202 lines
9.1 KiB
Markdown
202 lines
9.1 KiB
Markdown
This document describes the method for calibrating the x, y, and z
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offsets of an "automatic z probe" in Klipper. This is useful for users
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that have a `[probe]` or `[bltouch]` section in their config file.
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# Calibrating probe X and Y offsets
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To calibrate the X and Y offset, navigate to the OctoPrint "Control"
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tab, home the printer, and then use the OctoPrint jogging buttons to
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move the head to a position near the center of the bed.
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Place a piece of blue painters tape (or similar) on the bed underneath
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the probe. Navigate to the OctoPrint "Terminal" tab and issue a PROBE
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command:
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```
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PROBE
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```
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Place a mark on the tape directly under where the probe is (or use a
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similar method to note the location on the bed).
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Issue a `GET_POSITION` command and record the toolhead XY location
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reported by that command. For example if one sees:
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```
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Recv: // toolhead: X:46.500000 Y:27.000000 Z:15.000000 E:0.000000
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```
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then one would record a probe X position of 46.5 and probe Y position
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of 27.
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After recording the probe position, issue a series of G1 commands
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until the nozzle is directly above the mark on the bed. For example,
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one might issue:
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```
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G1 F300 X57 Y30 Z15
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```
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to move the nozzle to an X position of 57 and Y of 30. Once one finds
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the position directly above the mark, use the `GET_POSITION` command
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to report that position. This is the nozzle position.
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The x_offset is then the `nozzle_x_position - probe_x_position` and
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y_offset is similarly the `nozzle_y_position - probe_y_position`.
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Update the printer.cfg file with the given values, remove the
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tape/marks from the bed, and then issue a `RESTART` command so that
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the new values take effect.
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# Calibrating probe Z offset
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Providing an accurate probe z_offset is critical to obtaining high
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quality prints. The z_offset is the distance between the nozzle and
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bed when the probe triggers. The Klipper `PROBE_CALIBRATE` tool can be
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used to obtain this value - it will run an automatic probe to measure
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the probe's Z trigger position and then start a manual probe to obtain
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the nozzle Z height. The probe z_offset will then be calculated from
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these measurements.
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Start by homing the printer and then move the head to a position near
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the center of the bed. Navigate to the OctoPrint terminal tab and run
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the `PROBE_CALIBRATE` command to start the tool.
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This tool will perform an automatic probe, then lift the head, move
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the nozzle over the location of the probe point, and start the manual
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probe tool. If the nozzle does not move to a position above the
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automatic probe point, then `ABORT` the manual probe tool and perform
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the XY probe offset calibration described above.
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Once the manual probe tool starts, follow the steps described at
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["the paper test"](Bed_Level.md#the-paper-test)) to determine the
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actual distance between the nozzle and bed at the given location. Once
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those steps are complete one can `ACCEPT` the position and save the
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results to the config file with:
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```
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SAVE_CONFIG
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```
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Note that if a change is made to the printer's motion system, hotend
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position, or probe location then it will invalidate the results of
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PROBE_CALIBRATE.
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If the probe has an X or Y offset and the bed tilt is changed (eg, by
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adjusting bed screws, running DELTA_CALIBRATE, running Z_TILT_ADJUST,
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running QUAD_GANTRY_LEVEL, or similar) then it will invalidate the
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results of PROBE_CALIBRATE. After making any of the above adjustments
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it will be necessary to run PROBE_CALIBRATE again.
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If the results of PROBE_CALIBRATE are invalidated, then any previous
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[bed mesh](Bed_Mesh.md) results that were obtained using the probe are
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also invalidated - it will be necessary to rerun BED_MESH_CALIBRATE
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after recalibrating the probe.
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# Repeatability check
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After calibrating the probe X, Y, and Z offsets it is a good idea to
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verify that the probe provides repeatable results. Start by homing the
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printer and then move the head to a position near the center of the
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bed. Navigate to the OctoPrint terminal tab and run the
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`PROBE_ACCURACY` command.
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This command will run the probe ten times and produce output similar
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to the following:
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```
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Recv: // probe accuracy: at X:0.000 Y:0.000 Z:10.000
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Recv: // and read 10 times with speed of 5 mm/s
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Recv: // probe at -0.003,0.005 is z=2.506948
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Recv: // probe at -0.003,0.005 is z=2.519448
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Recv: // probe at -0.003,0.005 is z=2.519448
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Recv: // probe at -0.003,0.005 is z=2.506948
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Recv: // probe at -0.003,0.005 is z=2.519448
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Recv: // probe at -0.003,0.005 is z=2.519448
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Recv: // probe at -0.003,0.005 is z=2.506948
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Recv: // probe at -0.003,0.005 is z=2.506948
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Recv: // probe at -0.003,0.005 is z=2.519448
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Recv: // probe at -0.003,0.005 is z=2.506948
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Recv: // probe accuracy results: maximum 2.519448, minimum 2.506948, range 0.012500, average 2.513198, median 2.513198, standard deviation 0.006250
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```
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Ideally the tool will report an identical maximum and minimum value.
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(That is, ideally the probe obtains an identical result on all ten
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probes.) However, it's normal for the minimum and maximum values to
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differ by one Z step_distance or up to 5 microns (.005mm). The
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distance between the minimum and the maximum value is called the
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range. So, in the above example, since the printer uses a Z
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step_distance of .0125, a range of 0.012500 would be considered
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normal.
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If the results of the test show a range value that is greater than 25
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microns (.025mm) then the probe does not have sufficient accuracy for
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typical bed leveling procedures. It may be possible to tune the probe
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speed and/or probe start height to improve the repeatability of the
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probe. The `PROBE_ACCURACY` command allows one to run tests with
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different parameters to see their impact - see the
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[G-Codes document](G-Codes.md) for further details. If the probe
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generally obtains repeatable results but has an occasional outlier,
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then it may be possible to account for that by using multiple samples
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on each probe - read the description of the probe `samples` config
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parameters in the
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[example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
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file for more details.
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If new probe speed, samples count, or other settings are needed, then
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update the printer.cfg file and issue a `RESTART` command. If so, it
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is a good idea to
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[calibrate the z_offset](#calibrating-probe-z-offset) again. If
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repeatable results can not be obtained then don't use the probe for
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bed leveling. Klipper has several manual probing tools that can be
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used instead - see the [Bed Level document](Bed_Level.md) for further
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details.
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# Location Bias Check
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Some probes can have a systemic bias that corrupts the results of the
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probe at certain toolhead locations. For example, if the probe mount
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tilts slightly when moving along the Y axis then it could result in
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the probe reporting biased results at different Y positions.
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This is a common issue with probes on delta printers, however it can
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occur on all printers.
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One can check for a location bias by using the `PROBE_CALIBRATE`
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command to measuring the probe z_offset at various X and Y locations.
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Ideally, the probe z_offset would be a constant value at every printer
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location.
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For delta printers, try measuring the z_offset at a position near the
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A tower, at a position near the B tower, and at a position near the C
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tower. For cartesian, corexy, and similar printers, try measuring the
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z_offset at positions near the four corners of the bed.
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Before starting this test, first calibrate the probe X, Y, and Z
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offsets as described at the beginning of this document. Then home the
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printer and navigate to the first XY position. Follow the steps at
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[calibrating probe Z offset](#calibrating-probe-z-offset) to run the
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`PROBE_CALIBRATE` command, `TESTZ` commands, and `ACCEPT` command, but
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do not run `SAVE_CONFIG`. Note the reported z_offset found. Then
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navigate to the other XY positions, repeat these `PROBE_CALIBRATE`
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steps, and note the reported z_offset.
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If the difference between the minimum reported z_offset and the
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maximum reported z_offset is greater than 25 microns (.025mm) then the
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probe is not suitable for typical bed leveling procedures. See the
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[Bed Level document](Bed_Level.md) for manual probe alternatives.
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# Temperature Bias
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Many probes have a systemic bias when probing at different
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temperatures. For example, the probe may consistently trigger at a
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lower height when the probe is at a higher temperature.
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It is recommended to run the bed leveling tools at a consistent
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temperature to account for this bias. For example, either always run
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the tools when the printer is at room temperature, or always run the
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tools after the printer has obtained a consistent print temperature.
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In either case, it is a good idea to wait several minutes after the
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desired temperature is reached, so that the printer apparatus is
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consistently at the desired temperature.
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To check for a temperature bias, start with the printer at room
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temperature and then home the printer, move the head to a position
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near the center of the bed, and run the `PROBE_ACCURACY` command. Note
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the results. Then, without homing or disabling the stepper motors,
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heat the printer nozzle and bed to printing temperature, and run the
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`PROBE_ACCURACY` command again. Ideally, the command will report
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identical results. As above, if the probe does have a temperature bias
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then be careful to always use the probe at a consistent temperature.
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