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Oleksii Shchetinin df5046c476 backlash: Add backlash compensation module 
Add support for compensating mechanical backlash (lost motion) when
axes reverse direction. This is common in lead screw and belt drive
systems.

The module supports two kinematics modes:
- Cartesian: Independent X, Y, Z axis compensation
- CoreXY: Compensation for A/B diagonal motors (A=X+Y, B=X-Y)

Compensation is applied in real-time via move transform and is hidden
from the UI position display. Direction tracking is reset on homing.

Configuration example:
  [backlash]
  kinematics: corexy
  a: 0.05
  b: 0.03
  z: 0.1

Signed-off-by: Oleksii Shchetinin <willkaxxx@gmail.com>
2025-12-31 16:58:36 +02:00
..
_klipper3d _klipper3d: Make sure custom css file is preserved 2025-12-23 18:25:59 -05:00
img docs: Documentation for Z axis input shaper and resonance measurements 2025-10-04 19:50:34 -04:00
prints docs: Suggested improvements to Input Shaper tuning guide 2020-07-29 21:28:18 -04:00
API_Server.md docs: Load Cell Probe Documentation 2025-05-29 19:11:05 -04:00
Axis_Twist_Compensation.md axis_twist_compensation: Remove the auto parameter 2025-03-08 22:23:35 -05:00
Beaglebone.md pru: BeagleBone Firmware upgrade to Debian 11.7 Bullseye (#6577) 2024-04-27 11:01:57 -04:00
Bed_Level.md docs: Clarify the Thickness of Paper 2021-12-27 12:24:58 -05:00
Bed_Mesh.md docs: Remove "relative_reference_index" documentation from Bed_Mesh.md 2025-08-15 12:57:19 -04:00
Benchmarks.md docs: Fix typo in Benchmarks.md 2025-06-08 12:23:02 -04:00
BLTouch.md docs: Docs comma culture (#4822) 2022-01-09 21:13:53 -05:00
Bootloader_Entry.md docs: Fix a typo in serial bootloader entry docs 2023-10-19 13:10:05 -04:00
Bootloaders.md docs: Fix typos in config and docs (#6991) 2025-07-27 12:12:48 -04:00
CANBUS.md docs: Remove SHAPER_CALIBRATE and usb-to-canbus bridge warning in CANBUS.md 2025-05-19 12:54:26 -04:00
CANBUS_protocol.md docs: Updates to CANBUS_protocol.md 2022-07-29 11:40:54 -04:00
CANBUS_Troubleshooting.md docs: Note canbus_query.py limitations in CANBUS_Troubleshooting.md 2025-04-29 13:52:57 -04:00
CNAME docs: Fixup github pages 2019-04-14 22:41:23 -04:00
Code_Overview.md docs: Minor wording change in Code_Overview.md thread description 2025-10-03 14:09:24 -04:00
Command_Templates.md docs: fix rawparams example by truncating comments 2022-07-19 12:48:16 -04:00
Config_Changes.md generic_cartesian: Added option 'axis' for primary carriages 2025-11-25 18:12:43 -05:00
Config_checks.md Config_checks: Missing ! in pin inversion example in Verify endstops 2023-10-19 13:13:57 -04:00
Config_Reference.md backlash: Add backlash compensation module 2025-12-31 16:58:36 +02:00
Contact.md docs: Add a "Professional Services" link to Contacts page 2025-01-21 18:54:33 -05:00
CONTRIBUTING.md docs: Fix typos in config and docs (#6991) 2025-07-27 12:12:48 -04:00
Debugging.md docs: Fix typos (#6032) 2023-02-20 11:06:25 -05:00
Delta_Calibrate.md docs: Note to run DELTA_CALIBRATE before DELTA_ANALYZE in Delta_Calibrate.md 2022-04-29 13:58:05 -04:00
developer-certificate-of-origin docs: Add a CONTRIBUTING document 2017-12-24 12:33:01 -05:00
Eddy_Probe.md docs: Fix minor typo in Eddy_Probe.md 2025-11-04 10:58:36 -05:00
Endstop_Phase.md docs : make modifications to all md files to make them compatible with mkdocs 2021-07-27 13:15:25 -04:00
Example_Configs.md docs: Update Example_Configs.md to note that baud should be 250000 2022-04-30 14:51:14 -04:00
Exclude_Object.md docs: fix typo in Exclude_Object.md 2022-06-03 18:11:35 -04:00
FAQ.md docs: Update FAQ.md - Typo (#7089) 2025-10-13 13:53:13 -04:00
Features.md docs: Update AHT family sensors documentation 2025-11-30 16:50:11 -05:00
G-Codes.md generic_cartesian: Added option 'axis' for primary carriages 2025-11-25 18:12:43 -05:00
Hall_Filament_Width_Sensor.md docs: Fix typos (#6032) 2023-02-20 11:06:25 -05:00
index.md docs: Fix index.md links 2025-05-16 12:14:45 -04:00
Installation.md docs: Update Installation.md - Flash loop protection (#6935) 2025-05-19 12:30:39 -04:00
Kinematics.md toolhead: Replace max_accel_to_decel with minimum_cruise_ratio 2024-03-13 21:31:37 -04:00
Load_Cell.md docs: Fix typos in config and docs (#6991) 2025-07-27 12:12:48 -04:00
Manual_Level.md docs: Note that "minutes" in screws_tilt_adjust means minutes of a clock face 2022-04-05 20:35:56 -04:00
MCU_Commands.md docs: Update MCU_Commands.md with new config_stepper command 2021-11-04 12:06:27 -04:00
Measuring_Resonances.md docs: Documentation for Z axis input shaper and resonance measurements 2025-10-04 19:50:34 -04:00
Multi_MCU_Homing.md docs: Update Multi_MCU_Homing.md to note the importance of low-latency 2024-01-16 14:19:11 -05:00
OctoPrint.md docs: Update OctoPrint.md - wrong serial address (#6716) 2024-10-22 10:36:13 -04:00
Overview.md load_cell: Load cell gram scale (#6729) 2025-03-20 19:53:44 -04:00
Packaging.md docs: Fix typos (#6032) 2023-02-20 11:06:25 -05:00
Pressure_Advance.md docs: Update Pressure_Advance.md (#6808) 2025-02-04 19:08:05 -05:00
Probe_Calibrate.md docs: Fix typo in Probe_Calibrate.md 2024-02-09 19:21:34 -05:00
Protocol.md docs : make modifications to all md files to make them compatible with mkdocs 2021-07-27 13:15:25 -04:00
README.md docs: Improve documentation for those starting in docs/ 2017-04-27 16:05:26 -04:00
Releases.md docs: Note the release of v0.13.0 2025-04-11 21:07:28 -04:00
Resonance_Compensation.md generic_cartesian: Added option 'axis' for primary carriages 2025-11-25 18:12:43 -05:00
Rotation_Distance.md docs: Docs comma culture (#4822) 2022-01-09 21:13:53 -05:00
RPi_microcontroller.md docs: fix typo in RPi_microcontroller.md 2023-09-29 13:58:29 -04:00
SDCard_Updates.md docs: Update the Contact document 2023-11-01 19:04:13 -04:00
Skew_Correction.md docs: Fix typos in config and docs (#6991) 2025-07-27 12:12:48 -04:00
Slicers.md docs: Fix typos in config and docs (#6991) 2025-07-27 12:12:48 -04:00
Sponsors.md docs: Update Sponsors.md 2024-10-26 22:02:20 -04:00
Status_Reference.md docs: Update Status_Reference.md with information on accessing coordinates 2025-11-06 10:19:00 -05:00
TMC_Drivers.md docs: Note stealthchop_threshold doesn't impact sensorless homing 2025-02-15 13:55:19 -05:00
TSL1401CL_Filament_Width_Sensor.md docs: Reorganize layout of G-Codes.md 2022-02-01 11:59:55 -05:00
Using_PWM_Tools.md pwm_tool: Add support for high-speed PWM pin updates 2023-11-16 22:07:15 -05:00

README.md

Welcome to the Klipper documentation. The overview document is a good starting point.