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Config_Reference.html

@@ -5768,11 +5768,10 @@ section of the measuring resonances guide for more information on
 #   are reachable by the toolhead.
 #accel_chip:
 #   A name of the accelerometer chip to use for measurements. If
-#   adxl345 chip was defined without an explicit name, this parameter
-#   can simply reference it as "accel_chip: adxl345", otherwise an
-#   explicit name must be supplied as well, e.g. "accel_chip: adxl345
-#   my_chip_name". Either this, or the next two parameters must be
-#   set.
+#   an accelerometer was defined without an explicit name, this parameter
+#   can simply reference it by type, e.g. "accel_chip: adxl345", otherwise
+#   a full name must be supplied, e.g. "accel_chip: adxl345 my_chip_name".
+#   Either this, or the next two parameters must be set.
 #accel_chip_x:
 #accel_chip_y:
 #   Names of the accelerometer chips to use for measurements for each
@@ -5791,16 +5790,15 @@ section of the measuring resonances guide for more information on
 #   during the calibration. The default is 50.
 #min_freq: 5
 #   Minimum frequency to test for resonances. The default is 5 Hz.
-#max_freq: 133.33
-#   Maximum frequency to test for resonances. The default is 133.33 Hz.
+#max_freq: 135
+#   Maximum frequency to test for resonances. The default is 135 Hz.
 #accel_per_hz: 60
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
 #   value, the higher is the energy of the oscillations. Can be set to
 #   a lower than the default value if the resonances get too strong on
-#   the printer. However, lower values make measurements of
-#   high-frequency resonances less precise. The default value is 75
-#   (mm/sec).
+#   the printer. However, lower values make measurements of high-frequency
+#   resonances less precise. The default value is 60 (mm/sec).
 #hz_per_sec: 1
 #   Determines the speed of the test. When testing all frequencies in
 #   range [min_freq, max_freq], each second the frequency increases by

Resonance_Compensation.html

@@ -2046,11 +2046,22 @@ itself. However, the value of <code>max_accel</code> certainly does (tuning of t
 parameter described in <a href="#selecting-max_accel">this section</a>).</p>
 <h2 id="technical-details">Technical details<a class="headerlink" href="#technical-details" title="Permanent link">&para;</a></h2>
 <h3 id="input-shapers">Input shapers<a class="headerlink" href="#input-shapers" title="Permanent link">&para;</a></h3>
-<p>Input shapers used in Klipper are rather standard, and one can find more
-in-depth overview in the articles describing the corresponding shapers.
-This section contains a brief overview of some technical aspects of the
-supported input shapers. The table below shows some (usually approximate)
-parameters of each shaper.</p>
+<p>This section contains a brief overview of some technical aspects of the
+supported input shapers. Input shapers used in Klipper are rather standard,
+with the exception of MZV, and one can find more in-depth overview in
+the articles describing the corresponding shapers.</p>
+<p>MZV stands for a Modified-ZV input shaper. The classic definition of ZV shaper
+assumes the duration Ts equal to 1/2 of the damped period of oscillations Td and
+has two pulses. However, ZV input shaper has a generalized form for an arbitrary
+duration in the range (0, Td] with three pulses (Specified-Duration ZV, see also
+SNA-ZV), with a negative middle pulse if Ts &lt; Td and a positive one if Ts &gt; Td.
+The MZV shaper was designed as an intermediate shaper between ZV and ZVD,
+offering better vibrations suppression than ZV when the determined (measured)
+shaper parameters deviate from the ones actually required by the printer,
+and smaller smoothing than ZVD. Effectively, it is a SD-ZV shaper with the
+specific duration Ts = 3/4 Td, exactly between ZV (Ts = 1/2 Td) and
+ZVD (Ts = Td), and it happens to work well for many real-life 3D printers.</p>
+<p>The table below shows some (usually approximate) parameters of each shaper.</p>
 <table>
 <thead>
 <tr>
@@ -2088,14 +2099,14 @@ parameters of each shaper.</p>
 <tr>
 <td align="center">2HUMP_EI</td>
 <td align="center">1.5 / shaper_freq</td>
-<td align="center">± 35% shaper_freq</td>
-<td align="center">± 40 shaper_freq</td>
+<td align="center">-40...+45% shaper_freq</td>
+<td align="center">-45..+50% shaper_freq</td>
 </tr>
 <tr>
 <td align="center">3HUMP_EI</td>
 <td align="center">2 / shaper_freq</td>
-<td align="center">-45...+50% shaper_freq</td>
-<td align="center">-50%...+55% shaper_freq</td>
+<td align="center">-50...+60% shaper_freq</td>
+<td align="center">-55%...+65% shaper_freq</td>
 </tr>
 </tbody>
 </table>
@@ -2127,11 +2138,11 @@ so the values for 10% vibration tolerance are provided only for the reference.</
  resonances at 35 Hz and 60 Hz on the same axis: a) EI shaper needs to have
  shaper_freq = 35 / (1 - 0.2) = 43.75 Hz, and it will reduce resonances
  until 43.75 * (1 + 0.2) = 52.5 Hz, so it is not sufficient; b) 2HUMP_EI
- shaper needs to have shaper_freq = 35 / (1 - 0.35) = 53.85 Hz and will
- reduce vibrations until 53.85 * (1 + 0.35) = 72.7 Hz - so this is an
+ shaper needs to have shaper_freq = 35 / (1 - 0.4) = 58.3 Hz and will
+ reduce vibrations until 58.3 * (1 + 0.45) = 84.5 Hz - so this is an
  acceptable configuration. Always try to use as high shaper_freq as possible
  for a given shaper (perhaps with some safety margin, so in this example
- shaper_freq ≈ 50-52 Hz would work best), and try to use a shaper with as
+ shaper_freq ≈ 55 Hz would work best), and try to use a shaper with as
  small shaper duration as possible.</li>
 <li>If one needs to reduce vibrations at several very different frequencies
  (say, 30 Hz and 100 Hz), they may see that the table above does not provide