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MarlinFirmware / Marlin

Marlin is an optimized firmware for RepRap 3D printers based on the Arduino platform. Many commercial 3D printers come with Marlin installed. Check with your vendor if you need source code for your specific machine.
https://marlinfw.org
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[FR] TMC5161 stepper driver support #16365

Open LT1010 opened 4 years ago

LT1010 commented 4 years ago

I have encountered a problem, I use the latest marlin firmware and 5160 is OK on my motherboard. The configuration is not changed, only the drive is changed to 5161, and the information displayed using M122 is normal, but when I move the XYZ axis, there is only a little movement and then it cannot move. I used M122 to see the information changed. move_before: move_before move_x_asis: move_x_axis

viktoschi commented 4 years ago

also changed accelartion and steps per mm ? i wish we could calculate the correct values :/ i found my values with try and error. i am using skr1.4 turbo and 4 drivers. on z driver are 2 motors. everything is external and nothing else connected only motherboard, drivers and motors. i am using 5 of this https://www.amazon.de/gp/product/B07CZHLKTC

thinkyhead commented 4 years ago

@GeminiServer — Can you just go back one more time and do a flash and reset of EEPROM with the RSENSE values defined with no f on the end and compare again with the same values but with an f on the end to force it to be a float (instead of a double)…? If you get the same results I will be much more confident that it's a fixable issue.

I mainly want to confirm that the conversion from double to float is causing the issue because it seems very odd.

Be sure to delete the .pio folder between builds, because we want to make sure everything links together from the same starting point.

RonnyOs commented 4 years ago

For me it is much better now, but the current has to stay in a very limited range. To much mA or to less will stop the steppers ob high acceleration levels. Also if i increase the microsteps the drivers fill stop working earlier.

RonnyOs commented 4 years ago

Today I had an interesting effect. I had some collision on one of the axis. On this collision the stepperdriver also stop working, in M122 then I read out the 256 microsteps! It seems that anything like "collision detection" or "stall guard" will stop the drivers from work after this event.

thinkyhead commented 4 years ago

There is something called "standstill" which can get triggered by some events, and this shuts down the driver and leaves it in a weird state. I'm not surprised a limited current range is needed. These drivers are challenging and need very good cooling.

viktoschi commented 4 years ago

in my case it works now. but one thing is not working 2 motors on one driver. any hints about that?

RonnyOs commented 4 years ago

I don't know what was changed but with a pull today it seems to works very well!

viktoschi commented 4 years ago

ok this is strange... got 2 motors on one stepper working. flash marlin with both motors connected. reset board. send "G1 Z100 F800" motors not working. ->reset next just unplug ZB while board is running wait a second replug again and they are both working. after a reset the motors still work. after powering the board off you have to unplug and plug the ZB motor again can someone confirm this? iam using 1,5A motors here are my only changes https://github.com/LadyViktoria/Marlin/commit/1fdb455ca17fd584c8f1738c4a324c1dfb23ed47

thinkyhead commented 4 years ago

What is Trinamic's guidance on connecting multiple motors to a single driver? Can they handle the current load and resistance? Do they get confused by the combined feedback?

viktoschi commented 4 years ago

The TMC5161 can drive one or two DC motors using one coil output per DC motor. Either a torque limited operation, or a voltage based velocity control with optional torque limit is possible.

https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC5161A-datasheet_Rev1.05.pdf page 106 "21 DC Motor or Solenoid"

my english is not well. but 5161 is nearly the same as 5160. diffence is that the mosfets are on the chip. on 5160 drivers they are extern.

teemuatlut commented 4 years ago

DC motor literally means a typical traditional DC motor with commutators and all. You can think of the stepper driver as a 2 channel constant current source and for a stepper motor it conveniently keeps adjusting the coil currents in a "sine" wave and the motor magnets try to follow. Then you get motion. I think you could drive a couple of LEDs with one for all it cares.

The change in TMCStepper with floats was that the compiler could get confused with two constructors and you needed to specify better which type you passed. This does not happen in Marlin as the user doesn't interact directly with the TMCStepper classes, but with a templated TMCMarlin class that inherits from the library. I don't think there should occur such potential confusion in Marlin, and when passing from the constructor to the library, it already has a strongly typed parameter. The 5161 class in TMCStepper doesn't do anything beyond constructing a 5160 object and as far as I know there's no software side difference between the two models. I'll try to get my hands on a few if Watterott ever makes a stepStick with the IC.

viktoschi commented 4 years ago

if you are from germany i can send you a 5161

teemuatlut commented 4 years ago

Thanks but I live in Finland. The Watterott github page topic mentions the 5161 so maybe they're still working on it. Or maybe it was cancelled.

RonnyOs commented 4 years ago

Hi,

is there any change in the TMC driver section of Marlin in the last 2-3 weeks into the actual bugfix version? With the update today the problems impaired.

With the old version I was able to print but now, after G29 one of the steppers stop working.

Automatica-Mat commented 4 years ago

Is there any solution to this problem? I am using the latest TMCStepper libraries and Marlin Bug Fix and am still having the same issues as the people above.

Automatica-Mat commented 4 years ago

As the others have shown after only a short move and then stopping a M122 shows msteps changed to 256. It also strange that the vsense is not being reported for the 5161's ? My configuration is x = 5161 y = 5161 z = 2209 e = 2208

SENDING:M122 X Y Z E Address 0 Enabled false false false false Set current 800 800 800 800 RMS current 787 787 795 795 MAX current 1110 1110 1121 1121 Run current 12/31 12/31 25/31 25/31 Hold current 6/31 6/31 12/31 12/31 Global scaler 135/256 135/256 CS actual 8/31 8/31 12/31 12/31 PWM scale 917526 4063302 15 14 vsense 1=.18 1=.18 stealthChop true true true true msteps 256 256 16 16 tstep max max max max pwm threshold [mm/s] OT prewarn false false false false OT prewarn has been triggered false false false false off time 0 0 4 4 blank time 36 36 24 24 hysteresis -end -1 -1 2 2 -start 6 6 1 1 Stallguard thrs 0 0 0 DRVSTATUS X Y Z E stallguard sg_result 0 0 fsactive stst olb ola s2gb s2ga otpw ot 157C 150C 143C 120C s2vsa s2vsb Driver registers: X 0x80:08:40:00 Y 0x80:08:40:00 Z 0xC0:0C:00:00 E 0xC0:0C:00:00 Testing X connection... OK Testing Y connection... OK Testing Z connection... OK Testing E connection... OK

github-actions[bot] commented 4 years ago

This issue is stale because it has been open 30 days with no activity. Remove stale label / comment or this will be closed in 5 days.

Malaquitte commented 4 years ago

Any news? My TMC5161 are bored in my desk drawer...

makemerush commented 4 years ago

drawer

Same here!

thinkyhead commented 4 years ago

I have added a "help wanted" tag to increase the chances that someone will appear who has the time and talent to help with this.

Acidice1000 commented 4 years ago

Same problem this is the result before I move a axis. SKR 1.4 Turbo and TMC5161 V1.1 I can move X and Y Once a few millimeters but the moment I change direction it stops. Connecting... Printer is now online.

M122 S0 SENDING:M122 S0 X Y Z E Enabled false false false false Set current 640 640 640 940 RMS current 624 624 624 931 MAX current 880 880 880 1313 Run current 9/31 9/31 9/31 14/31 Hold current 4/31 4/31 4/31 7/31 Global scaler 136/256 136/256 136/256 134/256 CS actual 4/31 4/31 4/31 7/31 PWM scale 4 4 4 7 stealthChop true true true true msteps 64 64 64 64 tstep max max max max PWM thresh. [mm/s] OT prewarn false false false false triggered OTP false false false false off time 4 4 4 4 blank time 24 24 24 24 hysteresis -end 2 2 2 2 -start 1 1 1 1 Stallguard thrs 0 0 0 0 uStep count 1018 1018 1018 1018 DRVSTATUS X Y Z E sg_result 0 0 0 0 stallguard fsactive stst olb ola s2gb s2ga otpw ot Driver registers: X 0x80:04:40:00 Y 0x80:04:40:00 Z 0x80:04:40:00 E 0x80:07:40:00 Testing X connection... OK Testing Y connection... OK Testing Z connection... OK Testing E connection... OK

This is the result after I moved a axis.

M122 S0 SENDING:M122 S0 X Y Z E Enabled false false false false Set current 640 640 640 940 RMS current 624 624 624 931 MAX current 880 880 880 1313 Run current 9/31 9/31 9/31 14/31 Hold current 4/31 4/31 4/31 7/31 Global scaler 136/256 136/256 136/256 134/256 CS actual 4/31 4/31 8/31 7/31 PWM scale 4 4 8 7 stealthChop true true false true msteps 64 64 256 64 tstep max max max max PWM thresh. [mm/s] OT prewarn false false false false triggered OTP false false false false off time 4 4 0 4 blank time 24 24 36 24 hysteresis -end 2 2 -1 2 -start 1 1 6 1 Stallguard thrs 0 0 0 0 uStep count 1018 1018 894 1018 DRVSTATUS X Y Z E sg_result 0 0 0 0 stallguard fsactive stst olb ola s2gb s2ga otpw ot Driver registers: X 0x80:04:40:00 Y 0x80:04:40:00 Z 0xE0:08:00:00 E 0x80:07:40:00 Testing X connection... OK Testing Y connection... OK Testing Z connection... OK Testing E connection... OK

ramb0t commented 4 years ago

I have the same problem with SKR Pro V1.2 and BTT TMC5161 V1.1 drivers x5 compiled with latest Marlin 2.0 Bugfix, set rsense to 0.062, 0.060, 0.062f etc. all the same, move one or two moves then frozen with no error. Not sure how to debug at this point.

Automatica-Mat commented 4 years ago

I ended up swapping to 5160. I have recently thought to try them in stand alone mode. Using the trim pot and jumpers to configure.On Oct 3, 2020 10:03 PM, Rambo notifications@github.com wrote: I have the same problem with SKR Pro V1.2 and BTT TMC5161 V1.1 drivers x5 compiled with latest Marlin 2.0 Bugfix, set rsense to 0.062, 0.060, 0.062f etc. all the same, move one or two moves then frozen with no error. Not sure how to debug at this point.

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jimmejames commented 3 years ago

I had good luck with (3) TMC5161's, the latest Marlin (2.0.7.2), BigTreeTech SKR-PRO-V1.1, and CNCJS 1.9.22 on a RPi 3. I'm currently driving in a dual X's configuration and single stepper for Y- this all works great ((3) NEMA 23's between the X's and Y's) and I'm waiting on a 4th TMC5161 to drive my Z to confirm my configuration. On previous Marlin builds, I was limited to 5mm/s, only one axis would move at a time, and/or the motor torque was unacceptable, but with this current build, the drives seem stable at 10mm/s, axis move as commanded (e.g. X & Y together), and motors are stronger than I am. 

> M122
axis:pwm_scale/curr_scale/mech_load|flags|warncount
        X   X2  Y
Enabled     false   false   false
Set current 1500    1500    1500
RMS current 1482    1482    1482
MAX current 2090    2090    2090
Run current 24/31   24/31   24/31
Hold current    12/31   12/31   12/31
Global scaler   132/256 132/256 132/256
CS actual   12/31   12/31   12/31
PWM scale   11  11  11
vsense
stealthChop true    true    true
msteps      16  16  16
tstep       max max max
PWM thresh.
[mm/s]
OT prewarn  false   false   false
triggered
 OTP        false   false   false
off time    4   4   4
blank time  24  24  24
hysteresis
 -end       2   2   2
 -start     1   1   1
Stallguard thrs 0   0   0
uStep count 8   8   8
DRVSTATUS   X   X2  Y
sg_result   0   0   0
stallguard
fsactive
stst
olb
ola
s2gb
s2ga
otpw
ot
Driver registers:
>       X   0x80:0C:40:00
>       X2  0x80:0C:40:00
        Y   0x80:0C:40:00
Testing X connection... OK
Testing X2 connection... OK
Testing Y connection... OK
ok

Here are the configuration files I changed and the firmware output. Configuration.zip

I'm only a few hours of playing into them with this setup, but I've yet to have a hiccup other than after typing M122 into the the CNCJS command line and I get the below repeated until I reset my SKR-PRO. Problem for a different forum, but included here for completeness.

X:20/12/-|TI|   X2:18/12/-|TI|  Y:21/12/-|TI|
X:20/12/-|TI|   X2:18/12/-|TI|  Y:21/12/-|TI|
X:20/12/-|TI|   X2:18/12/-|TI|  Y:21/12/-|TI|
X:20/12/-|TI|   X2:18/12/-|TI|  Y:21/12/-|TI|
evandene commented 3 years ago

Just my few cents worth of comments: Have a DELTA printer that needs to home to MAX My 5x installed TMC5160 do work fine in regard to movements (Latest 2.0x bugfix) Homing fails, limit switches do show to be triggered (LED's aside the driver and with M119) My wild guess is that there are no limit endstops PIN's assigned to x, y, and z MAX_PLUG have my files attached DELTA_SKR_PRO_12.zip

AndylgTom commented 3 years ago

I have the same problem with SKR1.4turbo and BTT TMC5161 V1.1 drivers.... the motor takes one step and stops, no longer responds. Still not solving the problem?

And everything works fine with TMC5160.

evandene commented 3 years ago

Hi The board was broken and they send me a new one. When I have time I will setup a Delta Printer with it. For now I'm happy with my Lerdge K board

Ed van den Enden

From: Andy notifications@github.com Sent: Sunday, February 7, 2021 3:05:50 PM To: MarlinFirmware/Marlin Marlin@noreply.github.com Cc: Ed van den Enden ed.vandenenden@yahoo.com; Comment comment@noreply.github.com Subject: Re: [MarlinFirmware/Marlin] [FR] TMC5161 stepper driver support (#16365)

I have the same problem with SKR1.4turbo and BTT TMC5161 V1.1 drivers.... the motor takes one step and stops, no longer responds. Still not solving the problem?

— You are receiving this because you commented. Reply to this email directly, view it on GitHubhttps://github.com/MarlinFirmware/Marlin/issues/16365#issuecomment-774679815, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ACBOKENFU5PBSXRMH6OSFMDS52M35ANCNFSM4KAF7PDA.

thisiskeithb commented 3 years ago

Duplicate of #15105

XBrav commented 3 years ago

I would argue this is not closed, and is not a duplicate of #15105 add the device definition. The 5161 issue is not a simple result of a device definition, but rather, the stepper driver will crash if running with the timings for the 5160.

If anything, #15105 should reference this thread for configuration parameters when / if 5161 is ever implemented.

thisiskeithb commented 3 years ago

I would argue this is not closed, and is not a duplicate of #15105 add the device definition.

One is a duplicate of the other since both are asking for 5161 support. I closed this FR since it was newer of the two, but I’ll open it and close the other since there’s more discussion here.

thinkyhead commented 3 years ago

What timings end up working with the 5161?

Cailess commented 1 year ago

Do we have any movement on this subject. I have 5 of these that I cannot use. What exactly is this timing mismatch issue were looking at, like what needs to be made?

Temtaime commented 6 months ago

I have same issue with FYSETC TMC5160 QHV on latest marlin on Fysetc Spider V2.2. X and Z motors just stop moving mid print. It happens almost randomly. Steps become 256 and registers change.

Recv:       X   Y   Z   E
Recv: Enabled       false   false   false   false
Recv: Set current   800 800 400 500
Recv: RMS current   792 792 396 490
Recv: MAX current   1117    1117    558 691
Recv: Run current   15/31   15/31   7/31    9/31
Recv: Hold current  7/31    7/31    0/31    1/31
Recv: Global scaler 133/256 133/256 133/256 133/256
Recv: CS actual 8/31    7/31    8/31    1/31
Recv: PWM scale 8   7   8   1
Recv: vsense
Recv: stealthChop   false   false   false   false
Recv: msteps        256 16  256 16
Recv: interp        true    true    true    true
Recv: tstep     max max max max
Recv: PWM thresh.
Recv: [mm/s]
Recv: OT prewarn    false   false   false   false
Recv: off time  0   5   0   5
Recv: blank time    36  24  36  24
Recv: hysteresis
Recv:  -end     -1  2   -1  2
Recv:  -start       6   4   6   4
Recv: Stallguard thrs   3   3   0   0
Recv: uStep count   1022    872 263 232
Recv: DRVSTATUS X   Y   Z   E
Recv: sg_result 0   162 0   0
Recv: stallguard                *
Recv: fsactive
Recv: stst
Recv: olb       *       *
Recv: ola       *       *
Recv: s2gb
Recv: s2ga
Recv: otpw
Recv: ot
Recv: Driver registers:
Recv:       X   0xE0:08:00:00
Recv:       Y   0x80:07:00:A2
Recv:       Z   0xE0:08:00:00
Recv:       E   0x81:01:00:00
Recv: 
Recv: 
Recv: Testing X connection... OK
Recv: Testing Y connection... OK
Recv: Testing Z connection... OK
Recv: Testing E connection... OK
Recv: ok P63 B31

Any fix?

thisiskeithb commented 6 months ago

@Temtaime: This is a Feature Request for 5161 support, not for posting your issue about 5160s.

You should create a bug report instead of commenting on to unrelated Feature Requests.