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Motion Ability

Settings related to the motion capabilities of the printer.

Emit limits to G-code

Mode: Advanced.
Variable: emit_machine_limits_to_gcode.
If enabled, the machine limits will be emitted to G-code file. This option will be ignored if the G-code flavor is set to Klipper.

Resonance Compensation

Resonance Compensations are the methods used to reduce the vibrations of the printer during high-speed movements, which can cause ringing on the surface of the model.

Resonance Avoidance

Mode: Advanced.
Variables: resonance_avoidance, min_resonance_avoidance_speed, max_resonance_avoidance_speed.
By reducing the speed of the outer wall to avoid the resonance zone of the printer, ringing on the surface of the model are avoided.

Tip

Check the VFA Calibration.

Input Shaping

Mode: Expert.
Variables: input_shaping_emit, input_shaping_freq_x, input_shaping_freq_y, input_shaping_damp_x, input_shaping_damp_y.
During high-speed movements, vibrations can cause a phenomenon called "ringing," where periodic ripples appear on the print surface. Input Shaping provides an effective solution by counteracting these vibrations, improving print quality and reducing wear on components without needing to significantly lower print speeds.

Note

Some Printers have built-in accelerometers that can be used to automatically measure the resonant frequencies of the printer.
If your printer has one, consider using it as it can provide more accurate results in less time and usually is autosaved into the printer firmware.

Tip

It's usually recommended to perform Input Shaping calibration once a year or after any mechanical or structural changes such as relocation, changing the support surface, new belts, motors, frame, etc.

Important

RepRap can only set one frequency for both X and Y axes so you will need to select a frequency that works well for both axes.

inputshaping_printer

Important

NEW FEATURE: Input Shaping
Available in: Nightly builds or Releases greater than 2.3.2.

Input Shaping Type

Mode: Expert.
Variable: input_shaping_type.
The Input Shaping type determines the algorithm used to counteract the vibrations.
It is usually recommended to use MZV, EI (specially for Delta printers) or ZV as a simple and effective solution.
Not all Input Shaping types are available in all firmware and their performance may vary depending on the firmware implementation and the printer's mechanics.

Default

When "Default" is selected, the firmware's default input shaper will be used.
Every firmware and even its version may have a different default type but usually are:

  • Klipper: MZV
  • Marlin: ZV
  • RepRap:
    • Version >= 3.4: MZV
    • Version < 3.4: DAA
    • Version < 3.2: DAA (without damping option)
Version Table
Type Name Klipper RepRap Marlin 2
MZV Modified Zero Vibration >=0.9.0 >=3.4 -
ZV Zero Vibration >=0.9.0 = 3.5 >2.1.2
ZVD Zero Vibration Derivative >=0.9.0 >=3.4 -
ZVDD Zero Vibration Double Derivative - >=3.4 -
ZVDDD Zero Vibration Triple Derivative - >=3.4 -
EI Extra Insensitive >=0.9.0 - -
2HUMP_EI / EI2 Two-Hump Extra Insensitive >=0.9.0 >=3.4 -
3HUMP_EI / EI3 Three-Hump Extra Insensitive >=0.9.0 >=3.4 -
FT_MOTION Fixed-Time Motion - - >2.1.3
DAA Damped Anti-Resonance - < 3.4 -
Fixed-Time Motion

TODO: This calibration test is currently under development. See the Marlin documentation for more information.

Speed limitation

Safeguard maximum speeds for all axes. This will cap the speed set by the process if it exceeds these values.

Acceleration limitation

Modes:
Simple Variables: machine_max_acceleration_extruding, machine_max_acceleration_retracting.
Advanced Variable: machine_max_acceleration_travel.
Variables: machine_max_acceleration_e, machine_max_acceleration_z, machine_max_acceleration_x, machine_max_acceleration_y.
Safeguard maximum accelerations for all axes. This will cap the acceleration set by the process if it exceeds these values.

Jerk limitation

Safeguard maximum jerks for all axes.

Tip

Check the Cornering Calibration.

Maximum Jerk

Variables: machine_max_jerk_z, machine_max_jerk_e, machine_max_jerk_x, machine_max_jerk_y.
Maximum jerk for each axis (M205 X, Y, Z, E, only apply if JD = 0 for Marlin 2 Firmware)

Maximum Junction Deviation

Mode: Advanced.
Variable: machine_max_junction_deviation.
Maximum junction deviation (M205 J, only apply if JD > 0 for Marlin Firmware. If your Marlin 2 printer uses Classic Jerk set this value to 0.)