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    Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning

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    • Egon.Netundefined
      Egon.Net @Argo
      last edited by

      @Argo said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

      @Egon-Net

      it's still a fast 32 bit board but I don't know if the available connections are fast enough for a accelerometer.
      But you could run Klipper with your Duet 2 🙂

      At leats be able to measure externally and input the results... (With and arduino, pc, whatever)

      1 Reply Last reply Reply Quote 0
      • MikeSundefined
        MikeS @dc42
        last edited by

        @dc42 please consider on supporting also ADXL345. It's the most common and cheapest one. I had one laying around that i used on my previous delta to do probing of the bed. I understand that, as a business, you have to come up with your own implementation and maybe better solution for the resonance problem, but klipper one for now would be great. We have time to improve it and have a better one!

        1 Reply Last reply Reply Quote 0
        • dc42undefined
          dc42 administrators
          last edited by dc42

          LIS3DH boards from well-known suppliers such as Adafruit are half the price (or less) of ADXL345 boards.

          Duet WiFi hardware designer and firmware engineer
          Please do not ask me for Duet support via PM or email, use the forum
          http://www.escher3d.com, https://miscsolutions.wordpress.com

          zaptaundefined MikeSundefined 2 Replies Last reply Reply Quote 1
          • Argoundefined
            Argo
            last edited by

            The ADXL345 cost me 6 EUR and a LIS3DH would cost me 10 EUR.
            But honestly I don't really care if I had to buy another one for my Duet / RRF.

            @zapta said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

            @Argo does Klipper support also backlash compensation? I wonder if the accelerometer can be used to calibrate it as well.

            It's measurable, so yes.

            1 Reply Last reply Reply Quote 0
            • zaptaundefined
              zapta @dc42
              last edited by

              The Adafruit LIS3DH is available in my country on Amazon, $7 Prime shipped.

              https://www.amazon.com/Adafruit-LIS3DH-Triple-Axis-Accelerometer-ADA2809/dp/B01BU70B64

              @dc42, will input shaping be supported on stand alone Duet2 Wifi?

              dc42undefined 1 Reply Last reply Reply Quote 0
              • dc42undefined
                dc42 administrators @zapta
                last edited by

                @zapta said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

                The Adafruit LIS3DH is available in my country on Amazon, $7 Prime shipped.

                https://www.amazon.com/Adafruit-LIS3DH-Triple-Axis-Accelerometer-ADA2809/dp/B01BU70B64

                @dc42, will input shaping be supported on stand alone Duet2 Wifi?

                Yes, but perhaps not on the Duet Maestro because it doesn't have floating point hardware.

                Duet WiFi hardware designer and firmware engineer
                Please do not ask me for Duet support via PM or email, use the forum
                http://www.escher3d.com, https://miscsolutions.wordpress.com

                CCS86undefined 1 Reply Last reply Reply Quote 1
                • MikeSundefined
                  MikeS @dc42
                  last edited by

                  @dc42 no problem at all at buying another accelerometer, but just for reference, amazon IT has ADXL345 at €5.99 with prime, LIS3DH €15.46 with prime. Most important is: are there differences on precision of the readings between these 2? 10€ difference is not a problem compared to accuracy of readings

                  1 Reply Last reply Reply Quote 0
                  • printernoodleundefined
                    printernoodle
                    last edited by

                    I am looking forward to this feature set...

                    dc42undefined 1 Reply Last reply Reply Quote 0
                    • dc42undefined
                      dc42 administrators @printernoodle
                      last edited by

                      More at https://duet3d.dozuki.com/Wiki/Accelerometers, and sample results at https://forum.e3d-online.com/threads/accelerometer-and-resonance-measurements-of-the-motion-system.3445/#post-38177.

                      Duet WiFi hardware designer and firmware engineer
                      Please do not ask me for Duet support via PM or email, use the forum
                      http://www.escher3d.com, https://miscsolutions.wordpress.com

                      zaptaundefined MikeSundefined 2 Replies Last reply Reply Quote 0
                      • zaptaundefined
                        zapta @dc42
                        last edited by

                        @dc42 said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

                        sample results at https://forum.e3d-online.com/threads/accelerometer-and-resonance-measurements-of-the-motion-system.3445/#post-38177.

                        @dc42, Can you post the graphs here? E3D requires registration to view them.

                        dc42undefined 1 Reply Last reply Reply Quote 0
                        • dc42undefined
                          dc42 administrators @zapta
                          last edited by dc42

                          The first two are without input shaping. The second two are with ZVD input shaping at 42Hz. ZVDD didn't give any further improvement, and both EI2 and EI3 were worse.
                          0d5110bc-f848-454d-a26c-4568a616300c-image.png
                          f95107ba-7062-41b5-961c-229f76fbd778-image.png
                          cf4f4823-a967-4c6d-ad99-dd6946f217cc-image.png
                          d414cb9b-3770-49d6-aa7b-c95835149457-image.png

                          Duet WiFi hardware designer and firmware engineer
                          Please do not ask me for Duet support via PM or email, use the forum
                          http://www.escher3d.com, https://miscsolutions.wordpress.com

                          Argoundefined 1 Reply Last reply Reply Quote 2
                          • Argoundefined
                            Argo @dc42
                            last edited by

                            Very nice seeing progress there!
                            Also as usual it looks very tidy and well thought out so far.

                            just ordered a Adafruit LIS3DH and plan to experiment with the new feature.
                            I see (experimental?) input shapers are also already implemented in the 3.3-input-shaper branch.

                            Is it already worth to try and experiment with the feature also during printing conditions?
                            Would like to see how the input shapers work with a typical i3 bed slinger as these printers tend to have different ringing frequencies at once. And I also could provide some results/data.

                            dc42undefined 1 Reply Last reply Reply Quote 0
                            • dc42undefined
                              dc42 administrators @Argo
                              last edited by dc42

                              @argo said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

                              I see (experimental?) input shapers are also already implemented in the 3.3-input-shaper branch.
                              Is it already worth to try and experiment with the feature also during printing conditions?

                              Experiment if you like; but the code is by no means complete, so be very careful. Pressure advance is disabled - I haven't even tried extruding. Delta kinematics is not implemented.

                              Input shaping will only work on moves for which the acceleration time is long enough to apply it, i.e. at least 2 * the shaping time. So you may need to reduce acceleration to get it applied. I believe there is some scope to apply it to shorter acceleration times, down to 1 * the shaping time + one half period, at least when using ZVD or ZVDD, but that isn't implemented yet. Also I will probably implement reducing acceleration (but not below a minimum) where necessary to allow input shaping to be applied.

                              I don't expect to include the input shaping code in the 3.3 release.

                              Duet WiFi hardware designer and firmware engineer
                              Please do not ask me for Duet support via PM or email, use the forum
                              http://www.escher3d.com, https://miscsolutions.wordpress.com

                              CNCModellerundefined 1 Reply Last reply Reply Quote 1
                              • CNCModellerundefined
                                CNCModeller @dc42
                                last edited by CNCModeller

                                Hi All,
                                Can anyone recommend a link to a good article on what input shaping is and what print features it addresses? I'm assuming it's about removing excitation of the printers structural modes from the demand, but I guess there are more subtle nuances too.

                                Edit: I assume this is the accelerometer mentioned.

                                https://www.ebay.co.uk/itm/232427148679

                                Many thanks
                                Barry M

                                Polar Duet3 Mini + 1HCL
                                https://youtube.com/playlist?list=PLWjZVEdMv1BY82izahK45qKh-hp3NFkix
                                Wanhao D4S: Duet2
                                https://forum.duet3d.com/post/296755
                                K40 Laser, Duet2
                                https://forum.duet3d.com/post/312082
                                Wanhao D5S
                                https://www.youtube.com/CNCModellerUK

                                Argoundefined 1 Reply Last reply Reply Quote 1
                                • Argoundefined
                                  Argo @CNCModeller
                                  last edited by

                                  @cncmodeller

                                  Yes that's the sensor.

                                  Input shaper ZVD(D) paper:
                                  https://www.researchgate.net/publication/316556412_INPUT_SHAPING_CONTROL_TO_REDUCE_RESIDUAL_VIBRATION_OF_A_FLEXIBLE_BEAM

                                  EI2 input shaper:
                                  http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.465.1337&rep=rep1&type=pdf

                                  Most simple explanation: It basically cancels out ringing frequencies.

                                  @dc42
                                  Defining a minimum and maximum acceleration range might be good approach for input shaping.
                                  With Klipper's (automatic) calibration measurement you can set a "max smoothing target" as too much acceleration may lead to losing fine details. It then recommends to stay below a specific acceleration, depending on the used shaper the value differs.
                                  What Klipper does not offer though is to set a specific acceleration range. Meaning, if printing small details, the acceleration slows down as needed, so the shaper works properly.

                                  Speaking of pressure advance. Is some sort of pressure advance smoothing planned?

                                  1 Reply Last reply Reply Quote 2
                                  • Dougal1957undefined
                                    Dougal1957
                                    last edited by

                                    I have just order two of these https://shop.pimoroni.com/products/adafruit-lis3dh-triple-axis-accelerometer-2g-4g-8g-16g in anticipation.

                                    Doug

                                    dc42undefined 1 Reply Last reply Reply Quote 0
                                    • dc42undefined
                                      dc42 administrators @Dougal1957
                                      last edited by dc42

                                      Here are some other relevant UK listings:

                                      https://www.hobbytronics.co.uk//index.php?route=product/search&search=lis3dh
                                      https://thepihut.com/products/adafruit-lis3dh-triple-axis-accelerometer-2g-4g-8g-16g

                                      Accelerometer support (but not input shaping) will be available in release 3.3beta3.

                                      Duet WiFi hardware designer and firmware engineer
                                      Please do not ask me for Duet support via PM or email, use the forum
                                      http://www.escher3d.com, https://miscsolutions.wordpress.com

                                      GeneRisiundefined 1 Reply Last reply Reply Quote 2
                                      • MikeSundefined
                                        MikeS @dc42
                                        last edited by

                                        @dc42 thanks for the updates! Will wait for 3.4 and accelerometer receive to test that!

                                        1 Reply Last reply Reply Quote 0
                                        • printernoodleundefined
                                          printernoodle
                                          last edited by

                                          So exciting....this is a wonderful addition to the ecosystem.
                                          Thank you!

                                          zaptaundefined 1 Reply Last reply Reply Quote 0
                                          • GeneRisiundefined
                                            GeneRisi @dc42
                                            last edited by

                                            @dc42 My accelerometer is in the mail. When will 3.3 beta 3 be released? 😂

                                            dc42undefined 1 Reply Last reply Reply Quote 0
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