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✨ Input Shaping
MarlinFirmware/Marlin#24797
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‎config/default/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
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// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/3DFabXYZ/Migbot/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/ADIMLab/Gantry v1/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/ADIMLab/Gantry v2/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/Alfawise/U20-bltouch/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1064,6 +1064,35 @@
10641064

10651065
// @section motion
10661066

1067+
/**
1068+
* Input Shaping -- EXPERIMENTAL
1069+
*
1070+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1071+
*
1072+
* This option uses a lot of SRAM for the step buffer, which is proportional
1073+
* to the largest step rate possible for any axis. If the build fails due to
1074+
* low SRAM the buffer size may be reduced by setting smaller values for
1075+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1076+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1077+
* being capped to prevent buffer overruns.
1078+
*
1079+
* Tune with M593 D<factor> F<frequency>:
1080+
*
1081+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1082+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1083+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1084+
* X<1> Set the given parameters only for the X axis.
1085+
* Y<1> Set the given parameters only for the Y axis.
1086+
*/
1087+
//#define INPUT_SHAPING
1088+
#if ENABLED(INPUT_SHAPING)
1089+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1090+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1091+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1092+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1093+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1094+
#endif
1095+
10671096
#define AXIS_RELATIVE_MODES { false, false, false, false }
10681097

10691098
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/Alfawise/U20/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/AliExpress/UM2pExt/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/Anet/A2/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/Anet/A2plus/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

‎config/examples/Anet/A6/Configuration_adv.h‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1055,6 +1055,35 @@
10551055

10561056
// @section motion
10571057

1058+
/**
1059+
* Input Shaping -- EXPERIMENTAL
1060+
*
1061+
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
1062+
*
1063+
* This option uses a lot of SRAM for the step buffer, which is proportional
1064+
* to the largest step rate possible for any axis. If the build fails due to
1065+
* low SRAM the buffer size may be reduced by setting smaller values for
1066+
* DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
1067+
* of max feedrate (M203) or resonant frequency (M593) may result feedrate
1068+
* being capped to prevent buffer overruns.
1069+
*
1070+
* Tune with M593 D<factor> F<frequency>:
1071+
*
1072+
* D<factor> Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
1073+
* F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
1074+
* T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
1075+
* X<1> Set the given parameters only for the X axis.
1076+
* Y<1> Set the given parameters only for the Y axis.
1077+
*/
1078+
//#define INPUT_SHAPING
1079+
#if ENABLED(INPUT_SHAPING)
1080+
#define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
1081+
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
1082+
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
1083+
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
1084+
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
1085+
#endif
1086+
10581087
#define AXIS_RELATIVE_MODES { false, false, false, false }
10591088

10601089
// Add a Duplicate option for well-separated conjoined nozzles

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