From 17a3e25036bc8ed6679fcc32cae725d9fd6f6c39 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 19 Jul 2017 12:27:32 -0400 Subject: docs: Improve description of delta stepper acceleration limits Signed-off-by: Kevin O'Connor --- docs/Kinematics.md | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) (limited to 'docs') 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. - -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 +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. + +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. -- cgit v1.2.3-70-g09d2