SLS printer motor control

qongon

Hello everbody,

I am building a selective laser sintering printer (SLS).
And looking to use Repetier as firmware.

The printer has 7 motors, a laser and a preheated bed:

2 stepper motors on Core XY to move the laser head
1 Z-stepper motor
1 A-stepper motor to drive the spreading carriage
1 B-stepper motor to drive a roller on the spreading carriage
1 C-stepper motor connected to a transport screw in a tube to transport the powder above the bed
1 servo motor to open the transport tube and deposit the powder on the bed
1 40W Co2 laser with his own controllor
Preheated bed with his own Arduino, heaters, probes and pid control.

The process order I want to use is.

Powder depositing
Motor Z -Rotate the Z axis down(lowering the powder bed)
Motor C - rotate x amount of steps (filling the transport tube)
Servo - rotate +x degrees (open the transport tube)
Motor C - Rotate -x amount of steps (pushing the powder out )
Servo - rotate +x degrees(close the tube)
Motor B - rotate at a certain speed x steps/s (backward rotating the roller)
Motor A - Rotate x amount of steps forward (moving the backward rotating roller over the bed)
Motor B - stop rotating
Motor Z - Rotate the Z-axis up (raising the powder bed)
Motor B - Rotate at a certain speed y steps/s (forward rotating the roller to (same rotation direction lower speed))
Motor A - Rotate -x amount of steps backward (moving the forward rotating roller back over the bed to compact the powder)
Motor B - stop rotating

Check the temperature, if correct start sintering else wait to heat up.

Sintering
Motor X and Y - move the laser head over the bed
Laser- Putting the laser on and controlling the power trough a PWM signal and sintering the object.

Repeat powder depositing

Temperature check.
The temperature is controlled by a separate Arduino and sends the temperature to the main Arduino.

Using the X,Y,Z axis won't be a problem i guess.
But for the laser I am not sure to use the PWM of Extruder 0 or the another signal
and what to use for the other motors I am not sure. I saw it is possible to control extra motors trough num_motor_drives, but then the speeds are fixed. Or is it possible to change them trough G codes ?

It would be nice to hear if my idea is possible with Repetier or wich changes or custom code i have to make to make it work

Already thank you for your time!

Kind regards,

Qongon

Repetier

Do NOT use V1 firmware for this. It has no pwm support for laser and abc motor support is not really good.

What you want is V2 firmware which is modular and easy to extend. It already supports 7 axis out of the box also for better hardware (e.g. STM32F4 boards like RUMBA32). Has speed dependent PWM with gamma correction for laser if connected to hardware pwm output.

What you need to add is some logic or a extra gcode for powder depositioning. But with the concept it is possible to easily add own functions to firmware. You can also add extra checks to prevent special error cases. You need some c++ skills to understand the module system and to be able to add the extra code, but it should not be much code you require. Mainly calling high level functions to execute your operations or something for refilling, maintaining, ...

qongon

Thank you for your response.

Could an Arduino Due work ? Because all stepper divers we use are external so we only have to send, en,dir and step signals.

Repetier

Due is supported by V2 also you might need a own board definition with your pin numbers. Not all pins are PWM capable and some are bound to a timer, so check our documentation which pin can be used for pwm since that is critical. Also check what your maximum stepper frequency is - with 8 motors it takes more time then for normal printers so limit is probably 50000-100000 Hz for steppers.

qongon

I having a problem with the stepper frequency.

At 100000 HZ only one motor of the corexy moves.
This problem I also had with the V1 version but then i had to use stepper_high_delay 2
so I put the frequency to 50000HZ and now both motor move but for x+/- and Y+/- they move only the axis in one direction and much less mm.

The signal the motors requires are

(1) t1: ENA must be ahead of DIR by at least 5?? s. Usually, ENA+ and ENA- are NC

(not connected).

(2) t2: DIR must be ahead of PUL active edge by 6?? s to ensure correct direction;

(3) t3: Pulse width not less than 2.5?? s;

(4) t4: Low level width not less than 2.5?? s.

and my config file is:

This file is part of Repetier-Firmware.

Repetier-Firmware is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

Repetier-Firmware is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

Repetier

Signals are changed in stepper interrupt. At start it disables step signals, set dir. So at 100KHz you have step high time 1000000/100000 = 10us. But it 100Khz speed it enables directly after it. So if you need also 2.5us low time limit is 50KHz.
as https://docfirmwarev2.repetier.com/config/motors says,
#define SLOW_DIRECTION_CHANGE 1 // Set 1 when driver need some settle time when direction changes

will change dir and wait till next interrupt to execute next step if you need settle time for direction. SO I would set
#define STEPPER_FREQUENCY 100000 // Maximum stepper frequency.
with slow direction change. That should give required delays up to 50 khz.

Steps per mm might be off by factor 1.414 or 2.0 compared with V1 due to how V1 is implementing corexy.

qongon

I found the problem of the less steps, the feed rate in Repetier host was to high.
now i have an other problem, when using manual control my x motor rotates only in one direction. The dir pin stays high for + and - x and in Cartesian and Corexy mode but turns low when moving y in Cartesian mode.
Made my own pin file see below:
Also added the config files:

Checkt all motors and drivers and the are working fing with a arduino mega and simple script.
drivers are TB6600
and ISHV57 intergraded motor and drive
problem occurs at both

This file is part of Repetier-Firmware.

Repetier-Firmware is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

Repetier-Firmware is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

qongon

CONFIG_IO

This file defines io solutions used. This is the lowest level and is the base

for all higher level functions using io operations. At several places we need

subsets of these list of operations. To make configuration easy and easy to

understand, we use a technique called "x macros". This requires that only

predefined macro names for IO are used here. Do NOT add anything else here

or compilation/functionality will break.

Rules:

1. Each definition will create a class that is named like the first parameter.

This class is later used as input to templates building higher functions. By

convention the names should start with IO followed by something that helps you

identify the function.

2. Do not use a semicolon at the end. Macro definition gets different meanings

and will add the semicolon if required.

/ Define motor pins here. Each motor needs a setp, dir and enable pin. /

ENDSTOP_NONE(endstopNone)

// For use when no output is wanted, but possible

IO_OUTPUT_FAKE(fakeOut)

// X Motor

IO_OUTPUT(IOX1Step, ORIG_X_STEP_PIN)

IO_OUTPUT_INVERTED(IOX1Dir, ORIG_X_DIR_PIN)

IO_OUTPUT_INVERTED(IOX1Enable, ORIG_X_ENABLE_PIN)

// Y Motor

IO_OUTPUT(IOY1Step, ORIG_Y_STEP_PIN)

IO_OUTPUT_INVERTED(IOY1Dir, ORIG_Y_DIR_PIN)

IO_OUTPUT_INVERTED(IOY1Enable, ORIG_Y_ENABLE_PIN)

// Z Motor

IO_OUTPUT(IOZ1Step, ORIG_Z_STEP_PIN)

IO_OUTPUT(IOZ1Dir, ORIG_Z_DIR_PIN)

IO_OUTPUT_INVERTED(IOZ1Enable, ORIG_Z_ENABLE_PIN)

// A Motor

IO_OUTPUT(IOA1Step, ORIG_A_STEP_PIN)

IO_OUTPUT(IOA1Dir, ORIG_A_DIR_PIN)

IO_OUTPUT(IOA1Enable, ORIG_A_ENABLE_PIN)

// B Motor

IO_OUTPUT(IOB1Step, ORIG_B_STEP_PIN)

IO_OUTPUT(IOB1Dir, ORIG_B_DIR_PIN)

IO_OUTPUT(IOB1Enable, ORIG_B_ENABLE_PIN)

// C Motor

IO_OUTPUT(IOC1Step, ORIG_C_STEP_PIN)

IO_OUTPUT(IOC1Dir, ORIG_C_DIR_PIN)

IO_OUTPUT(IOC1Enable, ORIG_C_ENABLE_PIN)

// E0 Motor

IO_OUTPUT(IOE1Step, ORIG_E0_STEP_PIN)

IO_OUTPUT_INVERTED(IOE1Dir, ORIG_E0_DIR_PIN)

IO_OUTPUT_INVERTED(IOE1Enable, ORIG_E0_ENABLE_PIN)

// Autolevel Motor 1

IO_OUTPUT(IOAL1Step, 51)

IO_OUTPUT(IOAL1Dir, 53)

IO_OUTPUT_INVERTED(IOAL1Enable, 49)

// Autolevel Motor 1

IO_OUTPUT(IOAL2Step, 39)

IO_OUTPUT(IOAL2Dir, 13)

IO_OUTPUT_INVERTED(IOAL2Enable, 40)

// Servo output

IO_OUTPUT(Servo1Pin, 5)

// Define your endstops inputs

IO_INPUT(IOEndstopXMax, ORIG_X_MAX_PIN)

// IO_INPUT_INVERTED(IOEndstopXMin, ORIG_X_MIN_PIN)

IO_INPUT(IOEndstopYMax, ORIG_Y_MAX_PIN)

IO_INPUT_PULLUP(IOEndstopZMin, ORIG_Z_MIN_PIN)

IO_INPUT(IOEndstopAMax, ORIG_A_MAX_PIN)

IO_INPUT(IOJam1, 35)

IO_INPUT(IOJam2, 33)

// Controller input pins

#if defined(UI_ENCODER_CLICK) && UI_ENCODER_CLICK >= 0

IO_INPUT_INVERTED_PULLUP(ControllerClick, UI_ENCODER_CLICK)

#else

IO_INPUT_DUMMY(ControllerClick, false)

#endif

#if defined(UI_ENCODER_A) && UI_ENCODER_A >= 0

IO_INPUT_INVERTED_PULLUP(ControllerEncA, UI_ENCODER_A)

#else

IO_INPUT_DUMMY(ControllerEncA, false)

#endif

#if defined(UI_ENCODER_B) && UI_ENCODER_B >= 0

IO_INPUT_INVERTED_PULLUP(ControllerEncB, UI_ENCODER_B)

#else

IO_INPUT_DUMMY(ControllerEncB, false)

#endif

#if defined(UI_BACK_PIN) && UI_BACK_PIN >= 0

IO_INPUT_PULLUP(ControllerBack, UI_BACK_PIN)

#else

IO_INPUT_DUMMY(ControllerBack, false)

#endif

#if defined(UI_RESET_PIN) && UI_RESET_PIN >= 0

IO_INPUT_PULLUP(ControllerReset, UI_RESET_PIN)

#else

IO_INPUT_DUMMY(ControllerReset, false)

#endif

// Define our endstops solutions

// You need to define all min and max endstops for all

// axes except E even if you have none!

ENDSTOP_NONE(endstopXMin)

ENDSTOP_SWITCH_HW(endstopXMax, IOEndstopXMax, X_AXIS, false)

ENDSTOP_NONE(endstopYMin)

ENDSTOP_SWITCH_HW(endstopYMax, IOEndstopYMax, Y_AXIS, true)

ENDSTOP_SWITCH_HW(endstopZMin, IOEndstopZMin, Z_AXIS, false)

ENDSTOP_NONE(endstopZMax)

ENDSTOP_NONE(endstopAMin)

ENDSTOP_SWITCH_HW(endstopAMax, IOEndstopAMax, A_AXIS, false)

ENDSTOP_NONE(endstopBMin)

ENDSTOP_NONE(endstopBMax)

ENDSTOP_NONE(endstopCMin)

ENDSTOP_NONE(endstopCMax)

// Define fans

IO_OUTPUT(IOFan1, ORIG_FAN_PIN)

IO_PWM_SOFTWARE(Fan1NoKSPWM, IOFan1, 0)

// IO_PWM_HARDWARE(Fan1PWM, 37,5000)

// IO_PDM_SOFTWARE(Fan1NoKSPWM, IOFan1) // alternative to PWM signals

IO_PWM_KICKSTART(Fan1PWM, Fan1NoKSPWM, 20, 85)

// For debugging - reports new values and then calls real pwm

// IO_PWM_REPORT(Fan1Report, Fan1PWM)

// Define temperature sensors

// Typically they require an analog input (12 bit) so define

// them first.

IO_ANALOG_INPUT(IOAnalogBed1, TEMP_1_PIN, 5)

IO_ANALOG_INPUT(IOAnalogExt1, TEMP_0_PIN, 5)

IO_ANALOG_INPUT(IOAnalogExt2, TEMP_2_PIN, 5)

// Need a conversion table for epcos NTC

IO_TEMP_TABLE_NTC(TempTableEpcos, Epcos_B57560G0107F000)

// Now create the temperature inputs

IO_TEMPERATURE_TABLE(TempBed1, IOAnalogBed1, TempTableEpcos)

IO_TEMPERATURE_TABLE(TempExt1, IOAnalogExt1, TempTableEpcos)

IO_TEMPERATURE_TABLE(TempExt2, IOAnalogExt2, TempTableEpcos)

// Use PWM outputs to heat. If using hardware PWM make sure

// that the selected pin can be used as hardware pwm otherwise

// select a software pwm model whcih works on all pins.

#if MOTHERBOARD == 405

IO_PWM_HARDWARE(PWMExtruder1, HEATER_0_PIN, 1000)

IO_PWM_HARDWARE(PWMExtruder2, HEATER_2_PIN, 1000)

IO_PWM_HARDWARE(PWMBed1, HEATER_1_PIN, 1000)

#else

IO_OUTPUT(IOExtr1, HEATER_0_PIN)

IO_OUTPUT(IOExtr2, HEATER_2_PIN)

IO_OUTPUT(IOBed1, HEATER_1_PIN)

IO_PWM_SOFTWARE(PWMExtruder1, IOExtr1, 1)

IO_PWM_SOFTWARE(PWMExtruder2, IOExtr2, 1)

IO_PWM_SOFTWARE(PWMBed1, IOBed1, 1)

#endif

// IO_OUTPUT(IOCooler1, FAN2_PIN)

// IO_PWM_SOFTWARE(PWMCoolerExt1, FAN2_PIN, 0)

// Define all stepper motors used

STEPPER_SIMPLE(XMotor, IOX1Step, IOX1Dir, IOX1Enable, endstopNone, endstopNone)

STEPPER_SIMPLE(YMotor, IOY1Step, IOY1Dir, IOY1Enable, endstopNone, endstopNone)

STEPPER_SIMPLE(ZMotor, IOZ1Step, IOZ1Dir, IOZ1Enable, endstopNone, endstopNone)

STEPPER_SIMPLE(AMotor, IOA1Step, IOA1Dir, IOA1Enable, endstopNone, endstopNone)

STEPPER_SIMPLE(BMotor, IOB1Step, IOB1Dir, IOB1Enable, endstopNone, endstopNone)

STEPPER_SIMPLE(CMotor, IOC1Step, IOC1Dir, IOC1Enable, endstopNone, endstopNone)

STEPPER_SIMPLE(E1MotorBase, IOE1Step, IOE1Dir, IOE1Enable, endstopNone, endstopNone)

STEPPER_OBSERVEABLE(E1Motor, E1MotorBase)

STEPPER_SIMPLE(AL1Motor, IOAL1Step, IOAL1Dir, IOAL1Enable, endstopNone, endstopNone)

STEPPER_SIMPLE(AL2Motor, IOAL2Step, IOAL2Dir, IOAL2Enable, endstopNone, endstopNone)

// Servos

SERVO_ANALOG(Servo1, 0, Servo1Pin, 500, 2500, 1050)

// Heat manages are used for every component that needs to

// control temperature. Higher level classes take these as input

// and simple heater like a heated bed use it directly.

HEAT_MANAGER_PID(HeatedBed1, 'B', 0, TempBed1, PWMBed1, 120, 255, 1000, 5, 30000, 12.0, 33.0, 290.0, 80, 255, true)

HEAT_MANAGER_PID(HeaterExtruder1, 'E', 0, TempExt1, PWMExtruder1, 260, 255, 1000, 10, 20000, 20.0, 0.6, 65.0, 40, 220, false)

HEAT_MANAGER_PID(HeaterExtruder2, 'E', 1, TempExt2, PWMExtruder2, 260, 255, 1000, 10, 20000, 20.0, 0.6, 65.0, 40, 220, false)

// HEAT_MANAGER_DYN_DEAD_TIME(HeaterExtruder1, 'E', 0, TempExt1, PWMExtruder1, 260, 255, 100, 10, 20000, 150, 7, 7, 200, 7, 7, false)

// HEAT_MANAGER_DYN_DEAD_TIME(HeaterExtruder2, 'E', 1, TempExt2, PWMExtruder2, 260, 255, 100, 10, 20000, 150, 7, 7, 200, 7, 7, false)

// Misc mixed sensors

// IO_INPUT_PULLUP(IODHT, DHT_INOUT_PIN)

// SENSOR_DHT_22(DHTSensor, IODHT)

#undef HUMIDITY_SENSOR_ADDRESS

#define HUMIDITY_SENSOR_ADDRESS nullptr

// Coolers are stand alone functions that allow it to control

// a fan with external sensors. Many extruders require a cooling

// fan pointer to the extruder to prevent heat rising up.

// These can be controlled by the cooler. Since it is

// independent you just tell what part needs cooling.

// Other use cases are board cooling and heated chambers.

// Define tools. They get inserted into a tool array in configuration.h

// Typical tools are:

// TOOL_EXTRUDER(name, offx, offy, offz, heater, stepper, resolution, yank, maxSpeed, acceleration, advance, startScript, endScript)

TOOL_EXTRUDER(ToolExtruder1, 0, 0, 0, HeaterExtruder1, /AL1Motor / E1Motor, 1.75, 147.0, 5, 30, 5000, 40, "M117 Extruder 1", "", &Fan1PWM)

TOOL_LASER(Laser3, 0, 0, 0, Fan1NoKSPWM, fakeOut, fakeOut, 3000, 1, 100, 150.0, 1.5, "", "")

TOOL_CNC(CNC4, 0, 0, 0, Fan1NoKSPWM, fakeOut, fakeOut, fakeOut, 7000, 3000, "", "")

// Use a signal that changes while extruder moves

JAM_DETECTOR_HW(JamExtruder1, E1Motor, IOJam1, ToolExtruder1, 220, 10, 500)

// Use a signal that is high, when filament is loaded

//FILAMENT_DETECTOR(FilamentDetector1, IOJam1, ToolExtruder1)

//FILAMENT_DETECTOR(FilamentDetector2, IOJam2, ToolExtruder2)

Repetier

You should not overwrite radds pins. Set board to MOTHERBOARD_USER_DEFINED_DUE and you can put your definition in extra/userpins.h

so you can on updates just copy your file and all is good.

When y move changes x dir pin you likely have the x dir pin as one of

#define ORIG_Y_ENABLE_PIN 32

#define ORIG_Y_DIR_PIN 33

#define ORIG_Y_STEP_PIN 34

since these get used/changed on pure y move. Did you compare number with your test program? Also make sure no other function is using pin 39 (x dir) - that might overwrite what you do in stepper driver.

qongon

It works when using the MOTHERBOARD_RADDS

and then using the pins defined in the RADDS file.
But when I copy the code to userpins and set the board to MOTHERBOARD_USER_DEFINED_DUE I am getting this error:

In file included from src\boards/pins.h:80:0,

from src\Configuration.h:176,

from src\Repetier.h:309,

from src\Configuration.cpp:29:

src\boards/due/pins.h:153:10: fatal error: ../extra/userpins.h: No such file or directory

#include "../extra/userpins.h"

Another problem I am facing is that when I want to home the axis in the Repetier host it doesn't move and just set the X value to the home value. Tried IO_INPUT, IO_INPUT_INVERTED and IO_INPUT_PULLUP.

And every time I connect the printer via Repetier host V2.2 i am getting a I2C communication error and have to reset with m999. I only have connected 3 axis and 2 end stops. And the program often crashes /is not responding

Repetier

As you see from compile error, userpins.h must be in extra sub folder or it does not get found.

ENDSTOP_NONE(endstopXMin)

ENDSTOP_SWITCH_HW(endstopXMax, IOEndstopXMax, X_AXIS, false)

is more likely the problem. You say no x min and for xmax you say it is a min end stop (false at the end), see
https://docfirmwarev2.repetier.com/config/endstops#push_signal<br/><br/>I2C ist most likely from trying to read eeprom. Due has no eeprom, but radds has a extra eeprom chip thatis configured here:

#define EEPROM_SERIAL_ADDR 0x50 // 7 bit i2c address (without R/W bit)

#define EEPROM_PAGE_SIZE 64 // page write buffer size

#define EEPROM_PAGE_WRITE_TIME 7 // page write time in milliseconds (docs say 5ms but that is too short)

#ifndef EEPROM_AVAILABLE // User can override eeprom usage

#define EEPROM_AVAILABLE EEPROM_I2C

#endif

does your board have an eeprom chip at that address? Otherwise set
#define EEPROM_AVAILABLE EEPROM_SDCARD or EEPROM_NONE
then it does not try to reach a non existent eeprom.

qongon

I changed it from false to true. but it still doesn't work

// Define your endstops inputs

IO_INPUT_PULLUP(IOEndstopXMax, ORIG_X_MAX_PIN)

IO_INPUT_PULLUP(IOEndstopYMax, ORIG_Y_MAX_PIN)

IO_INPUT_PULLUP(IOEndstopZMin, ORIG_Z_MIN_PIN)

// Define our endstops solutions

// You need to define all min and max endstops for all

// axes except E even if you have none!

ENDSTOP_NONE(endstopXMin)

ENDSTOP_SWITCH_HW(endstopXMax, IOEndstopXMax, X_AXIS, true)

ENDSTOP_NONE(endstopYMin)

ENDSTOP_SWITCH_HW(endstopYMax, IOEndstopYMax, Y_AXIS, true)

ENDSTOP_SWITCH_HW(endstopZMin, IOEndstopZMin, Z_AXIS, false)

ENDSTOP_NONE(endstopZMax)

The Y axis is moving and homing.
The X axis does not move at all.

When I use
IO_INPUT_PULLUP(IOEndstopXMin, ORIG_X_MAX_PIN)
ENDSTOP_SWITCH_HW(endstopXMin, IOEndstopXMin, X_AXIS, false)

Then the X-axis is moving away from the end stop this is logical because the end stop is at the end of the axis

what is the solution for this ?

Repetier

Activate end stop debug
M111 S70
and check if it correctly triggers when being pushed.
Also check M119 to show end stops correctly.

Move direction is defined by homing direction. 1 -> max, -1 -> min

If end stops are reported triggered the move stops immediately.

qongon

Got all motors working and now using G codes after every layer to move them.
But for the B motor I want to put it on with a certain speed when the carriage is moving.
What is the best way to do this?

It is needed to perform this step:

Powder depositing
Motor Z -Rotate the Z axis down(lowering the powder bed)
Motor C - rotate x amount of steps (filling the transport tube)
Servo - rotate +x degrees (open the transport tube)
Motor C - Rotate -x amount of steps (pushing the powder out )
Servo - rotate +x degrees(close the tube)
Motor B - rotate at a certain speed x steps/s (backward rotating the roller)
Motor A - Rotate x amount of steps forward (moving the backward rotating roller over the bed)
Motor B - stop rotating
Motor Z - Rotate the Z-axis up (raising the powder bed)
Motor B - Rotate at a certain speed y steps/s (forward rotating the roller to (same rotation direction lower speed))
Motor A - Rotate -x amount of steps backward (moving the forward rotating roller back over the bed to compact the powder)
Motor B - stop rotating

Repetier

There is no function to move a motor independent of any moves. You need to couple move a and b in one. If that is physically making no sense since it is as you say a roller (does it always roll same direction) you need a extra function that just handles the roller. Like handle enable with a digital pin via M42, set direction same way and use a pwm output for step pin to have always a constant speed according to set pwm frequency. But there is no ramping to speed in that case. That would only be possible with a extra module that creates this and controlls it, e.g. a pwm that can be changed to a new pwm in time x.

qongon

Motor A and B moves together, but then I have to play with the distances to rotate them at the correct speed. But this is a bit cumbersome because we want to use different speeds for spreading an compacting.
I tried to use m42 to set a pwm frequency for pins 53,44 and 6, but they only turn on or off tried it with a led to see intensity difference.
I tried m42 p53 s30.

What is the correct way to set a pwm output ? Or how do i configurate it as a pwm output.

Repetier

For due pwm pins are limited so question is if pin 53 has pwm support. Will check when i back. Also if pwm for M42 is implemented. Main problem is pwm is not speed. You need pwm 128 but you need to set frequency which is quite sure not in M42 at the moment.