Kinematic-independent limits per driver
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As I learned there is only the option to limit cartesian movement speeds. To account for the non-linear relation of cartesian movements and tower axes movements, the best practice is to take a lower maximum speed by factor 1.7.
That seems insufficient in two ways for delta printers:- It leads to a significant slowdown (factor ~1.7) for moves near the middle of the print area
- High movement speeds beyond the intended limit can occur by moving in XY-Plane and Z-direction simultaneously or having a geometry that implies rod-angles smaller than 60°.
For CoreXY printers a factor of 1.41... is usually used instead of 1.7. On the one hand, that prevents all motors from going too fast in the worst case, but on the other hand it limits the maximum speed on all moves that are not straight parallel to the X axes or straight parallel to the Y axes.
The same arguments go for the acceleration and jerk.
Thus I would like to suggest an implementation of
M203(M205andM201respectively) that allows for per-driver speedlimits instead of (or in addition to) cartesian movements. -
@justus2342 for CoreXY and similar printers using linear kinematics, per-motor limits are already applied. However, we have received a complain about this, because Klipper doesn't apply per-motor limits; which means that if you configure RRF and Klipper with the same M201 and M203 limits then Klipper prints faster. In fact RRF should be configured with larger limits than Klipper, to benefit from the greater speeds available when both motors contribute to XY movement.
