# Sensorless Homing Calibration Issue **URL:** \ **Category:** General Discussion\ **Created:** [January 3, 2026, 6:55am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460 "2026-01-03T06:55:03Z")\ **Posts on this page:** 18\ **Page:** 1
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 3, 2026, 6:55am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/1 "2026-01-03T06:55:03Z")
Hey guys, I was wondering if anyone has experienced this strange issue I have been having trying to set up sensorless homing for these relatively miniature lead screw steppers. So it seems to home all fine when starting the homing from a distance from the boundary but then as soon as I come to do it again from the same distance it seems to just immediately stall and not work in the same way it would have just worked. The only thing I can think of as being a culprit is the motor not being secured down as well as it should but I have even tried while holding it down in the same way and still just get this inconsistent behaviour. Both of the motors I’m trying to fix have a lead screw pitch of 0.5 mm and have a run current of about 300-500 mA so I imagine its quite hard to accurately detect the spike in back emf. I have tried reducing and then slightly increasing homing speeds and also played around with the stall guard thresholds but I just cant seem to get any consistent homing behaviour. I had a look at the logs and cant really see anything out of the ordinary. as it does home but just not with a repeatable sensitivity. I’m ripping my hair out trying to find this sweet spot in the settings but just seems like im always running into a dead end each time I think I got it right. ---
**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\ **Post date:** [January 3, 2026, 7:22am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/2 "2026-01-03T07:22:47Z")
It’s my understanding that it’s extremely hard to get sensorless homing working with a lead screw due to backlash and/or anti-backlash nuts which “soften” the stop and attenuates the hard stop which causes the back EMF. You might want to try different anti-backlash solutions used for CNC machines which do a lot to eliminate backlash when the direction changes and the travel end is reached but I think you’ll still have issues. In general, when I set up sensorless homing, I start with the current being one half of the normal run current, with the expectation that the back EMF of hitting the hard stop will be more significant. I’m pointing this out because you’re not indicating that you’re using current as one of your variables. Can I point out that when you were setting up the post, you were asked a series of questions that you’ve deleted? I’m noting this because it would have been useful to know which drivers you’re using; I’ve found that TMC2209’s have a valid Stallguard range of 20 to 30 units (and I pick the one closest to the middle) while TMC2240s only have a valid StallGuard range of 3 to 4 units. I believe this is due to the TMC2240 running StallGuard2 in Klipper vs StallGuard4 for the TMC2209. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 3, 2026, 10:26pm UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/3 "2026-01-03T22:26:02Z")
Hi Myke, My apologies for not specifying the driver I’m using the TMC5160tpro drivers so I believe I’ll be using StallGuard2. I have also been tweaking run current slightly as well by slightly increasing and decreasing the run current within the range specified in the motor data sheets. I can give halving it another go and see how it plays out. For threshold, I use the SGT value that falls in between -64 to 63. I’ve usually found decent values around 5-10 but have yet to find a value that works for all case scenarios and always seems to stall immediately after it homes properly the first time. Also, what do you mean by driver having a stallguard range in units? How different is this to the SGT value in using with the TMC5160? ---
**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\ **Post date:** [January 4, 2026, 2:35am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/4 "2026-01-04T02:35:51Z")
What I’m calling “units”, you’re calling “values”. > [@AlSabra](#): > > I’m using the TMC5160tpro drivers Can I ask why you’re using the TMC5160 when you’re only working with 300-500mA? That’s a bit more than one tenth of the rated current for the module. With the 0.075Ω sense resistors on the module, I don’t know if you’re going to get a high enough back EMF to trigger StallGuard reliably. I’m not sure what I can recommend for you (maybe somebody else here can provide more or better ideas). 1. Could you try another stepper module and one that can provide less current (which should have a more sensitive StallGuard implementation)? 2. Increase the value of the sense resistors on the TMC5160T to increase their sensitivity to back EMF (this will reduce the overall maximum current output but, as noted above, this will not be an issue). ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 4, 2026, 7:37am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/5 "2026-01-04T07:37:12Z")
I was using it as it just happens to be the one I was using for the larger motors and did not realise it would matter much. I first tired increasing the value of the sense resistor on the TMC5160T to 0.5 (not sure if I went too high) and then the motors started getting really hot and nothing changed in the strange pattern I saw. After reverting the resistance I now keep running into this error in the logs: TMC ‘stepper\_x’ reports GSTAT: 00000005 reset=1(Reset) uv\_cp=1(Undervoltage!) TMC ‘stepper\_x’ reports GSTAT: 00000000 I have swapped out the tmc drivers and even tried using a 2209 I actually found in my inventory and still same issue. I even disconnected the motor from the stepper\_x slot and still the error persists so I’m afraid messing around with the sense reisstor has damaged my board? ---
**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\ **Post date:** [January 4, 2026, 8:07am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/6 "2026-01-04T08:07:46Z")
> [@AlSabra](#): > > I have swapped out the tmc drivers and even tried using a 2209 I actually found in my inventory and still same issue. I even disconnected the motor from the stepper\_x slot and still the error persists so I’m afraid messing around with the sense reisstor has damaged my board? First off, when you started this thread, you were asked to provide your system information and your `klippy.log` - you haven’t done that so I have no idea what your main controller board is and what’s happening. Now, having said that, you probably haven’t damaged your main controller board although we can figure that out as we go along. When you changed the sense resistor, did you a) change both on the driver and b) change the `sense_resistor:` parameter for the TMC5160 configuration statement? I suspect that the second change was missed, Klipper not having the latest information did not configure the driver correctly for the desired current. > [@AlSabra](#): > > I first tired increasing the value of the sense resistor on the TMC5160T to 0.5 (not sure if I went too high) and then the motors started getting really hot and nothing changed in the strange pattern I saw. Honestly, that’s probably 'way too high. I was going to suggest 0.1Ω, which is the next step up in the example values specified in the datasheet: ![image](https://global.discourse-cdn.com/free1/uploads/klipper/original/3X/7/b/7b87c339a0dfc8678ff2b904ab2270aa0b31f7f5.png) Next steps: 1. Could you describe your printer. This includes describing the architecture (along with how you are setting the motion of the different parts - again, I’m not sure why you’re using lead screws for X & Y), what is the main controller board and any toolhead controller boards, what are the driver modules you’re using along with what power supplies. 2. Your `klippy.log` and any notes you have regarding your experiments and changes you’ve made. 3. Do a continuity check from the stepper module motor pins to the JST XH connector pins to see if any damage was done by changing the TMC5160 sense resistors. I don’t think that’s possible but it will take a minute to check as that would explain why the TMC2209 drivers don’t work when put in the sockets. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 4, 2026, 9:45pm UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/7 "2026-01-04T21:45:30Z")
Hi Myke, So I’m not actually working with a printer but rather just using Klipper at the moment for a device with some width adjustment mechanisms so that is why I’m using a lead screw on the x and y axis which isn’t typically customary. I am using a MANTA M8P V2.0 with the TMC5160Tpro drivers and is being powered by the board 24V power supply. Silly me so I though changing the sense resistor value on the Klipper config would suffice and did not realise you have to physically resolder the new resistor value so perhaps that caused the damage. I’ll go onto testing the continuity from the driver to the JST XH connector pins as I suspect the issue is from there as I was still able to detect continuity between the JST connector pins and the motor. However my motors are definitely damaged after that as I tried to run them on another board that was fine and still no response so looks like setting the resistance way too high damaged them. I hope I can least recover the board but seems like it will be difficult as it has been traced down to something internal since the undervoltage error happens even without any drivers inserted: TMC ‘stepper\_x’ reports GSTAT: 00000005 reset=1(Reset) uv\_cp=1(Undervoltage!) TMC ‘stepper\_x’ reports GSTAT: 00000000. Everything else in the logs is just standard checks. ---
**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\ **Post date:** [January 5, 2026, 2:07am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/8 "2026-01-05T02:07:27Z")
> [@AlSabra](#): > > since the undervoltage error happens even without any drivers inserted: TMC ‘stepper\_x’ reports GSTAT: 00000005 reset=1(Reset) uv\_cp=1(Undervoltage!) If you don’t have a driver module (good or bad) installed, then you can’t rely on the Klipper error telling you anything meaningful - as far as I know, there are no TMC driver communications presence checks so what you’re seeing is an error when the specified and configured driver is read and the returns values are interpreted as errors. Going forward, could you: 1. Explain exactly what you are doing along with describing the apparatus you have. What may seem obvious to you isn’t necessarily the same for somebody else. 2. Provide **ALL** electronic records of what you are doing and what are the SSH responses as well as what’s on the Klipper console. The `klippy.log` has a lot of information in it and it’s the best record available of what’s happening in the system. I’ve found it to be incredibly useful when I’m making changes and things don’t work as expected - the answer to what’s happening is usually in the `klippy.log`. Please always provide it. 3. Ask questions to make sure you absolutely understand what’s happening. When I suggested that you change the sense resistors, it didn’t occur to me that you would change the `sense_resistor:` parameter in the `[tmc5160` `printer.cfg` statement. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 5, 2026, 5:39am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/9 "2026-01-05T05:39:01Z")
Good news looks like the error went away and my MANTA board is fully functional! I must have had the tmc2209 configuration running but had jumpers for SPI still in or was just Klipper stuck in the error state when I was trying to run the motors that had been shorted from the sense resistor change mistake. Definitely will take note of the tips you have suggested going forward in my troubleshooting attempts. Will let you know how I go when I test the steppers with the tmc2209 driver. Just waiting on new ones to come in since I damaged them. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 5, 2026, 10:42am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/10 "2026-01-05T10:42:28Z")
Just while on the subject, I also was wondering from your experience, what is the clearest way to determine if a tmc driver is faulty with a multimeter? Is checking for continuity between VM and GND and VIO and GND usually sufficient? Logs also usually would show short to supply or undervoltage error but was wondering how to physially rule out the driver as being faulty when troubleshooting. ---
**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\ **Post date:** [January 5, 2026, 3:14pm UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/11 "2026-01-05T15:14:51Z")
> [@AlSabra](#): > > what is the clearest way to determine if a tmc driver is faulty with a multimeter? I’ve ben wracking my brain trying to think of when I’ve had a blown TMC driver and, I don’t think I’ve ever had one on a 3D printer. In a previous project, years ago, I worked with TMC2225s and I know I killed a few but I can’t remember if there was any easy way to identify if they were functional other than not being able to communicate with them. Sorry. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 10, 2026, 10:31pm UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/12 "2026-01-10T22:31:05Z")
No worries thanks for the insight anyways. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 11, 2026, 7:33am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/13 "2026-01-11T07:33:35Z")
Hey Myke, so good news looks like setting an appropriate homing speed (up to double the rotation distance per second) on a TMC2209 with default sense resistor (110 mOhm) did the trick thankfully. I am trying this on a lead screw actuator with a pitch of 2 mm and rms current of 0.6 I had in my inventory while waiting for new smaller actuators to come in. Now I was wondering if it is possible to home even faster while ensuring reliability in detecting the stall and edge spike in voltage as it does take quite some time to home so was hoping for user experience sake in the mechanism I am prototyping it would be more efficient. What I have done so far is implement a macro in the Klipper config file that temporarily sets the acceleration to very low values (tried 1-10 mm/s^2) to try and compensate for higher velocities (been trying 10-15 mm/s). However this has not allowed me to replicate the clean stall detection I managed to achieve with the lower velocities unfortunately. The klipper config for this stepper, the driver and macro is as follows: # Motor1 stepper\_x step\_pin: PE6 dir\_pin: !PE5 enable\_pin: !PC14 microsteps: 16 rotation\_distance: 2 endstop\_pin: tmc2209\_stepper\_x:virtual\_endstop position\_endstop: 0 position\_max: 135 homing\_speed: 15 homing\_retract\_dist: 0 tmc2209 stepper\_x uart\_pin: PC13 diag\_pin: ^PF4 run\_current: 0.3 hold\_current: 0.1 stealthchop\_threshold: 999999 interpolate: false sense\_resistor: 0.110 driver\_SGTHRS: 75 # tune this (0..255, where 255 is most sensitive) gcode\_macro HOME\_X\_SMOOTH\_FAST gcode: #Fast homing speed with low accel during homing, then restore limits {% set mv = printer.toolhead.max\_velocity %} {% set ma = printer.toolhead.max\_accel %} SET\_VELOCITY\_LIMIT ACCEL=2 G28 X Restore normal limits SET\_VELOCITY\_LIMIT VELOCITY={mv} ACCEL={ma} I even tried doing an approach that involved a non-zero retracting distance and second homing speed. The approach i was trying is essentially: fast first touch + slow second touch” - First pass: **faster speed** , low accel → gets to the stop quickly without nasty spikes. - Retract a small distance. - Second pass: **slower speed** , low accel → gives a clean, repeatable trigger point. However, unfortunately the same outcome as approach 1. Attached are the logs I would see which just showcases basic endstop not triggered message. Note that steppers y, z and z1 not initailising is just because I have no motors or drivers currently plugged in for those motors but has not semed to affect it as I got successful sensorless homing even with these messages. mcu ‘mcu’: Starting serial connect webhooks client 140736365581648: New connection webhooks client 140736365581648: Client info {‘program’: ‘Moonraker’, ‘version’: ‘v0.9.3-130-g5b92e52’} Loaded MCU ‘mcu’ 133 commands (v0.13.0-452-g8dd798eb / gcc: (15:14.2.rel1-1) 14.2.1 20241119 binutils: (2.44-3+23+b2) 2.44) MCU ‘mcu’ config: ADC\_MAX=4095 BUS\_PINS\_i2c1\_PB6\_PB7=PB6,PB7 BUS\_PINS\_i2c1\_PB8\_PB9=PB8,PB9 BUS\_PINS\_i2c2\_PB10\_PB11=PB10,PB11 BUS\_PINS\_i2c3\_PA8\_PC9=PA8,PC9 BUS\_PINS\_spi1=PA6,PA7,PA5 BUS\_PINS\_spi1a=PB4,PB5,PB3 BUS\_PINS\_spi2=PB14,PB15,PB13 BUS\_PINS\_spi2a=PC2,PC3,PB10 BUS\_PINS\_spi2b=PI2,PI3,PI1 BUS\_PINS\_spi3a=PC11,PC12,PC10 BUS\_PINS\_spi4=PE13,PE14,PE12 BUS\_PINS\_spi5=PF8,PF9,PF7 BUS\_PINS\_spi5a=PH7,PF11,PH6 BUS\_PINS\_spi6=PG12,PG14,PG13 CLOCK\_FREQ=520000000 MCU=stm32h723xx PWM\_MAX=257 RESERVE\_PINS\_USB=PA11,PA12 RESERVE\_PINS\_crystal=PH0,PH1 STATS\_SUMSQ\_BASE=256 STEPPER\_STEP\_BOTH\_EDGE=1 Configured MCU ‘mcu’ (1024 moves) TMC stepper\_y failed to init: Unable to write tmc spi ‘stepper\_y’ register GLOBALSCALER TMC stepper\_z failed to init: Unable to write tmc spi ‘stepper\_z’ register GLOBALSCALER TMC stepper\_z1 failed to init: Unable to write tmc spi ‘stepper\_z1’ register GLOBALSCALER webhooks: registering remote method ‘shutdown\_machine’ for connection id: 140736365581648 webhooks: registering remote method ‘reboot\_machine’ for connection id: 140736365581648 webhooks: registering remote method ‘pause\_job\_queue’ for connection id: 140736365581648 webhooks: registering remote method ‘start\_job\_queue’ for connection id: 140736365581648 Stats 4747.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000000 mcu\_task\_stddev=0.000000 bytes\_write=1829 bytes\_read=5795 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=165 receive\_seq=165 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=22 upcoming\_bytes=0 freq=520029811 print\_time=3404.226 buffer\_time=0.228 print\_stall=0 sysload=0.38 cputime=0.305 memavail=1477808 Stats 4748.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000000 mcu\_task\_stddev=0.000000 bytes\_write=1862 bytes\_read=5816 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=167 receive\_seq=167 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520010657 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.38 cputime=0.306 memavail=1478368 Stats 4749.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000003 mcu\_task\_stddev=0.000007 bytes\_write=1868 bytes\_read=5847 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=168 receive\_seq=168 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520008203 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.35 cputime=0.307 memavail=1479888 Stats 4750.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000003 mcu\_task\_stddev=0.000007 bytes\_write=1874 bytes\_read=5863 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=169 receive\_seq=169 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520006236 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.35 cputime=0.308 memavail=1481712 Stats 4751.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000003 mcu\_task\_stddev=0.000007 bytes\_write=1880 bytes\_read=5879 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=170 receive\_seq=170 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520004413 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.35 cputime=0.310 memavail=1483072 Stats 4752.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000003 mcu\_task\_stddev=0.000007 bytes\_write=1886 bytes\_read=5895 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=171 receive\_seq=171 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520003932 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.35 cputime=0.312 memavail=1483392 Stats 4753.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000003 mcu\_task\_stddev=0.000007 bytes\_write=1892 bytes\_read=5911 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=172 receive\_seq=172 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520002772 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.35 cputime=0.313 memavail=1483536 Stats 4754.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=1898 bytes\_read=5940 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=173 receive\_seq=173 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520001345 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.32 cputime=0.315 memavail=1480624 Stats 4755.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=1904 bytes\_read=5956 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=174 receive\_seq=174 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520001407 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.32 cputime=0.316 memavail=1480784 Stats 4756.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=1910 bytes\_read=5972 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=175 receive\_seq=175 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=520000990 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.32 cputime=0.318 memavail=1481680 Stats 4757.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=1916 bytes\_read=5988 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=176 receive\_seq=176 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519999891 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.32 cputime=0.319 memavail=1483328 Stats 4758.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=1922 bytes\_read=6004 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=177 receive\_seq=177 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519999087 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.32 cputime=0.321 memavail=1483808 Stats 4759.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000000 mcu\_task\_stddev=0.000000 bytes\_write=1928 bytes\_read=6033 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=178 receive\_seq=178 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519999256 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.30 cputime=0.322 memavail=1484736 Stats 4760.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000000 mcu\_task\_stddev=0.000000 bytes\_write=1934 bytes\_read=6049 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=179 receive\_seq=179 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998775 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.30 cputime=0.324 memavail=1483760 Stats 4761.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000000 mcu\_task\_stddev=0.000000 bytes\_write=1940 bytes\_read=6065 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=180 receive\_seq=180 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998712 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.30 cputime=0.326 memavail=1484016 Stats 4762.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000000 mcu\_task\_stddev=0.000000 bytes\_write=1946 bytes\_read=6081 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=181 receive\_seq=181 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998882 print\_time=3404.226 buffer\_time=0.000 print\_stall=0 sysload=0.30 cputime=0.328 memavail=1483984 Stats 4763.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000000 mcu\_task\_stddev=0.000000 bytes\_write=1985 bytes\_read=6132 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=184 receive\_seq=184 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998462 print\_time=3419.453 buffer\_time=0.000 print\_stall=0 sysload=0.30 cputime=0.331 memavail=1484624 toolhead: max\_velocity: 10.000000 max\_accel: 2.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Stats 4764.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=2734 bytes\_read=6746 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=219 receive\_seq=219 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998277 print\_time=3420.954 buffer\_time=0.000 print\_stall=0 sysload=0.35 cputime=0.344 memavail=1478768 toolhead: max\_velocity: 1000.000000 max\_accel: 1000.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Stats 4765.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3065 bytes\_read=7109 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=240 receive\_seq=240 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998158 print\_time=3421.519 buffer\_time=0.000 print\_stall=0 sysload=0.35 cputime=0.352 memavail=1477264 toolhead: max\_velocity: 15.000000 max\_accel: 40.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Stats 4766.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3374 bytes\_read=7191 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=247 receive\_seq=247 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998118 print\_time=3428.988 buffer\_time=5.978 print\_stall=0 sysload=0.35 cputime=0.357 memavail=1477024 Stats 4767.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3445 bytes\_read=7258 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=251 receive\_seq=251 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998126 print\_time=3428.988 buffer\_time=4.977 print\_stall=0 sysload=0.35 cputime=0.361 memavail=1478576 Stats 4768.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3516 bytes\_read=7325 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=255 receive\_seq=255 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997933 print\_time=3428.988 buffer\_time=3.977 print\_stall=0 sysload=0.35 cputime=0.365 memavail=1490592 Stats 4769.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3587 bytes\_read=7406 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=259 receive\_seq=259 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998123 print\_time=3428.988 buffer\_time=2.977 print\_stall=0 sysload=0.41 cputime=0.370 memavail=1491664 Stats 4770.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3658 bytes\_read=7473 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=263 receive\_seq=263 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998266 print\_time=3428.988 buffer\_time=1.976 print\_stall=0 sysload=0.41 cputime=0.373 memavail=1493728 Stats 4771.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3729 bytes\_read=7540 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=267 receive\_seq=267 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998345 print\_time=3428.988 buffer\_time=0.975 print\_stall=0 sysload=0.41 cputime=0.377 memavail=1493088 Stats 4772.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=3996 bytes\_read=7622 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=274 receive\_seq=274 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998250 print\_time=3428.988 buffer\_time=0.000 print\_stall=0 sysload=0.41 cputime=0.381 memavail=1493568 toolhead: max\_velocity: 10.000000 max\_accel: 2.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Stats 4773.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=4200 bytes\_read=7828 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=285 receive\_seq=285 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998354 print\_time=3430.212 buffer\_time=0.198 print\_stall=0 sysload=0.41 cputime=0.388 memavail=1494368 Stats 4774.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=4757 bytes\_read=8153 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=308 receive\_seq=307 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519998155 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.395 memavail=1490304 Stats 4775.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=5153 bytes\_read=8511 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=331 receive\_seq=330 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997956 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.401 memavail=1490416 Stats 4776.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=5545 bytes\_read=8855 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=354 receive\_seq=353 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997817 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.409 memavail=1491824 Stats 4777.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=5958 bytes\_read=9199 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=377 receive\_seq=376 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997718 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.417 memavail=1492720 Stats 4778.6: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=6493 bytes\_read=9562 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=400 receive\_seq=400 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997817 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.423 memavail=1493168 Stats 4779.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=6880 bytes\_read=9918 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=423 receive\_seq=423 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997663 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.430 memavail=1496048 Stats 4780.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=7264 bytes\_read=10256 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=446 receive\_seq=446 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997708 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.438 memavail=1496896 Stats 4781.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=7656 bytes\_read=10614 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=469 receive\_seq=469 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997817 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.446 memavail=1513984 Stats 4782.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=8041 bytes\_read=10958 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=492 receive\_seq=492 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997725 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.453 memavail=1517888 Stats 4783.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=8426 bytes\_read=11302 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=515 receive\_seq=515 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997737 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.459 memavail=1519856 Stats 4784.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=8818 bytes\_read=11674 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=538 receive\_seq=538 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997692 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.465 memavail=1524272 Stats 4785.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=9203 bytes\_read=12018 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=561 receive\_seq=561 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997742 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.471 memavail=1531264 Stats 4786.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=9588 bytes\_read=12362 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=584 receive\_seq=584 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997657 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.478 memavail=1533312 Stats 4787.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=9977 bytes\_read=12720 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=607 receive\_seq=607 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997558 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.485 memavail=1534960 Stats 4788.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=10358 bytes\_read=13055 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=630 receive\_seq=630 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997500 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.493 memavail=1535312 Stats 4789.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=10743 bytes\_read=13413 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=653 receive\_seq=653 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997421 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.502 memavail=1535840 Stats 4790.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=11135 bytes\_read=13771 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=676 receive\_seq=676 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997464 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.509 memavail=1539408 Stats 4791.6: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=11520 bytes\_read=14115 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=699 receive\_seq=699 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997523 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.520 memavail=1539616 Stats 4792.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=11905 bytes\_read=14459 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=722 receive\_seq=722 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997478 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.528 memavail=1541952 Stats 4793.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=12297 bytes\_read=14817 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=745 receive\_seq=745 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997570 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.37 cputime=0.537 memavail=1543392 Stats 4794.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=12794 bytes\_read=15175 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=768 receive\_seq=768 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997566 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.544 memavail=1534384 Stats 4795.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=13225 bytes\_read=15519 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=791 receive\_seq=791 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997560 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.553 memavail=1534848 Stats 4796.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=13641 bytes\_read=15870 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=814 receive\_seq=814 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997580 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.560 memavail=1535600 Stats 4797.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=14026 bytes\_read=16214 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=837 receive\_seq=837 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997602 print\_time=3430.212 buffer\_time=0.000 print\_stall=0 sysload=0.34 cputime=0.567 memavail=1537104 toolhead: max\_velocity: 15.000000 max\_accel: 40.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Stats 4798.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=14583 bytes\_read=16768 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=871 receive\_seq=871 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997614 print\_time=3455.223 buffer\_time=0.197 print\_stall=0 sysload=0.34 cputime=0.576 memavail=1539536 Stats 4799.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=14656 bytes\_read=16896 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=877 receive\_seq=877 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997623 print\_time=3455.709 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.580 memavail=1537856 Stats 4800.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=14690 bytes\_read=16958 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=880 receive\_seq=880 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997593 print\_time=3455.709 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.582 memavail=1539168 toolhead: max\_velocity: 10.000000 max\_accel: 2.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Stats 4801.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=15338 bytes\_read=17427 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=909 receive\_seq=909 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997586 print\_time=3458.259 buffer\_time=0.231 print\_stall=0 sysload=0.31 cputime=0.592 memavail=1543744 toolhead: max\_velocity: 15.000000 max\_accel: 40.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Stats 4802.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=15419 bytes\_read=17556 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=915 receive\_seq=915 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997533 print\_time=3458.259 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.595 memavail=1546912 Stats 4803.7: gcodein=0 mcu: mcu\_awake=0.001 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=15453 bytes\_read=17618 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=918 receive\_seq=918 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997602 print\_time=3458.259 buffer\_time=0.000 print\_stall=0 sysload=0.31 cputime=0.598 memavail=1547968 Stats 4804.7: gcodein=0 mcu: mcu\_awake=0.000 mcu\_task\_avg=0.000001 mcu\_task\_stddev=0.000001 bytes\_write=15487 bytes\_read=17693 bytes\_retransmit=9 bytes\_invalid=0 send\_seq=921 receive\_seq=921 retransmit\_seq=2 srtt=0.001 rttvar=0.000 rto=0.025 ready\_bytes=0 upcoming\_bytes=0 freq=519997664 print\_time=3458.259 buffer\_time=0.000 print\_stall=0 sysload=0.29 cputime=0.600 memavail=1543584 toolhead: max\_velocity: 15.000000 max\_accel: 40.000000 minimum\_cruise\_ratio: 0.000000 square\_corner\_velocity: 5.000000 Any ideas to workaround homing with faster velocities? ---
**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\ **Post date:** [January 11, 2026, 8:38am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/14 "2026-01-11T08:38:45Z")
Okay, a few things. 1. Could you please follow the guidelines I set out above? I’m not 100% what is your current hardware configuration (ie what TMC2209 driver modules are you using and I still don’t know what main controller board you are using). I asked you to include the _ **files** _ not excerpts - it’s much easier to go through the `klippy.log` (which includes the effective `printer.cfg` as well as the printer’s response). Since you’re using a new “smaller actuator”, I’d like to know more about it. 2. If you’re going to post code/listings/data, please do it in a preformatted text block. Click on ![image](https://global.discourse-cdn.com/free1/uploads/klipper/original/3X/9/5/953bb494667a62a45470aa0848085fa18bf7d7d1.png) in the top editor line and paste the text within the block. 1. Why are you playing around with acceleration in your sensorless homing? That’s not something that is normally done. I’m not sure what you’re macro is doing - I don’t know if what you’ve posted is incomplete or has been overwritten because you didn’t use the preformatted text block. 2. From what you have posted, you have a homing speed of 15mm/s which is reasonable. Are you looking to increase this? I’m not sure what you mean by saying you want to home at “up to double the rotation distance per second”. You’re saying the pitch of the lead screw that you’re using is 2mm, double that is 4mm so you seem to imply that you want to home at 4mm/s but, in your `stepper_x` definition, you’re specifying a homing homing speed of 15mm/s/ My initial reaction to somebody that has working sensorless homing and wants to make it faster is “Why?” Homing is generally a small fraction of the time of a print and running it faster makes it more difficult to tune reliably. Could I ask you to: 1. Describe your system as it stands now. This is hardware, host and stepper drivers (what you were asked when you first started the post). 2. Attach your `klippy.log` in its entirety. If it’s too big to attach, then .zip it and attach the .zip file. 3. Explain what you are observing and what you are expecting or would like to see. Thanx. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 11, 2026, 9:06am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/15 "2026-01-11T09:06:45Z")
Ok so I was essentially wondering if there is a way to play around with sensorless homing so I could home quicker. The snippet I posted has 15 mm/s as I was trying to get it to work with 15 and potentially higher compared to 4 mm/s. 4-6 mm/s were working perfectly as they are close to my rotation distance of 2 mm. I seem to run into issues as soon as homing speed goes to 10 mm/s. I am using a MANTA M8P V2.0 board with a BTT TMC2209 slotted in the stepper\_x driver slot. Vref measured to be 1.2 V. Attached is my klippy.log file as requested. [klippy.log](https://klipper.discourse.group/uploads/short-url/5uIEt5YqLCJM5tsuOA28y22myf5.log) (3.2 MB) What I am seeing is the lead screw actuator does not come to a halt when setting acceleration low (1-10 mm/s^2) compared to using Klipper default acceleration. I was hoping I would see the motor easily stall if the acceleration was reduced and homing speed was increased such that it would be just as reliable as conventional sensorless homing with lower speeds. ---
**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\ **Post date:** [January 11, 2026, 4:21pm UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/16 "2026-01-11T16:21:48Z")
Thanx for the `klippy.log` - I think in your original cut and paste, the meaning was lost. I don’t think that `SET_VELOCITY_LIMT` does what you want it to do in this situation: > **[SET\_VELOCITY\_LIMIT - G-Codes - Klipper documentation](https://www.klipper3d.org/G-Codes.html#set_velocity_limit)** > > This document describes the commands that Klipper supports. These are commands that one may enter into the OctoPrint terminal tab. It’s only for normal movement, not for homing. I would be surprised to find out that it affects the speed/acceleration of the homing operation. * * * Going back to my original question, what is your motivation for wanting homing to be faster? I admit that 4mm/s is slow, but a lead screw is something of an unusual beast for doing sensorless homing - the more I think about it, the more complexities come out (with a big one being how you do anti-backlash and how that affects the endstop contact). If I were doing this, I would be concerned about the opportunity for inflicting mechanical damage to the mechanism. Sensorless homing is a function of SGTHRS/SGT value, speed and current. When I set it up, I work at finding values of speed and current that give me the widest range of SGTHRS/SGT and then pick a value that is in the middle of that range. If you want to increase your speed, do it slowly, if it works at 4mm/s, try 6mm/s and work though ranges of currents to see what values of SGTHRS/SGT work. You’ll have to work through the full range of currents from very low to close to your expected operating current (that’s why I’m concerned about mechanical damage, you’re going to have your lead screw nut slamming into the endstop at increasingly high currents and forces). It’s tedious work and there’s a non-zero chance that getting something to work reliably at 15mm/s will be impossible or that it will happen in speeds/currents that will damage your hardware over time. That’s why I ask the question, why do you want to go faster? Unless there is a clear, definable reason for your system then I would recommend keep with the 4mm/s and move on to the next task in getting things set up. ---
**Author:** ![AlSabra](https://avatars.discourse-cdn.com/v4/letter/a/59ef9b/32.png) [@AlSabra](https://klipper.discourse.group/u/AlSabra)\ **Post date:** [January 26, 2026, 8:33am UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/17 "2026-01-26T08:33:23Z")
Turns out the tmc2209 and patience getting the right combination of SGTHRS, run current and homing speed did the trick after all. The lead screw I am using doesn’t actually have a nut. It has a block that ends up hitting the edge and in finding the right combination of variables it is hitting very smoothly and coming to a halt very nicely. For this lead screw actuator, the rotation distance is 2 mm. I was able to get homing and even normal positioning to work up to 16 mm/s which is 480 rpm so this can serve as a useful threshold for any future actuators I work with. Thanks for your insights and support as always! ---
**Author:** ![system](https://global.discourse-cdn.com/free1/uploads/klipper/original/1X/64419bf2aac6639e6ef5cef200dcd456b0a01ac3.png) [@system](https://klipper.discourse.group/u/system)\ **Post date:** [February 25, 2026, 6:34pm UTC](https://klipper.discourse.group/t/sensorless-homing-calibration-issue/25460/18 "2026-02-25T18:34:11Z")
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