Input shaping doesn't seem to affect Y axis
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Hello everyone,
I have installed and wired an LIS3DH accelerometer from Adafruit, got it to work and am able to capture data both with M956 or via the Input Shaping plugin.
However when applying any of the shapers and recapturing a motion profile, i do see a reduction in ringing for the X and Z values , but Y doesn't change or even gets worse.Y axis is driven by two steppers on two seperate drivers could it be the reason ?
Thank you in advance
Best
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@modl Please post your config.g and response to M115. What kind of machine is this? Cartesian printer? Are you sure the accelerometer is orientated and configured correctly? Check the I parameter in your M955 command, see https://docs.duet3d.com/User_manual/Connecting_hardware/Sensors_Accelerometer#orientation
IS is only applied to the X and Y axis, not Z, so I wouldn't expect to see any change in Z. More likely, the configuration of the orientation of the accelerometer is incorrect, so you're seeing a reduction in Z that actually refers to the Y axis.
Ian
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@droftarts thank you for your response !
Here is my config
; Configuration file for Duet 3 MB 6HC (firmware version 3.3) ; executed by the firmware on start-up ; ; generated by RepRapFirmware Configuration Tool v3.3.15 on Mon Jan 09 2023 14:50:13 GMT+0100 (Central European Standard Time) ; General preferences G90 ; send absolute coordinates... M83 ; ...but relative extruder moves M550 P"cbmp" ; set printer name ; Network M552 P192.168.1.14 S1 ; disable Telnet ; Drives M569 P0.2 S1 M569 P0.3 S1 ; physical drive 0.2 goes forwards M569 P0.4 S1 ; physical drive 0.3 goes forwards M569 P0.5 S0 ; physical drive 0.5 goes backwards M569 P0.0 S1 ; physical drive 0.0 goes forwards M569 P0.1 S0 ; physical drive 0.1 goes forwards M584 X0.2 Y0.3:0.4 Z0.5 E0.0:0.1 ; set drive mapping M350 X16 Y16 Z16 E16:16 I1 ; configure microstepping with interpolation M92 X64.00 Y64.00 Z1600.00 E415.00:415.00 ; set steps per mm M566 X900.00 Y900.00 Z60.00 E120.00:120.00 ; set maximum instantaneous speed changes (mm/min) M203 X6000.00 Y6000.00 Z280.00 E1200.00:1200.00 ; set maximum speeds (mm/min) M201 X500.00 Y500.00 Z40 E250.00:250.00 ; set accelerations (mm/s^2) M906 X2500 Y2500 Z2500 E600:600 I30 ; set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout ; Axis Limits M208 X0 Y0 Z0 S1 ; set axis minima M208 X355 Y995 Z355 S0 ; set axis maxima ; Endstops M574 X1 S1 P"io0.in" ; configure switch-type (e.g. microswitch) endstop for low end on X via pin io0.in M574 Y1 S1 P"io1.in" ; configure switch-type (e.g. microswitch) endstop for low end on Y via pin io1.in ; Z-Probe M950 S0 C"io4.out" ; create servo pin 0 for BLTouch M558 P9 C"io4.in" H5 F120 T6000 R0.3 ; set Z probe type to bltouch and the dive height + speeds G31 P500 X0 Y25 Z4.3 ; set Z probe trigger value, offset and trigger height M556 S50 X0 Y0 Z0 ; set orthogonal axis compensation parameters M557 X2:353 Y26:995 S50 ; define mesh grid M376 H10 ; Heaters M308 S0 P"temp2" Y"thermistor" T100000 B4138 ; configure sensor 0 as thermistor on pin temp2 M950 H0 C"out0" T0 ; create bed heater output on out0 and map it to sensor 0 M307 H0 R0.591 K0.132:0.000 D6.17 E1.35 S1.00 B0 ; enable bang-bang mode for the bed heater and set PWM limit M140 H0 ; map heated bed to heater 0 M143 H0 S120 ; set temperature limit for heater 0 to 120C M308 S1 P"temp0" Y"thermistor" T100000 B4138 ; configure sensor 1 as thermistor on pin temp0 M950 H1 C"out1" T1 ; create nozzle heater output on out1 and map it to sensor 1 M307 H1 R2.419 K0.333:0.000 D5.21 E1.35 S1.00 B0 V23.8 ; disable bang-bang mode for heater and set PWM limit M143 H1 S280 ; set temperature limit for heater 1 to 280C M308 S2 P"temp1" Y"thermistor" T100000 B4138 ; configure sensor 2 as thermistor on pin temp1 M950 H2 C"out2" T2 ; create nozzle heater output on out2 and map it to sensor 2 M307 H2 R2.509 K0.345:0.000 D4.78 E1.35 S1.00 B0 V23.8 ; disable bang-bang mode for heater and set PWM limit M143 H2 S280 ; set temperature limit for heater 2 to 280C ; Fans M950 F0 C"out3" Q0 ; create fan 0 on pin out9 and set its frequency M106 P0 S1 H1:2 T100 ; set fan 0 value. Thermostatic control is turned on M950 F1 C"out7" Q0 M106 P1 S0 H-1 M106 P1 F0 M950 F2 C"out8" Q0 M106 P2 S0 H-1 M106 P2 F0 ; Tools ; set mixing ratios for tool 2 M563 P0 S"Right Extruder" D0 H1 F1:2 ; define tool 0 G10 P0 X-10 Y0 Z0 ; set tool 0 axis offsets G10 P0 R0 S0 ; set initial tool 0 active and standby temperatures to 0C M563 P1 S"Left Extruder" D1 H2 F1:2 ; define tool 1 G10 P1 X10 Y0 Z0 ; set tool 1 axis offsets G10 P1 R0 S0 ; set initial tool 1 active and standby temperatures to 0C ; Accelerometer M955 P0 C"spi.cs3+spi.cs2"; all wires connected to temp DB connector M955 P0 I50 S1344 R10 ; define accelerometer orientation M593 P"ZVDD" F65 ; Custom settings are not defined ; Miscellaneous M911 S22.5 R23 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power lossAnd M115 response
M115 FIRMWARE_NAME: RepRapFirmware for Duet 3 MB6HC FIRMWARE_VERSION: 3.4.4 ELECTRONICS: Duet 3 MB6HC v1.01 FIRMWARE_DATE: 2022-10-20 16:19:01Yes i have double checked the orientation, accelero +x = machine +x ; accelero +z = machine -y
M593 P parameter is temporary i was playing around with it, but 66hz is what i get all the time
