I was recently setting up input shaper on my printer using accelerometer and have an interesting observation for my cr-10 mini modified with squash balls for feet.
Y axis:
If I am reading this chart correctly, at around 62.5Hz there is a spike in Z axis movement (sensor was flat against the bed) which I believe is whole printer shaking (rotation around X axis).
It might be a nice option for calibrate_shaper.py to be able to turn off specified axis during calibration.
As a test, I’ve set Z acceleration in CSV file to 0 manually and re-calculated xyz:
(Manually Adjusted)
pi@octopi:~ $ ~/klipper/scripts/calibrate_shaper.py /tmp/resonances_y_20210414_050158_manual.csv -o /tmp/shaper_calibrate_y_manual.png --max_smoothing=0.19
Fitted shaper ‘zv’ frequency = 28.6 Hz (vibrations = 24.2%, smoothing ~= 0.188)
To avoid too much smoothing with ‘zv’, suggested max_accel <= 2900 mm/sec^2
Fitted shaper ‘mzv’ frequency = 32.8 Hz (vibrations = 9.0%, smoothing ~= 0.189)
To avoid too much smoothing with ‘mzv’, suggested max_accel <= 3200 mm/sec^2
Fitted shaper ‘ei’ frequency = 41.2 Hz (vibrations = 11.2%, smoothing ~= 0.190)
To avoid too much smoothing with ‘ei’, suggested max_accel <= 3200 mm/sec^2
Fitted shaper ‘2hump_ei’ frequency = 53.4 Hz (vibrations = 10.4%, smoothing ~= 0.189)
To avoid too much smoothing with ‘2hump_ei’, suggested max_accel <= 3200 mm/sec^2
Fitted shaper ‘3hump_ei’ frequency = 65.8 Hz (vibrations = 10.4%, smoothing ~= 0.189)
To avoid too much smoothing with ‘3hump_ei’, suggested max_accel <= 3200 mm/sec^2
Recommended shaper is mzv @ 32.8 Hz
(Original)
pi@octopi:~ $ ~/klipper/scripts/calibrate_shaper.py /tmp/resonances_y_20210414_050158.csv -o /tmp/shaper_calibrate_y.png --max_smoothing=0.19
Fitted shaper ‘zv’ frequency = 28.6 Hz (vibrations = 32.1%, smoothing ~= 0.188)
To avoid too much smoothing with ‘zv’, suggested max_accel <= 2900 mm/sec^2
Fitted shaper ‘mzv’ frequency = 32.8 Hz (vibrations = 9.1%, smoothing ~= 0.189)
To avoid too much smoothing with ‘mzv’, suggested max_accel <= 3200 mm/sec^2
Fitted shaper ‘ei’ frequency = 43.0 Hz (vibrations = 13.1%, smoothing ~= 0.174)
To avoid too much smoothing with ‘ei’, suggested max_accel <= 3400 mm/sec^2
Fitted shaper ‘2hump_ei’ frequency = 53.4 Hz (vibrations = 8.5%, smoothing ~= 0.189)
To avoid too much smoothing with ‘2hump_ei’, suggested max_accel <= 3200 mm/sec^2
Fitted shaper ‘3hump_ei’ frequency = 65.8 Hz (vibrations = 8.5%, smoothing ~= 0.189)
To avoid too much smoothing with ‘3hump_ei’, suggested max_accel <= 3200 mm/sec^2
Recommended shaper is mzv @ 32.8 Hz
In my case, the suggested result is the same, but it may be beneficial for others.