docs: First version of documentation for Input Shaper tuning
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
KevinOConnor
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@ -162,3 +162,6 @@ consider calibrating [pressure advance](Pressure_Advance.md).
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It may be necessary to perform other types of detailed printer
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calibration - a number of guides are available online to help with
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this (for example, do a web search for "3d printer calibration").
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As an example, if you experience the effect called ghosting or ringing,
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you may try following [ghosting compensation](Ghosting_Compensation.md)
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tuning guide.
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@ -0,0 +1,457 @@
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Ghosting Compensation
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====================
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Klipper supports Input Shaping - a technique that can be used to reduce ghosting
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in prints. [Input shaping](https://en.wikipedia.org/wiki/Input_shaping) is an
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open-loop control technique which creates a commanding signal that cancels its
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own vibrations.
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**Warning**: Input Shaping support is experimental. You should consider using it
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only if you already have ghosting and ringing in prints, otherwise it is not
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advised to enable it. Input shaping requires some tuning and measurements
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before it can be enabled.
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Note that ghosting usually has mechanical origins: insufficiently rigid printer
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frame, non-tight or too springy belts, alignment issues of mechanical parts,
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heavy moving mass, etc. Those should be checked and fixed first.
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Tuning
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===========================
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Basic tuning requires measuring the ringing frequencies of the printer and
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adding a few parameters to `printer.cfg` file.
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Slice the ringing test model, which can be found in
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[docs/prints/ringing_tower.stl](prints/ringing_tower.stl), in the slicer:
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* Suggested layer height is 0.2 or 0.25 mm.
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* Infill and top layers can be set to 0.
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* Use 1-2 perimeters, or even better the smooth vase mode with 1-2 mm base.
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* Use sufficiently high speed, around 80-100 mm/sec, for *external* perimeters.
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* Make sure that the minimum layer time is *at most* 3 seconds.
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## Ringing frequency
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First, measure the **ringing frequency**.
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1. Increase `max_accel` and `max_accel_to_decel` parameters in your
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`printer.cfg` to 7000.
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2. Restart the firmware: `RESTART`.
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3. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`.
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4. If you have already added `[input_shaper]` section to the printer.cfg,
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execute `SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0` command. If you
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get "Unknown command" error, you can safely ignore it at this point and
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continue with the measurements.
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5. Execute the command
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`TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
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Basically, we try to make ringing more pronounced by setting different large
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values for acceleration.
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6. Print the test model sliced with the suggested parameters.
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7. You can stop the print earlier if the ringing is clearly visible and you see
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that acceleration gets too high for your printer (e.g. printer shakes too
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much or starts skipping steps).
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8. Measure the distance *D* (in mm) between *N* oscillations for X axis near
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the notches, preferably skipping the first oscillation or two. Pay attention
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to the notches X axis corresponds to - the test model has large 'X' and 'Y'
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marks on the back side for convenience. Note that 'X' mark is on Y axis and
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vice versa, it is not a mistake - ringing of X axis shows *along* Y axis.
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To measure the distance between oscillations more easily, mark the
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oscillations first, then measure the distance between the marks with a ruler
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or calipers:
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|||
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|:--:|:--:|
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9. Compute the ringing frequency = *V* · *N* / *D* (Hz) where *V* is the
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velocity for outer perimeters (mm/sec). For the example above, we marked 6
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oscillations, and the test was printed at 100 mm/sec velocity, so the
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frequency is 100 * 6 / 12.14 ≈ 49.4 Hz.
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10. Do (8) - (9) for Y axis as well.
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Note that ringing on the test print should follow the pattern of the curved
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notches, as in the picture above. If it doesn't, then this defect is not really
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a ringing and has a different origin - either mechanical, or an extruder issue.
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It should be fixed first before enabling and tuning input shapers.
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If the measurements are not reliable because, say, the distance
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between the oscillations is not stable, it might mean that the printer has
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several resonance frequencies on the same axis. One may try to follow the
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tuning process described in
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[Unreliable measurements of ringing frequencies](#unreliable-measurements-of-ringing-frequencies)
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section instead and still get something out of the input shaping technique.
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Ringing frequency can depend on the position of the model within the buildplate
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and Z height, *especially on delta printers*; you can check if you see the
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differences in frequencies at different positions along the sides of the test
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model and at different heights. You can calculate the average ringing
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frequencies over X and Y axes if that is the case.
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If the measured ringing frequency is very low (below approx 20-25 Hz), it might
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be a good idea to invest into stiffening the printer or decreasing the moving
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mass - depending on what is applicable in your case - before proceeding with
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further input shaping tuning, and re-measuring the frequencies afterwards. For
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many popular printer models there are often some solutions available already.
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Note that the ringing frequencies can change if the changes are made to the
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printer that affect the moving mass or change the stiffness of the system,
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for example:
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* Some tools are installed, removed or replaced on the toolhead that change
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its mass, e.g. a new (heavier or lighter) stepper motor for direct extruder
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or a new hotend is installed, heavy fan with a duct is added, etc.
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* Belts are tightened.
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* Some addons to increase frame rigidity are installed.
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* Different bed is installed on a bed-slinger printer, or glass added, etc.
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If such changes are made, it is a good idea to at least measure the ringing
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frequencies to see if they have changed.
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## Input shaper configuration
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After the ringing frequencies for X and Y axes are measured, you can add the
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following section to your `printer.cfg`:
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```
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[input_shaper]
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shaper_freq_x: ...
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shaper_freq_y: ...
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```
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For the example above, we get shaper_freq_x/y = 49.4.
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## Choosing input shaper
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Klipper supports several input shapers. They differ in their sensitivity to
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errors determining the resonance frequency and how much smoothing they cause
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in the printed parts. Also, some of the shapers like 2HUMP_EI and 3HUMP_EI
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should usually not be used with shaper_freq = resonance frequency - they are
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configured from different considerations to reduce several resonances at once.
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For most of the printers, either MZV or EI shapers can be recommended. This
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section describes a testing process to choose between them, and figure out
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a few other related parameters.
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Print the ringing test model as follows (assuming you already have
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shaper_freq_x/y set and max_accel/max_accel_to_decel increased to 7000 in
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printer.cfg file):
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1. Restart the firmware: `RESTART`.
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2. Disable Pressure Advance: `SET_PRESSURE_ADVANCE ADVANCE=0`.
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3. Execute `SET_INPUT_SHAPER SHAPER_TYPE=MZV`.
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4. Execute the command
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`TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
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5. Print the test model sliced with the suggested parameters.
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If you see no ringing at this point, then MZV shaper can be recommended for use.
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If you do see some ringing, re-measure the frequencies using steps (8)-(10)
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described in [Ringing frequency](#ringing-frequency) section. If the frequencies
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differ significantly from the values you obtained earlier, a more complex input
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shaper configuration is needed. You can refer to Technical details of
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[Input shapers](#input-shapers) section. Otherwise, proceed to the next step.
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Now try EI input shaper. To try it, repeat steps (1)-(5) from above, but
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executing at step 3 the following command instead:
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`SET_INPUT_SHAPER SHAPER_TYPE=EI`.
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Compare two prints with MZV and EI input shaper. If EI shows noticeably better
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results than MZV, use EI shaper, otherwise prefer MZV. Note that EI shaper will
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cause more smoothing in printed parts (see the next section for further
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details). Add `shaper_type: mzv` (or ei) parameter to [input_shaper] section,
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e.g.:
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```
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[input_shaper]
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shaper_freq_x: ...
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shaper_freq_y: ...
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shaper_type: mzv
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```
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A few notes on shaper selection:
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* EI shaper may be more suited for bed slinger printers (if the resonance
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frequency and resulting smoothing allows): as more filament is deposited
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on the moving bed, the mass of the bed increases and the resonance frequency
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will decrease. Since EI shaper is more robust to resonance frequency
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changes, it may work better when printing large parts.
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* Due to the nature of delta kinematics, resonance frequencies can differ a
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lot in different parts of the build volume. Therefore, EI shaper can be a
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better fit for delta printers rather than MZV or ZV, and should be
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considered for the use. If the resonance frequency is sufficiently large
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(more than 50-60 Hz), then one can even attempt to test 2HUMP_EI shaper
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(by running the suggested test above with
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`SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI`), but check the considerations in
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the [section below](#selecting-max_accel) before enabling it.
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## Selecting max_accel
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You should have a printed test for the shaper you chose from the previous step.
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Note that at very high accelerations, depending on the resonance frequency and
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the input shaper you chose (e.g. EI shaper creates more smoothing than MZV),
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input shaping may cause too much smoothing and rounding of the parts. So,
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max_accel should be chosen such as to prevent that. Another parameter that can
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impact smoothing is square_corner_velocity, so it is not advisable to increase
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it above the default 5 mm/sec to prevent increased smoothing.
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Inspect the model for the chosen input shaper. Take a note at which
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acceleration:
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* ringing is still small - that you are comfortable with it;
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* corners of the test model still show 'bulges' from disabled pressure
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advance - remember that **input shaping is not a replacement of PA**.
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Choose the minimum out of the two acceleration values, and put it as max_accel
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into printer.cfg (you can delete max_accel_or_decel or revert it to the old
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value).
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As a note, it may happen - especially at low ringing frequencies - that EI
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shaper will cause too much smoothing even at lower accelerations. In this case,
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MZV may be a better choice, because it may allow higher acceleration values.
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At very low ringing frequencies (~25 Hz and below) even MZV shaper may create
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too much smoothing. If that is the case, you can also try to repeat the
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steps in [Choosing input shaper](#choosing-input-shaper) section with ZV shaper,
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by using `SET_INPUT_SHAPER SHAPER_TYPE=ZV` command instead. ZV shaper should
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show even less smoothing than MZV, but is more sensitive to errors in measuring
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the ringing frequencies.
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Another consideration is that if a resonance frequency is too low (below 20-25
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Hz), it might be a good idea to increase the printer stiffness or reduce the
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moving mass. Otherwise, acceleration and printing speed may be limited due too
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much smoothing now instead of ringing.
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## Fine-tuning resonance frequencies
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Note that the precision of the resonance frequencies measurements using the
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ringing test model is sufficient for most purposes, so further tuning is not
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advised. If you still want to try to double-check your results (e.g. if you
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still see some ringing after printing a test model with an input shaper of
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your choice with the same frequencies as you have measured earlier), you can
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follow the steps in this section. Note that if you see ringing at different
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frequencies after enabling [input_shaper], this section will not help with that.
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Assuming that you have sliced the ringing model with suggested parameters and
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increased `max_accel` and `max_accel_to_decel` parameters in the `printer.cfg`
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to 7000 already, complete the following steps for each of the axes X and Y:
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1. Make sure Pressure Advance is disabled: `SET_PRESSURE_ADVANCE ADVANCE=0`.
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2. Execute `SET_INPUT_SHAPER SHAPER_TYPE=ZV`.
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2. From the existing ringing test model with your chosen input shaper select
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the acceleration that shows ringing sufficiently well, and set it with:
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`SET_VELOCITY_LIMIT ACCEL=...`.
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4. Calculate the necessary parameters for the `TUNING_TOWER` command to tune
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`shaper_freq_x` parameter as follows: start = shaper_freq_x * 83 / 132 and
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factor = shaper_freq_x / 66, where `shaper_freq_x` here is the current value
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in `printer.cfg`.
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5. Execute the command
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`TUNING_TOWER COMMAND=SET_INPUT_SHAPER PARAMETER=SHAPER_FREQ_X START=start FACTOR=factor BAND=5`
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using `start` and `factor` values calculated at step (4).
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6. Print the test model.
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7. Reset the original frequency value:
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`SET_INPUT_SHAPER SHAPER_FREQ_X=...`.
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7. Find the band which shows ringing the least and count its number from the
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bottom starting at 1.
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8. Calculate the new shaper_freq_x value via old
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shaper_freq_x * (39 + 5 * #band-number) / 66.
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Repeat these steps for the Y axis in the same manner, replacing references to X
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axis with the axis Y (e.g. replace `shaper_freq_x` with `shaper_freq_y` in
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the formulae and in the `TUNING_TOWER` command).
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As an example, let's assume you have had measured the ringing frequency for one
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of the axis equal to 45 Hz. This gives start = 45 * 83 / 132 = 28.30
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and factor = 45 / 66 = 0.6818 values for `TUNING_TOWER` command.
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Now let's assume that after printing the test model, the fourth band from the
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bottom gives the least ringing. This gives the updated shaper_freq_? value
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equal to 45 * (39 + 5 * 4) / 66 ≈ 40.23.
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After both new `shaper_freq_x` and `shaper_freq_y` parameters have been
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calculated, you can update `[input_shaper]` section in `printer.cfg` with the
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new `shaper_freq_x` and `shaper_freq_y` values.
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## Pressure Advance
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If you use Pressure Advance, it may need to be re-tuned. Follow the
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[instructions](Pressure_Advance.md#tuning-pressure-advance) to find the
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new value, if it differs from the previous one. Make sure to restore the
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original values of `max_accel` and `max_accel_to_decel` parameters in the
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`printer.cfg` and restart Klipper before tuning Pressure Advance.
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## Unreliable measurements of ringing frequencies
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If you are unable to measure the ringing frequencies, e.g. if the distance
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between the oscillations is not stable, you may still be able to take advantage
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of input shaping techniques, but the results may not be as good as with proper
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measurements of the frequencies, and will require a bit more tuning and printing
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the test model. Note that another possibility is to purchase and install an
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accelerometer and measure the resonances with it (there is a separate
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[branch](https://github.com/dmbutyugin/klipper/blob/adxl345-spi/docs/Measuring_Resonances.md)
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with ADXL345 support) - but this option requires some crimping and soldering.
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For tuning, add empty `[input_shaper]` section to your `printer.cfg`. Then,
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assuming that you have sliced the ringing model with suggested parameters and
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increased `max_accel` and `max_accel_to_decel` parameters in the `printer.cfg`
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to 7000 already, print the test model 3 times as follows. First time, prior to
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printing, run
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1. `RESTART`
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2. `SET_PRESSURE_ADVANCE ADVANCE=0`.
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3. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=60 SHAPER_FREQ_Y=60`.
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4. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
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and print the model. Then print the model again, but before printing run instead
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1. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=50 SHAPER_FREQ_Y=50`.
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2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
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Then print the model for the 3rd time, but now run
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1. `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=40 SHAPER_FREQ_Y=40`.
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2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
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Essentially, we are printing the ringing test model with TUNING_TOWER using
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2HUMP_EI shaper with shaper_freq = 60 Hz, 50 Hz, and 40 Hz.
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If none of the models demonstrate improvements in ringing, then, unfortunately,
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it does not look like the input shaping techniques can help with your case.
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Otherwise, it may be that all models show no ringing, or some show the ringing
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and some - not so much. Choose the test model with the highest frequency that
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still shows good improvements in ringing. For example, if 40 Hz and 50 Hz models
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show almost no ringing, and 60 Hz model already shows some more ringing, stick
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with 50 Hz.
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Now check if EI shaper would be good enough in your case. Choose EI shaper
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frequency based on the frequency of 2HUMP_EI shaper you chose:
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* For 2HUMP_EI 60 Hz shaper, use EI shaper with shaper_freq = 50 Hz.
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* For 2HUMP_EI 50 Hz shaper, use EI shaper with shaper_freq = 40 Hz.
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* For 2HUMP_EI 40 Hz shaper, use EI shaper with shaper_freq = 33 Hz.
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Now print the test model one more time, running
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1. `SET_INPUT_SHAPER SHAPER_TYPE=EI SHAPER_FREQ_X=... SHAPER_FREQ_Y=...`.
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2. `TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1250 FACTOR=100 BAND=5`.
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providing the shaper_freq_x=... and shaper_freq_y=... as determined previously.
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If EI shaper shows very comparable good results as 2HUMP_EI shaper, stick with
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EI shaper and the frequency determined earlier, otherwise use 2HUMP_EI shaper
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with the corresponding frequency. Add the results to `printer.cfg` as, e.g.
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```
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[input_shaper]
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shaper_freq_x: 50
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shaper_freq_y: 50
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shaper_type: 2hump_ei
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```
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Continue the tuning with [Selecting max_accel](#selecting-max_accel) section.
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Troubleshooting and FAQ
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=======================
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### I cannot get reliable measurements of resonance frequencies
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First, make sure it is not some other problem with the printer instead of
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ghosting. If the measurements are not reliable because, say, the distance
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between the oscillations is not stable, it might mean that the printer has
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several resonance frequencies on the same axis. One may try to follow the
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tuning process described in
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[Unreliable measurements of ringing frequencies](#unreliable-measurements-of-ringing-frequencies)
|
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section and still get something out of the input shaping technique.
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### After enabling [input_shaper], I get too smoothed printed parts and fine details are lost
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Check the considerations in [Selecting max_accel](#selecting-max_accel) section.
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If the resonance frequency is low, one should not set too high max_accel or
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increase square_corner_velocity parameters. It might also be better to choose
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MZV or even ZV input shapers over EI (or 2HUMP_EI and 3HUMP_EI shapers).
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### After successfully printing for some time without ghosting, it appears to come back
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It is possible that after some time the resonance frequencies have changed.
|
||||
E.g. maybe the belts tension has changed (belts got more loose), etc. It is a
|
||||
good idea to check and re-measure the ringing frequencies as described in
|
||||
[Ringing frequency](#ringing-frequency) section and update your config file
|
||||
if necessary.
|
||||
|
||||
### Is dual carriage setup supported with input shapers?
|
||||
|
||||
There is no dedicated support for dual carriages with input shapers, but it does
|
||||
not mean this setup will not work. One should run the tuning twice for each
|
||||
of the carriages, and calculate the ringing frequencies for X and Y axes for
|
||||
each of the carriages independently. Then put the values for carriage 0 into
|
||||
[input_shaper] section, and change the values on the fly when changing
|
||||
carriages, e.g. as a part of some macro:
|
||||
```
|
||||
SET_DUAL_CARRIAGE CARRIAGE=1
|
||||
SET_INPUT_SHAPER SHAPER_FREQ_X=... SHAPER_FREQ_Y=...
|
||||
```
|
||||
|
||||
And similarly when switching back to carriage 0.
|
||||
|
||||
|
||||
Technical details
|
||||
=================
|
||||
|
||||
## Input shapers
|
||||
|
||||
Input shapers used in Klipper are rather standard, and one can find more
|
||||
in-depth overview in the articles describing the corresponding shapers.
|
||||
This section contains a brief overview of some technical aspects of the
|
||||
supported input shapers. The table below shows some (usually approximate)
|
||||
parameters of each shaper.
|
||||
|
||||
| Input <br> shaper | Shaper <br> duration | Vibration reduction 20x <br> (5% vibration tolerance) | Vibration reduction 10x <br> (10% vibration tolerance) |
|
||||
|:--:|:--:|:--:|:--:|
|
||||
| ZV | 0.5 / shaper_freq | N/A | ± 5% shaper_freq |
|
||||
| MZV | 0.75 / shaper_freq | ± 4% shaper_freq | -10%...+15% shaper_freq |
|
||||
| ZVD | 1 / shaper_freq | ± 15% shaper_freq | ± 22% shaper_freq |
|
||||
| EI | 1 / shaper_freq | ± 20% shaper_freq | ± 25% shaper_freq |
|
||||
| 2HUMP_EI | 1.5 / shaper_freq | ± 35% shaper_freq | ± 40 shaper_freq |
|
||||
| 3HUMP_EI | 2 / shaper_freq | -45...+50% shaper_freq | -50%...+55% shaper_freq |
|
||||
|
||||
A note on vibration reduction: the values in the table above are approximate.
|
||||
If the damping ratio of the printer is known for each axis, the shaper can be
|
||||
configured more precisely and it will then reduce the resonances in a bit wider
|
||||
range of frequencies. However, the damping ratio is usually unknown and is hard
|
||||
to estimate without a special equipment, so Klipper uses 0.1 value by default,
|
||||
which is a good all-round value. The frequency ranges in the table cover a
|
||||
number of different possible damping ratios around that value (approx. from 0.05
|
||||
to 0.2).
|
||||
|
||||
Also note that EI, 2HUMP_EI, and 3HUMP_EI are tuned to reduce vibrations to 5%,
|
||||
so the values for 10% vibration tolerance are provided only for the reference.
|
||||
|
||||
**How to use this table:**
|
||||
|
||||
* Shaper duration affects the smoothing in parts - the larger it is, the more
|
||||
smooth the parts are. This dependency is not linear, but can give a sense of
|
||||
which shapers 'smooth' more for the same frequency. The ordering by
|
||||
smoothing is like this: ZV < MZV < ZVD ≈ EI < 2HUMP_EI < 3HUMP_EI. Also,
|
||||
it is rarely practical to set shaper_freq = resonance freq for shapers
|
||||
2HUMP_EI and 3HUMP_EI (they should be used to reduce vibrations for several
|
||||
frequencies).
|
||||
* One can estimate a range of frequencies in which the shaper reduces
|
||||
vibrations. For example, MZV with shaper_freq = 35 Hz reduces vibrations
|
||||
to 5% for frequencies [33.6, 36.4] Hz. 3HUMP_EI with shaper_freq = 50 Hz
|
||||
reduces vibrations to 5% in range [27.5, 75] Hz.
|
||||
* One can use this table to check which shaper they should be using if they
|
||||
need to reduce vibrations at several frequencies. For example, if one has
|
||||
resonances at 35 Hz and 60 Hz on the same axis: a) EI shaper needs to have
|
||||
shaper_freq = 35 / (1 - 0.2) = 43.75 Hz, and it will reduce resonances
|
||||
until 43.75 * (1 + 0.2) = 52.5 Hz, so it is not sufficient; b) 2HUMP_EI
|
||||
shaper needs to have shaper_freq = 35 / (1 - 0.35) = 53.85 Hz and will
|
||||
reduce vibrations until 53.85 * (1 + 0.35) = 72.7 Hz - so this is an
|
||||
acceptable configuration. Always try to use as high shaper_freq as possible
|
||||
for a given shaper (perhaps with some safety margin, so in this example
|
||||
shaper_freq ≈ 50-52 Hz would work best), and try to use a shaper with as
|
||||
small shaper duration as possible.
|
||||
* If one needs to reduce vibrations at several very different frequencies
|
||||
(say, 30 Hz and 100 Hz), they may see that the table above does not provide
|
||||
enough information. In this case one may have more luck with
|
||||
[scripts/graph_shaper.py](../scripts/graph_shaper.py)
|
||||
script, which is more flexible.
|
||||
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Reference in New Issue