451 lines
19 KiB
Markdown
451 lines
19 KiB
Markdown
Measuring Resonances
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====================
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Klipper has built-in support for ADXL345 accelerometer, which can be used to
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measure resonance frequencies of the printer for different axes, and auto-tune
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[input shapers](Resonance_Compensation.md) to compensate for resonances.
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Note that using ADXL345 requires some soldering and crimping. ADXL345 can be
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connected to a Raspberry Pi directly, or to an SPI interface of an MCU
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board (it needs to be reasonably fast).
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Installation instructions
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===========================
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## Wiring
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You need to connect ADXL345 to your Raspberry Pi via SPI. Note that the I2C
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connection, which is suggested by ADXL345 documentation, has too low throughput
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and **will not work**. The recommended connection scheme:
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| ADXL345 pin | RPi pin | RPi pin name |
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|:--:|:--:|:--:|
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| 3V3 (or VCC) | 01 | 3.3v DC power |
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| GND | 06 | Ground |
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| CS | 24 | GPIO08 (SPI0_CE0_N) |
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| SDO | 21 | GPIO09 (SPI0_MISO) |
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| SDA | 19 | GPIO10 (SPI0_MOSI) |
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| SCL | 23 | GPIO11 (SPI0_SCLK) |
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Fritzing wiring diagrams for some of the ADXL345 boards:
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Double-check your wiring before powering up the Raspberry Pi to prevent
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damaging it or the accelerometer.
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## Mounting the accelerometer
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The accelerometer must be attached to the toolhead. One needs to design a proper
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mount that fits their own 3D printer. It is better to align the axes of the
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accelerometer with the printer's axes (but if it makes it more convenient,
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axes can be swapped - i.e. no need to align X axis with X and so forth - it
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should be fine even if Z axis of accelerometer is X axis of the printer, etc.).
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An example of mounting ADXL345 on the SmartEffector:
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Note that on a bed slinger printer one must design 2 mounts: one for the
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toolhead and one for the bed, and run the measurements twice. See the
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corresponding [section](#bed-slinger-printers) for more details.
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## Software installation
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Note that resonance measurements and shaper auto-calibration require additional
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software dependencies not installed by default. First, you will have to run on
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your Raspberry Pi the following command:
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```
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~/klippy-env/bin/pip install -v numpy
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```
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to install `numpy` package. Note that, depending on the performance of the
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CPU, it may take *a lot* of time, up to 10-20 minutes. Be patient and wait
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for the completion of the installation. On some occasions, if the board has
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too little RAM, the installation may fail and you will need to enable swap.
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Next, run the following command to install the additional dependencies:
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```
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sudo apt install python-numpy python-matplotlib
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```
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Afterwards, check and follow the instructions in the
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[RPi Microcontroller document](RPi_microcontroller.md) to setup the
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"linux mcu" on the Raspberry Pi.
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Make sure the Linux SPI driver is enabled by running `sudo
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raspi-config` and enabling SPI under the "Interfacing options" menu.
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Add the following to the printer.cfg file:
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```
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[mcu rpi]
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serial: /tmp/klipper_host_mcu
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[adxl345]
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cs_pin: rpi:None
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[resonance_tester]
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accel_chip: adxl345
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probe_points:
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100,100,20 # an example
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```
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It is advised to start with 1 probe point, in the middle of the print bed,
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slightly above it.
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Restart Klipper via the `RESTART` command.
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Measuring the resonances
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===========================
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## Checking the setup
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Now you can test a connection. In Octoprint, run `ACCELEROMETER_QUERY`. You
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should see the current measurements from the accelerometer, including the
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free-fall acceleration, e.g.
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```
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Recv: // adxl345 values (x, y, z): 470.719200, 941.438400, 9728.196800
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```
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If you get an error like `Invalid adxl345 id (got xx vs e5)`, where `xx`
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is some other ID, it is indicative of the connection problem with ADXL345,
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or the faulty sensor. Double-check the power, the wiring (that it matches
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the schematics, no wire is broken or loose, etc.), and soldering quality.
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Next, try running `MEASURE_AXES_NOISE` in Octoprint, you should get some
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baseline numbers for the noise of accelerometer on the axes (should be
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somewhere in the range of ~1-100).
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## Measuring the resonances
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Now you can run some real-life tests. In `printer.cfg` add or replace the
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following values:
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```
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[printer]
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max_accel: 7000
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max_accel_to_decel: 7000
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```
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(after you are done with the measurements, revert these values to their old,
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or the newly suggested values). Also, if you have enabled input shaper already,
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you will need to disable it prior to this test as follows:
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```
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SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0
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```
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as it is not valid to run the resonance testing with the input shaper enabled.
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Run the following command:
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```
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TEST_RESONANCES AXIS=X
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```
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Note that it will create vibrations on X axis.
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**Attention!** Be sure to observe the printer for the first time, to make sure
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the vibrations do not become too violent (`M112` command can be used to abort
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the test in case of emergency; hopefully it will not come to this though).
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If the vibrations do get too strong, you can attempt to specify a lower than the
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default value for `accel_per_hz` parameter in `[resonance_tester]` section, e.g.
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```
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[resonance_tester]
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accel_chip: adxl345
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accel_per_hz: 50 # default is 75
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probe_points: ...
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```
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If it works for X axis, run for Y axis as well:
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```
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TEST_RESONANCES AXIS=Y
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```
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This will generate 2 CSV files (`/tmp/resonances_x_*.csv` and
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`/tmp/resonances_y_*.csv`). These files can be processed with the stand-alone
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script on a Raspberry Pi. To do that, run running the following commands:
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```
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~/klipper/scripts/calibrate_shaper.py /tmp/resonances_x_*.csv -o /tmp/shaper_calibrate_x.png
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~/klipper/scripts/calibrate_shaper.py /tmp/resonances_y_*.csv -o /tmp/shaper_calibrate_y.png
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```
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This script will generate the charts `/tmp/shaper_calibrate_x.png` and
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`/tmp/shaper_calibrate_y.png` with frequency responses. You will also get the
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suggested frequencies for each input shaper, as well as which input shaper is
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recommended for your setup. For example:
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```
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Fitted shaper 'zv' frequency = 37.0 Hz (vibrations = 29.1%, smoothing ~= 0.115)
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Fitted shaper 'mzv' frequency = 35.4 Hz (vibrations = 15.9%, smoothing ~= 0.163)
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Fitted shaper 'ei' frequency = 42.0 Hz (vibrations = 15.1%, smoothing ~= 0.183)
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Fitted shaper '2hump_ei' frequency = 45.6 Hz (vibrations = 9.7%, smoothing ~= 0.260)
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Fitted shaper '3hump_ei' frequency = 59.0 Hz (vibrations = 7.5%, smoothing ~= 0.235)
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Recommended shaper is 3hump_ei @ 59.0 Hz
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```
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The suggested configuration can be added to `[input_shaper]` section of
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`printer.cfg`, e.g.:
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```
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[input_shaper]
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shaper_freq_x: ...
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shaper_type_x: ...
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shaper_freq_y: 59.0
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shaper_type_y: 3hump_ei
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```
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or you can choose some other configuration yourself based on the generated
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charts: peaks in the power spectral density on the charts correspond to
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the resonance frequencies of the printer.
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Note that alternatively you can run the input shaper autocalibration
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from Klipper [directly](#input-shaper-auto-calibration), which can be
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convenient, for example, for the input shaper
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[re-calibration](#input-shaper-re-calibration).
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## Bed-slinger printers
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If your printer is a bed slinger printer, you will need to change the location
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of the accelerometer between the measurements for X and Y axes: measure the
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resonances of X axis with the accelerometer attached to the toolhead and the
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resonances of Y axis - to the bed (the usual bed slinger setup).
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However, you can also connect two accelerometers simultaneously, though they
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must be connected to different boards (say, to an RPi and printer MCU board), or
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to two different physical SPI interfaces on the same board (rarely available).
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Then they can be configured in the following manner:
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```
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[adxl345 adxl345_x]
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# Assuming adxl345_x is connected to an RPi
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cs_pin: rpi:None
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[adxl345 adxl345_y]
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# Assuming adxl345_y is connected to a printer MCU board
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cs_pin: ... # Printer board SPI chip select (CS) pin
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[resonance_tester]
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accel_chip_x: adxl345_x
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accel_chip_y: adxl345_y
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probe_points: ...
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```
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Then the commands `TEST_RESONANCES AXIS=X` and `TEST_RESONANCES AXIS=Y`
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will use the correct accelerometer for each axis.
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## Max smoothing
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Keep in mind that the input shaper can create some smoothing in parts.
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Automatic tuning of the input shaper performed by `calibrate_shaper.py`
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script or `SHAPER_CALIBRATE` command tries not to exacerbate the smoothing,
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but at the same time they try to minimize the resulting vibrations.
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Sometimes they can make a sub-optimal choice of the shaper frequency, or
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maybe you simply prefer to have less smoothing in parts at the expense of
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a larger remaining vibrations. In these cases, you can request to limit
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the maximum smoothing from the input shaper.
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Let's consider the following results from the automatic tuning:
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```
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Fitted shaper 'zv' frequency = 62.2 Hz (vibrations = 36.9%, smoothing ~= 0.046)
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Fitted shaper 'mzv' frequency = 35.6 Hz (vibrations = 18.1%, smoothing ~= 0.161)
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Fitted shaper 'ei' frequency = 54.6 Hz (vibrations = 19.3%, smoothing ~= 0.108)
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Fitted shaper '2hump_ei' frequency = 46.2 Hz (vibrations = 9.2%, smoothing ~= 0.253)
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Fitted shaper '3hump_ei' frequency = 50.0 Hz (vibrations = 7.2%, smoothing ~= 0.328)
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Recommended shaper is 2hump_ei @ 46.2 Hz
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```
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Note that the reported `smoothing` values are some abstract projected values.
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These values can be used to compare different configurations: the higher the
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value, the more smoothing a shaper will create. However, these smoothing scores
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do not represent any real measure of smoothing, because the actual smoothing
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depends on [`max_accel`](#selecting-max-accel) and `square_corner_velocity`
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parameters. Therefore, you should print some test prints to see how much
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smoothing exactly a chosen configuration creates.
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In the example above the suggested shaper parameters are not bad, but what if
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you want to get less smoothing on the X axis? You can try to limit the maximum
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shaper smoothing using the following command:
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```
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~/klipper/scripts/calibrate_shaper.py /tmp/resonances_x_*.csv -o /tmp/shaper_calibrate_x.png --max_smoothing=0.2
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```
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which limits the smoothing to 0.2 score. Now you can get the following result:
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```
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Fitted shaper 'zv' frequency = 55.2 Hz (vibrations = 34.2%, smoothing ~= 0.057)
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Fitted shaper 'mzv' frequency = 33.8 Hz (vibrations = 17.4%, smoothing ~= 0.178)
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Fitted shaper 'ei' frequency = 47.4 Hz (vibrations = 17.6%, smoothing ~= 0.143)
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Fitted shaper '2hump_ei' frequency = 52.0 Hz (vibrations = 11.9%, smoothing ~= 0.200)
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Fitted shaper '3hump_ei' frequency = 75.0 Hz (vibrations = 9.7%, smoothing ~= 0.146)
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Recommended shaper is 3hump_ei @ 75.0 Hz
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```
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If you compare to the previously suggested parameters, the vibrations are a bit
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larger, but the smoothing is significantly smaller than previously.
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When deciding which `max_smoothing` parameter to choose, you can use a
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trial-and-error approach. Try a few different values and see which results
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you get. Note however that if you request the script to find a configuration
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for your printer with an unrealistically small smoothing, it will be unable
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to find a reasonable configuration. The suggested parameters will have a poor
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performance in this case and you can get too much remaining ringing as a result.
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So, always double-check the projected remaining vibrations and make sure they
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are not too high.
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Note that if you chose a good `max_smoothing` value for both of your axes, you
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can store it in the `printer.cfg` as
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```
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[resonance_tester]
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accel_chip: ...
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probe_points: ...
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max_smoothing: 0.25 # an example
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```
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Then, if you [rerun](#input-shaper-re-calibration) the input shaper auto-tuning
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using `SHAPER_CALIBRATE` Klipper command in the future, it will use the stored
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`max_smoothing` value as a reference.
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## Selecting max_accel
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Since the input shaper can create some smoothing in parts, especially at high
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accelerations, you will still need to choose the `max_accel` value that
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does not create too much smoothing in the printed parts. Follow
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[this](Resonance_Compensation.md#selecting-max_accel) part of
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the input shaper tuning guide and print the test model.
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The same notice applies to the input shaper
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[auto-calibration](#input-shaper-auto-calibration) with
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`SHAPER_CALIBRATE` command: it is still necessary to choose the right
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`max_accel` value after the auto-calibration.
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If you are doing a shaper re-calibration and the reported smoothing for the
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suggested shaper configuration is almost the same as what you got during the
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previous calibration, this step can be skipped.
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# Input Shaper auto-calibration
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Besides manually choosing the appropriate parameters for the input shaper
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feature, it is also possible to run the auto-tuning for the input shaper
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directly from Klipper. Run the following command via Octoprint terminal:
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```
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SHAPER_CALIBRATE
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```
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This will run the full test for both axes and generate the csv output
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(`/tmp/calibration_data_*.csv` by default) for the frequency response
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and the suggested input shapers. You will also get the suggested
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frequencies for each input shaper, as well as which input shaper is
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recommended for your setup, on Octoprint console. For example:
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```
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Fitted shaper 'zv' frequency = 56.7 Hz (vibrations = 23.2%)
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Fitted shaper 'mzv' frequency = 52.9 Hz (vibrations = 10.9%)
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Fitted shaper 'ei' frequency = 62.0 Hz (vibrations = 8.9%)
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Fitted shaper '2hump_ei' frequency = 59.0 Hz (vibrations = 4.9%)
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Fitted shaper '3hump_ei' frequency = 65.0 Hz (vibrations = 3.3%)
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Recommended shaper_type_y = 2hump_ei, shaper_freq_y = 59.0 Hz
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```
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If you agree with the suggested parameters, you can execute `SAVE_CONFIG`
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now to save them and restart the Klipper.
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If your printer is a bed slinger printer, you can specify which axis
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to test, so that you can change the accelerometer mounting point between
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the tests (by default the test is performed for both axes):
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```
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SHAPER_CALIBRATE AXIS=Y
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```
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You can execute `SAVE_CONFIG` twice - after calibrating each axis.
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However, if you connected two accelerometers simultaneously, you simply run
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`SHAPER_CALIBRATE` without specifying an axis to calibrate the input shaper
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for both axes in one go.
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## Input Shaper re-calibration
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`SHAPER_CALIBRATE` command can be also used to re-calibrate the input shaper in
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the future, especially if some changes to the printer that can affect its
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kinematics are made. One can either re-run the full calibration using
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`SHAPER_CALIBRATE` command, or restrict the auto-calibration to a single axis by
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supplying `AXIS=` parameter, like
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```
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SHAPER_CALIBRATE AXIS=X
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```
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**Warning!** It is not advisable to run the shaper autocalibration very
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frequently (e.g. before every print, or every day). In order to determine
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resonance frequencies, autocalibration creates intensive vibrations on each of
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the axes. Generally, 3D printers are not designed to withstand a prolonged
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exposure to vibrations near the resonance frequencies. Doing so may increase
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wear of the printer components and reduce their lifespan. There is also an
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increased risk of some parts unscrewing or becoming loose. Always check that
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all parts of the printer (including the ones that may normally not move) are
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securely fixed in place after each auto-tuning.
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Also, due to some noise in measurements, it is possible that the tuning results
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will be slightly different from one calibration run to another one. Still, it
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is not expected that the noise will affect the print quality too much.
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However, it is still advised to double-check the suggested parameters, and
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print some test prints before using them to confirm they are good.
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# Offline processing of the accelerometer data
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It is possible to generate the raw accelerometer data and process it offline
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(e.g. on a host machine), for example to find resonances. In order to do so,
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run the following commands via Octoprint terminal:
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```
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SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0
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TEST_RESONANCES AXIS=X OUTPUT=raw_data
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```
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ignoring any errors for `SET_INPUT_SHAPER` command. For `TEST_RESONANCES`
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command, specify the desired test axis. The raw data will be written into
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`/tmp` directory on the RPi.
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The raw data can also be obtained by running the command `ACCELEROMETER_MEASURE`
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command twice during some normal printer activity - first to start the
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measurements, and then to stop them and write the output file. Refer to
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[G-Codes](G-Codes.md#adxl345-accelerometer-commands) for more details.
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The data can be processed later by the following scripts:
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`scripts/graph_accelerometer.py` and `scripts/calibrate_shaper.py`. Both
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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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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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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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For example,
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```
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~/klipper/scripts/graph_accelerometer.py /tmp/raw_data_x_*.csv -o /tmp/resonances_x.png -c -a z
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```
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will plot the comparison of several `/tmp/raw_data_x_*.csv` files for Z axis to
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`/tmp/resonances_x.png` file.
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The shaper_calibrate.py script accepts 1 or several inputs and can run automatic
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tuning of the input shaper and suggest the best parameters that work well for
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all provided inputs. It prints the suggested parameters to the console, and can
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additionally generate the chart if `-o output.png` parameter is provided, or
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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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