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Diffstat (limited to 'docs/Config_Reference.md')
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diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 9dbcae06..d9125d47 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -2482,6 +2482,27 @@ carriages: u-y ... ``` +`[dual_carriage]` requires special configuration for the input shaper. +In general, it is necessary to run input shaper calibration twice - +for the `dual_carriage` and its `primary_carriage` for the axis they +share. Then the input shaper can be configured as follows, assuming the +example above: +``` +[input_shaper] +# Intentionally empty + +[delayed_gcode init_shaper] +initial_duration: 0.1 +gcode: + SET_DUAL_CARRIAGE CARRIAGE=u + SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq> + SET_DUAL_CARRIAGE CARRIAGE=x + SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<y_shaper> SHAPER_FREQ_Y=<y_freq> +``` +Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` must be the same in both +commands in this case, since the same motors drive Y axis when either +of the `x` and `u` carriages are active. + It is worth noting that `generic_cartesian` kinematic can support two dual carriages for X and Y axes. For reference, see for instance a [sample](../config/sample-corexyuv.cfg) of CoreXYUV configuration. |