From 390d549c0c75a7386fb6ec961d6696521633e423 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 12 Sep 2018 22:22:37 -0400 Subject: [PATCH] delta: Fix maximum halt velocity calculation If an arm is nearly parallel to the bed then that tower's carriage may have a velocity up to 3 times greater than the toolhead's maximum velocity (relative to the print). Take that into account when calculating the stepper's maximum halt velocity. This fixes some rare "No next step" shutdowns on delta printers. Signed-off-by: Kevin O'Connor --- klippy/kinematics/delta.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index e51f5c94..5a7a6ca6 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -50,9 +50,10 @@ class DeltaKinematics: self.max_z_velocity = config.getfloat( 'max_z_velocity', self.max_velocity, above=0., maxval=self.max_velocity) - max_halt_velocity = toolhead.get_max_axis_halt() + max_halt_velocity = toolhead.get_max_axis_halt() * SLOW_RATIO + max_halt_accel = self.max_accel * SLOW_RATIO for rail in self.rails: - rail.set_max_jerk(max_halt_velocity, self.max_accel) + rail.set_max_jerk(max_halt_velocity, max_halt_accel) # Determine tower locations in cartesian space self.angles = [sconfig.getfloat('angle', angle) for sconfig, angle in zip(stepper_configs,