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Input Shaping Calib: Types, RepRap + Improvements (#10913)
* IS Freq duplicated as Base * IS jerk to 5 * JD jerk to 0 * Base 1 layer + MINIMUM_CRUISE_RATIO=0 * Tab * Remove IS BASE * Update Plater.cpp * Klipper Jerk 5, Others 10 * JD in Marlin2 * Types * Horizontal * Different lists * RepRap IS writer * Smart Flavors and axis * RepRap values lowercase * Hide Y axix for RepRap * Max Jerk or JD * Reorder * Removed dual list + Default * RepRap show UpperCase use LowerCase * RepRap P"type" Type of input shaping to use, not case sensitive. * RepRap DAA * Reorder Klipper * Custom Firmware Note * Better Display Co-Authored-By: yw4z <28517890+yw4z@users.noreply.github.com> * Better notes * Update + Clean Wiki Co-Authored-By: gregmatic <60957555+gregmatic@users.noreply.github.com> * Wiki Update Update Images Improve guide Co-Authored-By: Cameron D <30559428+cdunn95@users.noreply.github.com> * Fix G-code generation issue and refine input shaping calibration documentation --------- Co-authored-by: yw4z <28517890+yw4z@users.noreply.github.com> Co-authored-by: gregmatic <60957555+gregmatic@users.noreply.github.com> Co-authored-by: Cameron D <30559428+cdunn95@users.noreply.github.com> Co-authored-by: SoftFever <softfeverever@gmail.com>
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Ian Bassi
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During high-speed movements, vibrations can cause a phenomenon called "ringing," where periodic ripples appear on the print surface. Input Shaping provides an effective solution by counteracting these vibrations, improving print quality and reducing wear on components without needing to significantly lower print speeds.
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- [Klipper](#klipper)
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- [Resonance Compensation](#resonance-compensation)
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- [Marlin](#marlin)
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- [ZV Input Shaping](#zv-input-shaping)
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> [!IMPORTANT]
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> RepRap can only set one frequency for both X and Y axes so you will need to select a frequency that works well for both axes.
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- [Types](#types)
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- [Default](#default)
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- [Version Table](#version-table)
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- [Calibration Steps](#calibration-steps)
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- [Fixed-Time Motion](#fixed-time-motion)
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- [Credits](#credits)
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## Klipper
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## Types
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### Resonance Compensation
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It is usually recommended to use MZV, EI (specially for Delta printers) or ZV as a simple and effective solution.
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Not all Input Shaping types are available in all firmware and their performance may vary depending on the firmware implementation and the printer's mechanics.
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The Klipper Resonance Compensation is a set of Input Shaping modes that can be used to reduce ringing and improve print quality.
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Ussualy the recommended values modes are `MZV` or `EI` for Delta printers.
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### Default
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1. Pre-requisites:
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1. In OrcaSlicer, set:
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1. Acceleration high enough to trigger ringing (e.g., 2000 mm/s²).
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2. Speed high enough to trigger ringing (e.g., 100 mm/s).
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When "Default" is selected, the firmware's default input shaper will be used.
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Every firmware and even its version may have a different default type but usually are:
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> [!NOTE]
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> These settings depend on your printer's motion ability and the filament's max volumetric speed. If you can't reach speeds that cause ringing, try increasing the filament's max volumetric speed (avoid materials below 10 mm³/s).
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3. Jerk [Klipper Square Corner Velocity](https://www.klipper3d.org/Kinematics.html?h=square+corner+velocity#look-ahead) to 5 or a high value (e.g., 20).
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- Klipper: MZV
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- Marlin: ZV
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- RepRap:
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- Version >= 3.4: MZV
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- Version < 3.4: DAA
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- Version < 3.2: DAA (without damping option)
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2. In printer settigs:
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1. Set the Shaper Type to `MZV` or `EI`.
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```gcode
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SET_INPUT_SHAPER SHAPER_TYPE=MZV
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```
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2. Disable [Minimun Cruise Ratio](https://www.klipper3d.org/Kinematics.html#minimum-cruise-ratio) with:
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```gcode
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SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0
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```
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3. Use an opaque, high-gloss filament to make the ringing more visible.
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2. Print the Input Shaping Frequency test with a range of frequencies.
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### Version Table
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| Type | Name | [Klipper](https://www.klipper3d.org/Resonance_Compensation.html#technical-details) | [RepRap](https://docs.duet3d.com/User_manual/Reference/Gcodes#m593-configure-input-shaping) | [Marlin 2](https://marlinfw.org/docs/features/ft_motion.html#more-complexity-zv-input-shaper) | Marlin Legacy |
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|---|---|---|---|---|---|
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| MZV | Modified Zero Vibration | >=0.9.0 | >=3.4 | - | - |
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| ZV | Zero Vibration | >=0.9.0 | = 3.5 | >2.1.2 | - |
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| ZVD | Zero Vibration Derivative | >=0.9.0 | >=3.4 | - | - |
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| ZVDD | Zero Vibration Double Derivative | - | >=3.4 | - | - |
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| ZVDDD | Zero Vibration Triple Derivative | - | >=3.4 | - | - |
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| EI | Extra Insensitive | >=0.9.0 | - | - | - |
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| 2HUMP_EI / EI2 | Two-Hump Extra Insensitive | >=0.9.0 | >=3.4 | - | - |
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| 3HUMP_EI / EI3 | Three-Hump Extra Insensitive | >=0.9.0 | >=3.4 | - | - |
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| [FT_MOTION](https://marlinfw.org/docs/features/ft_motion.html#fixed-time-motion-by-ulendo) | Fixed-Time Motion | - | - | >2.1.3 | - |
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| DAA | Damped Anti-Resonance | - | < 3.4 | - | - |
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1. Measure the X and Y heights and read the frequency set at that point in OrcaSlicer.
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## Calibration Steps
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2. If not a clear result, you can measure a X and Y min and max acceptable heights and repeat the test with that min and max value.
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> [!WARNING]
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> There is a chance you will need to set higher than 60Hz frequencies. Some printers with very rigid frames and excellent mechanics may exhibit frequencies exceeding 100Hz.
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3. Print the Damping test setting your X and Y frequency to the value you found in the previous step.
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1. Measure the X and Y heights and read the damping set at that point in OrcaSlicer.
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0. Pre-requisites:
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1. Use an opaque, high-gloss filament to make the ringing more visible.
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2. In OrcaSlicer, set:
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1. Acceleration high enough to trigger ringing (e.g., 20000 mm/s²).
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2. Speed high enough to trigger ringing (e.g., 200 mm/s).
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> [!IMPORTANT]
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> Not all Resonance Compensation modes support damping.
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4. Restore your 3D Printer settings to avoid keep using high acceleration and jerk values.
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5. Save the settings
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1. You need to go to the printer settings and set the X and Y frequency and damp to the value you found in the previous step.
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## Marlin
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### ZV Input Shaping
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ZV Input Shaping introduces an anti-vibration signal into the stepper motion for the X and Y axes. It works by splitting the step count into two halves: the first at half the frequency and the second as an "echo," delayed by half the ringing interval. This simple approach effectively reduces vibrations, improving print quality and allowing for higher speeds.
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1. Pre-requisites:
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1. In OrcaSlicer, set:
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1. Acceleration high enough to trigger ringing (e.g., 2000 mm/s²).
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2. Speed high enough to trigger ringing (e.g., 100 mm/s).
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> [!NOTE]
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> These settings depend on your printer's motion ability and the filament's max volumetric speed. If you can't reach speeds that cause ringing, try increasing the filament's max volumetric speed (avoid materials below 10 mm³/s).
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3. Jerk
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1. If using [Classic Jerk](https://marlinfw.org/docs/configuration/configuration.html#jerk-) use a high value (e.g., 20).
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2. If using [Junction Deviation](https://marlinfw.org/docs/features/junction_deviation.html) (new Marlin default mode) this test will use 0.25 (high enough to most printers).
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2. Use an opaque, high-gloss filament to make the ringing more visible.
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2. Print the Input Shaping Frequency test with a range of frequencies.
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> It's recommended to use the fastest [acceleration](speed_settings_acceleration), [speed](speed_settings_other_layers_speed) and [Jerk/Junction Deviation](speed_settings_jerk_xy) your printer can handle without losing steps.
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> This test **will set the values to high values** limited by your printer's motion ability and the filament's max volumetric speed (avoid materials below 10 mm³/s).
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1. Select the Test Model ´Ringing Tower´ (Recommended) or ´Fast Tower´ (Reduced version useful for printers with high ringing).
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2. Select the [Input Shaper Type](#types) you want to test. Each firmware has different types available and each type has different performance.
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3. Select a range of frequencies to test. The Default 15hz to 110hz range is usually a good start.
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4. Select your damping. Usually, a value between 0.1 and 0.2 is a good start but you can change it to 0 and your printer will use the firmware default value (if available).
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1. Measure the X and Y heights and read the frequency set at that point in OrcaSlicer.
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1. Measure the X and Y heights and read the frequency set at that point in OrcaSlicer.
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- Marlin:
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- Klipper:
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2. If not a clear result, you can measure a X and Y min and max acceptable heights and repeat the test with that min and max value.
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> [!WARNING]
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> There is a chance you will need to set higher than 60Hz frequencies. Some printers with very rigid frames and excellent mechanics may exhibit frequencies exceeding 100Hz.
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3. Print the Damping test setting your X and Y frequency to the value you found in the previous step.
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5. Print the Damping test setting your X and Y frequency to the value you found in the previous step.
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1. Measure the X and Y heights and read the damping set at that point in OrcaSlicer.
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- Marlin:
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- Klipper:
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1. Measure the X and Y heights and read the damping set at that point in OrcaSlicer.
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4. Restore your 3D Printer settings to avoid keep using high acceleration and jerk values.
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1. Reboot your printer.
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2. Use the following G-code to restore your printer settings:
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```gcode
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M501
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```
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5. Save the settings
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1. You need to go to the printer settings and set the X and Y frequency and damp to the value you found in the previous step.
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2. Use the following G-code to set the frequency:
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```gcode
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M593 X F#Xfrequency D#XDamping
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M593 Y F#Yfrequency D#YDamping
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M500
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```
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Example
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```gcode
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M593 X F37.25 D0.16
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M593 Y F37.5 D0.06
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M500
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```
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6. **Restore your 3D Printer settings to avoid keep using high acceleration and jerk values.**
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7. Save the settings
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- Into your printer firmware settings save the values you found (Type, frequency/cies and damp)
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- Save it into Orca's printer profile settings in Printer settings/ Machine G-code/ Machine start G-code using the following G-code:
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- Klipper:
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- Skeleton
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```gcode
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SET_INPUT_SHAPER SHAPER_TYPE=TYPE SHAPER_FREQ_X=#Xfrequency DAMPING_RATIO_X=#XDamping SHAPER_FREQ_Y=#Yfrequency DAMPING_RATIO_Y=#YDamping
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```
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Example
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```gcode
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SET_INPUT_SHAPER SHAPER_TYPE=MZV SHAPER_FREQ_X=37.25 DAMPING_RATIO_X=0.16 SHAPER_FREQ_Y=37.5 DAMPING_RATIO_Y=0.06
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```
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- Marlin:
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- Skeleton
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```gcode
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M593 X F#Xfrequency D#XDamping
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M593 Y F#Yfrequency D#YDamping
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M500
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```
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Example
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```gcode
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M593 X F37.25 D0.16
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M593 Y F37.5 D0.06
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M500
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```
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- RepRap:
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- Skeleton for RepRap 3.3 and later
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```gcode
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M593 P#Type F#frequency S#Damping
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```
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Example RepRap 3.4 and later
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```gcode
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M593 P"ZVD" F37.25 S0.16
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```
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- Skeleton for RepRap 3.2 and earlier
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```gcode
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M593 F#frequency
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```
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Example Legacy (RepRap 3.2 and earlier)
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```gcode
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M593 F37.25
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```
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### Fixed-Time Motion
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