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| -rw-r--r-- | docs/TMC_Drivers.md | 51 |
1 files changed, 26 insertions, 25 deletions
diff --git a/docs/TMC_Drivers.md b/docs/TMC_Drivers.md index 981c2ba7..86b3c89c 100644 --- a/docs/TMC_Drivers.md +++ b/docs/TMC_Drivers.md @@ -11,14 +11,14 @@ this document are not available. In addition to this document, be sure to review the [TMC driver config reference](Config_Reference.md#tmc-stepper-driver-configuration). -## Enabling "Stealthchop" mode +## Enabling "StealthChop" Mode -By default, Klipper places the TMC drivers in "spreadcycle" mode. If -the driver supports "stealthchop" then it can be enabled by adding +By default, Klipper places the TMC drivers in "spreadCycle" mode. If +the driver supports "stealthChop" then it can be enabled by adding `stealthchop_threshold: 999999` to the TMC config section. -It is recommended to always use "spreadcycle" mode (by not specifying -`stealthchop_threshold`) or to always use "stealthchop" mode (by +It is recommended to always use "spreadCycle" mode (by not specifying +`stealthchop_threshold`) or to always use "stealthChop" mode (by setting `stealthchop_threshold` to 999999). Unfortunately, the drivers often produce poor and confusing results if the mode changes while the motor is at a non-zero velocity. @@ -68,7 +68,7 @@ also find more details on limitations of this setup. A few prerequisites are needed to use sensorless homing: -1. A StallGuard capable TMC stepper driver (tmc2130, tmc2209, tmc2660, +1. A stallGuard capable TMC stepper driver (tmc2130, tmc2209, tmc2660, or tmc5160). 2. SPI / UART interface of the TMC driver wired to micro-controller (stand-alone mode does not work). @@ -81,6 +81,7 @@ A few prerequisites are needed to use sensorless homing: ### Tuning The procedure described here has six major steps: + 1. Choose a homing speed. 2. Configure the `printer.cfg` file to enable sensorless homing. 3. Find the stallguard setting with highest sensitivity that @@ -361,14 +362,14 @@ high-level value of 0. ## Common Questions -### Can I use stealthchop mode on an extruder with pressure advance? +### Can I use stealthChop mode on an extruder with pressure advance? -Many people successfully use "stealthchop" mode with Klipper's +Many people successfully use "stealthChop" mode with Klipper's pressure advance. Klipper implements [smooth pressure advance](Kinematics.md#pressure-advance) which does not introduce any instantaneous velocity changes. -However, "stealthchop" mode may produce lower motor torque and/or +However, "stealthChop" mode may produce lower motor torque and/or produce higher motor heat. It may or may not be an adequate mode for your particular printer. @@ -423,48 +424,48 @@ ignored movement commands. If Klipper detects that an active driver has disabled itself, it will transition the printer into a "shutdown" state. +It's also possible that a **TMC reports error** shutdown occurs due to +SPI errors that prevent communication with the driver (on tmc2130, +tmc5160, or tmc2660). If this occurs, it's common for the reported +driver status to show `00000000` or `ffffffff` - for example: `TMC +reports error: DRV_STATUS: ffffffff ...` OR `TMC reports error: +READRSP@RDSEL2: 00000000 ...`. Such a failure may be due to an SPI +wiring problem or may be due to a self-reset or failure of the TMC +driver. + Some common errors and tips for diagnosing them: -#### TMC reports error: ... ot=1(OvertempError!)" +#### TMC reports error: `... ot=1(OvertempError!)`" This indicates the motor driver disabled itself because it became too hot. Typical solutions are to decrease the stepper motor current, increase cooling on the stepper motor driver, and/or increase cooling on the stepper motor. -#### TMC reports error: ... ShortToGND** OR **LowSideShort +#### TMC reports error: `... ShortToGND` OR `LowSideShort` This indicates the driver has disabled itself because it detected very high current passing through the driver. This may indicate a loose or shorted wire to the stepper motor or within the stepper motor itself. -This error may also occur if using stealthchop mode and the TMC driver +This error may also occur if using stealthChop mode and the TMC driver is not able to accurately predict the mechanical load of the motor. (If the driver makes a poor prediction then it may send too much current through the motor and trigger its own over-current detection.) -To test this, disable stealthchop mode and check if the errors +To test this, disable stealthChop mode and check if the errors continue to occur. -#### TMC reports error: ... reset=1(Reset)** OR **CS_ACTUAL=0(Reset?)**OR **SE=0(Reset?) +#### TMC reports error: `... reset=1(Reset)` OR `CS_ACTUAL=0(Reset?)**OR **SE=0(Reset?)` This indicates that the driver has reset itself mid-print. This may be due to voltage or wiring issues. -#### TMC reports error: ... uv_cp=1(Undervoltage!) +#### TMC reports error: `... uv_cp=1(Undervoltage!)` This indicates the driver has detected a low-voltage event and has disabled itself. This may be due to wiring or power supply issues. -It's also possible that a **TMC reports error** shutdown occurs due to -SPI errors that prevent communication with the driver (on tmc2130, -tmc5160, or tmc2660). If this occurs, it's common for the reported -driver status to show `00000000` or `ffffffff` - for example: `TMC -reports error: DRV_STATUS: ffffffff ...` OR `TMC reports error: -READRSP@RDSEL2: 00000000 ...`. Such a failure may be due to an SPI -wiring problem or may be due to a self-reset or failure of the TMC -driver. - -### How do I tune spreadcycle/coolstep/etc. mode on my drivers? +### How do I tune spreadCycle/coolStep/etc. mode on my drivers? The [Trinamic website](https://www.trinamic.com/) has guides on configuring the drivers. These guides are often technical, low-level, |