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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-09-12 22:22:37 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-09-12 22:29:18 -0400 |
| commit | 390d549c0c75a7386fb6ec961d6696521633e423 (patch) | |
| tree | d4ca301c220a2d8ef395a6ad15458d9396296d18 | |
| parent | 094b9de69e0438a5bbb6f6e67b19d842e0395717 (diff) | |
| download | kutter-390d549c0c75a7386fb6ec961d6696521633e423.tar.gz kutter-390d549c0c75a7386fb6ec961d6696521633e423.tar.xz kutter-390d549c0c75a7386fb6ec961d6696521633e423.zip | |
delta: Fix maximum halt velocity calculation
If an arm is nearly parallel to the bed then that tower's carriage may
have a velocity up to 3 times greater than the toolhead's maximum
velocity (relative to the print). Take that into account when
calculating the stepper's maximum halt velocity.
This fixes some rare "No next step" shutdowns on delta printers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/kinematics/delta.py | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index e51f5c94..5a7a6ca6 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -50,9 +50,10 @@ class DeltaKinematics: self.max_z_velocity = config.getfloat( 'max_z_velocity', self.max_velocity, above=0., maxval=self.max_velocity) - max_halt_velocity = toolhead.get_max_axis_halt() + max_halt_velocity = toolhead.get_max_axis_halt() * SLOW_RATIO + max_halt_accel = self.max_accel * SLOW_RATIO for rail in self.rails: - rail.set_max_jerk(max_halt_velocity, self.max_accel) + rail.set_max_jerk(max_halt_velocity, max_halt_accel) # Determine tower locations in cartesian space self.angles = [sconfig.getfloat('angle', angle) for sconfig, angle in zip(stepper_configs, |