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Motori bloccati

Posted by ghirap 
Motori bloccati
December 06, 2014 04:25PM
Salve, ho il problema dei motori degli assi bloccati e dopo aver letto molti post mi sono reso conto che tutti propongono una minestra diversa per cercare di risolvere i problemi ma così si crea molta confusione.
Vi elenco i miei dati nella speranza che qualche mente esperta illuminata mi possa dare dei consigli utili e quali valori del firmware siano da cambiare.

Motori Wantai
classe: Nema 17
cod: 42BYGHW804
3,6 V
1,2 A

Firmware Sprinter:


// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration

//// The following define selects which electronics board you have. Please choose the one that matches your setup
// MEGA/RAMPS up to 1.2 = 3,
// RAMPS 1.3/1.4 = 33
// Gen6 = 5,
// Gen6 deluxe = 51
// Sanguinololu up to 1.1 = 6
// Sanguinololu 1.2 and above = 62
// Gen 7 @ 16MHZ only= 7
// Gen 7 @ 20MHZ only= 71
// Teensylu (at90usb) = 8
// Printrboard Rev. B (ATMEGA90USB1286) = 9
// Gen 3 Plus = 21
// gen 3 Monolithic Electronics = 22
// Gen3 PLUS for TechZone Gen3 Remix Motherboard = 23
#define MOTHERBOARD 33

//// Thermistor settings:
// 1 is 100k thermistor
// 2 is 200k thermistor
// 3 is mendel-parts thermistor
// 4 is 10k thermistor
// 5 is ParCan supplied 104GT-2 100K
// 6 is EPCOS 100k
// 7 is 100k Honeywell thermistor 135-104LAG-J01

//// Calibration variables
// X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder:
#define _AXIS_STEP_PER_UNIT {80, 80, 3200/1.25,700}
// Metric Prusa Mendel with Makergear geared stepper extruder:
//#define _AXIS_STEP_PER_UNIT {80,80,3200/1.25,1380}
// MakerGear Hybrid Prusa Mendel:
// Z axis value is for .9 stepper(if you have 1.8 steppers for Z, you need to use 2272.7272)
//#define _AXIS_STEP_PER_UNIT {104.987, 104.987, 4545.4544, 1487}

//// Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
//If your axes are only moving in one direction, make sure the endstops are connected properly.
//If your axes move in one direction ONLY when the endstops are triggered, set [XYZ]_ENDSTOP_INVERT to true here:
const bool X_ENDSTOP_INVERT = false;
const bool Y_ENDSTOP_INVERT = false;
const bool Z_ENDSTOP_INVERT = false;

// This determines the communication speed of the printer
#define BAUDRATE 115200
//#define BAUDRATE 250000

// Comment out (using // at the start of the line) to disable SD support:

// Uncomment to make run init.g from SD on boot
//#define SDINITFILE

//Only work with Atmega1284 you need +1 kb ram

// the microcontroller can store settings in the EEPROM
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - Print settings
// define this to enable eeprom support

// to disable EEPROM Serial responses and decrease program space by ~1000 byte: comment this out:
// please keep turned on if you can.

//// ARC Function (G2/G3 Command)
//Uncomment to aktivate the arc (circle) function (G2/G3 Command)
//Without SD function an ARC function the used Flash is smaller 31 kb

//// ADVANCED SETTINGS - to tweak parameters

//Fast transfer chunk size (> 1024 is unstable, change at your own risk).

// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0

//Uncomment if you have problems with a stepper driver enabeling too late, this will also set how many microseconds delay there will be after enabeling the driver
//#define DELAY_ENABLE 15

// Disables axis when it's not being used.
const bool DISABLE_X = false;
const bool DISABLE_Y = false;
const bool DISABLE_Z = true;
const bool DISABLE_E = false;

// Inverting axis direction
const bool INVERT_X_DIR = false;
const bool INVERT_Y_DIR = false;
const bool INVERT_Z_DIR = true;
const bool INVERT_E_DIR = false;

// Sets direction of endstops when homing; 1=MAX, -1=MIN
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1

//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing

const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero.
const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below.

//Max Length for Prusa Mendel, check the ways of your axis and set this Values
const int X_MAX_LENGTH = 200;
const int Y_MAX_LENGTH = 200;
const int Z_MAX_LENGTH = 100;

const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
#define _MAX_FEEDRATE {400, 400, 2, 45} // (mm/sec)
#define _HOMING_FEEDRATE {1500,1500,120} // (mm/min) !!
#define _AXIS_RELATIVE_MODES {false, false, false, false}

#define MAX_STEP_FREQUENCY 30000 // Max step frequency

//For the retract (negative Extruder) move this maxiumum Limit of Feedrate is used
//The next positive Extruder move use also this Limit,
//then for the next (second after retract) move the original Maximum (_MAX_FEEDRATE) Limit is used
#define MAX_RETRACT_FEEDRATE 100 //mm/sec

//// Not used at the Moment

// Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this
// If you enable this, make sure STEP_DELAY_RATIO is disabled.

// Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this
// If you enable this, make sure STEP_DELAY_MICROS is disabled. (except for Gen6: both need to be enabled.)
//#define STEP_DELAY_RATIO 0.25

///Oscillation reduction. Forces x,y,or z axis to be stationary for ## ms before allowing axis to switch direcitons. Alternative method to prevent skipping steps. Uncomment the line below to activate.
// At this Version with Planner this Function ist not used

const long min_time_before_dir_change = 30; //milliseconds

//// Acceleration settings
// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
#define _ACCELERATION 1000 // Axis Normal acceleration mm/s^2
#define _RETRACT_ACCELERATION 2000 // Extruder Normal acceleration mm/s^2
#define _MAX_XY_JERK 20.0
#define _MAX_Z_JERK 0.4
#define _MAX_E_JERK 5.0 // (mm/sec)
//#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {5000,5000,50,5000} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts

// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 0.05 // (mm/sec)

#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate

#define _MIN_SEG_TIME 20000

// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN

const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement

// Machine UUID
// This may be useful if you have multiple machines and wish to identify them by using the M115 command.
// By default we set it to zeros.
#define _DEF_CHAR_UUID "00000000-0000-0000-0000-000000000000"

//// Planner buffer Size

// The number of linear motions that can be in the plan at any give time
// if the SD Card need to much memory reduce the Values for Plannerpuffer (base of 2)
#define BLOCK_BUFFER_MASK 0x0f
#define BLOCK_BUFFER_MASK 0x0f


// Arc interpretation settings:
//Step to split a cirrcle in small Lines
//After this count of steps a new SIN / COS caluclation is startet to correct the circle interpolation


//With this option its possible to drive the fan with SOFT PWM (500hz) and use
//every Digital output for it, main usage for Sanguinololu
#define FAN_SOFT_PWM


//Minimum start speed for FAN when the last speed was zero
//Set to 0 to deaktivate
//If value is set the fan will drive with this minimum speed for MINIMUM_FAN_START_TIME

//This is the time how long the minimum FAN speed is set
#define MINIMUM_FAN_START_TIME 6000 //6sec


//Testfunction to adjust the Hotend temperatur in case of Printingspeed
//If the Printer print slow the Temp is going to AUTO_TEMP_MIN
//At the moment this Value dont change the targettemp from the Hotend
//The result of this function is only send with the Temperaturerequest to the host
//#define AUTOTEMP
#define AUTO_TEMP_MAX 240
#define AUTO_TEMP_MIN 205
#define AUTO_TEMP_FACTOR 0.025


//// PID settings:
// Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
#define PIDTEMP 1
#ifdef PIDTEMP
//Sanguinololu 1.2 and above, the PWM Output Hotend Timer 1 is used for the Hardware PWM
//but in this Software use Timer1 for the Stepperfunction so it is not possible to use the "analogWrite" function.
//This Soft PWM use Timer 2 with 400 Hz to drive the PWM for the hotend
#define PID_SOFT_PWM

//Measure the MIN/MAX Value of the Hotend Temp and show it with
//Command M601 / Command M602 Reset the MIN/MAX Value

// M303 - PID relay autotune S sets the target temperature.
// (default target temperature = 150C)

//PID Controler Settings
#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
#define PID_PGAIN 2560 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
#define PID_IGAIN 64 //256 is 1.0 // value of X (e.g 0.25) means that each degree error over 1 sec (2 measurements) changes duty cycle by 2X (=0.5) units (verify?)
#define PID_DGAIN 4096 //256 is 1.0 // value of X means that around reached setpoint, each degree change over one measurement (half second) adjusts PWM by X units to compensate

// magic formula 1, to get approximate "zero error" PWM duty. Take few measurements with low PWM duty and make linear fit to get the formula
// for my makergear hot-end: linear fit {50,10},{60,20},{80,30},{105,50},{176,100},{128,64},{208,128}
#define HEATER_DUTY_FOR_SETPOINT(setpoint) ((int)((187L*(long)setpoint)>>8)-27)
// magic formula 2, to make led brightness approximately linear
#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness))

// Change this value (range 30-255) to limit the current to the nozzle
#define HEATER_CURRENT 255

// How often should the heater check for new temp readings, in milliseconds

// Comment the following line to enable heat management during acceleration
// Uncomment the following line to disable heat management during moves

// Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print.
// Probably this should remain commented if are using PID.
// It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature.

//// Temperature smoothing - only uncomment this if your temp readings are noisy (Gen6 without EvdZ's 5V hack)
//#define SMOOTHING
//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm

//// Experimental watchdog and minimal temp
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
//#define WATCHPERIOD 5000 //5 seconds

// Actual temperature must be close to target for this long before M109 returns success
//#define TEMP_RESIDENCY_TIME 20 // (seconds)
//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one

//// The minimal temperature defines the temperature below which the heater will not be enabled
#define MINTEMP 5

//// Experimental max temp
// When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection.
#define MAXTEMP 275

// Select one of these only to define how the nozzle temp is read.
//#define HEATER_USES_AD595
//#define HEATER_USES_MAX6675

// Select one of these only to define how the bed temp is read.
//#define BED_USES_AD595

//This is for controlling a fan to cool down the stepper drivers
//it will turn on when any driver is enabled
//and turn off after the set amount of seconds from last driver being disabled again
//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run

//This is for controlling a fan that will keep the extruder cool.
//#define EXTRUDERFAN_PIN 66 //Pin used to control the fan, comment out to disable this function
#define EXTRUDERFAN_DEC 50 //Hotend temperature from where the fan will be turned on

//#define CHAIN_OF_COMMAND 1 //Finish buffered moves before executing M42, fan speed, heater target, and so...


//Uncomment this to see on the host if a wrong or unknown Command is recived
//Only for Testing !!!

// Uncomment the following line to enable debugging. You can better control debugging below the following line
//#define DEBUG
#ifdef DEBUG
//#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function
//#define DEBUG_MOVE_TIME //Enable this to time each move and print the result
//#define DEBUG_HEAT_MGMT //Enable this to debug heat management. WARNING, this will cause axes to jitter!
//#define DEBUG_DISABLE_CHECK_DURING_TRAVEL //Debug the namesake feature, see above in this file

Re: Motori bloccati
December 06, 2014 06:50PM
che intendi per motori bloccati?che stampante possiedi?non credo sia un problema di firmware...cavi colegati giusti? domanda ovvia ma di rito: come alimenti i motori?sai che hanno bisogno di un alimentatore separato?
Re: Motori bloccati
December 07, 2014 09:04AM
Intendo che i motori non si muovono e sibilano, ho costruito una Rework I3, i cavi li ho controllati con il tester e le coppie dei fili rispondono agli impulsi isolando con il nastro per evitare interferenze fra loro, uso le schede Arduino 2560 e Ramps 1.4 che funzionano bene visto che riesco a caricare il firmware.
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