docs: Align Lists
Signed-off-by: Yifei Ding <yifeiding@protonmail.com>
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Yifei Ding
KevinOConnor
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@ -181,10 +181,10 @@ Recv: ok
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```
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This means that:
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- front left screw is the reference point you must not change it.
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- front right screw must be turned clockwise 1 full turn and a quarter turn
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- rear right screw must be turned counter-clockwise 50 minutes
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- read left screw must be turned clockwise 2 minutes (not need it's ok)
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- front left screw is the reference point you must not change it.
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- front right screw must be turned clockwise 1 full turn and a quarter turn
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- rear right screw must be turned counter-clockwise 50 minutes
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- read left screw must be turned clockwise 2 minutes (not need it's ok)
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Repeat the process several times until you get a good level bed -
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normally when all adjustments are below 6 minutes.
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@ -483,18 +483,18 @@ The data can be processed later by the following scripts:
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of them accept one or several raw csv files as the input depending on the
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mode. The graph_accelerometer.py script supports several modes of operation:
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* plotting raw accelerometer data (use `-r` parameter), only 1 input is
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supported;
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* plotting a frequency response (no extra parameters required), if multiple
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inputs are specified, the average frequency response is computed;
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* comparison of the frequency response between several inputs (use `-c`
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parameter); you can additionally specify which accelerometer axis to
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* plotting raw accelerometer data (use `-r` parameter), only 1 input is
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supported;
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* plotting a frequency response (no extra parameters required), if multiple
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inputs are specified, the average frequency response is computed;
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* comparison of the frequency response between several inputs (use `-c`
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parameter); you can additionally specify which accelerometer axis to
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consider via `-a x`, `-a y` or `-a z` parameter (if none specified,
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the sum of vibrations for all axes is used);
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* plotting the spectrogram (use `-s` parameter), only 1 input is supported;
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you can additionally specify which accelerometer axis to consider via
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`-a x`, `-a y` or `-a z` parameter (if none specified, the sum of vibrations
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for all axes is used).
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* plotting the spectrogram (use `-s` parameter), only 1 input is supported;
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you can additionally specify which accelerometer axis to consider via
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`-a x`, `-a y` or `-a z` parameter (if none specified, the sum of vibrations
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for all axes is used).
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Note that graph_accelerometer.py script supports only the raw_data\*.csv files
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and not resonances\*.csv or calibration_data\*.csv files.
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@ -515,16 +515,16 @@ the CSV file if `-c output.csv` parameter is specified.
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Providing several inputs to shaper_calibrate.py script can be useful if running
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some advanced tuning of the input shapers, for example:
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* Running `TEST_RESONANCES AXIS=X OUTPUT=raw_data` (and `Y` axis) for a single
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axis twice on a bed slinger printer with the accelerometer attached to the
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toolhead the first time, and the accelerometer attached to the bed the
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second time in order to detect axes cross-resonances and attempt to cancel
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them with input shapers.
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* Running `TEST_RESONANCES AXIS=Y OUTPUT=raw_data` twice on a bed slinger with
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a glass bed and a magnetic surfaces (which is lighter) to find the input
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shaper parameters that work well for any print surface configuration.
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* Combining the resonance data from multiple test points.
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* Combining the resonance data from 2 axis (e.g. on a bed slinger printer
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to configure X-axis input_shaper from both X and Y axes resonances to
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cancel vibrations of the *bed* in case the nozzle 'catches' a print when
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moving in X axis direction).
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* Running `TEST_RESONANCES AXIS=X OUTPUT=raw_data` (and `Y` axis) for a single
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axis twice on a bed slinger printer with the accelerometer attached to the
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toolhead the first time, and the accelerometer attached to the bed the
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second time in order to detect axes cross-resonances and attempt to cancel
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them with input shapers.
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* Running `TEST_RESONANCES AXIS=Y OUTPUT=raw_data` twice on a bed slinger with
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a glass bed and a magnetic surfaces (which is lighter) to find the input
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shaper parameters that work well for any print surface configuration.
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* Combining the resonance data from multiple test points.
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* Combining the resonance data from 2 axis (e.g. on a bed slinger printer
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to configure X-axis input_shaper from both X and Y axes resonances to
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cancel vibrations of the *bed* in case the nozzle 'catches' a print when
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moving in X axis direction).
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@ -30,16 +30,16 @@ 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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* Make sure any "dynamic acceleration control" is disabled in the slicer.
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* Do not turn the model. The model has X and Y marks at the back of the model.
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Note the unusual location of the marks vs. the axes of the printer - it is
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not a mistake. The marks can be used later in the tuning process as a
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reference, because they show which axis the measurements correspond to.
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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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* Make sure any "dynamic acceleration control" is disabled in the slicer.
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* Do not turn the model. The model has X and Y marks at the back of the model.
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Note the unusual location of the marks vs. the axes of the printer - it is
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not a mistake. The marks can be used later in the tuning process as a
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reference, because they show which axis the measurements correspond to.
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### Ringing frequency
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@ -116,12 +116,12 @@ 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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* 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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@ -187,19 +187,19 @@ shaper_type: mzv
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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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* 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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@ -292,9 +292,9 @@ to 7000 already, complete the following steps for each of the axes X and Y:
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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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8. 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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9. 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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@ -371,9 +371,9 @@ 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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* 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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@ -481,30 +481,30 @@ so the values for 10% vibration tolerance are provided only for the reference.
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**How to use this table:**
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* Shaper duration affects the smoothing in parts - the larger it is, the more
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smooth the parts are. This dependency is not linear, but can give a sense of
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which shapers 'smooth' more for the same frequency. The ordering by
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smoothing is like this: ZV < MZV < ZVD ≈ EI < 2HUMP_EI < 3HUMP_EI. Also,
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it is rarely practical to set shaper_freq = resonance freq for shapers
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2HUMP_EI and 3HUMP_EI (they should be used to reduce vibrations for several
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frequencies).
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* One can estimate a range of frequencies in which the shaper reduces
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vibrations. For example, MZV with shaper_freq = 35 Hz reduces vibrations
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to 5% for frequencies [33.6, 36.4] Hz. 3HUMP_EI with shaper_freq = 50 Hz
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reduces vibrations to 5% in range [27.5, 75] Hz.
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* One can use this table to check which shaper they should be using if they
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need to reduce vibrations at several frequencies. For example, if one has
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resonances at 35 Hz and 60 Hz on the same axis: a) EI shaper needs to have
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shaper_freq = 35 / (1 - 0.2) = 43.75 Hz, and it will reduce resonances
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until 43.75 * (1 + 0.2) = 52.5 Hz, so it is not sufficient; b) 2HUMP_EI
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shaper needs to have shaper_freq = 35 / (1 - 0.35) = 53.85 Hz and will
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reduce vibrations until 53.85 * (1 + 0.35) = 72.7 Hz - so this is an
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acceptable configuration. Always try to use as high shaper_freq as possible
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for a given shaper (perhaps with some safety margin, so in this example
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shaper_freq ≈ 50-52 Hz would work best), and try to use a shaper with as
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small shaper duration as possible.
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* If one needs to reduce vibrations at several very different frequencies
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(say, 30 Hz and 100 Hz), they may see that the table above does not provide
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enough information. In this case one may have more luck with
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[scripts/graph_shaper.py](../scripts/graph_shaper.py)
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script, which is more flexible.
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* Shaper duration affects the smoothing in parts - the larger it is, the more
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smooth the parts are. This dependency is not linear, but can give a sense of
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which shapers 'smooth' more for the same frequency. The ordering by
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smoothing is like this: ZV < MZV < ZVD ≈ EI < 2HUMP_EI < 3HUMP_EI. Also,
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it is rarely practical to set shaper_freq = resonance freq for shapers
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2HUMP_EI and 3HUMP_EI (they should be used to reduce vibrations for several
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frequencies).
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* One can estimate a range of frequencies in which the shaper reduces
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vibrations. For example, MZV with shaper_freq = 35 Hz reduces vibrations
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to 5% for frequencies [33.6, 36.4] Hz. 3HUMP_EI with shaper_freq = 50 Hz
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reduces vibrations to 5% in range [27.5, 75] Hz.
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* One can use this table to check which shaper they should be using if they
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need to reduce vibrations at several frequencies. For example, if one has
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resonances at 35 Hz and 60 Hz on the same axis: a) EI shaper needs to have
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shaper_freq = 35 / (1 - 0.2) = 43.75 Hz, and it will reduce resonances
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until 43.75 * (1 + 0.2) = 52.5 Hz, so it is not sufficient; b) 2HUMP_EI
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shaper needs to have shaper_freq = 35 / (1 - 0.35) = 53.85 Hz and will
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reduce vibrations until 53.85 * (1 + 0.35) = 72.7 Hz - so this is an
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acceptable configuration. Always try to use as high shaper_freq as possible
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for a given shaper (perhaps with some safety margin, so in this example
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shaper_freq ≈ 50-52 Hz would work best), and try to use a shaper with as
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small shaper duration as possible.
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* If one needs to reduce vibrations at several very different frequencies
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(say, 30 Hz and 100 Hz), they may see that the table above does not provide
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enough information. In this case one may have more luck with
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[scripts/graph_shaper.py](../scripts/graph_shaper.py)
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script, which is more flexible.
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