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M569.6: Execute closed loop tuning move
Perform a runtime tuning manoeuvre with a closed loop drive.
Supported for drivers attached to:
- Pnn Motor driver number
- Vnn Tuning move(s) to perform. See below for usage details.
Warning: Duet firmware currently only supports tuning one driver at a time. This means that when tuning a multi-driver axis, one driver will move and the other(s) will not. If attempting to tune a multi-driver axis, please take appropriate mitigation to ensure the axis doesn't become stressed/misaligned when only one one driver moves.
The table below lists the available tuning manoeuvres. For more information see the dedicated closed-loop tuning page.
|Manoeuvre Name||Description||Required?||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.||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|
|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|
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.