[BUG] TMC2209 homing brake after BACKOFF

telnet01 commented 5 months ago

Did you test the latest `bugfix-2.1.x` code?

Yes, and the problem still exists.

Bug Description

Hello

I have a five motors 17HS4401 with TMC2209 on scr 1.4. All motors operate correctly when performing linear motion (G0 command). The first four motors have a speed reduction of more than 4 and homing is correctly, unlike the last one. The last one (J motor) has a speed reduction of 1 to 1 and stops when the "G28 B" command is called immediately after BACKOFF. I tried to change microstepings,travel speed, homing speed, backoff bump, change current. This didn't work. Helps only if I change speed reduction more then twice for example (DEFAULT_AXIS_STEPS_PER_UNIT parameter, currect is 8.88 (200*16/360) for my configuration). but it doesn't suit my mechanics. If i change J_STALL_SENSITIVITY to 1..5 it start homing, but then when the motor has met a physical limitation, he does not stop but tries to break through it, so that the shaft begins to spin.

https://github.com/MarlinFirmware/Marlin/assets/6198593/4c07ee78-d15d-466c-9b5f-4bb360e67d9b

 #if AXIS_IS_TMC_CONFIG(J)
    #define J_CURRENT      600
    #define J_CURRENT_HOME J_CURRENT
    #define J_MICROSTEPS    16
    #define J_RSENSE         0.11
    #define J_CHAIN_POS     -1
    //#define J_INTERPOLATE  true
    //#define J_HOLD_MULTIPLIER 0.5
  #endif
#define SENSORLESS_HOMING // StallGuard capable drivers only

  #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
    // TMC2209: 0...255. TMC2130: -64...63
    #define X_STALL_SENSITIVITY  80
  //  #define X2_STALL_SENSITIVITY X_STALL_SENSITIVITY
    #define Y_STALL_SENSITIVITY  60
  //  #define Y2_STALL_SENSITIVITY Y_STALL_SENSITIVITY
    #define Z_STALL_SENSITIVITY  80
    //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY
    //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY
    //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY
    #define I_STALL_SENSITIVITY  40
    #define J_STALL_SENSITIVITY 40
    //#define K_STALL_SENSITIVITY  8
    //#define U_STALL_SENSITIVITY  8
    //#define V_STALL_SENSITIVITY  8
    //#define W_STALL_SENSITIVITY  8
    //#define SPI_ENDSTOPS              // TMC2130/TMC5160 only
    //#define IMPROVE_HOMING_RELIABILITY
  #endif

#define SENSORLESS_BACKOFF_MM  { 5, 5, 5 ,5,10 }  // (linear=mm, rotational=°) Backoff from endstops before sensorless homing
#define HOMING_BUMP_MM      { 10, 0, 0 , 0, 0 }       // (linear=mm, rotational=°) Backoff from endstops after first bump
#define HOMING_BUMP_DIVISOR { 10, 10, 4 ,10 ,2 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)

#define DEFAULT_AXIS_STEPS_PER_UNIT   { 44.44 , 35.55, 100, 9.99, 8.88 }
#define HOMING_FEEDRATE_MM_M { (20*60), (30*60), (10*60) ,(60*60), (40*60)}

#define J_MIN_POS 0
#define J_MAX_POS 360

M122
        X   Y   Z   I   J
Address     0   0   0   0   0
Enabled     false   false   false   false   true
Set current 850 850 850 850 600
RMS current 826 826 826 826 581
MAX current 1165    1165    1165    1165    819
Run current 26/31   26/31   26/31   26/31   18/31
Hold current    13/31   13/31   13/31   13/31   9/31
CS actual   13/31   13/31   13/31   13/31   18/31
PWM scale                   
vsense      1=.18   1=.18   1=.18   1=.18   1=.18
stealthChop true    true    true    true    true
msteps      4   4   4   4   16
interp      false   false   false   false   false
tstep       max max max max max
PWM thresh.                 
[mm/s]                      
OT prewarn  false   false   false   false   false
triggered
 OTP        false   false   false   false   false
pwm scale sum   15  15  15  15  25
pwm scale auto  0   0   0   0   0
pwm offset auto 36  36  36  36  45
pwm grad auto   14  14  14  14  14
off time    4   4   4   4   4
blank time  24  24  24  24  24
hysteresis
 -end       2   2   2   2   2
 -start     1   1   1   1   1
Stallguard thrs 80  60  80  40  40
uStep count 32  32  32  32  8
DRVSTATUS   X   Y   Z   I   J
sg_result   0   0   0   0   16
stst                        
olb                     
ola                     
s2gb                        
s2ga                        
otpw                        
ot                      
157C                        
150C                        
143C                        
120C                        
s2vsa                       
s2vsb                       
Driver registers:
        X   0xC0:0D:00:00
        Y   0xC0:0D:00:00
        Z   0xC0:0D:00:00
        I   0xC0:0D:00:00
        J   0xC0:0C:00:00

Testing X connection... OK
Testing Y connection... OK
Testing Z connection... OK
Testing I connection... OK
Testing J connection... OK
ok

Bug Timeline

No response

Expected behavior

No response

Actual behavior

No response

Steps to Reproduce

No response

Version of Marlin Firmware

Marlin 2.1.2.2

Printer model

No response

Electronics

No response

LCD/Controller

No response

Other add-ons

No response

Bed Leveling

None

Your Slicer

None

Host Software

None

Don't forget to include

[X] A ZIP file containing your Configuration.h and Configuration_adv.h.

Additional information & file uploads

config.zip

ellensp commented 5 months ago

Configs are for 2.1.2.2

Please test the bugfix-2.1.x branch to see where it stands. If the problem has been resolved then we can close this issue. If the issue isn't resolved yet, then we should investigate further.

telnet01 commented 5 months ago

Configs.zip

Configs are for 2.1.2.2

Please test the bugfix-2.1.x branch to see where it stands. If the problem has been resolved then we can close this issue. If the issue isn't resolved yet, then we should investigate further.

Hello, I deployed this assembly in a minimal configuration for testing - I connected the motor to the X-axis. But I could not conduct research, since after homing it immediately occurs system halted. This happens even when sensorles_homing is disabled and is triggered immediately after the software limit on the X-axis values is exceeded. If sensorles_homing is enabled - behavior as in the topic of the post, and then halted immediately after stopping the motor.

>>> G28 X

SENT: G28 X
RECV: echo:G28 X
RECV: >>> G28  X0.00 Y0.00 Z0.00
RECV: Machine Type: Cartesian
RECV: Probe: NONE
RECV: remember_feedrate_scaling_off: fr=66.67 100%
RECV: Raise Z before homing:
RECV: do_z_clearance(5.00 [0.00 to 5.00], 0)
RECV: do_blocking_move_to_z(5.00, 4.00)
RECV: >>> do_blocking_move_to  X0.00 Y0.00 Z0.00
RECV: >  X0.00 Y0.00 Z5.00
RECV: <<< do_blocking_move_to  X0.00 Y0.00 Z5.00
RECV: >>> homeaxis(X)
RECV: Sensorless backoff: 5.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, 5.00, 50.00)
RECV: <<< do_homing_move  X0.00 Y0.00 Z5.00
RECV: Home Fast: -540.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, -540.00, [50.00])
RECV: echo:busy: processing
RECV: <<< do_homing_move  X0.00 Y0.00 Z5.00
RECV: Move Away: 5.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, 5.00, [50.00])
RECV: <<< do_homing_move  X0.00 Y0.00 Z5.00
RECV: Re-bump: -10.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, -10.00, 25.00)
RECV: echo:Homing Failed
RECV: Error:Printer halted. kill() called!
Error:Printer halted. kill() called!

github-actions[bot] commented 1 month ago

Greetings from the Marlin AutoBot! This issue has had no activity for the last 90 days. Do you still see this issue with the latest bugfix-2.1.x code? Please add a reply within 14 days or this issue will be automatically closed. To keep a confirmed issue open we can also add a "Bug: Confirmed" tag.

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