Input Shaper
Vibration compensation — measures the printer's resonant frequencies and applies counter-signals to cancel ringing artifacts at corners and direction changes.
Medium priority
Printer-Specific
What It Is
Input shaping measures the mechanical resonance frequencies of the printer and applies a filter to motion commands that cancels vibrations. This eliminates ghosting/ringing artifacts, especially at sharp corners and direction changes.
What It Controls
- Surface quality at corners and direction changes
- Maximum achievable print speed without artifacts
- Ghosting/ringing severity
Why It Drifts
- Belt tension changes
- Loose screws or frame bolts
- Adding/removing mass from the toolhead (different hotend, fan, camera)
- Bed load changes (heavy print on bed affects Y-axis resonance)
How to Calibrate (Manual — Klipper)
- Mount ADXL345 accelerometer to toolhead
- Run
SHAPER_CALIBRATEmacro - Klipper measures resonances on X and Y axes
- Firmware selects optimal shaper type and frequency
- Save to
printer.cfg
How the Auto-Tuner Calibrates It
- Already automatable via Klipper + ADXL345 — the auto-tuner triggers the calibration routine
- Permanently mounted accelerometer enables periodic re-calibration
- Can detect resonance changes and suggest re-tuning
Related Anomalies
- Ghosting / Ringing — the primary artifact input shaping eliminates