[BUG] TMC2209 homing brake after BACKOFF

[telnet01]

Did you test the latest bugfix-2.1.x code?

Yes, and the problem still exists.

Bug Description

Hello

I have a five motors 17HS4401 with TMC2209 on scr 1.4. All motors operate correctly when performing linear motion (G0 command). The first four motors have a speed reduction of more than 4 and homing is correctly, unlike the last one. The last one (J motor) has a speed reduction of 1 to 1 and stops when the "G28 B" command is called immediately after BACKOFF. I tried to change microstepings,travel speed, homing speed, backoff bump, change current. This didn't work. Helps only if I change speed reduction more then twice for example (DEFAULT_AXIS_STEPS_PER_UNIT parameter, currect is 8.88 (200*16/360) for my configuration). but it doesn't suit my mechanics. If i change J_STALL_SENSITIVITY to 1..5 it start homing, but then when the motor has met a physical limitation, he does not stop but tries to break through it, so that the shaft begins to spin.

VID_20240604_215113_437.mp4.mov

#if AXIS_IS_TMC_CONFIG(J)
   #define J_CURRENT      600
   #define J_CURRENT_HOME J_CURRENT
   #define J_MICROSTEPS    16
   #define J_RSENSE         0.11
   #define J_CHAIN_POS     -1
   //#define J_INTERPOLATE  true
   //#define J_HOLD_MULTIPLIER 0.5
 #endif
#define SENSORLESS_HOMING // StallGuard capable drivers only

 #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
   // TMC2209: 0...255. TMC2130: -64...63
   #define X_STALL_SENSITIVITY  80
 //  #define X2_STALL_SENSITIVITY X_STALL_SENSITIVITY
   #define Y_STALL_SENSITIVITY  60
 //  #define Y2_STALL_SENSITIVITY Y_STALL_SENSITIVITY
   #define Z_STALL_SENSITIVITY  80
   //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY
   //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY
   //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY
   #define I_STALL_SENSITIVITY  40
   #define J_STALL_SENSITIVITY 40
   //#define K_STALL_SENSITIVITY  8
   //#define U_STALL_SENSITIVITY  8
   //#define V_STALL_SENSITIVITY  8
   //#define W_STALL_SENSITIVITY  8
   //#define SPI_ENDSTOPS              // TMC2130/TMC5160 only
   //#define IMPROVE_HOMING_RELIABILITY
 #endif

#define SENSORLESS_BACKOFF_MM  { 5, 5, 5 ,5,10 }  // (linear=mm, rotational=°) Backoff from endstops before sensorless homing
#define HOMING_BUMP_MM      { 10, 0, 0 , 0, 0 }       // (linear=mm, rotational=°) Backoff from endstops after first bump
#define HOMING_BUMP_DIVISOR { 10, 10, 4 ,10 ,2 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)

#define DEFAULT_AXIS_STEPS_PER_UNIT   { 44.44 , 35.55, 100, 9.99, 8.88 }
#define HOMING_FEEDRATE_MM_M { (20*60), (30*60), (10*60) ,(60*60), (40*60)}

#define J_MIN_POS 0
#define J_MAX_POS 360

M122
		X	Y	Z	I	J
Address		0	0	0	0	0
Enabled		false	false	false	false	true
Set current	850	850	850	850	600
RMS current	826	826	826	826	581
MAX current	1165	1165	1165	1165	819
Run current	26/31	26/31	26/31	26/31	18/31
Hold current	13/31	13/31	13/31	13/31	9/31
CS actual	13/31	13/31	13/31	13/31	18/31
PWM scale					
vsense		1=.18	1=.18	1=.18	1=.18	1=.18
stealthChop	true	true	true	true	true
msteps		4	4	4	4	16
interp		false	false	false	false	false
tstep		max	max	max	max	max
PWM thresh.					
[mm/s]						
OT prewarn	false	false	false	false	false
triggered
 OTP		false	false	false	false	false
pwm scale sum	15	15	15	15	25
pwm scale auto	0	0	0	0	0
pwm offset auto	36	36	36	36	45
pwm grad auto	14	14	14	14	14
off time	4	4	4	4	4
blank time	24	24	24	24	24
hysteresis
 -end		2	2	2	2	2
 -start		1	1	1	1	1
Stallguard thrs	80	60	80	40	40
uStep count	32	32	32	32	8
DRVSTATUS	X	Y	Z	I	J
sg_result	0	0	0	0	16
stst						
olb						
ola						
s2gb						
s2ga						
otpw						
ot						
157C						
150C						
143C						
120C						
s2vsa						
s2vsb						
Driver registers:
		X	0xC0:0D:00:00
		Y	0xC0:0D:00:00
		Z	0xC0:0D:00:00
		I	0xC0:0D:00:00
		J	0xC0:0C:00:00


Testing X connection... OK
Testing Y connection... OK
Testing Z connection... OK
Testing I connection... OK
Testing J connection... OK
ok

Bug Timeline

No response

Expected behavior

No response

Actual behavior

No response

Steps to Reproduce

No response

Version of Marlin Firmware

Marlin 2.1.2.2

Printer model

No response

Electronics

No response

LCD/Controller

No response

Other add-ons

No response

Bed Leveling

None

Your Slicer

None

Host Software

None

Don't forget to include

• A ZIP file containing your Configuration.h and Configuration_adv.h.

Additional information & file uploads

config.zip

[ellensp]

Configs are for 2.1.2.2

Please test the bugfix-2.1.x branch to see where it stands. If the problem has been resolved then we can close this issue. If the issue isn't resolved yet, then we should investigate further.

[telnet01]

Configs.zip

Configs are for 2.1.2.2

Please test the bugfix-2.1.x branch to see where it stands. If the problem has been resolved then we can close this issue. If the issue isn't resolved yet, then we should investigate further.

Hello, I deployed this assembly in a minimal configuration for testing - I connected the motor to the X-axis. But I could not conduct research, since after homing it immediately occurs system halted. This happens even when sensorles_homing is disabled and is triggered immediately after the software limit on the X-axis values ​​is exceeded. If sensorles_homing is enabled - behavior as in the topic of the post, and then halted immediately after stopping the motor.

>>> G28 X


SENT: G28 X
RECV: echo:G28 X
RECV: >>> G28  X0.00 Y0.00 Z0.00
RECV: Machine Type: Cartesian
RECV: Probe: NONE
RECV: remember_feedrate_scaling_off: fr=66.67 100%
RECV: Raise Z before homing:
RECV: do_z_clearance(5.00 [0.00 to 5.00], 0)
RECV: do_blocking_move_to_z(5.00, 4.00)
RECV: >>> do_blocking_move_to  X0.00 Y0.00 Z0.00
RECV: >  X0.00 Y0.00 Z5.00
RECV: <<< do_blocking_move_to  X0.00 Y0.00 Z5.00
RECV: >>> homeaxis(X)
RECV: Sensorless backoff: 5.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, 5.00, 50.00)
RECV: <<< do_homing_move  X0.00 Y0.00 Z5.00
RECV: Home Fast: -540.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, -540.00, [50.00])
RECV: echo:busy: processing
RECV: <<< do_homing_move  X0.00 Y0.00 Z5.00
RECV: Move Away: 5.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, 5.00, [50.00])
RECV: <<< do_homing_move  X0.00 Y0.00 Z5.00
RECV: Re-bump: -10.00mm
RECV: >>> do_homing_move  X0.00 Y0.00 Z5.00
RECV: ...(X, -10.00, 25.00)
RECV: echo:Homing Failed
RECV: Error:Printer halted. kill() called!
Error:Printer halted. kill() called!