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docs: Improve description of delta stepper acceleration limits

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2017-07-19 12:27:32 -04:00
parent c4b8d3ea8b
commit 17a3e25036
2 changed files with 13 additions and 14 deletions
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17
docs/Kinematics.md
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@ -211,13 +211,18 @@ With delta kinematics it is possible for a move that is accelerating
in cartesian space to require an acceleration on a particular stepper
motor greater than the move's acceleration. This can occur when a
stepper arm is more horizontal than vertical and the line of movement
is near that stepper's tower.
passes near that stepper's tower. Although these moves could require a
stepper motor acceleration greater than the printer's maximum
configured move acceleration, this would only occur when the stepper
is moving a small amount of mass. (The stepper would essentially only
be moving the mass of the tower carriage.) Therefore, these brief
periods of high acceleration are considered harmless.
Klipper does enforce a maximum ceiling on stepper acceleration that is
three times the maximum acceleration of a move in cartesian
space. (Similarly, the maximum velocity of the stepper is limited to
three times the maximum move velocity.) In order to enforce this
limit, moves at the extreme edge of the build envelope (where a
However, to avoid extreme cases, Klipper enforces a maximum ceiling on
stepper acceleration of three times the printer's configured maximum
move acceleration. (Similarly, the maximum velocity of the stepper is
limited to three times the maximum move velocity.) In order to enforce
this limit, moves at the extreme edge of the build envelope (where a
stepper arm may be nearly horizontal) will have a lower maximum
acceleration and velocity.