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Diffstat (limited to 'docs/Resonance_Compensation.md')
| -rw-r--r-- | docs/Resonance_Compensation.md | 26 |
1 files changed, 11 insertions, 15 deletions
diff --git a/docs/Resonance_Compensation.md b/docs/Resonance_Compensation.md index f9d3fb0a..5707d51b 100644 --- a/docs/Resonance_Compensation.md +++ b/docs/Resonance_Compensation.md @@ -22,9 +22,7 @@ can be enabled. Besides ringing, Input Shaping typically reduces the vibrations and shaking of the printer in general, and may also improve the reliability of the stealthChop mode of Trinamic stepper drivers. - -Tuning -=========================== +## Tuning Basic tuning requires measuring the ringing frequencies of the printer and adding a few parameters to `printer.cfg` file. @@ -44,7 +42,7 @@ Slice the ringing test model, which can be found in not a mistake. The marks can be used later in the tuning process as a reference, because they show which axis the measurements correspond to. -## Ringing frequency +### Ringing frequency First, measure the **ringing frequency**. @@ -129,7 +127,7 @@ for example: If such changes are made, it is a good idea to at least measure the ringing frequencies to see if they have changed. -## Input shaper configuration +### Input shaper configuration After the ringing frequencies for X and Y axes are measured, you can add the following section to your `printer.cfg`: @@ -141,7 +139,7 @@ shaper_freq_y: ... # frequency for the Y mark of the test model For the example above, we get shaper_freq_x/y = 49.4. -## Choosing input shaper +### Choosing input shaper Klipper supports several input shapers. They differ in their sensitivity to errors determining the resonance frequency and how much smoothing they cause @@ -204,7 +202,7 @@ A few notes on shaper selection: `SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI`), but check the considerations in the [section below](#selecting-max_accel) before enabling it. -## Selecting max_accel +### Selecting max_accel You should have a printed test for the shaper you chose from the previous step (if you don't, print the test model sliced with the @@ -266,7 +264,7 @@ moving mass. Otherwise, acceleration and printing speed may be limited due too much smoothing now instead of ringing. -## Fine-tuning resonance frequencies +### Fine-tuning resonance frequencies Note that the precision of the resonance frequencies measurements using the ringing test model is sufficient for most purposes, so further tuning is not @@ -318,7 +316,7 @@ new `shaper_freq_x` and `shaper_freq_y` values. Do not forget to revert the changes to `max_accel` and `max_accel_to_decel` parameters in the `printer.cfg` after finishing this section. -## Pressure Advance +### Pressure Advance If you use Pressure Advance, it may need to be re-tuned. Follow the [instructions](Pressure_Advance.md#tuning-pressure-advance) to find the @@ -326,7 +324,7 @@ new value, if it differs from the previous one. Make sure to restore the original values of `max_accel` and `max_accel_to_decel` parameters in the `printer.cfg` and restart Klipper before tuning Pressure Advance. -## Unreliable measurements of ringing frequencies +### Unreliable measurements of ringing frequencies If you are unable to measure the ringing frequencies, e.g. if the distance between the oscillations is not stable, you may still be able to take advantage @@ -398,8 +396,7 @@ shaper_type: 2hump_ei Continue the tuning with [Selecting max_accel](#selecting-max_accel) section. -Troubleshooting and FAQ -======================= +## Troubleshooting and FAQ ### I cannot get reliable measurements of resonance frequencies @@ -452,10 +449,9 @@ itself. However, the value of `max_accel` certainly does (tuning of this parameter described in [this section](#selecting-max_accel)). -Technical details -================= +## Technical details -## Input shapers +### Input shapers Input shapers used in Klipper are rather standard, and one can find more in-depth overview in the articles describing the corresponding shapers. |