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Diffstat (limited to 'docs/Kinematics.md')
| -rw-r--r-- | docs/Kinematics.md | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/docs/Kinematics.md b/docs/Kinematics.md index 2558396f..8e5d5806 100644 --- a/docs/Kinematics.md +++ b/docs/Kinematics.md @@ -211,13 +211,18 @@ With delta kinematics it is possible for a move that is accelerating in cartesian space to require an acceleration on a particular stepper motor greater than the move's acceleration. This can occur when a stepper arm is more horizontal than vertical and the line of movement -is near that stepper's tower. +passes near that stepper's tower. Although these moves could require a +stepper motor acceleration greater than the printer's maximum +configured move acceleration, this would only occur when the stepper +is moving a small amount of mass. (The stepper would essentially only +be moving the mass of the tower carriage.) Therefore, these brief +periods of high acceleration are considered harmless. -Klipper does enforce a maximum ceiling on stepper acceleration that is -three times the maximum acceleration of a move in cartesian -space. (Similarly, the maximum velocity of the stepper is limited to -three times the maximum move velocity.) In order to enforce this -limit, moves at the extreme edge of the build envelope (where a +However, to avoid extreme cases, Klipper enforces a maximum ceiling on +stepper acceleration of three times the printer's configured maximum +move acceleration. (Similarly, the maximum velocity of the stepper is +limited to three times the maximum move velocity.) In order to enforce +this limit, moves at the extreme edge of the build envelope (where a stepper arm may be nearly horizontal) will have a lower maximum acceleration and velocity. |