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KevinOConnor 2025-06-04 17:41:39 +00:00
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@ -6254,6 +6254,26 @@ carriages: u-y
...
</code></pre></div>
<p><code>[dual_carriage]</code> requires special configuration for the input shaper.
In general, it is necessary to run input shaper calibration twice -
for the <code>dual_carriage</code> and its <code>primary_carriage</code> for the axis they
share. Then the input shaper can be configured as follows, assuming the
example above:</p>
<div class="highlight"><pre><span></span><code>[input_shaper]
# Intentionally empty
[delayed_gcode init_shaper]
initial_duration: 0.1
gcode:
SET_DUAL_CARRIAGE CARRIAGE=u
SET_INPUT_SHAPER SHAPER_TYPE_X=&lt;dual_carriage_x_shaper&gt; SHAPER_FREQ_X=&lt;dual_carriage_x_freq&gt; SHAPER_TYPE_Y=&lt;y_shaper&gt; SHAPER_FREQ_Y=&lt;y_freq&gt;
SET_DUAL_CARRIAGE CARRIAGE=x
SET_INPUT_SHAPER SHAPER_TYPE_X=&lt;primary_carriage_x_shaper&gt; SHAPER_FREQ_X=&lt;primary_carriage_x_freq&gt; SHAPER_TYPE_Y=&lt;y_shaper&gt; SHAPER_FREQ_Y=&lt;y_freq&gt;
</code></pre></div>
<p>Note that <code>SHAPER_TYPE_Y</code> and <code>SHAPER_FREQ_Y</code> must be the same in both
commands in this case, since the same motors drive Y axis when either
of the <code>x</code> and <code>u</code> carriages are active.</p>
<p>It is worth noting that <code>generic_cartesian</code> kinematic can support two
dual carriages for X and Y axes. For reference, see for instance a
<a href="https://github.com/Klipper3d/klipper/blob/master/config/sample-corexyuv.cfg">sample</a> of CoreXYUV configuration.</p>