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, y diagonal , and z axes, and measures your steppers missed steps at various accelerations/velocities. With the default configuration, this may take awhile (~10 minutes). Most of the testing time is waiting for your printer to home. On my printer with default settings (except MAX_MISSED), it takes ~3.5 minutes for acceleration, and ~5 minutes for velocity.
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 use the discord channel, or post an issue here.
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.
- License: MIT
- Default usage (find max accel/velocity)
AUTO_SPEED
- Find maximum acceleration on y axis
AUTO_SPEED_ACCEL AXIS="y"
- Find maximum acceleration on y, then x axis
AUTO_SPEED_VELOCITY AXIS="y,x"
- Validate your printer's current accel/velocity
AUTO_SPEED_VALIDATE
- Graph your printer's max accel
AUTO_SPEED_GRAPH
- Graph your printer's max accel between v100 and v1000, over 9 steps
AUTO_SPEED_GRAPH VELOCITY_MIN=100 VELOCITY_MAX=1000 VELOCITY_DIV=9
- Make _ACCEL/_VELOCITY smarter, based on printer size
- Add support for running through moonraker
- Save validated/measured results to printer config
- Add testing Z axis
- Reduce code duplication
- Check kinematics to find best movement patterns
- Update calculated accel/velocity depending on test to be more accurate
- Update axis movement logic
- Home your printer
- 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.
- Run
AUTO_SPEED
- Check endstop variance
- Validate the endstops are accurate enough for
MAX_MISSED
- Validate the endstops are accurate enough for
- Find the maximum acceleration
- Perform a binary search between
ACCEL_MIN
andACCEL_MAX
- velocity =
$sqrt(travel/accel)*accel / 2.5$
- Home, and save stepper start steps
- Perform the movement check on the specified axis
- Home, and save stepper stop steps
- Perform a binary search between
- Find maximum velocity
- Perform a binary search between
VELOCITY_MIN
andVELOCITY_MAX
- accel =
$\frac{velocity^2}{travel} * 2.5$
- Home, and save stepper start steps
- Perform the movement check on the specified axis
- Home, and save stepper stop steps
- Perform a binary search between
- Show results
- Print results on each axis, for both accel and velocity, and also print the recommended (derated) values
- Check endstop variance
[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
To install this module you need to clone the repository and run the install.sh
script.
Depending on when you installed klipper, you may also need to update your klippy-env python version.
cd ~
git clone https://github.com/Anonoei/klipper_auto_speed.git
cd klipper_auto_speed
./install.sh
- Clone the repository
cd ~
git clone https://github.com/Anonoei/klipper_auto_speed.git
cd klipper_auto_speed
- Link auto_speed to klipper
ln -sf ~/klipper_auto_speed/auto_speed.py ~/klipper/klippy/extras/auto_speed.py
- Install matplotlib
~/klippy-env/bin/python -m pip install matplotlib
- Restart klipper
sudo systemctl restart klipper
sudo apt install python3
sudo apt install python3-numpy
sudo systemctl stop klipper
python3 -m venv --update ~/klippy-env
~/klippy-env/bin/pip install -r "~/klipper/scripts/klippy-requirements.txt"
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]
axis: diag_x, diag_y ; One or multiple of `x`, `y`, `diag_x`, `diag_y`, `z`
margin: 20 ; How far away from your axes to perform movements
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
accel_min: 1000.0 ; Minimum acceleration test may try
accel_max: 50000.0 ; Maximum acceleration test may try
accel_accu: 0.05 ; Keep binary searching until the result is within this percentage
velocity_min: 50.0 ; Minimum velocity test may try
velocity_max: 5000.0 ; Maximum velocity test may try
velocity_accu: 0.05 ; Keep binary searching until the result is within this percentage
derate: 0.8 ; Derate discovered results by this amount
validate_margin: Unset ; Margin for VALIDATE, Defaults to margin
validate_inner_margin: 20.0 ; Margin for VALIDATE inner pattern
validate_iterations: 50 ; Perform VALIDATE pattern this many times
Auto Speed is split into 5 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
.
You can also use AUTO_SPEED_GRAPH
to find your printers velocity-to-accel relationship.
AUTO_SPEED
finds maximum acceleration, velocity, and validates results at the end.
Argument | Default | Description |
---|---|---|
AXIS | Unset | Perform test on these axes, defaults to diag_x, diag_y |
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_ACCU | 0.05 | Keep binary searching until the result is within this percentage |
VELOCITY_MIN | 50.0 | Minimum velocity test may try |
VELOCITY_MAX | 5000.0 | Maximum velocity test may try |
VELOCITY_ACCU | 0.05 | Keep binary searching until the result is within this percentage |
LEVEL | 1 | Level the printer if it's not leveled |
VARIANCE | 1 | Check endstop variance |
AUTO_SPEED_ACCEL
find maximum acceleration
Argument | Default | Description |
---|---|---|
AXIS | Unset | Perform test on these axes, defaults to diag_x, diag_y |
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_ACCU | 0.05 | Keep binary searching until the result is within this percentage |
AUTO_SPEED_VELOCITY
finds maximum velocity
Argument | Default | Description |
---|---|---|
AXIS | Unset | Perform test on these axes, defaults to diag_x, diag_y |
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 | 100.0 | Minimum velocity test may try |
VELOCITY_MAX | 5000.0 | Maximum velocity test may try |
VELOCITY_ACCU | 0.05 | Keep binary searching until the result is within this percentage |
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 |
AUTO_SPEED_GRAPH
graphs your printer's velocity-to-accel relationship on specified axes
You must specify VELOCITY_MIN
and VELOCITY_MAX
.
Results are saved to ~/printer_data/config
Argument | Default | Description |
---|---|---|
AXIS | Unset | Perform test on these axes, defaults to diag_x, diag_y |
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 | Unset | Minimum velocity test may try |
VELOCITY_MAX | Unset | Maximum velocity test may try |
VELOCITY_DIV | 5 | How many velocities to test |
VELOCITY_ACCU | 0.05 | Keep binary searching until the result within this percent |
ACCEL_MIN_SLOPE | 100 | Calculated min slope value |
ACCEL_MAX_SLOPE | 1800 | Calculated max slope value |
Console output is slightly different depending on whether testing acceleration/velocity, and which axis is being tested.
axis
is one ofx
,y
,diag_x
,diag_y
,z
- The three times
after
times are first home time, movement time, end home time
For acceleration tests:
AUTO SPEED accel on diag_x try 1 (19.66s)
Moved 1.43mm at a17333/v241 after 8.92/0.30/9.93s
Missed X 0.31, Y 2.00
Velocity tests are the same as acceleration except a few details
AUTO SPEED velocity on diag_y try 1 (23.91s)
Moved 13.44mm at a91456/v1700 after 8.92/0.31/13.87s
Missed X 0.06, Y 132.00
Acceleration results
AUTO SPEED found maximum acceleration after 218.00s
| DIAG X max: 48979
| DIAG Y max: 48979
Recommended values:
| DIAG X max: 39183
| DIAG Y max: 39183
Recommended acceleration: 39183
Velocity results
AUTO SPEED found maximum velocity after 307.60s
| DIAG X max: 577
| DIAG Y max: 552
Recommended values
| DIAG X max: 462
| DIAG Y max: 442
Recommended velocity: 442
Recommended results
AUTO SPEED found recommended acceleration and velocity after 525.61s
| DIAG X max: a39183 v462
| DIAG Y max: a39183 v442
Recommended accel: 39183
Recommended velocity: 442