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| -rw-r--r-- | docs/API_Server.md | 127 | ||||
| -rw-r--r-- | docs/Bed_Mesh.md | 270 | ||||
| -rw-r--r-- | docs/Config_Reference.md | 7 |
3 files changed, 399 insertions, 5 deletions
diff --git a/docs/API_Server.md b/docs/API_Server.md index 4af1812a..cc0922e3 100644 --- a/docs/API_Server.md +++ b/docs/API_Server.md @@ -401,3 +401,130 @@ might return: As with the "gcode/script" endpoint, this endpoint only completes after any pending G-Code commands complete. + +### bed_mesh/dump_mesh + +Dumps the configuration and state for the current mesh and all +saved profiles. + +For example: +`{"id": 123, "method": "bed_mesh/dump_mesh"}` + +might return: + +``` +{ + "current_mesh": { + "name": "eddy-scan-test", + "probed_matrix": [...], + "mesh_matrix": [...], + "mesh_params": { + "x_count": 9, + "y_count": 9, + "mesh_x_pps": 2, + "mesh_y_pps": 2, + "algo": "bicubic", + "tension": 0.5, + "min_x": 20, + "max_x": 330, + "min_y": 30, + "max_y": 320 + } + }, + "profiles": { + "default": { + "points": [...], + "mesh_params": { + "min_x": 20, + "max_x": 330, + "min_y": 30, + "max_y": 320, + "x_count": 9, + "y_count": 9, + "mesh_x_pps": 2, + "mesh_y_pps": 2, + "algo": "bicubic", + "tension": 0.5 + } + }, + "eddy-scan-test": { + "points": [...], + "mesh_params": { + "x_count": 9, + "y_count": 9, + "mesh_x_pps": 2, + "mesh_y_pps": 2, + "algo": "bicubic", + "tension": 0.5, + "min_x": 20, + "max_x": 330, + "min_y": 30, + "max_y": 320 + } + }, + "eddy-rapid-test": { + "points": [...], + "mesh_params": { + "x_count": 9, + "y_count": 9, + "mesh_x_pps": 2, + "mesh_y_pps": 2, + "algo": "bicubic", + "tension": 0.5, + "min_x": 20, + "max_x": 330, + "min_y": 30, + "max_y": 320 + } + } + }, + "calibration": { + "points": [...], + "config": { + "x_count": 9, + "y_count": 9, + "mesh_x_pps": 2, + "mesh_y_pps": 2, + "algo": "bicubic", + "tension": 0.5, + "mesh_min": [ + 20, + 30 + ], + "mesh_max": [ + 330, + 320 + ], + "origin": null, + "radius": null + }, + "probe_path": [...], + "rapid_path": [...] + }, + "probe_offsets": [ + 0, + 25, + 0.5 + ], + "axis_minimum": [ + 0, + 0, + -5, + 0 + ], + "axis_maximum": [ + 351, + 358, + 330, + 0 + ] +} +``` + +The `dump_mesh` endpoint takes one optional parameter, `mesh_args`. +This parameter must be an object, where the keys and values are +parameters available to [BED_MESH_CALIBRATE](#bed_mesh_calibrate). +This will update the mesh configuration and probe points using the +supplied parameters prior to returning the result. It is recommended +to omit mesh parameters unless it is desired to visualize the probe points +and/or travel path before performing `BED_MESH_CALIBRATE`. diff --git a/docs/Bed_Mesh.md b/docs/Bed_Mesh.md index 1538f625..62f1dee8 100644 --- a/docs/Bed_Mesh.md +++ b/docs/Bed_Mesh.md @@ -421,12 +421,75 @@ have undesirable results when attempting print moves **outside** of the probed a full bed mesh has a variance greater than 1 layer height, caution must be taken when using adaptive bed meshes and attempting print moves outside of the meshed area. +## Surface Scans + +Some probes, such as the [Eddy Current Probe](./Eddy_Probe.md), are capable of +"scanning" the surface of the bed. That is, these probes can sample a mesh +without lifting the tool between samples. To activate scanning mode, the +`METHOD=scan` or `METHOD=rapid_scan` probe parameter should be passed in the +`BED_MESH_CALIBRATE` gcode command. + +### Scan Height + +The scan height is set by the `horizontal_move_z` option in `[bed_mesh]`. In +addition it can be supplied with the `BED_MESH_CALIBRATE` gcode command via the +`HORIZONTAL_MOVE_Z` parameter. + +The scan height must be sufficiently low to avoid scanning errors. Typically +a height of 2mm (ie: `HORIZONTAL_MOVE_Z=2`) should work well, presuming that the +probe is mounted correctly. + +It should be noted that if the probe is more than 4mm above the surface then the +results will be invalid. Thus, scanning is not possible on beds with severe +surface deviation or beds with extreme tilt that hasn't been corrected. + +### Rapid (Continuous) Scanning + +When performing a `rapid_scan` one should keep in mind that the results will +have some amount of error. This error should be low enough to be useful on +large print areas with reasonably thick layer heights. Some probes may be +more prone to error than others. + +It is not recommended that rapid mode be used to scan a "dense" mesh. Some of +the error introduced during a rapid scan may be gaussian noise from the sensor, +and a dense mesh will reflect this noise (ie: there will be peaks and valleys). + +Bed Mesh will attempt to optimize the travel path to provide the best possible +result based on the configuration. This includes avoiding faulty regions +when collecting samples and "overshooting" the mesh when changing direction. +This overshoot improves sampling at the edges of a mesh, however it requires +that the mesh be configured in a way that allows the tool to travel outside +of the mesh. + +``` +[bed_mesh] +speed: 120 +horizontal_move_z: 5 +mesh_min: 35, 6 +mesh_max: 240, 198 +probe_count: 5 +scan_overshoot: 8 +``` + +- `scan_overshoot` + _Default Value: 0 (disabled)_\ + The maximum amount of travel (in mm) available outside of the mesh. + For rectangular beds this applies to travel on the X axis, and for round beds + it applies to the entire radius. The tool must be able to travel the amount + specified outside of the mesh. This value is used to optimize the travel + path when performing a "rapid scan". The minimum value that may be specified + is 1. The default is no overshoot. + +If no scan overshoot is configured then travel path optimization will not +be applied to changes in direction. + ## Bed Mesh Gcodes ### Calibration -`BED_MESH_CALIBRATE PROFILE=<name> METHOD=[manual | automatic] [<probe_parameter>=<value>] - [<mesh_parameter>=<value>] [ADAPTIVE=[0|1] [ADAPTIVE_MARGIN=<value>]`\ +`BED_MESH_CALIBRATE PROFILE=<name> METHOD=[manual | automatic | scan | rapid_scan] \ +[<probe_parameter>=<value>] [<mesh_parameter>=<value>] [ADAPTIVE=[0|1] \ +[ADAPTIVE_MARGIN=<value>]`\ _Default Profile: default_\ _Default Method: automatic if a probe is detected, otherwise manual_ \ _Default Adaptive: 0_ \ @@ -435,9 +498,17 @@ _Default Adaptive Margin: 0_ Initiates the probing procedure for Bed Mesh Calibration. The mesh will be saved into a profile specified by the `PROFILE` parameter, -or `default` if unspecified. If `METHOD=manual` is selected then manual probing -will occur. When switching between automatic and manual probing the generated -mesh points will automatically be adjusted. +or `default` if unspecified. The `METHOD` parameter takes one of the following +values: + +- `METHOD=manual`: enables manual probing using the nozzle and the paper test +- `METHOD=automatic`: Automatic (standard) probing. This is the default. +- `METHOD=scan`: Enables surface scanning. The tool will pause over each position + to collect a sample. +- `METHOD=rapid_scan`: Enables continuous surface scanning. + +XY positions are automatically adjusted to include the X and/or Y offsets +when a probing method other than `manual` is selected. It is possible to specify mesh parameters to modify the probed area. The following parameters are available: @@ -451,6 +522,7 @@ following parameters are available: - `MESH_ORIGIN` - `ROUND_PROBE_COUNT` - All beds: + - `MESH_PPS` - `ALGORITHM` - `ADAPTIVE` - `ADAPTIVE_MARGIN` @@ -557,3 +629,191 @@ is intended to compensate for a `gcode offset` when [mesh fade](#mesh-fade) is enabled. For example, if a secondary extruder is higher than the primary and needs a negative gcode offset, ie: `SET_GCODE_OFFSET Z=-.2`, it can be accounted for in `bed_mesh` with `BED_MESH_OFFSET ZFADE=.2`. + +## Bed Mesh Webhooks APIs + +### Dumping mesh data + +`{"id": 123, "method": "bed_mesh/dump_mesh"}` + +Dumps the configuration and state for the current mesh and all +saved profiles. + +The `dump_mesh` endpoint takes one optional parameter, `mesh_args`. +This parameter must be an object, where the keys and values are +parameters available to [BED_MESH_CALIBRATE](#bed_mesh_calibrate). +This will update the mesh configuration and probe points using the +supplied parameters prior to returning the result. It is recommended +to omit mesh parameters unless it is desired to visualize the probe points +and/or travel path before performing `BED_MESH_CALIBRATE`. + +## Visualization and analysis + +Most users will likely find that the visualizers included with +applications such as Mainsail, Fluidd, and Octoprint are sufficient +for basic analysis. However, Klipper's `scripts` folder contains the +`graph_mesh.py` script that may be used to perform additional +visualizations and more detailed analysis, particularly useful +for debugging hardware or the results produced by `bed_mesh`: + +``` +usage: graph_mesh.py [-h] {list,plot,analyze,dump} ... + +Graph Bed Mesh Data + +positional arguments: + {list,plot,analyze,dump} + list List available plot types + plot Plot a specified type + analyze Perform analysis on mesh data + dump Dump API response to json file + +options: + -h, --help show this help message and exit +``` + +### Pre-requisites + +Like most graphing tools provided by Klipper, `graph_mesh.py` requires +the `matplotlib` and `numpy` python dependencies. In addition, connecting +to Klipper via Moonraker's websocket requires the `websockets` python +dependency. While all visualizations can be output to an `svg` file, most of +the visualizations offered by `graph_mesh.py` are better viewed in live +preview mode on a desktop class PC. For example, the 3D visualizations may be +rotated and zoomed in preview mode, and the path visualizations can optionally +be animated in preview mode. + +### Plotting Mesh data + +The `graph_mesh.py` tool can plot several types of visualizations. +Available types can be shown by running `graph_mesh.py list`: + +``` +graph_mesh.py list +points Plot original generated points +path Plot probe travel path +rapid Plot rapid scan travel path +probedz Plot probed Z values +meshz Plot mesh Z values +overlay Plots the current probed mesh overlaid with a profile +delta Plots the delta between current probed mesh and a profile +``` + +Several options are available when plotting visualizations: + +``` +usage: graph_mesh.py plot [-h] [-a] [-s] [-p PROFILE_NAME] [-o OUTPUT] <plot type> <input> + +positional arguments: + <plot type> Type of data to graph + <input> Path/url to Klipper Socket or path to json file + +options: + -h, --help show this help message and exit + -a, --animate Animate paths in live preview + -s, --scale-plot Use axis limits reported by Klipper to scale plot X/Y + -p PROFILE_NAME, --profile-name PROFILE_NAME + Optional name of a profile to plot for 'probedz' + -o OUTPUT, --output OUTPUT + Output file path +``` + +Below is a description of each argument: + +- `plot type`: A required positional argument designating the type of + visualization to generate. Must be one of the types output by the + `graph_mesh.py list` command. +- `input`: A required positional argument containing a path or url + to the input source. This must be one of the following: + - A path to Klipper's Unix Domain Socket + - A url to an instance of Moonraker + - A path to a json file produced by `graph_mesh.py dump <input>` +- `-a`: Optional animation for the `path` and `rapid` visualization types. + Animations only apply to a live preview. +- `-s`: Optionally scales a plot using the `axis_minimum` and `axis_maximum` + values reported by Klipper's `toolhead` object when the dump file was + generated. +- `-p`: A profile name that may be specified when generating the + `probedz` 3D mesh visualization. When generating an `overlay` or + `delta` visualization this argument must be provided. +- `-o`: An optional file path indicating that the script should save the + visualization to this location rather than run in preview mode. Images + are saved in `svg` format. + +For example, to plot an animated rapid path, connecting via Klipper's unix +socket: + +``` +graph_mesh.py plot -a rapid ~/printer_data/comms/klippy.sock +``` + +Or to plot a 3d visualization of the mesh, connecting via Moonraker: + +``` +graph_mesh.py plot meshz http://my-printer.local +``` + +### Bed Mesh Analysis + +The `graph_mesh.py` tool may also be used to perform an analysis on the +data provided by the [bed_mesh/dump_mesh](#dumping-mesh-data) API: + +``` +graph_mesh.py analyze <input> +``` + +As with the `plot` command, the `<input>` must be a path to Klipper's +unix socket, a URL to an instance of Moonraker, or a path to a json file +generated by the dump command. + +To begin, the analysis will perform various checks on the points and +probe paths generated by `bed_mesh` at the time of the dump. This +includes the following: + +- The number of probe points generated, without any additions +- The number of probe points generated including any points generated + as the result faulty regions and/or a configured zero reference position. +- The number of probe points generated when performing a rapid scan. +- The total number of moves generated for a rapid scan. +- A validation that the probe points generated for a rapid scan are + identical to the probe points generated for a standard probing procedure. +- A "backtracking" check for both the standard probe path and a rapid scan + path. Backtracking can be defined as moving to the same position more than + once during the probing procedure. Backtracking should never occur during a + standard probe. Faulty regions *can* result in backtracking during a rapid + scan in an attempt to avoid entering a faulty region when approaching or + leaving a probe location, however should never occur otherwise. + +Next each probed mesh present in the dump will by analyzed, beginning with +the mesh loaded at the time of the dump (if present) and followed by any +saved profiles. The following data is extracted: + +- Mesh shape (Min X,Y, Max X,Y Probe Count) +- Mesh Z range, (Minimum Z, Maximum Z) +- Mean Z value in the mesh +- Standard Deviation of the Z values in the Mesh + +In addition to the above, a delta analysis is performed between meshes +with the same shape, reporting the following: +- The range of the delta between to meshes (Minimum and Maximum) +- The mean delta +- Standard Deviation of the delta +- The absolute maximum difference +- The absolute mean + +### Save mesh data to a file + +The `dump` command may be used to save the response to a file which +can be shared for analysis when troubleshooting: + +``` +graph_mesh.py dump -o <output file name> <input> +``` + +The `<input>` should be a path to Klipper's unix socket or +a URL to an instance of Moonraker. The `-o` option may be used to +specify the path to the output file. If omitted, the file will be +saved in the working directory, with a file name in the following +format: + +`klipper-bedmesh-{year}{month}{day}{hour}{minute}{second}.json` diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 6b42fe48..b192e736 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -998,6 +998,13 @@ Visual Examples: #adaptive_margin: # An optional margin (in mm) to be added around the bed area used by # the defined print objects when generating an adaptive mesh. +#scan_overshoot: +# The maximum amount of travel (in mm) available outside of the mesh. +# For rectangular beds this applies to travel on the X axis, and for round beds +# it applies to the entire radius. The tool must be able to travel the amount +# specified outside of the mesh. This value is used to optimize the travel +# path when performing a "rapid scan". The minimum value that may be specified +# is 1. The default is no overshoot. ``` ### [bed_tilt] |