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Revision to M569.6

Tony

|! Manoeuvre ID
|--
-| Polarity Detection
-| Detects in which orientation the stepper motor coils are connected.
-| Yes
+| 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.
+| Yes for all encoder types. This needs to be done after each power on and reset, and ideally should be part of the homing files for axis with closed loop drivers.
| 1
|--
-| Zeroing
-| Ensures that a feedback reading of 0 corresponds to the position the encoder assumes when only coil A is energised.
-| Yes
+| Absolute SPI Encoder Calibration
+| Calibrates the encoder positions to the motor.
+| Yes for Absolute SPI connected (magnetic) encoders. This needs to be done just once for a combination of motor, encoder and 1HCL board as the results are stored in the 1HCL memory.
| 2
-|--
-| Polarity Check
-| Checks that the polarity has been detected correctly by the polarity detection manoeuvre to a high degree of accuracy. This will also detect if a motor's wiring is faulty or it is not plugged in.
-| Yes
-| 4
-|--
-| <<color="#AAA">> Control Check
-| <<color="#AAA">> [Coming Soon!] Checks that the motor is controllable. For instance, if the PID parameters are set such that they push the motor away from the target instead of towards it (the P term is negative), this check will fail.
-| <<color="#AAA">> Yes
-| <<color="#AAA">> 8
-|--
-| <<color="#AAA">> Encoder Steps Check
-| <<color="#AAA">> [Coming Soon!] Checks that the encoder is sending the correct count per revolution, as set by M569.1.
-| <<color="#AAA">> Yes
-| <<color="#AAA">> 16
-|--
-| <<color="#AAA">> Continuous Increase Manoeuvre
-| <<color="#AAA">> [Coming Soon!] Applies a continuous sin/cos wave to the motor inputs to move the motor continuously in 1 direction. Stops after 8 steps.
-| <<color="#AAA">> No
-| <<color="#AAA">> 32
-|--
-| Step Manoeuvre
-| Applies a step change to the PID target to view the step response of the PID controller.
-| No
-| 64
-|--
-| <<color="#AAA">> Ziegler-Nichols Manoeuvre
-| <<color="#AAA">> [Coming Soon!] Attempts to find the ultimate gain and oscillation period of the motor for use in Ziegler-Nichols tuning
-| <<color="#AAA">> No
-| <<color="#AAA">> 128
}
-In order to combine multiple moves, add the manoeuvre IDs. For example, to perform polarity detection and zeroing, use 1+2=***3*** as the V parameter to M569.6. The manoeuvres will be performed in ascending order of ID - so in the above example, polarity detection would occur first, followed by zeroing.
+***Example***:
+
+[code]
+M569.6 P50.0 V1 ; conduct polarity detection and zeroing move on closed loop driver on HCL board at address 50.
+M569.6 P51.0 V2 ; conduct absolute SPI encoder calibration on move on closed loop driver on HCL board with magnetic encoder at address 50.
+[/code]

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