# The acceleration setting exceeds the printer's maximum acceleration

**URL:** <https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370>\
**Category:** General Discussion\
**Created:** [May 10, 2025, 2:47pm UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370 "2025-05-10T14:47:58Z")\
**Posts on this page:** 12\
**Page:** 1

<div class="post-metadata">

**Author:** ![printeruser](https://avatars.discourse-cdn.com/v4/letter/p/ac8455/32.png) [@printeruser](https://klipper.discourse.group/u/printeruser)\
**Post date:** [May 10, 2025, 2:47pm UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/1 "2025-05-10T14:47:58Z")

</div>

### Basic Information:

Printer Model: Prusa i3MK3S+  
 MCU / Printerboard: Einsy  
 Host / SBC RPi 5  
[

### Describe your issue:

Using automatic Input Shaping, from the two resulting graphs, Klipper suggested accel \<= 3500 for both X and Y. So I set Acceleration-\>Outer wall and Top surface both to 3500 mm/s^2. Inner wall and Travel are both set to 10000. Normal printing 500, Bridge 50%, Sparse and Internal solid infill both set to 100%. First layer 300. I also checked Enable accel\_to\_decel and set it to 50%.

At the bottom right of the slicer, I often see:

```auto
WARNING:
The acceleration setting exceeds the printer's maximumm acceleration (machine_max_acceleration_extruding).
Orcs will automatically cap the acceleration speed to ensure it doesn't surpass the printer's cabilities. You can adjust the machine_max_acceleration_extruding value in your printer's configuration to get higher speed. Jum to (inner_wall_acceleration).

```

What am I supposed to do? The warning is not specific. There are many acceleration settings in the slicer. Which printer’s maximum acceleration is being exceeded? Why it mentions machine\_max\_acceleration\_extruding? Is it extruding acceleration? How to adjust the machine\_max\_acceleration\_extruding value in the printer’s configuration? Also don’t know why there is a link to jump to inner wall acceleration.

---

<div class="post-metadata">

**Author:** ![3dcoded](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/3dcoded/32/20297_2.png) [@3dcoded](https://klipper.discourse.group/u/3dcoded)\
**Post date:** [May 11, 2025, 12:11am UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/2 "2025-05-11T00:11:44Z")

</div>

Hi @printeruser ,

You can change Orca’s max acceleration in the printer settings. See screenshot below. Make sure to set X and Y accelerations/speeds to the same value.

 ![Screenshot 2025-05-10 at 8.10.34 PM](https://global.discourse-cdn.com/free1/uploads/klipper/original/3X/c/4/c43d79a35775fe3e1a31873b605512f060321421.jpeg)

---

<div class="post-metadata">

**Author:** ![printeruser](https://avatars.discourse-cdn.com/v4/letter/p/ac8455/32.png) [@printeruser](https://klipper.discourse.group/u/printeruser)\
**Post date:** [May 11, 2025, 12:21am UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/3 "2025-05-11T00:21:21Z")

</div>

Thanks. How did you come up with 20000? Is 20000 the recommended value for Prusa i3MK3S+?

---

<div class="post-metadata">

**Author:** ![JuanR3D](https://avatars.discourse-cdn.com/v4/letter/j/7993a0/32.png) [@JuanR3D](https://klipper.discourse.group/u/JuanR3D)\
**Post date:** [May 11, 2025, 1:24am UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/4 "2025-05-11T01:24:26Z")

</div>

The real maximum acceleration is the value that should never be exceeded. It is typically set at the point where your motors start losing steps, or a slightly lower value.

On the other hand, the suggested value by Klipper’s input shaper is designed to provide optimal performance for normal printing, particularly if you want to avoid issues like ringing or ghosting.

I recommend setting a reasonable and safe maximum acceleration in Orca (perhaps 15000) for your printer. Then, configure the following accelerations in your profile:

- External perimeters: 3500 or lower
- Internal perimeters: 3500
- Top surface: 3500 or lower
- Solid infill: 3500 or higher, but not too much if you want good results
- Sparse infill: 10000
- Travels: 10000

These are just recommendations; feel free to test these values and adjust them according to your quality expectations.

---

<div class="post-metadata">

**Author:** ![printeruser](https://avatars.discourse-cdn.com/v4/letter/p/ac8455/32.png) [@printeruser](https://klipper.discourse.group/u/printeruser)\
**Post date:** [May 11, 2025, 3:45am UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/5 "2025-05-11T03:45:13Z")

</div>

Thanks. I will try out your values.

I performed an automatic input shaping using Klipper and KUSBA. In some regions along the X-axis, the ringing disappeared but in another region, they are still there. In this case, shall I reduce the accelerations or speeds? Outer wall speed has been reduced to 15mm/s already.

I recall one youtuber saying that although Klipper can do automatic Input Shaping, choose and enter the method and values automatically, sometimes it is better to manually choose the method as the one chosen by Klipper could be too aggressive. Is this really true?

---

<div class="post-metadata">

**Author:** ![Sineos](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/sineos/32/18_2.png) [@Sineos](https://klipper.discourse.group/u/Sineos)\
**Post date:** [May 11, 2025, 9:55am UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/6 "2025-05-11T09:55:05Z")

</div>

There seems to be an overall confusion regarding these values and their meanings:

- The acceleration and velocity values in the `printer.cfg` are not hard limits and can be overwritten during runtime with [SET\_VELOCITY\_LIMIT](https://www.klipper3d.org/G-Codes.html#set_velocity_limit). Slicers like Orca perform this action.

- The acceleration and velocity values in the `printer.cfg` are used if no further instructions are given, such as a pure `G1 X100`.

- Acceleration and velocity values need to be determined in a way that fits the given movement type and matches the printer’s capabilities.

- The acceleration values given by the input shaper are **in no way** to be understood as a recommendation for the given printer.

So, a rough approach to getting correct values:

1. Determine the maximum for the printer’s mechanical capabilities before steps are skipped or the printer can no longer maintain the required accuracy. This may include the maximum step rate the given board/steppers can achieve.
2. Consider any limitations imposed by the recommended shaper and resonance profile.
3. Determine the maximum volumetric flow of the extrusion system with the given filament.
4. Within these ranges, determine the maximum velocity and acceleration to achieve the best quality at the minimum print time.

Side note and without sounding rude: We are a Klipper forum aimed at providing assistance with Klipper. We are not a forum to teach people the absolute basics of 3D printing. There are many online resources specifically targeting these fundamentals.

---

<div class="post-metadata">

**Author:** ![3dcoded](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/3dcoded/32/20297_2.png) [@3dcoded](https://klipper.discourse.group/u/3dcoded)\
**Post date:** [May 11, 2025, 11:08am UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/7 "2025-05-11T11:08:16Z")

</div>

> [@printeruser](#):
>
> How did you come up with 20000? Is 20000 the recommended value for Prusa i3MK3S+?

I came up with that after following this guide.

> **[Determining Maximum Speeds and Accelerations](https://ellis3dp.com/Print-Tuning-Guide/articles/determining_max_speeds_accels.html)**
>
> Ellis’ Print Tuning Guide

---

<div class="post-metadata">

**Author:** ![printeruser](https://avatars.discourse-cdn.com/v4/letter/p/ac8455/32.png) [@printeruser](https://klipper.discourse.group/u/printeruser)\
**Post date:** [May 11, 2025, 10:04pm UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/9 "2025-05-11T22:04:54Z")

</div>

Previously, I did an automatic Input Shaping to allow Klipper to select the frequencies and methods for me. At the end of my printer.cfg, I have:

```auto
#*# [input_shaper]
#*# shaper_type_x = ei
#*# shaper_freq_x = 43.4
#*# shaper_type_y = mzv
#*# shaper_freq_y = 35.6

```

In an attempt to reduce ringing further, I tried to use two other methods by adding another section of input\_shaper before the SAVE\_CONFIG section like:

```auto
# Manually enter by myself
[input_shaper]
shaper_freq_x: 43.4
shaper_freq_y: 35.6
shaper_type_x = 3hump_ei
shaper_type_y = 3hump_ei

### The end, on the end the printer will store it's tuning data, so do not edit it.

#*# <---------------------- SAVE_CONFIG ---------------------->
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
#*#
#*# [extruder]
#*# control = pid
#*# pid_kp = 23.851
#*# pid_ki = 2.240
#*# pid_kd = 63.504
#*#
#*# [bed_mesh default1]
#*# version = 1
#*# points =
#*# -0.081667, -0.047500, -0.030000, -0.062778, -0.110833, -0.198333, -0.307917
#*# 0.032500, 0.057500, 0.035833, -0.005208, -0.034167, -0.140833, -0.361667
#*# 0.028333, 0.044167, 0.030833, -0.004792, -0.010833, -0.095000, -0.310000
#*# 0.049444, 0.055833, 0.038125, -0.000833, -0.040833, -0.063333, -0.307500
#*# 0.073333, 0.118333, 0.073333, -0.020000, -0.030000, -0.100000, -0.328333
#*# 0.021667, 0.035833, -0.009167, -0.068125, -0.141667, -0.245000, -0.397500
#*# -0.064167, -0.052500, -0.071667, -0.082500, -0.192500, -0.323611, -0.452500
#*# x_count = 7
#*# y_count = 7
#*# mesh_x_pps = 3
#*# mesh_y_pps = 3
#*# algo = bicubic
#*# tension = 0.2
#*# min_x = 24.0
#*# max_x = 228.0
#*# min_y = 6.0
#*# max_y = 210.0
#*#
#*# [probe]
#*# z_offset = 1.905
#*#
#*# [input_shaper]
#*# shaper_type_x = ei
#*# shaper_freq_x = 43.4
#*# shaper_type_y = mzv
#*# shaper_freq_y = 35.6

```

and changing the accelerations in OrcaSlicer to make sure that they don’t exceed the ones shown on the top right of the graphs. However, the resulting prints look very similar. Have I done anything wrong?

Does the manually entered section overwrites the one at the end of SAVE\_CONFIG section? Since I don’t see noticeable difference in the resulting prints under different input shapers, I wonder if it is the other way around.

---

<div class="post-metadata">

**Author:** ![Sineos](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/sineos/32/18_2.png) [@Sineos](https://klipper.discourse.group/u/Sineos)\
**Post date:** [May 12, 2025, 6:03am UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/10 "2025-05-12T06:03:11Z")

</div>

> [@printeruser](#):
>
> Does the manually entered section overwrites the one at the end of SAVE\_CONFIG section? Since I don’t see noticeable difference in the resulting prints under different input shapers, I wonder if it is the other way around.

Check the klippy.log and the configuration that is printed out there.

---

<div class="post-metadata">

**Author:** ![JuanR3D](https://avatars.discourse-cdn.com/v4/letter/j/7993a0/32.png) [@JuanR3D](https://klipper.discourse.group/u/JuanR3D)\
**Post date:** [May 12, 2025, 12:41pm UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/11 "2025-05-12T12:41:33Z")

</div>

Just to add.  
You can consider to redefine the SET\_VELOCITY\_LIMIT command in order to limit it to your printer.cfg values. (This is just a safety measure)

For example, if you have max\_accel = 10000 in your printer.cfg, even if orca tries to do: SET\_VELOCITY\_LIMIT ACCEL=15000, as you have limited this, it will only apply to 10000.

Feel free to take a look:

```auto
##########################################################
# SET_VELOCITY_LIMIT
##########################################################
# Custom SET_VELOTITY_LIMIT -> Now the speed and accel params passed to command do not exceed the printer limits (configured in printer.cfg)
# minimum_cruise_ratio and square_corner_velocity don't have limitation for now
[gcode_macro SET_VELOCITY_LIMIT]
rename_existing: SET_VELOCITY_LIMIT_BASE
gcode:
    {% set config_max_velocity = printer.configfile.settings.printer.max_velocity|float %}
    {% set config_max_accel = printer.configfile.settings.printer.max_accel|float %}

    # Set max velocity
    {% if params.VELOCITY is defined %}
        {% if params.VELOCITY|float <= config_max_velocity %}
            {% set velocity = params.VELOCITY|float %}
        {% else %}
            {% set velocity = config_max_velocity %}
        {% endif %}
    {% elif printer.toolhead.max_velocity|float <= config_max_velocity %}
        {% set velocity = printer.toolhead.max_velocity|float %}
    {% else %}
        {% set velocity = config_max_velocity %}
    {% endif %}

    # Set max acceleration
    {% if params.ACCEL is defined %}
        {% if params.ACCEL|float <= config_max_accel %}
            {% set accel = params.ACCEL|float %}
        {% else %}
            {% set accel = config_max_accel %}
        {% endif %}
    {% elif printer.toolhead.max_accel|float <= config_max_accel %}
        {% set accel = printer.toolhead.max_accel|float %}
    {% else %}
        {% set accel = config_max_accel %}
    {% endif %}

    # Set minimum_cruise_ratio
    {% if params.MINIMUM_CRUISE_RATIO is defined %}
        {% set minimum_cruise_ratio = params.MINIMUM_CRUISE_RATIO|float %}
    {% else %}
        {% set minimum_cruise_ratio = printer.toolhead.minimum_cruise_ratio %}
    {% endif %}

    # Set square_corner_velocity
    {% if params.SQUARE_CORNER_VELOCITY is defined %}
        {% set square_corner_velocity = params.SQUARE_CORNER_VELOCITY|float %}
    {% else %}
        {% set square_corner_velocity = printer.toolhead.square_corner_velocity %}
    {% endif %}

    SET_VELOCITY_LIMIT_BASE VELOCITY={velocity} ACCEL={accel} MINIMUM_CRUISE_RATIO={minimum_cruise_ratio} SQUARE_CORNER_VELOCITY={square_corner_velocity}

```

---

<div class="post-metadata">

**Author:** ![printeruser](https://avatars.discourse-cdn.com/v4/letter/p/ac8455/32.png) [@printeruser](https://klipper.discourse.group/u/printeruser)\
**Post date:** [May 12, 2025, 1:44pm UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/12 "2025-05-12T13:44:27Z")

</div>

From klippy.log, it looks like the manually entered information (use 3hump\_ei) overwrites whatever automatic Input Shaping put in the SAVE\_CONFIG section.

Here is the log file:

[klippy.log](https://klipper.discourse.group/uploads/short-url/nzItyyLFJWnryaGwpP1WPZs7smW.log) (50.6 KB)

So why there is no noticeable difference on the surface appearance (ringing) when different shapers are used? When using Input Shaping, do I have to disable PA? I used the automatic method:

```auto
SHAPER_CALIBRATE AXIS=X

SAVE_CONFIG

SHAPER_CALIBRATE AXIS=Y

SAVE_CONFIG

```

to get the frequencies and graphs. Don’t know why in the Resonance Compensation, they asked for disabling the PA:

[Resonance Compensation - Klipper documentation](https://www.klipper3d.org/Resonance_Compensation.html)

---

<div class="post-metadata">

**Author:** ![system](https://global.discourse-cdn.com/free1/uploads/klipper/original/1X/64419bf2aac6639e6ef5cef200dcd456b0a01ac3.png) [@system](https://klipper.discourse.group/u/system)\
**Post date:** [July 11, 2025, 1:44pm UTC](https://klipper.discourse.group/t/the-acceleration-setting-exceeds-the-printers-maximum-acceleration/23370/13 "2025-07-11T13:44:50Z")

</div>

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