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Anonoei cd084d9b3f MAJOR UPDATE 
Switched to binary search instead of range values
Check individual axes (x, y, diag_x, diag_y)
Add 'derate' to lower measured maximum
Added 'AUTO_SPEED_VELOCITY' to find max velocity
Added 'AUTO_SPEED_ACCEL' to find max accel
Added 'AUTO_SPEED_VALIDATE' to run Ellis' pattern
Added support for z_tilt printers
Changed z to not be hardcoded
2023-10-15 16:33:02 -10:00
auto_speed.py
MAJOR UPDATE
2023-10-15 16:33:02 -10:00
install.sh
Add install.sh
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LICENSE
Initial working commit
2023-10-11 17:24:58 -10:00
README.md
MAJOR UPDATE
2023-10-15 16:33:02 -10:00

README.md

Klipper Auto Speed

Klipper module for automatically calculating your printer's maximum acceleration/velocity

With one copy/paste and one line in your configuration, automatically optimize your printer's motion

This module automatically performs movements on the x, y, x diagonal, and y diagonal axes, and measures your steppers missed steps at various accelerations/velocities. With the default configuration, this may take awhile (up to an hour). Most of the testing time is waiting for your printer to home. On my printer with default settings (except MAX_MISSED), it takes 1398.34s for acceleration, 1201.21s for velocity, and XXXXX for the validation test.

Sensorless homing: If you're using sensorless homing MAX_MISSED=1.0 is probably too low. The endstop variance check will tell you how many steps you lose when homing. For instance, on my printer I lose around 0-4.2 steps each home. I run AUTO_SPEED MAX_MISSED=10.0 to account for that variance, and occasional wildly different results.

This module is under development, and has only been validated on CoreXY printers: You may run into issues or bugs, feel free to message me on discord, or post an issue here. This module has two dedicated discord channels

Your printer shouldn't have any crashes due to the movement patterns used, and re-homing before/after each test, so it's safe to walk away and let it do it's thing.

Table of Contents

Overview

  • License: MIT

Example Usage

  • Default usage (find max accel/velocity)
    • AUTO_SPEED
  • Find maximum acceleration on y axis
    • AUTO_SPEED_ACCEL X=0 DIAG_X=0 DIAG_Y=0
  • Check your printer's current accel/velocity
    • AUTO_SPEED_VALIDATE

How does it work?

  1. Home your printer
  2. If your print is enclosed, heat soak it. You want to run this module at the typical state your printer is in when you're printing.
  3. Run AUTO_SPEED
    1. Check endstop variance
      • Validate the endstops are accurate enough for MAX_MISSED
    2. Find the maximum acceleration
      • Perform a binary search between ACCEL_MIN and ACCEL_MAX
      • velocity = (math.sqrt(travel/accel)*accel) * .7
      1. Home, and save stepper start steps
      2. Perform the movement check on the specified axis
      3. Home, and save stepper stop steps
    3. Find maximum velocity
      • Perform a binary search between VELOCITY_MIN and VELOCITY_MAX
      • accel = (velocity**2/travel) * 4
      1. Home, and save stepper start steps
      2. Perform the movement check on the specified axis
      3. Home, and save stepper stop steps
    4. Show results
      • Print results on each axis, for both accel and velocity, and also print the recommended (derated) values

Using Klipper Auto Speed

Moonraker Update Manager

[update_manager klipper_auto_speed]
type: git_repo
path: ~/klipper_auto_speed
origin: https://github.com/anonoei/klipper_auto_speed.git
primary_branch: main
install_script: install.sh
managed_services: klipper

Installation

To install this module you need to clone the repository and run the install.sh script

Automatic installation

cd ~
git clone https://github.com/Anonoei/klipper_auto_speed.git
cd klipper_auto_speed
./install.sh

Manual installation

  1. Clone the repository
    1. cd ~
    2. git clone https://github.com/Anonoei/klipper_auto_speed.git
    3. cd klipper_auto_speed
  2. Link auto_speed to klipper
    1. ln -sf ~/klipper_auto_speed/auto_speed.py ~/klipper/klippy/extras/auto_speed.py
  3. Restart klipper
    1. sudo systemctl restart klipper

Configuration

Place this in your printer.cfg

[auto_speed]

The values listed below are the defaults Auto Speed uses. You can include them if you wish to change their values or run into issues.

[auto_speed]
x: False              ; By default, check x axis
y: False              ; By default, check y axis
diag_x: True          ; By default, check x diagonal
diag_y: True          ; By default, check y diagonal

z: Unset              ; Z position to run Auto Speed, defaults to 10% of z axis length
margin: 20            ; How far away from your axis maximums to perform the test movement
pattern_margin: 20    ; How far from your axis centers to perform the small test movement

settling_home: True   ; Perform settling home before starting Auto Speed
max_missed: 1.0       ; Maximum full steps that can be missed
endstop_samples: 3    ; How many endstop samples to take for endstop variance

test_attempts: 2      ; Re-test this many times if test fails
stress_iterations: 50 ; While finding final maximums, perform the test movement this many times

accel_min: 1000.0     ; Minimum acceleration test may try
accel_max: 50000.0    ; Maximum acceleration test may try
accel_dist: 10.0      ; Distance to move when testing, if 0, use total axis - margin
accel_ittr: 1         ; How many iterations of the test to perform
accel_accu: 500.0     ; Keep binary searching until the result is this small

velocity_min: 50.0    ; Minimum velocity test may try
velocity_max: 5000.0  ; Maximum velocity test may try
velocity_dist: 0.0    ; Distance to move when testing, if 0, use total axis - margin
velocity_ittr: 1      ; How many iterations of the test to perform
velocity_accu: 50.0   ; Keep binary searching until the result is this small

derate: 0.8           ; Derate discovered results by this amount

Macro

Auto Speed is split into 4 separate macros. The default AUTO_SPEED automatically calls the other three (AUTO_SPEED_ACCEL, AUTO_SPEED_VELOCITY, AUTO_SPEED_VALIDATE). You can use any argument from those macros when you call AUTO_SPEED.

AUTO_SPEED

AUTO_SPEED finds maximum acceleration, velocity, and validates results at the end.

Argument Default Description
X 0 Perform test on X axis
Y 0 Perform test on Y axis
DIAG_X 1 Perform test on x diagonal (stepper B)
DIAG_X 1 Perform test on y diagonal (stepper A)

Z | 50 | Z position to run Auto Speed MARGIN | 20 | How far away from your axis maximums to perform the test movement SETTLING_HOME | 1 | Perform settling home before starting Auto Speed MAX_MISSED | 1.0 | Maximum full steps that can be missed ENDSTOP_SAMPLES | 3 | How many endstop samples to take for endstop variance TEST_ATTEMPTS | 2 | Re-test this many times if test fails

ACCEL_MIN | 1000.0 | Minimum acceleration test may try ACCEL_MAX | 50000.0 | Maximum acceleration test may try ACCEL_DIST | 10.0 | Distance to move when testing, if 0, use total axis - margin ACCEL_ITTR | 1 | How many iterations of the test to perform ACCEL_ACCU | 500.0 | Keep binary searching until the result is this small

VELOCITY_MIN | 50.0 | Minimum velocity test may try VELOCITY_MAX | 5000.0 | Maximum velocity test may try VELOCITY_DIST | 0.0 | Distance to move when testing, if 0, use total axis - margin VELOCITY_ITTR | 1 | How many iterations of the test to perform VELOCITY_ACCU | 50.0 | Keep binary searching until the result is this small

LEVEL | 1 | Level the printer if it's not leveled VARIANCE | 1 | Check endstop variance

AUTO_SPEED_ACCEL

AUTO_SPEED_ACCEL find maximum acceleration

Argument Default Description
X 0 Perform test on X axis
Y 0 Perform test on Y axis
DIAG_X 1 Perform test on x diagonal (stepper B)
DIAG_X 1 Perform test on y diagonal (stepper A)

MARGIN | 20.0 | Used when DIST is 0.0, how far away from axis to perform movements DERATE | 0.8 | How much to derate maximum values for the recommended max MAX_MISSED | 1.0 | Maximum fulls steps that can be missed

ACCEL_MIN | 1000.0 | Minimum acceleration test may try ACCEL_MAX | 50000.0 | Maximum acceleration test may try ACCEL_DIST | 10.0 | Distance to move when testing, if 0, use (total axis - margin) ACCEL_ITTR | 1 | How many iterations of the test to perform ACCEL_ACCU | 500.0 | Keep binary searching until the result is this small

AUTO_SPEED_VELOCITY

AUTO_SPEED_VELOCITY finds maximum velocity

Argument Default Description
X 0 Perform test on X axis
Y 0 Perform test on Y axis
DIAG_X 1 Perform test on x diagonal (stepper B)
DIAG_X 1 Perform test on y diagonal (stepper A)

MARGIN | 20.0 | Used when DIST is 0.0, how far away from axis to perform movements DERATE | 0.8 | How much to derate maximum values for the recommended max MAX_MISSED | 1.0 | Maximum fulls steps that can be missed

VELOCITY_MIN | 1000.0 | Minimum velocity test may try VELOCITY_MAX | 50000.0 | Maximum velocity test may try VELOCITY_DIST | 0.0 | Distance to move when testing, if 0, use (total axis - margin) VELOCITY_ITTR | 1 | How many iterations of the test to perform VELOCITY_ACCU | 50.0 | Keep binary searching until the result is this small

AUTO_SPEED_VALIDATE

AUTO_SPEED_VALIDATE validates a specified acceleration/velocity, using Ellis' TEST_SPEED Pattern

Argument Default Description
MAX_MISSED 1.0 Maximum fulls steps that can be missed
VALIDATE_MARGIN 20.0 Margin axes max/min pattern can move to
VALIDATE_INNER_MARGIN 20.0 Margin from axes center pattern can move to
VALIDATE_ITERATIONS 50 Repeat the pattern this many times

ACCEL | Unset | Defaults to current max accel VELOCITY | Unset | Defaults to current max velocity

Console Output

Console output is slightly different depending on whether testing acceleration/velocity, and which axis is being tested.

  • axis is one of x, y, diag_x, diag_y

For acceleration tests:

AUTO SPEED acceleration diag_x measurement 4 (47.48s)
Missed X 4898.39, Y 0.02 at a14750/v659 over 1.24s

Velocity tests are the same as acceleration except a few details

AUTO SPEED velocity diag_y measurement 5 (40.97s)
Missed X 2.11, Y 3.98 at v797/a8635 over 1.24s

Acceleration results

AUTO SPEED found maximum acceleration after 1398.34s
| X max: 49249
| Y max: 30107
| DIAG X max: 27084
| DIAG Y max: 24169

Recommended values:
| X max: 39399
| Y max: 24085
| DIAG X max: 21668
| DIAG Y max: 19335
Recommended acceleration: 19335

Velocity results

AUTO SPEED found maximum velocity after 449.66s
| DIAG X max: 797
| DIAG Y max: 797

Recommended values
| DIAG X max: 638
| DIAG Y max: 638

Recommended results

AUTO SPEED found recommended acceleration and velocity after 993.64s
| DIAG X max: a11217 v638
| DIAG Y max: a10033 v638
Recommended accel: 10033
Recommended velocity: 638
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