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diff --git a/docs/TMC_Drivers.md b/docs/TMC_Drivers.md index fd082bde..349b9d1e 100644 --- a/docs/TMC_Drivers.md +++ b/docs/TMC_Drivers.md @@ -1,3 +1,5 @@ +# TMC drivers + This document provides information on using Trinamic stepper motor drivers in SPI/UART mode on Klipper. @@ -9,7 +11,7 @@ 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 @@ -21,7 +23,7 @@ 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. -# Sensorless Homing +## Sensorless Homing Sensorless homing allows to home an axis without the need for a physical limit switch. Instead, the carriage on the axis is moved into @@ -35,7 +37,7 @@ your (cartesian) printer. However, it works the same with all other axes (that require an end stop). You should configure and tune it for one axis at a time. -## Limitations +### Limitations Be sure that your mechanical components are able to handle the load of the carriage bumping into the limit of the axis repeatedly. Especially @@ -62,7 +64,7 @@ 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 also find more details on limitations of this setup. -## Prerequisites +### Prerequisites A few prerequisites are needed to use sensorless homing: @@ -76,7 +78,7 @@ A few prerequisites are needed to use sensorless homing: run to confirm the stepper motors are configured and working properly. -## Tuning +### Tuning The procedure described here has six major steps: 1. Choose a homing speed. @@ -88,7 +90,7 @@ The procedure described here has six major steps: 5. Update the `printer.cfg` with the desired stallguard setting. 6. Create or update `printer.cfg` macros to home consistently. -### Choose homing speed +#### Choose homing speed The homing speed is an important choice when performing sensorless homing. It's desirable to use a slow homing speed so that the carriage @@ -106,7 +108,7 @@ homing_speed: 20 ... ``` -### Configure printer.cfg for sensorless homing +#### 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 @@ -214,7 +216,7 @@ 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 +#### 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" - @@ -231,7 +233,7 @@ 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 +#### Update printer.cfg with sensitivity value After finding *maximum_sensitivity* and *minimum_sensitivity*, use a calculator to obtain the recommend sensitivity as @@ -252,7 +254,7 @@ 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 +#### 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 @@ -301,7 +303,7 @@ 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 +### 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 @@ -323,7 +325,7 @@ restrictions: limit (which may skew the stall detection). The pause is necessary to ensure the driver's stall flag is cleared prior to homing again. -# Querying and diagnosing driver settings +## Querying and diagnosing driver settings The `[DUMP_TMC command](G-Codes.md#tmc-stepper-drivers) is a useful tool when configuring and diagnosing the drivers. It will report all @@ -336,7 +338,7 @@ each driver. These datasheets can be found on the Trinamic datasheet for the driver to interpret the results of DUMP_TMC. -# Configuring driver_XXX settings +## Configuring driver_XXX settings Klipper supports configuring many low-level driver fields using `driver_XXX` settings. The @@ -359,9 +361,9 @@ states that a value of 3 must be written to the HEND field to obtain a "hysteresis end" of 0, then set `driver_HEND=3` to obtain the high-level value of 0. -# Common Questions +## 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 pressure advance. Klipper implements @@ -372,7 +374,7 @@ 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. -## I keep getting "Unable to read tmc uart 'stepper_x' register IFCNT" errors? +### I keep getting "Unable to read tmc uart 'stepper_x' register IFCNT" errors? This occurs when Klipper is unable to communicate with a tmc2208 or tmc2209 driver. @@ -390,7 +392,7 @@ power plugs). Otherwise, this error is typically the result of incorrect UART pin wiring or an incorrect Klipper configuration of the UART pin settings. -## I keep getting "Unable to write tmc spi 'stepper_x' register ..." errors? +### I keep getting "Unable to write tmc spi 'stepper_x' register ..." errors? This occurs when Klipper is unable to communicate with a tmc2130 or tmc5160 driver. @@ -415,7 +417,7 @@ attempt to use the SPI bus). The board's schematic is often a useful reference for finding which devices are on an SPI bus and their associated pins. -## Why did I get a "TMC reports error: ..." error? +### Why did I get a "TMC reports error: ..." error? This type of error indicates the TMC driver detected a problem and has disabled itself. That is, the driver stopped holding its position and @@ -460,7 +462,7 @@ 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, |