mirror of https://github.com/Desuuuu/klipper.git
skew_correction: add documentation
Signed-Off-By: Eric Callahan <arksine.code@gmail.com>
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# if retries are enabled then retry if largest and smallest probed points
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# differ more than retry_tolerance
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# Printer Skew Correction. It is possible to use software to correct
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# printer skew across 3 planes, xy, xz, yz. This is done by printing
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# a calibration model along a plane and measuring three lengths. See
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# skew_correction.md in the docs directory for more details.
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#
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#[skew_correction]
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#xy_ac_length:
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#xy_bd_length:
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#xy_ad_length:
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# The measured lengths (in mm) on the xy plane skew calibration print.
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# If one length is provided all three lengths must be provided. The default
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# is no measurement, which results in no skew correction along the xy plane.
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#xz_ac_length:
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#xz_bd_length:
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#xz_ad_length:
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# The same as above, on the xz plane. The default is no skew correction
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# on the xz plane.
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#yz_ac_length:
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#yz_bd_length:
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#yz_ad_length:
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# The same as above on the yz plane. The default is no skew correction
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# on the yz plane.
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# In a multi-extruder printer add an additional extruder section for
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# each additional extruder. The additional extruder sections should be
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parameters.
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- `G11`: Unretracts the extruder using the currently configured
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parameters.
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## Skew Correction
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The following commands are available when the "skew_correction" config
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section is enabled.
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- `GET_CURRENT_SKEW`: Reports the current printer skew for each plane in
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both radians and degrees. The skew is calculated based on parameters
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provided to the [skew_correction] section of printer.cfg.
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- `CALC_MEASURED_SKEW [AC=<ac_length>] [BD=<bd_length>] [AD=<ad_length>]`:
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Calculates and reports the skew (in radians and degrees) based on a
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measured print. This can be useful for determining the printer's current
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skew after correction has been applied. It may also be useful before
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correction is applied to determine if skew correction is necessary. See
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skew_correction.md for details on skew calibration objects and measurements.
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Software based skew correction can help resolve dimensional inaccuracies
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resulting from a printer assembly that is not perfectly square. Note
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that if your printer is significantly skewed it is strongy recommended to
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first use mechanical means to get your printer as square as possible prior
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to applying software based correction.
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# Print a Calibration Object
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The first step in correcting skew is to print a
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[calibration object](https://www.thingiverse.com/thing:2563185/files)
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along the plane you want to correct. There is also a
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[calibration object](https://www.thingiverse.com/thing:2972743)
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that includes all planes in one model. You want the object oriented
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so that corner A is toward the origin of the plane.
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Make sure that the [skew_correction] module is not enabled in printer.cfg
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prior to printing the calibration part.
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# Take your measurements
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The [skew_correcton] module requires 3 measurements for each plane you want
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to correct; the length from Corner A to Corner C, the length from Corner B
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to Corner D, and the length from corner A to corner D. When measuring length
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AD do not include the flats on the corners that some test objects provide.
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![skew_lengths](img/skew_lengths.png)
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# Update printer.cfg
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Enter your lengths for the calibration print corresponding to the correct
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plane under the [skew_correction] section in printer.cfg, for example:
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```
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[skew_correction]
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xy_ac_length: 140.4
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xy_bd_length: 142.8
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xy_ad_length: 99.8
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```
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Restart your printer. If desired, you can reprint the calibration part
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with skew correction enabled. The following gcode can be used to calculate
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skew of a single plane and output the results:
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```
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CALC_MEASURED_SKEW AC=<ac_length> BD=<bd_length> AD=<ad_length>
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```
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# Caveats
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When using the [skew_correction] module it is suggested to home all axes
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before attempting a move. Homing a single axis to move could result in a
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correction along the x and/or y axis, potentially leading to a homing error.
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It is also important to keep in mind that it is possible for [skew_correction]
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to generate a correction that moves the tool beyond the printer's boundries
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on the X and/or Y axes. It is recommended to arrange parts away from the
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edges when using [skew_correction].
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