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docs: Revise sensorless homing configuration guide 

Recommend finding the minimum and maximum stallguard settings while
tuning sensorless homing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-11 11:24:57 -05:00
parent ae89a65956
commit 5c2c43b05f
2 changed files with 256 additions and 125 deletions
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29
docs/Config_Reference.md
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@ -2650,10 +2650,11 @@ run_current:
#diag0_pin: #diag0_pin:
#diag1_pin: #diag1_pin:
# The micro-controller pin attached to one of the DIAG lines of the # The micro-controller pin attached to one of the DIAG lines of the
# TMC2130 chip. Only a single diag pin should be specified. # TMC2130 chip. Only a single diag pin should be specified. The pin
# Setting this creates a "tmc2130_stepper_x:virtual_endstop" virtual # is "active low" and is thus normally prefaced with "^!". Setting
# pin which may be used as the stepper's endstop_pin. Doing this # this creates a "tmc2130_stepper_x:virtual_endstop" virtual pin
# enables "sensorless homing". (Be sure to also set driver_SGT to an # which may be used as the stepper's endstop_pin. Doing this enables
# "sensorless homing". (Be sure to also set driver_SGT to an
# appropriate sensitivity value.) The default is to not enable # appropriate sensitivity value.) The default is to not enable
# sensorless homing. # sensorless homing.
``` ```
@ -2758,11 +2759,12 @@ run_current:
# above list. # above list.
#diag_pin: #diag_pin:
# The micro-controller pin attached to the DIAG line of the TMC2209 # The micro-controller pin attached to the DIAG line of the TMC2209
# chip. Setting this creates a "tmc2209_stepper_x:virtual_endstop" # chip. The pin is normally prefaced with "^" to enable a pullup.
# virtual pin which may be used as the stepper's endstop_pin. Doing # Setting this creates a "tmc2209_stepper_x:virtual_endstop" virtual
# this enables "sensorless homing". (Be sure to also set # pin which may be used as the stepper's endstop_pin. Doing this
# driver_SGTHRS to an appropriate sensitivity value.) The default is # enables "sensorless homing". (Be sure to also set driver_SGTHRS to
# to not enable sensorless homing. # an appropriate sensitivity value.) The default is to not enable
# sensorless homing.
``` ```
## [tmc2660] ## [tmc2660]
@ -2915,10 +2917,11 @@ run_current:
#diag0_pin: #diag0_pin:
#diag1_pin: #diag1_pin:
# The micro-controller pin attached to one of the DIAG lines of the # The micro-controller pin attached to one of the DIAG lines of the
# TMC5160 chip. Only a single diag pin should be specified. # TMC5160 chip. Only a single diag pin should be specified. The pin
# Setting this creates a "tmc5160_stepper_x:virtual_endstop" virtual # is "active low" and is thus normally prefaced with "^!". Setting
# pin which may be used as the stepper's endstop_pin. Doing this # this creates a "tmc5160_stepper_x:virtual_endstop" virtual pin
# enables "sensorless homing". (Be sure to also set driver_SGT to an # which may be used as the stepper's endstop_pin. Doing this enables
# "sensorless homing". (Be sure to also set driver_SGT to an
# appropriate sensitivity value.) The default is to not enable # appropriate sensitivity value.) The default is to not enable
# sensorless homing. # sensorless homing.
``` ```

352
docs/TMC_Drivers.md
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@ -35,28 +35,20 @@ your (cartesian) printer. However, it works the same with all other
axes (that require an end stop). You should configure and tune it for axes (that require an end stop). You should configure and tune it for
one axis at a time. one axis at a time.
## Prerequisites
A few prerequisites are needed to use sensorless homing:
1. StallGuard capable TMCxxxx stepper driver
2. SPI / UART interface of the TMCxxxx wired to MCU (stand-alone mode
does not work)
3. DIAG1/DIAG pin of TMCxxxx connected to the MCU
## Limitations ## Limitations
Be sure that your mechanical components are able to handle the load of Be sure that your mechanical components are able to handle the load of
the carriage bumping into the limit of the axis repeatedly. Especially the carriage bumping into the limit of the axis repeatedly. Especially
spindles (on the Z axis) might generate a lot of force. Homing a Z leadscrews might generate a lot of force. Homing a Z axis by bumping
axis by bumping the nozzle into the printing surface might not be a the nozzle into the printing surface might not be a good idea. For
good idea. best results, verify that the axis carriage will make a firm contact
with the axis limit.
Further, sensorless homing might not be accurate enough for your Further, sensorless homing might not be accurate enough for your
printer. While homing X and Y axes on a cartesian machine can work printer. While homing X and Y axes on a cartesian machine can work
well, homing the Z axis is generally not accurate enough and results well, homing the Z axis is generally not accurate enough and may
in inconsistent first layer height. Homing a delta printer sensorless result in an inconsistent first layer height. Homing a delta printer
is not advisable due to missing accuracy. sensorless is not advisable due to missing accuracy.
Further, the stall detection of the stepper driver is dependent on the Further, the stall detection of the stepper driver is dependent on the
mechanical load on the motor, the motor current and the motor mechanical load on the motor, the motor current and the motor
@ -70,124 +62,260 @@ of the motor, so the TMC cannot detect stalls anymore. It is advised
to have a look in the datasheet of your specific TMCs. There you can to have a look in the datasheet of your specific TMCs. There you can
also find more details on limitations of this setup. also find more details on limitations of this setup.
## Configuration ## Prerequisites
To enable sensorless homing add a section to configure the TMC stepper A few prerequisites are needed to use sensorless homing:
driver to your `printer.cfg`.
In this guide we'll be using a TMC2130. The configuration however is 1. A StallGuard capable TMC stepper driver (tmc2130, tmc2209, tmc2660,
similar to the other TMCs with StallGuard: or tmc5160).
2. SPI / UART interface of the TMC driver wired to micro-controller
(stand-alone mode does not work).
3. The appropriate "DIAG" or "SG_TST" pin of TMC driver connected to
the micro-controller.
4. The steps in the [config checks](Config_checks.md) document must be
run to confirm the stepper motors are configured and working
properly.
``` ## Tuning
[tmc2130 stepper_x]
cs_pin: # chip select pin of the SPI interface
microsteps: # number of microsteps per full step of the motor
run_current: # value in amps
diag1_pin: ! # pin on the MCU where DIAG1 is connected (active low)
driver_SGT: # tuning value for sensorless homing
```
The above snippet configures a TMC2130 for the stepper on the X axis. The procedure described here has six major steps:
Make sure to fill in the missing values based on your configuration. 1. Choose a homing speed.
2. Configure the `printer.cfg` file to enable sensorless homing.
3. Find the stallguard setting with highest sensitivity that
successfully homes.
4. Find the stallguard setting with lowest sensitivity that
successfully homes with a single touch.
5. Update the `printer.cfg` with the desired stallguard setting.
6. Create or update `printer.cfg` macros to home consistently.
The `driver_SGT` value describes the threshold when the driver ### Choose homing speed
reports a stall. Values have to be in between -64 (most sensitive) and
64 (least sensitive). On some TMCs like the TMC2209 this value doesn't
exist in this form as the behavior is different to the TMC2130. In the
case of the TMC2209 the threshold is defined by the `driver_SGTHRS`
value in the config and go from 0 (least sensitive) to 255 (most
sensitive). Have a look at the datasheet of your specific TMC to avoid
mistakes.
If you have a CoreXY machine, you can configure one stepper driver for The homing speed is an important choice when performing sensorless
X and the other for Y homing as you would on a cartesian printer. Be homing. It's desirable to use a slow homing speed so that the carriage
aware that Klipper needs both `DIAG1` pins connected to the MCU. It is does not exert excessive force on the frame when making contact with
not sufficient to use only one signal from one of the stepper drivers the end of the rail. However, the TMC drivers can't reliably detect a
(as it is possible on e.g. Marlin). stall at very slow speeds.
The `diag1_pin` of the TMC2130 is configured as open-collector pin.
This means, the stepper driver pulls the pin low to indicate a stalled
motor (active low) and the pin must be inverted by adding a `!` in
front of the pin name. Further, you need a pull-up resistor on the
connection. If your PCB has no external pull-up, you can enable the
internal pull-up of your MCU by adding a `^` in front of the pin name.
The resulting line might look like this:
```
diag1_pin: ^!PA1 # DIAG1 connected to PA1, internal pull-up is enabled, signal is active low
```
By configuring the `diag1_pin`, Klipper allows you to use a special
virtual end stop for the axis. You can use this instead of a physical
end stop pin by changing the `endstop_pin` of the corresponding axis:
A good starting point for the homing speed is for the stepper motor to
make a full rotation every two seconds. For many axes this will be the
`rotation_distance` divided by two. For example:
``` ```
[stepper_x] [stepper_x]
rotation_distance: 40
homing_speed: 20
... ...
endstop_pin: tmc2130_stepper_x:virtual_endstop # use the virtual end stop generated by the [tmc2130 stepper_x] section of this config file ```
### Configure printer.cfg for sensorless homing
The `homing_retract_dist` setting must be set to zero in the
`stepper_x` config section to disable the second homing move. The
second homing attempt does not add value when using sensorless homing,
it will not work reliably, and it will confuse the tuning process.
Be sure that a `hold_current` setting is not specified in the TMC
driver section of the config. (If a hold_current is set then after
contact is made, the motor stops while the carriage is pressed against
the end of the rail, and reducing the current while in that position
may cause the carriage to move - that results in poor performance and
will confuse the tuning process.)
It is necessary to configure the sensorless homing pins and to
configure initial "stallguard" settings. A tmc2209 example
configuration for an X axis might look like:
```
[tmc2209 stepper_x]
diag_pin: ^PA1 # Set to MCU pin connected to TMC DIAG pin
driver_SGTHRS: 255 # 255 is most sensitive value, 0 is least sensitive
... ...
[stepper_x]
endstop_pin: tmc2209_stepper_x:virtual_endstop
homing_retract_dist: 0 homing_retract_dist: 0
... ...
``` ```
The name of the virtual end stop pin is derived from the name of the An example tmc2130 or tmc5160 config might look like:
TMC2130 section. The `homing_retract_dist` setting should be set to
zero to disable the second homing move as a second pass is not needed,
and attempts to do so are error prone.
The TMC2130 and TMC5160 have both a `diag0_pin` and `diag1_pin` in
most known hardware the `diag1_pin` is appropriate. In order for
klipper to correctly configure the driver for sensorless homing, the
correct configuration property name `diag0_pin` or `diag1_pin` must be
used. Which is used is determined by which driver pin is connected to
the MCU pin.
ATTENTION: This guide only mentions the mandatory parameters and the
ones needed to set up sensorless homing. There are many other options
to configure on a TMC2130, make sure to take a look at [config
reference](Config_Reference.md#tmc2130) for all the available options.
## Homing and Tuning
Let's try the first sensorless homing now. It will likely not work as
intended. There are three possible outcomes of this experiment:
1. The axis stops moving before hitting the mechanical limit or does
not move at all
2. The axis homes correctly (which is unlikely at this point)
3. The axis bumps into the mechanical limit and keeps moving while
making horrible noise
If the third outcome happens to you, disable the stepper (by cutting
the power or issuing a `M112` emergency stop).
Ok, now that you know what can happen, let's try it out. Put the
carriage somewhere in the middle of the X axis. Home the X axis by
sending the following G-Code command to Klipper and observe the
outcome:
``` ```
G28 X [tmc2130 stepper_x]
diag1_pin: ^!PA1 # Pin connected to TMC DIAG1 pin (or use diag0_pin / DIAG0 pin)
driver_SGT: -64 # -64 is most sensitive value, 63 is least sensitive
...
[stepper_x]
endstop_pin: tmc2130_stepper_x:virtual_endstop
homing_retract_dist: 0
...
``` ```
If the axis stopped early (first outcome), the stepper driver detected An example tmc2660 config might look like:
a motor stall even though there was none. To trigger stall detection ```
at a higher load, increase the value of `driver_SGT` (for example from [tmc2660 stepper_x]
0 to 5). The values can be any integer between `-64` and `63`. The driver_SGT: -64 # -64 is most sensitive value, 63 is least sensitive
higher the value, the later it triggers stall detection. ...
If your axis did not stop (third outcome), the stepper driver was not [stepper_x]
able to detect the stall, because the load on the motor still seemed endstop_pin: ^PA1 # Pin connected to TMC SG_TST pin
reasonable to the driver. To trigger stall detection at a lighter homing_retract_dist: 0
load, decrease the value of `driver_SGT`. ...
```
Even if your axis homed correctly, it might be worth to try a few The examples above only show settings specific to sensorless
different values for `driver_SGT`. If you think that it bumps too hard homing. See the [config
into the mechanical limit, try to decrease the value by 1 or 2. reference](Config_Reference.md#tmc-stepper-driver-configuration) for
all the available options.
At this point, your axis should be able to home based on the stall ### Find highest sensitivity that successfully homes
detection of the TMC2130. Congratulations! You can now proceed with
the next axis of your printer. Place the carriage near the center of the rail. Use the SET_TMC_FIELD
command to set the highest sensitivity. For tmc2209:
```
SET_TMC_FIELD STEPPER=stepper_x FIELD=SGTHRS VALUE=255
```
For tmc2130, tmc5160, and tmc2660:
```
SET_TMC_FIELD STEPPER=stepper_x FIELD=sgt VALUE=-64
```
Then issue a `G28 X0` command and verify the axis does not move at
all. If the axis does move, then issue an `M112` to halt the printer -
something is not correct with the diag/sg_tst pin wiring or
configuration and it must be corrected before continuing.
Next, continually decrease the sensitivity of the `VALUE` setting and
run the `SET_TMC_FIELD` `G28 X0` commands again to find the highest
sensitivity that results in the carriage successfully moving all the
way to the endstop and halting. (For tmc2209 drivers this will be
decreasing SGTHRS, for other drivers it will be increasing sgt.) Be
sure to start each attempt with the carriage near the center of the
rail (if needed issue `M84` and then manually move the carriage to the
center). It should be possible to find the highest sensitivity that
homes reliably (settings with higher sensitivity result in small or no
movement). Note the found value as *maximum_sensitivity*. (If the
minimum possible sensitivity (SGTHRS=0 or sgt=63) is obtained without
any carriage movement then something is not correct with the
diag/sg_tst pin wiring or configuration and it must be corrected
before continuing.)
When searching for maximum_sensitivity, it may be convenient to jump
to different VALUE settings (so as to bisect the VALUE parameter). If
doing this then be prepared to issue an `M112` command to halt the
printer, as a setting with a very low sensitivity may cause the axis
to repeatedly "bang" into the end of the rail.
Be sure to wait a couple of seconds between each homing attempt. After
the TMC driver detects a stall it may take a little time for it to
clear its internal indicator and be capable of detecting another
stall.
During these tuning tests, if a `G28 X0` command does not move all the
way to the axis limit, then be careful with issuing any regular
movement commands (eg, `G1`). Klipper will not have a correct
understanding of the carriage position and a move command may cause
undesirable and confusing results.
### Find lowest sensitivity that homes with one touch
When homing with the found *maximum_sensitivity* value, the axis
should move to the end of the rail and stop with a "single touch" -
that is, there should not be a "clicking" or "banging" sound. (If
there is a banging or clicking sound at maximum_sensitivity then the
homing_speed may be too low, the driver current may be too low, or
sensorless homing may not be a good choice for the axis.)
The next step is to again continually move the carriage to a position
near the center of the rail, decrease the sensitivity, and run the
`SET_TMC_FIELD` `G28 X0` commands - the goal is now to find the lowest
sensitivity that still results in the carriage successfully homing
with a "single touch". That is, it does not "bang" or "click" when
contacting the end of the rail. Note the found value as
*minimum_sensitivity*.
### Update printer.cfg with sensitivity value
After finding *maximum_sensitivity* and *minimum_sensitivity*, use a
calculator to obtain the recommend sensitivity as
*minimum_sensitivity + (maximum_sensitivity - minimum_sensitivity)/3*.
The recommended sensitivity should be in the range between the minimum
and maximum, but slightly closer to the minimum. Round the final value
to the nearest integer value.
For tmc2209 set this in the config as `driver_SGTHRS`, for other TMC
drivers set this in the config as `driver_SGT`.
If the range between *maximum_sensitivity* and *minimum_sensitivity*
is small (eg, less than 5) then it may result in unstable homing. A
faster homing speed may increase the range and make the operation more
stable.
Note that if any change is made to driver current, homing speed, or a
notable change is made to the printer hardware, then it will be
necessary to run the tuning process again.
### Using Macros when Homing
After sensorless homing completes the carriage will be pressed against
the end of the rail and the stepper will exert a force on the frame
until the carriage is moved away. It is a good idea to create a macro
to home the axis and immediately move the carriage away from the end
of the rail. It is recommended to set the speed of this subsequent
move so that it lasts at least two seconds (eg, `G1 X40 F1200`) to
ensure the stall flag in the TMC driver is cleared after the move
completes.
It can also be useful to have that macro set the driver current before
homing and set a new current after the carriage has moved away. This
also allows a hold_current to be set during prints (a hold_current
is not recommended during sensorless homing).
An example macro might look something like:
```
[gcode_macro SENSORLESS_HOME_X]
gcode:
{% set HOME_CUR = 0.700 %}
{% set driver_config = printer.configfile.settings['tmc2209 stepper_x'] %}
{% set RUN_CUR = driver_config.run_current %}
{% set HOLD_CUR = driver_config.hold_current %}
# Set current for sensorless homing
SET_TMC_CURRENT STEPPER=stepper_x CURRENT={HOME_CUR} HOLDCURRENT={HOME_CUR}
# Home
G28 X0
# Move away
G90
G1 X40 F1200
# Set current during print
SET_TMC_CURRENT STEPPER=stepper_x CURRENT={RUN_CUR} HOLDCURRENT={HOLD_CUR}
```
The resulting macro can be called from a [homing_override config
section](Config_Reference.md#homing_override) or from a [START_PRINT
macro](Slicers.md#klipper-gcode_macro).
Note that if the driver current during homing is changed, then the
tuning process should be run again.
## Tips for sensorless homing on CoreXY
It is possible to use sensorless homing on the X and Y carriages of a
CoreXY printer. Klipper uses the `[stepper_x]` stepper to detect
stalls when homing the X carriage and uses the `[stepper_y]` stepper
to detect stalls when homing the Y carriage.
Use the tuning guide described above to find the appropriate "stall
sensitivity" for each carriage, but be aware of the following
restrictions:
1. When using sensorless homing on CoreXY, make sure there is no
`hold_current` in effect for either stepper during homing.
2. Make sure both the X and Y carriages are near the center of their
rails before each home attempt.
3. After tuning is complete, when homing both X and Y, use macros to
ensure that one axis is homed first, then move that carriage away
from the axis limit using a move that lasts at least two seconds,
and then start the homing of the other carriage. The move away from
the axis helps ensure the stall flag is cleared from both stepper
drivers before starting the next home attempt. It also avoids
homing one axis while the other is pressed against the axis limit
(which may skew the stall detection).
# Querying and diagnosing driver settings # Querying and diagnosing driver settings