loses steps the entire object from that layer upwards is offset slightly.

[John Grouse]

ok, R2/R21 are now no longer on the board so will run another print to make sure steps are not lost.

[John Grouse]

Rewired all the STEP/DIR/ENA wires with thin coax to ensure all the logic signals are as clean as I can make them and for some reason I'm still getting a slight step loss on the X axis causing the part to slope to the right.  Print speeds are below 3500mm/min (~58mm/sec) so I'm really not pushing the limits on step frequency.  Even dropping the print speed to 25% I was still seeing the step loss. Will have to break out the digital oscilloscope again to see if the signals are actually clean. Only new electronics are a couple of 5V hall effect sensors for Z and X endstops that get their 5V/GND from the X axis Mechaduino board pins for Vin (5V) and GND.  Will also test with them disconnected to see if they have anything to do with it.

If I could find a genuine Prusa i3 MK2 kit with a working closed loop mod for sale I would probably leap at buying it without a second thought right now.  All this tinkering is driving me a little nuts.

[John Grouse]

Removing the endstop wiring from the 5V/GND pins on the Mechaduino AND from the signal pin on the Duet seemed to correct the step loss.  Not entirely sure if it was the Duet or the Mechaduino causing this to happen.  Noise on the endstop signal pin during a print causing the Duet firmware to do odd things?  No idea.  I have some natively 3.3V hall effect endstops on the way from the UK so will see if they make a difference?

[cool...@gmail.com]

John, I have been following your posts. Did the O scope reveal anything?

-Anthony

[cool...@gmail.com]

Is it possible that the 5v switches were raising the ground plane above the logic 0 threshold?

[John Grouse]

Hi Anthony,

The endstops I currently have are very basic to say the least (http://www.ebay.com.au/itm/172402996079) so cannot deliver the mA to trigger the Duet which expect 3.3v when high.  To get around that, as a temp solution, I have an Arduino Nano take the hall effect module output into the analogue pins.  If their values go above 750 it raises a digital out to HIGH.  This then feeds into the endstop signal pins.  However the Nano output is 5V and the Duet expect 3.3V.  To get around this I put a logic level converter (http://www.ebay.com.au/itm/181689637397) between the Nano's digital outputs and the Duet signal inputs.  Oddly this was not going to ground when the digital pins were LOW so I just went back to directly connecting between the Nano and Duet.  I know this was most likely driving the duet pin too high however it was correctly triggering the endstop states.  On the o scope step/dir looks fairly clean with or without the endstops connected so possibly endstop connections to the Duet had something to do with it?

Either way I do have decent endstops heading my way which will do away with the Nano and hook directly to the endstop connectors on the Duet (3.3V Hall-E Endstops from Reprap.me in the UK).

On a side note I somehow managed to get one of my Mechaduino boards that had a screwed bootloader to come good again just by uploading Trampas' firmware.  So I now just have one Mechaduino with a dead SAMD chip.  That one does have the correct voltages going to the chip so with any luck a replacement chip will get it working again.  Will most likely need get a programmer for that to get the required bootloader (unless you can buy the chips with the Arduino bootloader already installed?).

[Kai Wolter]

Hi John,

maybe take a look at the endstop signal cable with the oscilloscope. It could be that you setup triggers false endstop hits and therefore the duet doesn't move the motor anymore. This could lead to your lost steps.

[cool...@gmail.com]

Is it possible that the ISR for the endstop was being called too many times with the old switch causing the ISR for the motor to get missed or delayed? Possibly that the motion planner moved on if the motor ISR wasn't run?

[Trampas Stern]

John,

Which hardware and firmware are you currently using?

Thanks

Trampas

www.misfittech.net

[Tonio Bugeja]

Hi John,

I am trying to achieve what you did... Can you please give me a hand?  I managed to run Mechaduinos well will Ramps 1.4 and now trying to run them with a duet3d board.  My issue is that one the Ramps Board, I am using STEP/DIR/VIN pins on the Ramps.  You mentioned only STEP/DIR/Enable solderable pins on the duet...

can you please give me some guidance? many thanks in advance...

mendel...@gmail.com

On Friday, January 20, 2017 at 3:44:15 AM UTC+1 John Grouse wrote:

Hi all!  

I've had three of these Mechaduino boards in my possession for a week and have managed to get the step and dir output from my Duet 3D printer controller talking to the board via pin 2 and 3 (3.3V logic levels from Duet) for DIR and STEP (not using ENA).  X and Y are calibrated and PID tuned.  Unfortunately what seems to be happening is that when the axis moves in the negative direction it will just start moving on its own towards zero very slowly (with a random speed).  Why it doesn't do this when I move in the positive direction I can't tell?  What I have observed is that stepInterrupt() gets triggered like noise is present on the step pin when it changes to the negative direction (adding SerialUSB.println(r); to see it getting triggered).  In this state I also tried unplugging the DIR pin to see if it had any bearing on this however STEP still seems to be getting random noise on it.  So at this point I am trying to get to the bottom of why the STEP pin out of the Duet is getting noise it when the DIR pin changes to the negative direction.  

And now, just as I was writing this I went to upload a change to the code and all of a sudden the board is not identifying itself correctly to the OS.  I now get Unknown USB Device (Device Descriptor Request failed).   So is there some way to recover the board when it does this??  Right now I cannot seem to make it talk to the PC.  LED on the board just stays on now.

Following the manual it does say that I can connect a USB cable while the board is powered via 5V from another source (this being the Duet controller 5V pin).  Have to now wonder if that has pickled it?  What components should I be replacing to get it going again?  5V to 3.3V rectifiers?  Fuse?  

Here I was hoping to get this one last issue resolved and I'd be up and running!  

Any help greatly appreciated.