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SV06 Plus: acceleration |
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THIS GUIDE IS WRITTEN FOR KLIPPER. THE BED DOES NOT PLAY NICE AT SPEED WITH MARLIN.
this is not an in-depth guide. this is a largely summarized, easily digestible read.
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it is recommended that the first thing done before other configuration settings are changed is calibrating input shaping. when input shaping is properly calibrated and configured, the machine is able to be pushed to greater accelerations.
if the printer is not equipped with an accelerometer, follow the Klipper guide on resonance compensation.
there formula for calculating a printer's Square Corner Velocity is as follows:
A = acceleration
D = divisor
SCV = sqrt(A / D)
the divisor will be one of two values:
- 10: considering the kinematic motion and stepper motor limitations.
- 80: considering the recommended input shaping maximum acceleration and ringing impact.
in our case, running at 2,000 mm^2/s:
sqrt(2000 / 80) = 5 SCV
we floor to the nearest integer. do what you will with your printer.
for slicers that still expect Marlin machine values, Marlin's Jerk can give incorrect time estimations. to convert SCV to J, the formula is as follows:
J = SCV * sqrt(2)
in our case, we end up with an integer-floored value of 7 J.
our testing has shown that disabling Stealthchop will allow most SV06 Plus printers to reach greater accelerations than with Stealthchop enabled. the first table below presents the maximum accelerations and coupled speed capabilities of the stock steppers.
additionally, the second table presents the maximum accelerations and coupled speeds on our modified SV06 Plus. the X axis stepper has been replaced with the Y axis stepper, and the Y axis stepper has been replaced with an LDO-42STH48-2504AC.
| STOCK STEPPERS | VELOCITY |
|---|---|
| 100,000 mm^2/s | 100 mm/s |
| 75,000 mm^2/s | 200 mm/s |
| 60,000 mm^2/s | 200 mm/s |
| 50,000 mm^2/s | 200 mm/s |
| 40,000 mm^2/s | 200 mm/s |
| 30,000 mm^2/s | 300 mm/s |
| 25,000 mm^2/s | 300 mm/s |
| 20,000 mm^2/s | 400 mm/s |
| 16,000 mm^2/s | 400 mm/s |
| 14,000 mm^2/s | 500 mm/s |
| 10,000 mm^2/s | 600 mm/s |
| 8,000 mm^2/s | 700 mm/s |
| 7,000 mm^2/s | 800 mm/s |
| MODDED STEPPERS | VELOCITY |
|---|---|
| 100,000 mm^2/s | 300 mm/s |
| 80,000 mm^2/s | 400 mm/s |
| 70,000 mm^2/s | 400 mm/s |
| 60,000 mm^2/s | 400 mm/s |
| 50,000 mm^2/s | 400 mm/s |
| 40,000 mm^2/s | 500 mm/s |
| 30,000 mm^2/s | 500 mm/s |
| 20,000 mm^2/s | 600 mm/s |
| 17,000 mm^2/s | 600 mm/s |
| 16,000 mm^2/s | 800 mm/s |
| 15,000 mm^2/s | 800 mm/s |
| 14,000 mm^2/s | 900 mm/s |
| 13,000 mm^2/s | >1,000 mm/s |