Since yesterday I'm testing Klipper at one of our printers. In particular the input shapers and their auto tuning with a ADXL345 accelerometer woke my interest.

It turns out my bed slinger printer (Bear Frame with Bondtech Extruder) has different resonance frequencies on each axis.

After the auto calibration /measurement it recommended:
Recommended shaper_type_x = 3hump_ei, shaper_freq_x = 61.4 Hz
Recommended shaper_type_y = 2hump_ei, shaper_freq_y = 57.4 Hz

I see there are input shapers on the way for RRF but I couldn't find exact infos what shaper will be used and if it will be possible to enter a shaper frequency for each axis separately.

To sum it up, here are my wishes for RRF 3.4+:

• support for a accelerometer (preferable ADXL345 as it's easy to find and buy) to measure the needed frequency. The input shapers 2HUMP_EI & 3HUMP_EI may need this as it can't be easily measured
• Input shapers: 2HUMP_EI & 3HUMP_EI
• separate frequencies and dampening for each axis (at the moment RRFs DAA uses the same frequency for both axis)

I've compiled a stable 3.2.2. firmware (Duet 3 Mini 5+) with the TMC22xx.cpp fix from 3.3b1, so sensorless homing does work without loud crashing
Now, after 2-3 full days of experimenting, time to enjoy this nice new board a bit.

If anyone needs it, here you go: https://www.file-upload.net/download-14505164/Duet3Firmware_Mini5plus.uf2.zip.html

@dc42

Differences I see compared to Klipper right now:

• separate shaper frequency for each axis

• automatic resonance testing (with a accelerometer): Klipper firmware generates vibrations from lower to higher frequencies and tests each shaper for it‘s effectiveness at each frequency. The results and recommendations are then displayed in a graph. It also recommends maximum acceleration values.
  Example:

https://www.klipper3d.org/img/calibrate-y.png

The PINDA 2 has 4 cables.
White is the thermistor. You can connect it to Thermistor 2 on your Duet Wifi board.
Black is the signal for the probe and goes into Z Probe in.
Blue is ground an brown is +5V which you can "steal" from anywhere. I did chose to used the 5V/GRND from the expansion PINs on the board because they are right to each other.

If you use the stock PINDA position you can use my config code:

; Z-Probe PINDA
M574 Z1 S2 ; Set endstops controlled by probe
M558 P5 C"^zprobe.in" I1 H0.7 F1000 T6000 A20 S0.005 ; PINDA
M308 S2 P"e1_temp" A"PINDA" Y"thermistor" T100000 B3950
G31 P1000 X23 Y5 Z0.985 	                 ; PEI Sheet Offset C0.0010 S20 H2	
;G31 P1000 X23 Y5 Z1.315 					; Textured Sheet Offset
M557 X24:221 Y10:195 P9                     ; Define mesh grid

As for the temperature compensation.
For G31 there are S and C parameter available for that.

From the documentation:

Cnnn Temperature coefficient^2
Snnn Calibration temperature^2

2Optional parameters 'S' (temperature in oC at which the specified Z parameter is correct, default is current temperature) and 'C' (temperature coefficient of Z parameter in mm/oC, default zero) can be set. This is useful for probes that are affected by temperature. In RRF2 the bed temperature reading is used. In RRF3 you must specify which temperature sensor to use in the H parameter.

Unfortunately there is no example or way described how to use those parameters exactly.
What I did was, I chose a location where I expect no warping of the heat bed, removed the sheet and probed directly over the bottom left screw. That is the location the Prusa stock FW does also do it's temperature calibration.
Then I did measure my Z height at 35°C, 40°C, 45°C and 50°C PINDA temperature.
The problem then I had was that the inaccuracy wasn't linear but I think the "Temperature coefficient" parameter assumes that it is.
That is why PRUSA does save a specific Z offest value for the specific temperatures in a table and uses it when the temperature has been reached.

I already posted a possible solution in another thread:
https://forum.duet3d.com/topic/13516/conditional-gcode-and-object-model-variables/64?_=1592403073563

TL:DR

if PINDA_Thermistor <25°C {
G31 P1000 X23 Y5 Z0.995
}
else if PINDA_Thermistor >=25° AND PINDA_Thermistor <30° {
G31 P1000 X23 Y5 Z1.005
}
else if PINDA_Thermistor >=30°C AND PINDA_Thermistor <35° {
G31 P1000 X23 Y5 Z1.020
}
.
. and so on...
else {
G31 P1000 X23 Y5 Z2.0 ; safety height
}

What we need are the variables to make proper use of the thermistor of the PINDA.

At the moment M220 S20 (sets speed to 20%) does also slow down travel moves.
But what if we could choose whether to slow down travel moves with M220 or not.
Slowing down travel moves has a big drawback as this can increase the chance for stringing and blobs.

For example: M220 T1
The new parameter "T(1)" would then mean, that it does exclude travel moves. This setting can be set in config.g and when there is M220 Sxx in a gcode file it uses the set parameter (T1) from the config.g unless it gets overwritten with T0.

Use cases would be modifier in the slicer software. For example a print has very fine details between specific layers so we could set M220 S50 for those layers but without slowing down travel moves.

Another use case is the Palette 2 multi color unit and their Octoprint plugin. The multi material unit needs to do splices between colour changes and printing too fast may cause a failed print as the buffer cannot keep up. That's why the Plugin has a feature to slow down prints during splicing actions with M220 which does also slow down travel moves and can cause stringing / blobs.

@dc42

That is what I do at the moment. Here is my workaround bit in bed.g:

; bed.g

M574 Z1 S1 P"io6.in"						; Z endstop switch
M558 H10 F250:100 T6000 A20 S0.003  		; Klicky Probe settings

; bed.g script
while iterations <=1                                       	                                        ; Perform 2 passes.
	G30 P0 X0 Y25 Z-99999 F6000 								; probe Z left front
	G30 P1 X0 Y270 Z-99999 F6000      							; probe Z left rear
	G30 P2 X275 Y270 Z-99999 F6000 							; probe Z right rear
	G30 P3 X275 Y25 Z-99999 S4 F6000 						; probe Z right front
	;G1 H2 Z5 F2600 											; raise head 4mm to ensure it is above the Z probe trigger height
	M400 													; finish move, clear buffer
	
M558 H1.5 ; Probe  height to 1.5

while move.calibration.initial.deviation >= 0.005                                   ; Perform additional leveling if previous deviation was over 0.01mm.
	G30 P0 X0 Y25 Z-99999 F6000 								; probe Z left front
	G30 P1 X0 Y270 Z-99999 F6000      							; probe Z left rear
	G30 P2 X275 Y270 Z-99999 F6000 							; probe Z right rear
	G30 P3 X275 Y25 Z-99999 S4 F6000 					         ; probe Z right front
	;G1 H2 Z5 F2600 											; raise head 4mm to ensure it is above the Z probe trigger height
	M400 													; finish move, clear buffer

echo "Gantry deviation of " ^ move.calibration.initial.deviation ^ "mm obtained."


M913 X100 Y100 Z100                   ; Z current back default

You see for the first while loop I use a higher probing height so the probe won't drag over the bed.
In M558 we do already have two F values for speed. It would be nice to also have another height which then is used with the second speed set in F. Lowering speed and height does also improve accuracy.
Usage example: M558 F250:100 H10:1.5

I've upped my Config. You can copy the things you need.
https://www.file-upload.net/download-14164086/Config.zip.html

If you intent to use the whole config: You will need to add this in your start gcode in your slicer software for the filament runout sensor:

; Prime Filament Sensor for Runout
M581 P1 T2 S-1 R0 ; Filament Sensor P1 triggers Trigger2.g always (R0)  TRIGGER OFF
M950 J1 C"nil" ; Input 1 e0 Filament Sensor 
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor

The reason for this is that I wrote a filament autoload script and you can't have runout detection and autoload enabled at the same time without conditional code.

For the PINDA:
Black is the signal for the probe and goes into Z Probe in.
I connected 5V and GRND to the expansion port pins.
Thermistor is connected to E1

You can read out the PINDA thermistor temperature but we'll have to wait for conditional code being implemented as the temperature compensation feature as it is right now assumes that the inaccuracy is linear.

@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?

@dc42

Looks like I’m not alone with the issue anymore. Any news of an possible fix? And if possible, can we somehow assist in collecting more data (debug firmware with more logging?) for you to fix the issue?

The Accelerometer saves so much time and filament finding the best frequency even for the basic DAA shaper.

M593 off

And with DAA:

Can't wait for the "real" shapers

@dc42

Unfortunately the error didn't occur so far (after 100h printing).

But what I can add: When the error happened, soft resetting the printer (STOP on PanelDue) did not recover the 1LC. I had to unplug the power to recover the 1LC which was not responsive anymore.

Hi,

last print failed / stopped.
It seems communication with Duet tool board was lost?
The print continued and I found the extruder in it's final parking position.
After disconnecting power for a moment, everything worked again.
Both the board and tool board (1LC) run the firmware from the 3.6.0 RC1 bundle.

Error message:

Config:

;; Helpful Toolboards commands
;M115 B121  ; Show board 121
;M997 B121  ; Update tool 121
;M122 B121  ; Detailed status of toolboard
G4 S1        ; wait 1s for expansion boards to start

; General preferences
G90                                         ; Send absolute coordinates...
M83                                         ; ...but relative extruder moves

; Network
M550 P"Walross"                        	; Set machine name
M552 S1                                     	; Enable network
;*** Access point is configured manually via M587
M586 P0 S1                                  ; Enable HTTP
M586 P1 S1                                  ; Disable FTP
M586 P2 S1                                  ; Disable Telnet
M575 P1 S1 B57600							; Panel Due

; Printer geometry
M669 K1                	                    ; Select CoreXY mode
M208 X0:290 Y-3:300 Z-0.2:270              ; Axis Limits
M564 H0							            ; allow unhomed movement

;------- drives from top---------------------------------------------------
;  B -------+------ A   
;   | P.02 | P.03 |
;   -------+-------  Z-Drives
;   | P0.1 | P0.4 |
;   -------+-------
;        Front

; Drive Mappings
M569 P121.0 S0 D2                             ; Drive 0: E Axis
M569 P0.1 S1 D2                             ; Drive 1: Z-LeftFront Axis
M569 P0.2 S0 D2                             ; Drive 2: Z-LeftRear Axis
M569 P0.3 S1 D2                             ; Drive 3: Z-RightRear Axis
M569 P0.4 S0 D2                             ; Drive 4: Z-RightFront Axis
M569 P0.5 S1 D2                             ; Drive 5: Expansion: B motor (X-axis)
M569 P0.6 S0 D2                             ; Drive 6: Expansion: A motor (Y-axis)


; Motor remapping for dual Z and axis Limits
M584 X5 Y6 Z1:2:3:4 E121.0                              ; Motor mapping
M671 X-60:-60:360:360 Y-10:370:370:-10 S20	        ; Z leadscrews positions Left Front - Let Rear - Right Rear - Right Front

; Microstepping and Speed
M350 X32 Y32 E16 Z32 I1                     ; Configure microstepping with interpolation   
M92 X160.00 Y160.00 Z800.00 E682.00         ; Set steps per mm	1.8 motors							

; Speeds, Acceleration and Jerk
M566 X300.00 Y300.00 Z25.00 E600.00 P1          ; Set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z900.00 E7200.00       ; Set maximum speeds (mm/min) ; SpreadCycle
M201 X5000.00 Y5000.00 Z1000.00 E3000.00        ; Set accelerations (mm/s^2) ; SpreadCycle

; Motor currents
M906 X1250.00 Y1250.00 Z1100.00 E1200.00 I50        ; Set motor currents (mA) and motor idle factor in percent 
M84 S30                                            ; Set idle timeout

; Endstops for each Axis
M574 X2 S1 P"io1.in" 					 	; Set X endstop controlled by switch
M574 Y2 S1 P"io2.in"                      	; Set Y endstop controlled by switch
M574 Z1 S2                                  ; Set endstops controlled by probe "OLD" VINDA
;M574 Z1 S1 P"io6.in"						; Z endstop switch

; Stallgaurd Sensitivy (maybe use to pause print after crash)
M915 X S2 F0 H200 R0		                ; Set X axis Sensitivity  1.8 motors
M915 Y S2 F0 H200 R0		                ; Set y axis Sensitivity  1.8 motors

; Input Shaper and Accelerometer
M955 P121.0 I05 ;Accelerometer
M593 P"zvdd" F50.7 S0.12

; Z-Probe 
M558 P8 C"121.io2.in" I1 H1.5 F350:300 T12000 A15 S0.001	; VINDA

; Mesh Grid 
M557 X5:260 Y30:250 P7                         ; 

; Z Probe Offset (Probe behind Afterburner)
G31 P1000 X0 Y25 Z0.700	; VINDA - 3DSWay Textured   0.4 nozzle
;G31 P1000 X0 Y25 Z0.580		; VINDA - 3DSWay Textured   0.4 nozzle



; Filament Runout sensor
;M591 D0 P3 L25.95 E3 R1:900 C"121.io1.in" S1		 		; Filament Sensor 

; Heatbed Heaters and Thermistor Bed 
M308 S0 P"temp0" Y"thermistor" T100000 B4725 C7.060000e-8       ; Heatbed Thermistor
M950 H0 C"out0" T0 Q10					                        ; Creates Bed Heater (SSR)
M307 H0 R0.889 K0.762:0.000 D3.02 E1.35 S0.7 B0
M140 H0										                    ; Bed uses Heater 0
M143 H0 S116                                                    ; Set temperature limit for heater 0 to 115C Bed

; HotEnd Heaters and Thermistor HotEnd      
M308 S1 P"121.temp0" Y"thermistor" T100000 B4725 C7.06e-8     	; define E0 temperature sensor 
M950 H1 C"121.out0" T1 Q100					                            ; Create HotEnd Heater
M307 H1 R4.568 K0.683:0.000 D4.04 E1.35 S1.00 B0 V24.4				; PID as heater
M143 H1 S295                                                    	; Set temperature limit for heater 1 to 285C HotEnd
M302 S15 R15														; min extrusion (cold extrusion) temp

; Fans Hotend + Part
M950 F3 C"121.out1" Q100				; Creates HOTEND Fan
M106 P3 T65 L1.0 X1.0 H1                 ; HOTEND Fan Settings
M950 F0 C"121.out2" Q100				; Creates PARTS COOLING FAN
M106 P0 H-1                         ; Parts Cooling Fan 

; Fans Electronic compartment & Exhaust
M950 F1 C"out3" Q100				    ; Creates Case Fan 1
M106 P1 T40 S170 L170 X170 H0                 ; Case Fan 1 Settings 
M950 F2 C"out4" Q100				    ; Creates Case Fan 2
M106 P2 T40 S170 L170 X170  H0                  ; Case Fan 2 Settings 
M950 F5 C"out5" Q100				    ; Creates Exhaust Fan
M106 P5 T82 S150 L150 X150 H0                  ; Exhaust fan

; Chamber Thermistor
M308 S3 P"temp1" A"Chamber" Y"thermistor" T100000 B4725 C7.060000e-8     	; define chamber sensor

; Tools
M563 P0 D0 H1 F0                            ; Define tool 0
G10 P0 X0 Y0 Z0                             ; Set tool 0 axis offsets
G10 P0 R0 S0                                ; Set initial tool 0 active and standby temperatures to 0C

M122 B121 after reset:

M122 B121
Diagnostics for board 121:
Duet TOOL1LC rev 1.1 or later firmware version 3.6.0-rc.1 (2025-02-28 15:03:36)
Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1)
All averaging filters OK
Never used RAM 7480, free system stack 140 words
Tasks: Move(3,nWait 7,0.0%,140) TMC(2,nWait 6,3.6%,52) HEAT(2,nWait 6,0.2%,110) CanAsync(5,nWait 4,0.0%,58) CanRecv(3,nWait 1,0.0%,70) CanClock(5,nWait 1,0.0%,58) ACCEL(3,nWait 6,0.0%,72) MAIN(1,running,91.4%,318) IDLE(0,ready,0.0%,26) AIN(2,delaying,4.8%,112), total 100.0%
Owned mutexes:
Last reset 01:45:08 ago, cause: power up
Last software reset time unknown, reason: AssertionFailed, available RAM 3392, slot 0
Software reset code 0x0120 ICSR 0x00000000 SP 0x2000415c Task  Freestk 129 bad marker
Stack: 00000544 00022ffc 00019b65 20003134 00016cff 20003134 000163d1 20000ed0 00000000 00000001 00008275 200071c8 200071c8 200071e0 00000000 20000f50 00011647 000223b8 00022474 00021ac8 00019b05 200071c8 200071c8 20000f50 000083ed 200071d8 000009c7
Moves scheduled 0, hiccups 0 (0.00/0.00ms), segs 0, step errors 0 (types 0x0), maxLate 0 maxPrep 0, ebfmin 0.00 max 0.00
Peak sync jitter -5/11, peak Rx sync delay 207, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3858308480 ticks, disabled
VIN voltage: min 24.2, current 24.2, max 24.3
MCU temperature: min 36.0C, current 36.3C, max 44.9C
Driver 0: pos 0, 682.0 steps/mm, standstill, SG min 0, read errors 0, write errors 0, ifcnt 13, reads 8669, writes 13, timeouts 0, DMA errors 0, CC errors 0
Last sensors broadcast 0x00000002 found 1 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126204, send timeouts 0, received 55152, lost 0, ignored 0, errs 0, boc 0, free buffers 18, min 18, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 0
Accelerometer: LIS3DH, status: 00
I2C bus errors 0, naks 3, contentions 0, other errors 0

Hi,

I printed about 30h or so with RRF 3.6.0-beta2+4 without issues but just now I got this error:

Error: Movement halted because a step timing error occured on drive 2 (code 7). Please reset the controller.

Drive 2 is my left rear Z motor.

config.g:

G4 S1        ; wait 1s for expansion boards to start

; General preferences
G90                                         ; Send absolute coordinates...
M83                                         ; ...but relative extruder moves

; Network
M550 P"Walross"                        	; Set machine name
M552 S1                                     	; Enable network
;*** Access point is configured manually via M587
M586 P0 S1                                  ; Enable HTTP
M586 P1 S1                                  ; Disable FTP
M586 P2 S1                                  ; Disable Telnet
M575 P1 S1 B57600							; Panel Due

; Printer geometry
M669 K1                	                    ; Select CoreXY mode
M208 X0:290 Y-3:300 Z-0.2:270              ; Axis Limits
M564 H0							            ; allow unhomed movement

;------- drives from top---------------------------------------------------
;  B -------+------ A   
;   | P.02 | P.03 |
;   -------+-------  Z-Drives
;   | P0.1 | P0.4 |
;   -------+-------
;        Front

; Drive Mappings
M569 P121.0 S0 D2                             ; Drive 0: E Axis
M569 P0.1 S1 D2                             ; Drive 1: Z-LeftFront Axis
M569 P0.2 S0 D2                             ; Drive 2: Z-LeftRear Axis
M569 P0.3 S1 D2                             ; Drive 3: Z-RightRear Axis
M569 P0.4 S0 D2                             ; Drive 4: Z-RightFront Axis
M569 P0.5 S1 D2                             ; Drive 5: Expansion: B motor (X-axis)
M569 P0.6 S0 D2                             ; Drive 6: Expansion: A motor (Y-axis)


; Motor remapping for dual Z and axis Limits
M584 X5 Y6 Z1:2:3:4 E121.0                              ; Motor mapping
M671 X-60:-60:360:360 Y-10:370:370:-10 S20	        ; Z leadscrews positions Left Front - Let Rear - Right Rear - Right Front

; Microstepping and Speed
M350 X32 Y32 E16 Z32 I1                     ; Configure microstepping with interpolation   
M92 X160.00 Y160.00 Z800.00 E682.00         ; Set steps per mm	1.8 motors							

; Speeds, Acceleration and Jerk
M566 X300.00 Y300.00 Z25.00 E600.00 P1          ; Set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z900.00 E7200.00       ; Set maximum speeds (mm/min) ; SpreadCycle
M201 X5000.00 Y5000.00 Z1000.00 E3000.00        ; Set accelerations (mm/s^2) ; SpreadCycle

; Motor currents
M906 X1250.00 Y1250.00 Z1100.00 E1200.00 I50        ; Set motor currents (mA) and motor idle factor in percent 
M84 S30                                            ; Set idle timeout

; Endstops for each Axis
M574 X2 S1 P"io1.in" 					 	; Set X endstop controlled by switch
M574 Y2 S1 P"io2.in"                      	; Set Y endstop controlled by switch
M574 Z1 S2                                  ; Set endstops controlled by probe "OLD" VINDA
;M574 Z1 S1 P"io6.in"						; Z endstop switch

; Stallgaurd Sensitivy (maybe use to pause print after crash)
M915 X S2 F0 H200 R0		                ; Set X axis Sensitivity  1.8 motors
M915 Y S2 F0 H200 R0		                ; Set y axis Sensitivity  1.8 motors

; Input Shaper and Accelerometer
M955 P121.0 I05 ;Accelerometer
M593 P"zvdd" F50.7 S0.12

; Z-Probe 
M558 P8 C"121.io2.in" I1 H1.5 F350:300 T12000 A500 S0.0025	; VINDA

; Mesh Grid 
M557 X5:260 Y30:250 P7                         ; 



; Z Probe Offset (Probe behind Afterburner)
G31 P1000 X0 Y25 Z0.585		; VINDA - 3DSWay Textured   0.4 nozzle
;G31 P1000 X0 Y25 Z0.580		; VINDA - 3DSWay Textured   0.4 nozzle



; Filament Runout sensor
;M591 D0 P3 L25.95 E3 R1:900 C"121.io1.in" S1		 		; Filament Sensor 

; Heatbed Heaters and Thermistor Bed 
M308 S0 P"temp0" Y"thermistor" T100000 B4725 C7.060000e-8       ; Heatbed Thermistor
M950 H0 C"out0" T0 Q10					                        ; Creates Bed Heater (SSR)
M307 H0 R0.889 K0.762:0.000 D3.02 E1.35 S0.6 B0
M140 H0										                    ; Bed uses Heater 0
M143 H0 S116                                                    ; Set temperature limit for heater 0 to 115C Bed

; HotEnd Heaters and Thermistor HotEnd      
M308 S1 P"121.temp0" Y"thermistor" T100000 B4725 C7.06e-8     	; define E0 temperature sensor 
M950 H1 C"121.out0" T1 Q100					                            ; Create HotEnd Heater
M307 H1 R4.568 K0.683:0.000 D4.04 E1.35 S1.00 B0 V24.4				; PID as heater
M143 H1 S295                                                    	; Set temperature limit for heater 1 to 285C HotEnd
M302 S15 R15														; min extrusion (cold extrusion) temp

; Fans Hotend + Part
M950 F3 C"121.out1" Q100				; Creates HOTEND Fan
M106 P3 T65 L1.0 X1.0 H1                 ; HOTEND Fan Settings
M950 F0 C"121.out2" Q100				; Creates PARTS COOLING FAN
M106 P0 H-1                         ; Parts Cooling Fan 

; Fans Electronic compartment & Exhaust
M950 F1 C"out3" Q100				    ; Creates Case Fan 1
M106 P1 T40 S170 L170 X170 H0                 ; Case Fan 1 Settings 
M950 F2 C"out4" Q100				    ; Creates Case Fan 2
M106 P2 T40 S170 L170 X170  H0                  ; Case Fan 2 Settings 
M950 F5 C"out5" Q100				    ; Creates Exhaust Fan
M106 P5 T82 S150 L150 X150 H0                  ; Exhaust fan

; Chamber Thermistor
M308 S3 P"temp1" A"Chamber" Y"thermistor" T100000 B4725 C7.060000e-8     	; define chamber sensor

; Tools
M563 P0 D0 H1 F0                            ; Define tool 0
G10 P0 X0 Y0 Z0                             ; Set tool 0 axis offsets
G10 P0 R0 S0                                ; Set initial tool 0 active and standby temperatures to 0C

@leone

You can find the latest (sub)version of beta 3.6.0 here for now:
https://forum.duet3d.com/post/347763

@Phaedrux

Yes but I can't say whether it has improved compare to RRF 3.4 as I can't remember the results anymore as it's almost two years ago.
With RRF 3.6 beta pressure advance is visually unaffected by input shaping. Corners are very sharp with normal PA values.

@dc42

Thanks! I can confirm that problem has been fixed.

@gloomyandy

With "M564 H0" in config.g you can.

@gloomyandy

Detailed steps:
-> I power on the printer
-> (axis are not homed). I try to move the tool head +10 on x but it goes right diagonal. When I move +10 on Y it somewhat fixes the issue and X moves as it should
-> when trying to home the axis the problem is back again

I recorded a video, maybe then it's easier to understand:
https://www.youtube.com/shorts/4EAlWwtn1Ss

Hi,

because I also got this error with with 3.6.0-beta2+1 :
https://forum.duet3d.com/topic/36988/rrf-3-6-0-beta-2-error-code-7
...I tried 3.6.0-beta2+3 from here: https://www.dropbox.com/scl/fo/pasag1g18orahwvn49qp2/ABWgw6D-TyKWxxurTmGwiUE?rlkey=r9h3rjyw1l4wh7xbr8yho37gw&e=1&dl=0

Problem with RRF 3.6.0-beta2+3:
When commanding +10 on X the tool head moves diagonal. Then I command Y to move back and forth and then back on X fixes the issue and the tool head moves as intended. When commanding to home the axis the tool head moves diagonal again. This did not happen with 3.6.0-beta2+1 (flashed back to confirm).

config.g:

G4 S1        ; wait 1s for expansion boards to start

; General preferences
G90                                         ; Send absolute coordinates...
M83                                         ; ...but relative extruder moves

; Network
M550 P"Walross"                        	; Set machine name
M552 S1                                     	; Enable network
M586 P0 S1                                  ; Enable HTTP
M586 P1 S1                                  ; Disable FTP
M586 P2 S1                                  ; Disable Telnet
M575 P1 S1 B57600							; Panel Due

; Printer geometry
M669 K1                	                    ; Select CoreXY mode
M208 X0:290 Y-3:300 Z-0.2:270              ; Axis Limits
M564 H0							            ; allow unhomed movement

; Drive Mappings
M569 P121.0 S0 D2                             ; Drive 0: E Axis
M569 P0.1 S1 D2                             ; Drive 1: Z-LeftFront Axis
M569 P0.2 S0 D2                             ; Drive 2: Z-LeftRear Axis
M569 P0.3 S1 D2                             ; Drive 3: Z-RightRear Axis
M569 P0.4 S0 D2                             ; Drive 4: Z-RightFront Axis
M569 P0.5 S1 D2                             ; Drive 5: Expansion: B motor (X-axis)
M569 P0.6 S0 D2                             ; Drive 6: Expansion: A motor (Y-axis)


; Motor remapping for dual Z and axis Limits
M584 X5 Y6 Z1:2:3:4 E121.0                              ; Motor mapping
M671 X-60:-60:360:360 Y-10:370:370:-10 S20	        ; Z leadscrews positions Left Front - Let Rear - Right Rear - Right Front

; Microstepping and Speed
M350 X32 Y32 E16 Z32 I1                     ; Configure microstepping with interpolation   
M92 X160.00 Y160.00 Z800.00 E682.00         ; Set steps per mm	1.8 motors							

; Speeds, Acceleration and Jerk
M566 X300.00 Y300.00 Z25.00 E600.00 P1          ; Set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z900.00 E1200.00       ; Set maximum speeds (mm/min) ; SpreadCycle
M201 X5000.00 Y5000.00 Z1000.00 E10000.00        ; Set accelerations (mm/s^2) ; SpreadCycle

; Motor currents
M906 X1250.00 Y1250.00 Z1100.00 E1200.00 I50        ; Set motor currents (mA) and motor idle factor in percent 
M84 S30                                            ; Set idle timeout

; Endstops for each Axis
M574 X2 S1 P"io1.in" 					 	; Set X endstop controlled by switch
M574 Y2 S1 P"io2.in"                      	; Set Y endstop controlled by switch
M574 Z1 S2                                  ; Set endstops controlled by probe "OLD" VINDA

; Stallgaurd Sensitivy (maybe use to pause print after crash)
M915 X S2 F0 H200 R0		                ; Set X axis Sensitivity  1.8 motors
M915 Y S2 F0 H200 R0		                ; Set y axis Sensitivity  1.8 motors

; Input Shaper and Accelerometer
M955 P121.0 I05 ;Accelerometer
M593 P"zvdd" F50.7 S0.12

; Z-Probe 
M558 P8 C"121.io2.in" I1 H1.5 F350:300 T12000 A500 S0.0025	; VINDA

; Mesh Grid 
M557 X5:260 Y30:250 P7                         ; 

; Z Probe Offset (Probe behind Afterburner)
G31 P1000 X0 Y25 Z0.560		; VINDA - 3DSWay Textured   0.4 nozzle

; Heatbed Heaters and Thermistor Bed 
M308 S0 P"temp0" Y"thermistor" T100000 B4725 C7.060000e-8       ; Heatbed Thermistor
M950 H0 C"out0" T0 Q10					                        ; Creates Bed Heater (SSR)
M307 H0 R0.889 K0.762:0.000 D3.02 E1.35 S0.6 B0
M140 H0										                    ; Bed uses Heater 0
M143 H0 S116                                                    ; Set temperature limit for heater 0 to 115C Bed

; HotEnd Heaters and Thermistor HotEnd      
M308 S1 P"121.temp0" Y"thermistor" T100000 B4725 C7.06e-8     	; define E0 temperature sensor 
M950 H1 C"121.out0" T1 Q100					                            ; Create HotEnd Heater
M307 H1 R4.568 K0.683:0.000 D4.04 E1.35 S1.00 B0 V24.4				; PID as heater
M143 H1 S295                                                    	; Set temperature limit for heater 1 to 285C HotEnd
M302 S15 R15														; min extrusion (cold extrusion) temp

; Fans Hotend + Part
M950 F3 C"121.out1" Q100				; Creates HOTEND Fan
M106 P3 T65 L1.0 X1.0 H1                 ; HOTEND Fan Settings
M950 F0 C"121.out2" Q100				; Creates PARTS COOLING FAN
M106 P0 H-1                         ; Parts Cooling Fan 

; Fans Electronic compartment & Exhaust
M950 F1 C"out3" Q100				    ; Creates Case Fan 1
M106 P1 T40 S170 L170 X170 H0                 ; Case Fan 1 Settings 
M950 F2 C"out4" Q100				    ; Creates Case Fan 2
M106 P2 T40 S170 L170 X170  H0                  ; Case Fan 2 Settings 
M950 F5 C"out5" Q100				    ; Creates Exhaust Fan
M106 P5 T82 S150 L150 X150 H0                  ; Exhaust fan

; Chamber Thermistor
M308 S3 P"temp1" A"Chamber" Y"thermistor" T100000 B4725 C7.060000e-8     	; define chamber sensor

; Tools
M563 P0 D0 H1 F0                            ; Define tool 0
G10 P0 X0 Y0 Z0                             ; Set tool 0 axis offsets
G10 P0 R0 S0                                ; Set initial tool 0 active and standby temperatures to 0C

Just wanted to report that with RRF 3.6 (beta) the issue is gone. Pressure Advance works as intended with input shaping.