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Config_Reference.html

@@ -5611,17 +5611,22 @@ the <a href="G-Codes.html#input_shaper">command reference</a>.</p>
 #   input shapers, this parameter can be set from different
 #   considerations. The default value is 0, which disables input
 #   shaping for Y axis.
+#shaper_freq_z: 0
+#   A frequency (in Hz) of the input shaper for Z axis. The default
+#   value is 0, which disables input shaping for Z axis.
 #shaper_type: mzv
-#   A type of the input shaper to use for both X and Y axes. Supported
+#   A type of the input shaper to use for all axes. Supported
 #   shapers are zv, mzv, zvd, ei, 2hump_ei, and 3hump_ei. The default
 #   is mzv input shaper.
 #shaper_type_x:
 #shaper_type_y:
-#   If shaper_type is not set, these two parameters can be used to
-#   configure different input shapers for X and Y axes. The same
+#shaper_type_z:
+#   If shaper_type is not set, these parameters can be used to
+#   configure different input shapers for X, Y, and Z axes. The same
 #   values are supported as for shaper_type parameter.
 #damping_ratio_x: 0.1
 #damping_ratio_y: 0.1
+#damping_ratio_z: 0.1
 #   Damping ratios of vibrations of X and Y axes used by input shapers
 #   to improve vibration suppression. Default value is 0.1 which is a
 #   good all-round value for most printers. In most circumstances this
@@ -5780,6 +5785,10 @@ section of the measuring resonances guide for more information on
 #   and on the toolhead (for X axis). These parameters have the same
 #   format as &#39;accel_chip&#39; parameter. Only &#39;accel_chip&#39; or these two
 #   parameters must be provided.
+#accel_chip_z:
+#   A name of the accelerometer chip to use for measurements of Z axis.
+#   This parameter has the same format as &#39;accel_chip&#39;. The default is
+#   not to configure an accelerometer for Z axis.
 #max_smoothing:
 #   Maximum input shaper smoothing to allow for each axis during shaper
 #   auto-calibration (with &#39;SHAPER_CALIBRATE&#39; command). By default no
@@ -5792,6 +5801,8 @@ section of the measuring resonances guide for more information on
 #   Minimum frequency to test for resonances. The default is 5 Hz.
 #max_freq: 135
 #   Maximum frequency to test for resonances. The default is 135 Hz.
+#max_freq_z: 100
+#   Maximum frequency to test Z axis for resonances. The default is 100 Hz.
 #accel_per_hz: 60
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
@@ -5799,6 +5810,9 @@ section of the measuring resonances guide for more information on
 #   a lower than the default value if the resonances get too strong on
 #   the printer. However, lower values make measurements of high-frequency
 #   resonances less precise. The default value is 60 (mm/sec).
+#accel_per_hz_z: 15
+#   This parameter has the same meaning as accel_per_hz, but applies to
+#   Z axis specifically. The default is 15 (mm/sec).
 #hz_per_sec: 1
 #   Determines the speed of the test. When testing all frequencies in
 #   range [min_freq, max_freq], each second the frequency increases by
@@ -5807,6 +5821,8 @@ section of the measuring resonances guide for more information on
 #   (Hz/sec == sec^-2).
 #sweeping_accel: 400
 #   An acceleration of slow sweeping moves. The default is 400 mm/sec^2.
+#sweeping_accel_z: 50
+#   Same as sweeping_accel above, but for Z axis. The default is 50 mm/sec^2.
 #sweeping_period: 1.2
 #   A period of slow sweeping moves. Setting this parameter to 0
 #   disables slow sweeping moves. Avoid setting it to a too small

G-Codes.html

@@ -5614,15 +5614,17 @@ been enabled (also see the
 <a href="Resonance_Compensation.html">resonance compensation guide</a>).</p>
 <h4 id="set_input_shaper">SET_INPUT_SHAPER<a class="headerlink" href="#set_input_shaper" title="Permanent link">&para;</a></h4>
 <p><code>SET_INPUT_SHAPER [SHAPER_FREQ_X=&lt;shaper_freq_x&gt;]
-[SHAPER_FREQ_Y=&lt;shaper_freq_y&gt;] [DAMPING_RATIO_X=&lt;damping_ratio_x&gt;]
-[DAMPING_RATIO_Y=&lt;damping_ratio_y&gt;] [SHAPER_TYPE=&lt;shaper&gt;]
-[SHAPER_TYPE_X=&lt;shaper_type_x&gt;] [SHAPER_TYPE_Y=&lt;shaper_type_y&gt;]</code>:
+[SHAPER_FREQ_Y=&lt;shaper_freq_y&gt;] [SHAPER_FREQ_Y=&lt;shaper_freq_z&gt;]
+[DAMPING_RATIO_X=&lt;damping_ratio_x&gt;] [DAMPING_RATIO_Y=&lt;damping_ratio_y&gt;]
+[DAMPING_RATIO_Z=&lt;damping_ratio_z&gt;] [SHAPER_TYPE=&lt;shaper&gt;]
+[SHAPER_TYPE_X=&lt;shaper_type_x&gt;] [SHAPER_TYPE_Y=&lt;shaper_type_y&gt;]
+[SHAPER_TYPE_Z=&lt;shaper_type_z&gt;]</code>:
 Modify input shaper parameters. Note that SHAPER_TYPE parameter resets
-input shaper for both X and Y axes even if different shaper types have
+input shaper for all axes even if different shaper types have
 been configured in [input_shaper] section. SHAPER_TYPE cannot be used
-together with either of SHAPER_TYPE_X and SHAPER_TYPE_Y parameters.
-See <a href="Config_Reference.html#input_shaper">config reference</a> for more
-details on each of these parameters.</p>
+together with any of SHAPER_TYPE_X, SHAPER_TYPE_Y, and SHAPER_TYPE_Z
+parameters. See <a href="Config_Reference.html#input_shaper">config reference</a>
+for more details on each of these parameters.</p>
 <h3 id="led">[led]<a class="headerlink" href="#led" title="Permanent link">&para;</a></h3>
 <p>The following command is available when any of the
 <a href="Config_Reference.html#leds">led config sections</a> are enabled.</p>
@@ -6002,13 +6004,14 @@ all enabled accelerometer chips.</p>
 [POINT=x,y,z] [INPUT_SHAPING=&lt;0:1&gt;]</code>: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
-the respective axis. "axis" can either be X or Y, or specify an
-arbitrary direction as <code>AXIS=dx,dy</code>, where dx and dy are floating
+the respective axis. "axis" can either be X, Y or Z, or specify an
+arbitrary direction as <code>AXIS=dx,dy[,dz]</code>, where dx, dy, dz are floating
 point numbers defining a direction vector (e.g. <code>AXIS=X</code>, <code>AXIS=Y</code>, or
-<code>AXIS=1,-1</code> to define a diagonal direction). Note that <code>AXIS=dx,dy</code>
-and <code>AXIS=-dx,-dy</code> is equivalent. <code>chip_name</code> can be one or
-more configured accel chips, delimited with comma, for example
-<code>CHIPS="adxl345, adxl345 rpi"</code>. If POINT is specified it will override the point(s)
+<code>AXIS=1,-1</code> to define a diagonal direction in XY plane, or <code>AXIS=0,1,1</code>
+to define a direction in YZ plane). Note that <code>AXIS=dx,dy</code> and <code>AXIS=-dx,-dy</code>
+is equivalent. <code>chip_name</code> can be one or more configured accel chips,
+delimited with comma, for example <code>CHIPS="adxl345, adxl345 rpi"</code>.
+If POINT is specified it will override the point(s)
 configured in <code>[resonance_tester]</code>. If <code>INPUT_SHAPING=0</code> or not set(default),
 disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper

Measuring_Resonances.html

@@ -990,6 +990,13 @@
     Selecting max_accel
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#measuring-the-resonances-of-z-axis" class="md-nav__link">
+    Measuring the resonances of Z axis
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -1873,6 +1880,13 @@
     Selecting max_accel
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#measuring-the-resonances-of-z-axis" class="md-nav__link">
+    Measuring the resonances of Z axis
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -2691,6 +2705,86 @@ to specify it explicitly.</p>
 <p>If you are doing a shaper re-calibration and the reported smoothing for the
 suggested shaper configuration is almost the same as what you got during the
 previous calibration, this step can be skipped.</p>
+<h3 id="measuring-the-resonances-of-z-axis">Measuring the resonances of Z axis<a class="headerlink" href="#measuring-the-resonances-of-z-axis" title="Permanent link">&para;</a></h3>
+<p>Measuring the resonances of Z axis is similar in many aspects to measuring
+resonances of X and Y axes, with some subtle differences. Similarly to other
+axes measurements, you will need to have an accelerometer mounted on the
+moving parts of Z axis - either the bed itself (if the bed moves over Z axis),
+or the toolhead (if the toolhead/gantry moves over Z). You will need to
+add the appropriate chip configuration to <code>printer.cfg</code> and also add it to
+<code>[resonance_tester]</code> section, e.g.</p>
+<div class="highlight"><pre><span></span><code>[resonance_tester]
+accel_chip_z: &lt;accelerometer full name&gt;
+</code></pre></div>
+
+<p>Also make sure that <code>probe_points</code> configured in <code>[resonance_tester]</code> allow
+sufficient clearance for Z axis movements (20 mm above bed surface should
+provide enough clearance with the default test parameters).</p>
+<p>The next consideration is that Z axis can typically reach lower maximum
+speeds and accelerations that X and Y axes. Default parameters of the test
+take that into consideration and are much less agressive, but it may still
+be necessary to increase <code>max_z_accel</code> and <code>max_z_velocity</code>. If you have
+them configured in <code>[printer]</code> section, make sure to set them to at least</p>
+<div class="highlight"><pre><span></span><code>[printer]
+max_z_velocity: 20
+max_z_accel: 1550
+</code></pre></div>
+
+<p>but only for the duration of the test, afterwards you can revert them back
+to their original values if necessary. And if you use custom test parameters
+for Z axis, <code>TEST_RESONANCES</code> and <code>SHAPER_CALIBRATE</code> will provide the minimum
+required limits if necessary for your specific case.</p>
+<p>After all changes to <code>printer.cfg</code> have been made, restart Klipper and run
+either</p>
+<div class="highlight"><pre><span></span><code>TEST_RESONANCES AXIS=Z
+</code></pre></div>
+
+<p>or</p>
+<div class="highlight"><pre><span></span><code>SHAPER_CALIBRATE AXIS=Z
+</code></pre></div>
+
+<p>and proceed from there accordingly how you would for other axes.
+For example, after <code>TEST_RESONANCES</code> command you can run
+<code>calibrate_shaper.py</code> script and get shaper recommendations and
+the chart of resonance response:</p>
+<p><img alt="Resonances" src="img/calibrate-z.png" /></p>
+<p>After the calibration, the shaper parameters can be stored in the
+<code>printer.cfg</code>, e.g. from the example above:</p>
+<div class="highlight"><pre><span></span><code>[input_shaper]
+...
+shaper_type_z: mzv
+shaper_freq_z: 42.6
+</code></pre></div>
+
+<p>Also, given the movements of Z axis are slow, you can easily consider
+more aggressive input shapers, e.g.</p>
+<div class="highlight"><pre><span></span><code>[input_shaper]
+...
+shaper_type_z: 2hump_ei
+shaper_freq_z: 63.0
+</code></pre></div>
+
+<p>If the test produces bogus results, you may try to increase
+<code>accel_per_hz_z</code> parameter in <code>[resonance_tester]</code> from its
+default value 15 to a larger value in the range of 20-30, e.g.</p>
+<div class="highlight"><pre><span></span><code>[resonance_tester]
+accel_per_hz_z: 25
+</code></pre></div>
+
+<p>and repeat the test. Increasing this value will likely require
+increasing <code>max_z_accel</code> and <code>max_z_velocity</code> parameters as well.
+You can run <code>TEST_RESONANCES AXIS=Z</code> command to get the required
+minimum values.</p>
+<p>However, if you are unable to measure the resonances of Z axis,
+you can consider just using</p>
+<div class="highlight"><pre><span></span><code>[input_shaper]
+...
+shaper_type_z: 3hump_ei
+shaper_freq_z: 65
+</code></pre></div>
+
+<p>as an acceptable all-round choice, given that the smoothing of
+Z axis movements is not of particular concerns.</p>
 <h3 id="unreliable-measurements-of-resonance-frequencies">Unreliable measurements of resonance frequencies<a class="headerlink" href="#unreliable-measurements-of-resonance-frequencies" title="Permanent link">&para;</a></h3>
 <p>Sometimes the resonance measurements can produce bogus results, leading to
 the incorrect suggestions for the input shapers. This can be caused by a

Resonance_Compensation.html

@@ -856,6 +856,13 @@
     Does input_shaper affect print time?
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#should-i-enable-and-tune-input-shaper-for-z-axis" class="md-nav__link">
+    Should I enable and tune input shaper for Z axis?
+  </a>
+  
 </li>
         
       </ul>
@@ -1612,6 +1619,13 @@
     Does input_shaper affect print time?
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#should-i-enable-and-tune-input-shaper-for-z-axis" class="md-nav__link">
+    Should I enable and tune input shaper for Z axis?
+  </a>
+  
 </li>
         
       </ul>
@@ -2034,9 +2048,11 @@ gcode:
 </code></pre></div>
 
 <p>Note that <code>SHAPER_TYPE_Y</code> and <code>SHAPER_FREQ_Y</code> should be the same in both
-commands. It is also possible to put a similar snippet into the start g-code
-in the slicer, however then the shaper will not be enabled until any print
-is started.</p>
+commands. If you need to configure an input shaper for Z axis, include
+its parameters in both <code>SET_INPUT_SHAPER</code> commands.</p>
+<p>Besides <code>delayed_gcode</code>, it is also possible to put a similar snippet into
+the start g-code in the slicer, however then the shaper will not be enabled
+until any print is started.</p>
 <p>Note that the input shaper only needs to be configured once. Subsequent changes
 of the carriages or their modes via <code>SET_DUAL_CARRIAGE</code> command will preserve
 the configured input shaper parameters.</p>
@@ -2044,6 +2060,16 @@ the configured input shaper parameters.</p>
 <p>No, <code>input_shaper</code> feature has pretty much no impact on the print times by
 itself. However, the value of <code>max_accel</code> certainly does (tuning of this
 parameter described in <a href="#selecting-max_accel">this section</a>).</p>
+<h3 id="should-i-enable-and-tune-input-shaper-for-z-axis">Should I enable and tune input shaper for Z axis?<a class="headerlink" href="#should-i-enable-and-tune-input-shaper-for-z-axis" title="Permanent link">&para;</a></h3>
+<p>Most of the users are not likely to see improvements in the quality of
+the prints directly, much unlike X and Y shapers. However, users of
+delta printers, printers with flying gantry, or printers with heavy
+moving beds may be able to increase the <code>max_z_accel</code> and <code>max_z_velocity</code>
+kinematics limits and thus get faster Z movements. This can be especially
+useful e.g. for toolchangers, but also when Z-hops are enabled in slicer.
+And in general, after enabling Z input shaper many users will hear that
+Z axis operates more smoothly, which may increase the comfort of printer
+operation, and may somewhat extend lifespan of Z axis parts.</p>
 <h2 id="technical-details">Technical details<a class="headerlink" href="#technical-details" title="Permanent link">&para;</a></h2>
 <h3 id="input-shapers">Input shapers<a class="headerlink" href="#input-shapers" title="Permanent link">&para;</a></h3>
 <p>This section contains a brief overview of some technical aspects of the