initial limited-corexz

config/example-limited-corexz.conf

@@ -0,0 +1,78 @@
+# This file is an example config file for corexz style printers. One
+# may copy and edit this file to configure a new corexz printer.
+
+# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
+# FIRST. Incorrectly configured parameters may cause damage.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PH6
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: limited_corexz
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 50
+max_z_accel: 30

docs/Config_Reference.md

@@ -565,6 +565,65 @@ max_z_accel:
 [stepper_z]
 ```
 
+### CoreXZ Kinematics with limits for X and Y axes
+
+Behaves exactly the as corexz kinematics, but allows to set a velocity and
+acceleration limit for X and Y axis.
+
+If you set accelerations per feature type in the slicer, and have tuned your
+acceleration to get similar resonance amplitudes and level of smoothing on X and
+Y, you may want to enable `scale_xy_accel: true`. This will scale the X and Y
+accelerations by the ratio `M204 acceleration / config.max_accel`. For example,
+if you have `max_accel: 10000` in your config and set in the slicer an
+acceleration of 5000 mm/s² (`M204 S5000`), effective `max_x_accel` and
+`max_y_accel` values will be halved compared to their original values set in the
+`[printer]` config. Otherwise, with `scale_xy_accel: false` (the default) they
+behave as machine limits, like `max_z_accel` and `max_z_velocity` always do.
+Gcode velocities under the limits are never scaled per axis and stay isotropic.
+
+```
+[printer]
+kinematics: limited_corexz
+max_x_velocity:
+#   This sets the maximum velocity (in mm/s) of movement along the x
+#   axis. This setting can be used to restrict the maximum speed of
+#   the x stepper motor. The default is to use max_velocity for
+#   max_x_velocity.
+max_y_velocity:
+#   This sets the maximum velocity (in mm/s) of movement along the y
+#   axis. This setting can be used to restrict the maximum speed of
+#   the y stepper motor. The default is to use max_velocity for
+#   max_x_velocity.
+max_z_velocity:
+#   See cartesian above.
+max_velocity:
+#   In order to get maximum velocity gains on diagonals, this should be equal or
+#   greater than the hypotenuse (sqrt(x*x + y*y)) of max_x_velocity and
+#   max_y_velocity.
+max_x_accel:
+#   This sets the maximum acceleration (in mm/s^2) of movement along
+#   the x axis. It limits the acceleration of the x stepper motor. The
+#   default is to use max_accel for max_x_accel.
+max_y_accel:
+#   This sets the maximum acceleration (in mm/s^2) of movement along
+#   the y axis. It limits the acceleration of the y stepper motor. The
+#   default is to use max_accel for max_y_accel.
+max_z_accel:
+# See cartesian above.
+max_accel:
+#   In order to get maximum acceleration gains on diagonals, this should be
+#   equal or greater than the hypotenuse (sqrt(x*x + y*y)) of max_x_accel and
+#   max_y_accel.
+scale_xy_accel:
+#   If scale_xy_accel is False, `max_accel`, set by M204 or SET_VELOCITY_LIMIT,
+#   acts as a third limit. This means that moves with an acceleration lower
+#   than max_x_accel and max_y_accel, have no per-axis limits applied. When set
+#   to True, max_x_accel and max_y_accel are scaled by the ratio of the
+#   acceleration set at runtime and the max_accel value from the config. Then
+#   the actual acceleration will always depend on the orientation.
+```
+
+
 ### Hybrid-CoreXY Kinematics
 
 See [example-hybrid-corexy.cfg](../config/example-hybrid-corexy.cfg)

klippy/kinematics/limited_corexz.py

@@ -0,0 +1,130 @@
+# Code for handling the kinematics of corexz robots
+# with per-axis limits for velocity and acceleration
+#
+# Copyright (C) 2020-2021  Mael Kerbiriou <[email protected]>
+# Copyright (C) 2023 Kyle Brown <[email protected]>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+#
+# Usage:
+# Copying this file under `klipper/klippy/kinematics/` should be enough (click
+# the `raw` button on github, then save as)
+# Then your config's [printer] should look like:
+# [printer]
+# kinematics: limited_corexz
+# max_velocity: 500 # Hypotenuse of the two values bellow
+# max_x_velocity: 400
+# max_y_velocity: 300
+# max_z_velocity: 5
+# max_accel: 1500 # Default acceleration of your choice
+# max_x_accel: 12000
+# max_y_accel: 9000
+# max_z_accel: 100
+# scale_xy_accel: [True/False, default False]
+#
+# max_velocity is usually the hypotenuses of X and Y velocity, For example:
+# with max_x_velocity = 300 and max_y_velocity = 400, the recommended value
+# is max_velocity = 500.
+#
+# If scale_xy_accel is False, `max_accel`, set by M204 or
+# SET_VELOCITY_LIMIT, acts as a third limit. In that case, this module
+# doesn't apply limitations to moves with an acceleration lower than
+# max_x_accel and max_y_accel.
+# When scale_xy_accel is True, max_x_accel and max_y_accel are scaled by
+# the ratio of the dynamically set acceleration and the hypotenuse of
+# max_x_accel and max_y_accel, as reported from `SET_KINEMATICS_LIMIT`.
+# This means that the actual acceleration will always depend on the
+# direction.
+# For example with these settings:
+# [printer]
+# max_x_accel: 12000
+# max_y_accel: 9000
+# scale_xy_accel: true
+# SET_KINEMATICS_LIMIT will report a maximum acceleration of 15000 mm/s^2
+# on 37 degrees diagonals. Thus, setting an acceleration of 3000 mm/s^2 in
+# the slicer will make the toolhead accelerate at 3000 mm/s^2 on these 37
+# and 143 degrees diagonals, but only 12000 * 3000 / 15000 = 2400 mm/s^2
+# for moves aligned with the X axis and 18000 mm/s^2 for pure Y moves.
+
+
+from sys import float_info
+from math import hypot, atan2, pi
+
+from . import corexz
+
+EPSILON = float_info.epsilon
+
+
+class LimitedCoreXZKinematics(corexz.CoreXZKinematics):
+    def __init__(self, toolhead, config):
+        corexz.CoreXZKinematics.__init__(self, toolhead, config)
+        # Setup y axis limits
+        max_velocity, max_accel = toolhead.get_max_velocity()
+        self.max_velocities = [
+            config.getfloat("max_%s_velocity" % ax, max_velocity, above=0.0)
+            for ax in "xyz"
+        ]
+        self.max_accels = [
+            config.getfloat("max_%s_accel" % ax, max_accel, above=0.0) for ax in "xyz"
+        ]
+        self.xy_hypot_accel = hypot(*self.max_accels[:2])
+        self.scale_per_axis = config.getboolean("scale_xy_accel", False)
+        config.get_printer().lookup_object("gcode").register_command(
+            "SET_KINEMATICS_LIMIT", self.cmd_SET_KINEMATICS_LIMIT
+        )
+
+    def cmd_SET_KINEMATICS_LIMIT(self, gcmd):
+        self.max_velocities = [
+            gcmd.get_float("%s_VELOCITY" % ax, max_v, above=0.0)
+            for max_v, ax in zip(self.max_velocities, "XYZ")
+        ]
+        self.max_accels = [
+            gcmd.get_float("%s_ACCEL" % ax, max_a, above=0.0)
+            for max_a, ax in zip(self.max_accels, "XYZ")
+        ]
+        self.xy_hypot_accel = hypot(*self.max_accels[:2])
+        self.scale_per_axis = bool(
+            gcmd.get_int("SCALE", self.scale_per_axis, minval=0, maxval=1)
+        )
+        msg = ("x,y,z max_velocities: %r\n" "x,y,z max_accels: %r\n") % (
+            self.max_velocities,
+            self.max_accels,
+        )
+        if self.scale_per_axis:
+            msg += "Per axis accelerations limits scale with current acceleration.\n"
+        else:
+            msg += "Per axis accelerations limits are independent of current acceleration.\n"
+        msg += (
+            "Maximum XY velocity of %.1f mm/s reached on %.0f degrees diagonals.\n"
+            "Maximum XY acceleration of %.0f mm/s^2 reached on %.0f degrees diagonals."
+        ) % (
+            hypot(*self.max_velocities[:2]),
+            180 * atan2(self.max_velocities[1], self.max_velocities[0]) / pi,
+            self.xy_hypot_accel,
+            180 * atan2(self.max_accels[1], self.max_accels[0]) / pi,
+        )
+        gcmd.respond_info(msg)
+
+    def check_move(self, move):
+        if not move.is_kinematic_move:
+            return
+        self._check_endstops(move)
+        x_r, y_r, z_r = move.axes_r[:3]
+        x_max_v, y_max_v, z_max_v = self.max_velocities
+        x_max_a, y_max_a, z_max_a = self.max_accels
+        x_r = max(abs(x_r), EPSILON)
+        y_r = max(abs(y_r), EPSILON)
+        max_v = min(x_max_v / x_r, y_max_v / y_r)
+        max_a = min(x_max_a / x_r, y_max_a / y_r)
+        if self.scale_per_axis:
+            _, toolhead_max_a = move.toolhead.get_max_velocity()
+            max_a *= toolhead_max_a / self.xy_hypot_accel
+        if z_r:
+            z_r = abs(z_r)
+            max_v = min(max_v, z_max_v / z_r)
+            max_a = min(max_a, z_max_a / z_r)
+        move.limit_speed(max_v, max_a)
+
+
+def load_kinematics(toolhead, config):
+    return LimitedCoreXZKinematics(toolhead, config)