docs: Rename Sensorless_homing.md to TMC_Drivers.md and extend
Add additional information on configuring and using TMC drivers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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@ -2585,6 +2585,10 @@ pins:
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# TMC stepper driver configuration
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Configuration of Trinamic stepper motor drivers in UART/SPI mode.
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Additional information is in the [TMC Drivers guide](TMC_Drivers.md)
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and in the [command reference](G-Codes.md#tmc-stepper-drivers).
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## [tmc2130]
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Configure a TMC2130 stepper motor driver via SPI bus. To use this
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@ -2652,8 +2656,7 @@ run_current:
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# pin which may be used as the stepper's endstop_pin. Doing this
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# enables "sensorless homing". (Be sure to also set driver_SGT to an
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# appropriate sensitivity value.) The default is to not enable
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# sensorless homing. See docs/Sensorless_Homing.md for details on
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# how to configure this.
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# sensorless homing.
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```
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## [tmc2208]
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@ -2918,8 +2921,7 @@ run_current:
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# pin which may be used as the stepper's endstop_pin. Doing this
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# enables "sensorless homing". (Be sure to also set driver_SGT to an
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# appropriate sensitivity value.) The default is to not enable
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# sensorless homing. See docs/Sensorless_Homing.md for details on
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# how to configure this.
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# sensorless homing.
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```
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# Run-time stepper motor current configuration
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@ -474,7 +474,7 @@ enabled:
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carriage. It is typically invoked from the activate_gcode and
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deactivate_gcode fields in a multiple extruder configuration.
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## TMC2130, TMC2660, TMC2208, TMC2209 and TMC5160
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## TMC stepper drivers
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The following commands are available when any of the
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[tmcXXXX config sections](Config_Reference.md#tmc-stepper-driver-configuration)
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@ -486,14 +486,14 @@ are enabled:
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turned off then back on.
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- `SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>`:
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This will adjust the run and hold currents of the TMC driver.
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HOLDCURRENT is applicable only to the tmc2130, tmc2208, tmc2209 and tmc5160.
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- `SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This will
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alter the value of the specified register field of the TMC driver.
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This command is intended for low-level diagnostics and debugging only because
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changing the fields during run-time can lead to undesired and potentially
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dangerous behavior of your printer. Permanent changes should be made using
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the printer configuration file instead. No sanity checks are performed for the
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given values.
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(HOLDCURRENT is not applicable to tmc2660 drivers.)
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- `SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This
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will alter the value of the specified register field of the TMC
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driver. This command is intended for low-level diagnostics and
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debugging only because changing the fields during run-time can lead
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to undesired and potentially dangerous behavior of your printer.
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Permanent changes should be made using the printer configuration
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file instead. No sanity checks are performed for the given values.
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## Endstop adjustments by stepper phase
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@ -42,8 +42,8 @@ communication with the Klipper developers.
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- [Slicers](Slicers.md): Configure "slicer" software for Klipper.
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- [Command Templates](Command_Templates.md): G-Code macros and
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conditional evaluation.
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- [Sensorless homing](Sensorless_Homing.md): Configuring tmc2130
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sensorless homing.
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- [TMC Drivers](TMC_Drivers.md): Using Trinamic stepper motor drivers
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with Klipper.
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- [Skew correction](skew_correction.md): Adjustments for axes not
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perfectly square.
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- [G-Codes](G-Codes.md): Information on commands supported by Klipper.
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@ -1,3 +1,26 @@
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This document provides information on using Trinamic stepper motor
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drivers in SPI/UART mode on Klipper.
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Klipper can also use Trinamic drivers in their "standalone mode".
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However, when the drivers are in this mode, no special Klipper
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configuration is needed and the advanced Klipper features discussed in
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this document are not available.
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In addition to this document, be sure to review the [TMC driver config
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reference](Config_Reference.md#tmc-stepper-driver-configuration).
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# Enabling "Stealthchop" mode
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By default, Klipper places the TMC drivers in "spreadcycle" mode. If
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the driver supports "stealthchop" then it can be enabled by adding
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`stealthchop_threshold: 999999` to the TMC config section.
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It is recommended to always use "spreadcycle" mode (by not specifying
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`stealthchop_threshold`) or to always use "stealthchop" mode (by
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setting `stealthchop_threshold` to 999999). Unfortunately, the drivers
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often produce poor and confusing results if the mode changes while the
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motor is at a non-zero velocity.
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# Sensorless Homing
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Sensorless homing allows to home an axis without the need for a
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@ -35,7 +58,7 @@ well, homing the Z axis is generally not accurate enough and results
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in inconsistent first layer height. Homing a delta printer sensorless
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is not advisable due to missing accuracy.
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Further, the stall detection of the stepper driver is dependant on the
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Further, the stall detection of the stepper driver is dependent on the
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mechanical load on the motor, the motor current and the motor
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temperature (coil resistance).
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@ -53,7 +76,7 @@ To enable sensorless homing add a section to configure the TMC stepper
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driver to your `printer.cfg`.
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In this guide we'll be using a TMC2130. The configuration however is
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simailar to the other TMCs with StallGuard:
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similar to the other TMCs with StallGuard:
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```
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[tmc2130 stepper_x]
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@ -67,7 +90,7 @@ driver_SGT: # tuning value for sensorless homing
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The above snippet configures a TMC2130 for the stepper on the X axis.
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Make sure to fill in the missing values based on your configuration.
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The `driver_SGT` value describes the threshhold when the driver
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The `driver_SGT` value describes the threshold when the driver
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reports a stall. Values have to be in between -64 (most sensitive) and
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64 (least sensitive). On some TMCs like the TMC2209 this value doesn't
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exist in this form as the behavior is different to the TMC2130. In the
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@ -124,40 +147,6 @@ ones needed to set up sensorless homing. There are many other options
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to configure on a TMC2130, make sure to take a look at [config
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reference](Config_Reference.md#tmc2130) for all the available options.
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## Testing of SPI/UART communication
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Now that the stepper driver is configured, let's make sure that
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Klipper can communicate with the TMC2130 by sending the following
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extended G-Code command to the printer:
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```
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DUMP_TMC stepper=stepper_x
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```
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This command tells Klipper to read a few registers via SPI from the
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TMC2130. If everything works correctly, the output should look similar
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to this (in OctoPrint terminal tab):
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```
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Send: DUMP_TMC stepper=stepper_x
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Recv: // GCONF: 00000004
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Recv: // GSTAT: 00000001
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Recv: // IOIN: 11000078
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Recv: // TSTEP: 000fffff
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Recv: // XDIRECT: 00000000
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Recv: // MSCNT: 00000010
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Recv: // MSCURACT: 00f60018
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Recv: // CHOPCONF: 15008384
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Recv: // DRV_STATUS: 800d0000
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Recv: // PWM_SCALE: 00000000
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Recv: // LOST_STEPS: 00000000
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```
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The actual register values might differ based the configuration of
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your TMC2130. If the register values are all `ffffffff` or look
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otherwise bogus (for example, `LOST_STEPS` should be always `00000000`
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here) make sure that the SPI is wired and configured correctly.
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## Homing and Tuning
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Let's try the first sensorless homing now. It will likely not work as
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@ -184,7 +173,7 @@ G28 X
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If the axis stopped early (first outcome), the stepper driver detected
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a motor stall even though there was none. To trigger stall detection
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at a higher load, increase the value of `driver_SGT` (for example from
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0 to 5). The values can be any interger between `-64` and `63`. The
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0 to 5). The values can be any integer between `-64` and `63`. The
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higher the value, the later it triggers stall detection.
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If your axis did not stop (third outcome), the stepper driver was not
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@ -199,3 +188,95 @@ into the mechanical limit, try to decrease the value by 1 or 2.
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At this point, your axis should be able to home based on the stall
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detection of the TMC2130. Congratulations! You can now proceed with
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the next axis of your printer.
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# Querying and diagnosing driver settings
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The `[DUMP_TMC command](G-Codes.md#tmc-stepper-drivers) is a useful
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tool when configuring and diagnosing the drivers. It will report all
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fields configured by Klipper as well as all fields that can be queried
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from the driver.
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All of the reported fields are defined in the Trinamic datasheet for
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each driver. These datasheets can be found on the [Trinamic
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website](https://www.trinamic.com/). Obtain and review the Trinamic
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datasheet for the driver to interpret the results of DUMP_TMC.
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# Configuring driver_XXX settings
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Klipper supports configuring many low-level driver fields using
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`driver_XXX` settings. The [TMC driver config
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reference](Config_Reference.md#tmc-stepper-driver-configuration) has
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the full list of fields available for each type of driver.
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In addition, almost all fields can be modified at run-time using the
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[SET_TMC_FIELD command](G-Codes.md#tmc-stepper-drivers).
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Each of these fields is defined in the Trinamic datasheet for each
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driver. These datasheets can be found on the [Trinamic
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website](https://www.trinamic.com/).
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Note that the Trinamic datasheets sometime use wording that can
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confuse a high-level setting (such as "hysteresis end") with a
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low-level field value (eg, "HEND"). In Klipper, `driver_XXX` and
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SET_TMC_FIELD always set the low-level field value that is actually
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written to the driver. So, for example, if the Trinamic datasheet
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states that a value of 3 must be written to the HEND field to obtain a
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"hysteresis end" of 0, then set `driver_HEND=3` to obtain the
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high-level value of 0.
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# Common Questions
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## Can I use stealthchop mode on an extruder with pressure advance?
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Many people successfully use "stealthchop" mode with Klipper's
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pressure advance. Klipper implements [smooth pressure
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advance](Kinematics.md#pressure-advance) which does not introduce any
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instantaneous velocity changes.
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However, "stealthchop" mode may produce lower motor torque and/or
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produce higher motor heat. It may or may not be an adequate mode for
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your particular printer.
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## I keep getting "Unable to read tmc uart 'stepper_x' register IFCNT" errors?
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This occurs when Klipper is unable to communicate with a tmc2208 or
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tmc2209 driver.
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Make sure that the motor power is enabled, as the stepper motor driver
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generally needs motor power before it can communicate with the
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micro-controller.
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Otherwise, this error is typically the result of incorrect UART pin
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wiring or an incorrect Klipper configuration of the UART pin settings.
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## I keep getting "Unable to write tmc spi 'stepper_x' register ..." errors?
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This occurs when Klipper is unable to communicate with a tmc2130 or
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tmc5160 driver.
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Make sure that the motor power is enabled, as the stepper motor driver
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generally needs motor power before it can communicate with the
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micro-controller.
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Otherwise, this error is typically the result of incorrect SPI wiring,
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an incorrect Klipper configuration of the SPI settings, or an
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incomplete configuration of devices on an SPI bus.
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Note that if the driver is on a shared SPI bus with multiple devices
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then be sure to fully configure every device on that shared SPI bus in
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Klipper. If a device on a shared SPI bus is not configured, then it
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may incorrectly respond to commands not intended for it and corrupt
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the communication to the intended device. If there is a device on a
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shared SPI bus that can not be configured in Klipper, then use a
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[static_digital_output config
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section](Config_Reference.md#static_digital_output) to set the CS pin
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of the unused device high (so that it will not attempt to use the SPI
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bus). The board's schematic is often a useful reference for finding
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which devices are on an SPI bus and their associated pin settings.
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## How do I tune spreadcycle/coolstep/etc. mode on my drivers?
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The [Trinamic website](https://www.trinamic.com/) has guides on
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configuring the drivers. These guides are often technical, low-level,
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and may require specialized hardware. Regardless, they are the best
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source of information.
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