✨ Input Shaping

MarlinFirmware/Marlin#24797

config/default/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/3DFabXYZ/Migbot/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/ADIMLab/Gantry v1/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/ADIMLab/Gantry v2/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Alfawise/U20-bltouch/Configuration_adv.h

@@ -1064,6 +1064,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Alfawise/U20/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AliExpress/UM2pExt/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A2/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A2plus/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A6/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A8/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#define INPUT_SHAPING
+#if ENABLED(INPUT_SHAPING)
+  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
+  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
+  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles