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    Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning

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    • 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.

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          • 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

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                • 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?

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                                • 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!

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                                      • 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
                                          • dc42undefined
                                            dc42 administrators @GeneRisi
                                            last edited by dc42

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

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

                                            As soon as I have a fix for the issue of spurious VIN undervoltage reports on Duet 3 Mini with attached SBC. If your accelerometer arrives before then, there is a preview available at https://www.dropbox.com/sh/b65da04w1gl94nf/AACLpPslfDiWDlJN5KDdPydAa?dl=0.

                                            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 GeneRisiundefined 5 Replies Last reply Reply Quote 0
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