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| author | Nitram <33714214+Hywelmartin@users.noreply.github.com> | 2021-11-29 19:21:26 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-11-29 13:21:26 -0500 |
| commit | 54acca37ba642e8af4aeb9bdc6b538a639eb0320 (patch) | |
| tree | c7a86ff4e0f2123fa9a237a863e01b2233aaecd0 | |
| parent | 2b7d0bba428b573c7f9a3291cff6a1dc9da700ff (diff) | |
| download | kutter-54acca37ba642e8af4aeb9bdc6b538a639eb0320.tar.gz kutter-54acca37ba642e8af4aeb9bdc6b538a639eb0320.tar.xz kutter-54acca37ba642e8af4aeb9bdc6b538a639eb0320.zip | |
delta: max z-accel and speed ratio calculation for deltas (#4689)
Adding a possibility to use a lower z- acceleration.
Signed-off-by: Martin Malmqvist <volcomosq@gmx.com>
| -rw-r--r-- | docs/Config_Reference.md | 5 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 5 |
2 files changed, 9 insertions, 1 deletions
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 5223c641..67d8d036 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -250,6 +250,11 @@ max_z_velocity: # maximum speed of up/down moves (which require a higher step rate # than other moves on a delta printer). The default is to use # max_velocity for max_z_velocity. +#max_z_accel: +# This sets the maximum acceleration (in mm/s^2) of movement along +# the z axis. Setting this may be useful if the printer can reach higher +# acceleration on XY moves than Z moves (eg, when using input shaper). +# The default is to use max_accel for max_z_accel. #minimum_z_position: 0 # The minimum Z position that the user may command the head to move # to. The default is 0. diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 57d3db1f..4c5076f7 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -30,6 +30,8 @@ class DeltaKinematics: self.max_z_velocity = config.getfloat( 'max_z_velocity', self.max_velocity, above=0., maxval=self.max_velocity) + self.max_z_accel = config.getfloat('max_z_accel', self.max_accel, + above=0., maxval=self.max_accel) # Read radius and arm lengths self.radius = radius = config.getfloat('delta_radius', above=0.) print_radius = config.getfloat('print_radius', radius, above=0.) @@ -130,7 +132,8 @@ class DeltaKinematics: limit_xy2 = -1. if move.axes_d[2]: z_ratio = move.move_d / abs(move.axes_d[2]) - move.limit_speed(self.max_z_velocity * z_ratio, move.accel) + move.limit_speed(self.max_z_velocity * z_ratio, + self.max_z_accel * z_ratio) limit_xy2 = -1. # Limit the speed/accel of this move if is is at the extreme # end of the build envelope |