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Revision to M569.5

Tony

Supported for drivers attached to:
-* [[Duet 3 Expansion 1HCL|1HCL expansion boards]]
+* [[Topic:Duet 3 Expansion 1HCL|1HCL expansion boards]]
Note: The driver must be configured in closed loop mode (See [[M569|M569]] D parameter).
* ***Rnn*** Sample rate. Measured in samples per second. If R0 is sent, the board will record as fast as possible.
* ***Dnn*** Variable filter. Determines which variables are recorded. See below for a list of available variables and how they are represented.
-* ***Vnn*** Perform a tuning manoeuvre. Available manoeuvres are identical to those listed in [[M569.6|M569.6]].
+* ***Vnn*** Perform a tuning manoeuvre. Available manoeuvres are described below
* ***Snn*** Number of samples to record. When recording with rate R0, this sample rate is limited depending on the number of variables being recorded. The command will report back the maximum allowable samples if the maximum is exceeded. The maximum allowable samples may differ between board types since it is dependant on the available RAM.
To record multiple variables, sum the variable IDs and pass the resulting value as the D parameter. For example, to record coil A current (2048) and coil B current (4096), use D6144.
+The following manoeuvres are available:
+
+{table
+|width=100%
+|format=lm:lm:cm:cm
+|! Manoeuvre Name
+|! Description
+|! Manoeuvre ID
+|--
+| Polarity Detection and Zeroing
+| Detects in which orientation the stepper motor coils are connected, this will also detect if a motor's wiring is faulty or it is not plugged in. Ensures that a feedback reading of 0 corresponds to the position the encoder assumes when only coil A is energised. Note this move would normally be carried out using M569.6 prior to PID loop tuning.
+| 1
+|--
+| Absolute SPI Encoder Calibration
+| Calibrates the encoder positions to the motor. Note this move would normally be carried out using M569.6 prior to PID loop tuning and only needs to be done once per Motor,encoder and 1HCL combination.
+| 2
+|--
+| Step Manoeuvre
+| Applies a step change to the PID target to view the step response of the PID controller.
+| 64
+}
+
***Example***

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