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TMC2209 needs to be reinitialized after sensorless homing #20

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troth530 opened this issue Jan 27, 2025 · 0 comments
Open

TMC2209 needs to be reinitialized after sensorless homing #20

troth530 opened this issue Jan 27, 2025 · 0 comments

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@troth530
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troth530 commented Jan 27, 2025

Sensorless homing works for a single axis but afterward requires a M122i command before hard limits will work for stall detection when it hits a hard stop. Also, homing X and Y axis for instance in the same cycle ($44=3) will result in sensorless homing not working. What happens is diag pin will trigger on the first axis which hits a hard stop during the seek operation, but diag pin will not trigger on the second axis and the homing operation will not complete. I believe these are part of the same issue. For now my workaround is set $44=1 and $45=2 and after a homing cycle issue M122i. In this case homing completes and hard limits are triggered when it hits a hard stop. This is of course with the correct limit settings as well as the correct thresholds that work for single axis homing.

I am testing on ESP32 S3 on a single pin UART for all 4 drivers.

Thank you!

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