Deploying to gh-pages from @ Klipper3d/klipper@7b490f3ec1 🚀

2024-04-28 00:05:14 +00:00
parent 15e16ec351
commit 03f81ee535
83 changed files with 1973 additions and 1233 deletions
--- a/zh/Bed_Mesh.html
+++ b/zh/Bed_Mesh.html
@@ -712,6 +712,13 @@
    故障区域
  </a>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#adaptive-meshes" class="md-nav__link">
+    Adaptive Meshes
+  </a>
+  
 </li>
        
      </ul>
@@ -1548,6 +1555,13 @@
    故障区域
  </a>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#adaptive-meshes" class="md-nav__link">
+    Adaptive Meshes
+  </a>
+  
 </li>
        
      </ul>
@@ -1782,9 +1796,29 @@ faulty_region_4_max: 45.0, 210.0
 </ul>
 <p>下面的图片说明了当一个生成的探测点位于一个故障区域内时，如何生成替代探测点。所显示的区域与上述样本配置中的区域一致。替代点和它们的坐标以绿色标识。</p>
 <p><img alt="bedmesh_interpolated" src="img/bedmesh_faulty_regions.svg" /></p>
+<h3 id="adaptive-meshes">Adaptive Meshes<a class="headerlink" href="#adaptive-meshes" title="Permanent link">&para;</a></h3>
+<p>Adaptive bed meshing is a way to speed up the bed mesh generation by only probing the area of the bed used by the objects being printed. When used, the method will automatically adjust the mesh parameters based on the area occupied by the defined print objects.</p>
+<p>The adapted mesh area will be computed from the area defined by the boundaries of all the defined print objects so it covers every object, including any margins defined in the configuration. After the area is computed, the number of probe points will be scaled down based on the ratio of the default mesh area and the adapted mesh area. To illustrate this consider the following example:</p>
+<p>For a 150mmx150mm bed with <code>mesh_min</code> set to <code>25,25</code> and <code>mesh_max</code> set to <code>125,125</code>, the default mesh area is a 100mmx100mm square. An adapted mesh area of <code>50,50</code> means a ratio of <code>0.5x0.5</code> between the adapted area and default mesh area.</p>
+<p>If the <code>bed_mesh</code> configuration specified <code>probe_count</code> as <code>7x7</code>, the adapted bed mesh will use 4x4 probe points (7 * 0.5 rounded up).</p>
+<p><img alt="adaptive_bedmesh" src="img/adaptive_bed_mesh.svg" /></p>
+<div class="highlight"><pre><span></span><code>[bed_mesh]
+speed: 120
+horizontal_move_z: 5
+mesh_min: 35, 6
+mesh_max: 240, 198
+probe_count: 5, 3
+adaptive_margin: 5
+</code></pre></div>
+
+<ul>
+<li><code>adaptive_margin</code>  <em>Default Value: 0</em>  Margin (in mm) to add around the area of the bed used by the defined objects. The diagram below shows the adapted bed mesh area with an <code>adaptive_margin</code> of 5mm. The adapted mesh area (area in green) is computed as the used bed area (area in blue) plus the defined margin.<img alt="adaptive_bedmesh_margin" src="img/adaptive_bed_mesh_margin.svg" /></li>
+</ul>
+<p>By nature, adaptive bed meshes use the objects defined by the Gcode file being printed. Therefore, it is expected that each Gcode file will generate a mesh that probes a different area of the print bed. Therefore, adapted bed meshes should not be re-used. The expectation is that a new mesh will be generated for each print if adaptive meshing is used.</p>
+<p>It is also important to consider that adaptive bed meshing is best used on machines that can normally probe the entire bed and achieve a maximum variance less than or equal to 1 layer height. Machines with mechanical issues that a full bed mesh normally compensates for may have undesirable results when attempting print moves <strong>outside</strong> of the probed area. If a full bed mesh has a variance greater than 1 layer height, caution must be taken when using adaptive bed meshes and attempting print moves outside of the meshed area.</p>
 <h2 id="g">床网 G代码<a class="headerlink" href="#g" title="Permanent link">&para;</a></h2>
 <h3 id="_11">校准<a class="headerlink" href="#_11" title="Permanent link">&para;</a></h3>
-<p><code>BED_MESH_CALIBRATE PROFILE=&lt;名称&gt; METHOD=[manual | automatic] [&lt;probe_parameter&gt;=&lt;值&gt;] [&lt;mesh_parameter&gt;=&lt;值&gt;]</code> <em>默认配置：default</em> <em>默认方法：如果检测到探针则自动，否则手动</em></p>
+<p><code>BED_MESH_CALIBRATE PROFILE=&lt;name&gt; METHOD=[manual | automatic] [&lt;probe_parameter&gt;=&lt;value&gt;] [&lt;mesh_parameter&gt;=&lt;value&gt;] [ADAPTIVE=[0|1] [ADAPTIVE_MARGIN=&lt;value&gt;]</code> <em>Default Profile: default</em> <em>Default Method: automatic if a probe is detected, otherwise manual</em>  <em>Default Adaptive: 0</em>  <em>Default Adaptive Margin: 0</em></p>
 <p>启动床网校准的探测程序。</p>
 <p>网格将被保存到由 <code>PROFILE</code> 参数指定的配置中，如果没有指定，则使用 <code>default</code>。如果选择了 <code>METHOD=manual</code> ，那么将进行手动探测。在自动和手动探测之间切换时，生成的网格点会自动调整。</p>
 <p>可以通过指定网格参数来修改探测区域。以下参数可用：</p>
@@ -1803,6 +1837,8 @@ faulty_region_4_max: 45.0, 210.0
 </li>
 <li>全部打印床：<ul>
 <li><code>ALGORITHM</code></li>
+<li><code>ADAPTIVE</code></li>
+<li><code>ADAPTIVE_MARGIN</code></li>
 </ul>
 </li>
 </ul>
@@ -1851,8 +1887,9 @@ faulty_region_4_max: 45.0, 210.0
 <p><code>BED_MESH_CLEAR</code></p>
 <p>此 gcode 可用于清除内部网格状态。</p>
 <h3 id="xy">应用X/Y偏移量<a class="headerlink" href="#xy" title="Permanent link">&para;</a></h3>
-<p><code>BED_MESH_OFFSET [X=&lt;value&gt;] [Y=&lt;value&gt;]</code></p>
-<p>这对有多个独立挤出头的打印机很有用，因为偏移量是必要的，以便在更换工具后产生正确的Z调整。应指定它们相对于主挤出头的偏移量。也就是说，如果第二个挤出头安装在第一个挤出头的右边，应指定一个正的X偏移量，如果第二个挤出头安装在第一个挤出头的 "后面"，应指定一个正的Y偏移量。</p>
+<p><code>BED_MESH_OFFSET [X=&lt;value&gt;] [Y=&lt;value&gt;] [ZFADE=&lt;value&gt;]</code></p>
+<p>This is useful for printers with multiple independent extruders, as an offset is necessary to produce correct Z adjustment after a tool change. Offsets should be specified relative to the primary extruder. That is, a positive X offset should be specified if the secondary extruder is mounted to the right of the primary extruder, a positive Y offset should be specified if the secondary extruder is mounted "behind" the primary extruder, and a positive ZFADE offset should be specified if the secondary extruder's nozzle is above the primary extruder's.</p>
+<p>Note that a ZFADE offset does <em>NOT</em> directly apply additional adjustment. It is intended to compensate for a <code>gcode offset</code> when <a href="#mesh-fade">mesh fade</a> is enabled. For example, if a secondary extruder is higher than the primary and needs a negative gcode offset, ie: <code>SET_GCODE_OFFSET Z=-.2</code>, it can be accounted for in <code>bed_mesh</code> with <code>BED_MESH_OFFSET ZFADE=.2</code>.</p>

              
            </article>
--- a/zh/Code_Overview.html
+++ b/zh/Code_Overview.html
@@ -1484,16 +1484,16 @@
 <p>典型的打印机运动始于klipper上位机接收到"G1"命令，并在微控制器发出对应的步进脉冲结束。本节将简述典型运动命令的代码流。<a href="Kinematics.html">运动学</a>文档将更为细致的描述运动的机械原理。</p>
 <ul>
 <li>移动命令的处理始于gcode.py，该代码将G代码转化为内部调用。G1命令将调用klippy/extras/gcode_move.py中的cmd_G1()函数。gcode_move.py中的代码将处理 原点变换（G92），绝对坐标模式（G90）和单位变换（如F6000=100mm/s）。一个移动命令的处理路径为：<code>_process_data() -&gt; _process_commands() -&gt; cmd_G1()</code>。最终将调用ToolHead类的方法实现移动 <code>cmd_G1() -&gt; ToolHead.move()</code></li>
-<li>ToolHead类（位于toolhead.py）处理“前瞻”行为和记录打印的时间点。移动命令的代码路径为 <code>ToolHead.move() -&gt; MoveQueue.add_move() -&gt; MoveQueue.flush() -&gt; Move.set_junction() -&gt; ToolHead._process_moves()</code>。<ul>
+<li>The ToolHead class (in toolhead.py) handles "look-ahead" and tracks the timing of printing actions. The main codepath for a move is: <code>ToolHead.move() -&gt; LookAheadQueue.add_move() -&gt; LookAheadQueue.flush() -&gt; Move.set_junction() -&gt; ToolHead._process_moves()</code>.<ul>
 <li>ToolHead.move()将创建一个Move()对象实例，其中将包含移动的参数（在笛卡尔空间中，并这些参数以mm和s为单位）。</li>
 <li>kinematics类将检查每个运动命令（<code>ToolHead.move() -&gt; kin.check_move()</code>）。各种kinematics类存放于 klippy/kinematics/ 目录。check_move()能在运动命令不合理时抛出错误。如果 check_move()成功，这意味着打印机必定能完成运动命令。</li>
-<li>MoveQueue.add_move()将一个move实例添加到“前瞻”队列。</li>
-<li>MoveQueue.flush()将进行每次运动 起始和结束 速度。</li>
+<li>LookAheadQueue.add_move() places the move object on the "look-ahead" queue.</li>
+<li>LookAheadQueue.flush() determines the start and end velocities of each move.</li>
 <li>Move.set_junction()实现移动的“梯形加减速（trapezoid generator）”。“梯形加减速”将每次移动拆分为三部分：恒加速度加速阶段、恒速度阶段、恒加速度减速阶段。所有移动均含有上述三个阶段，但单个阶段的持续时间可能为0。</li>
 <li>当ToolHead._process_moves()被调用时，一次移动的所有要素均已就绪——移动的起始位置、结束位置、加速度、起始/巡航/结束速度、以及起始/巡航/结束的距离。所有信息以笛卡尔坐标的形式存储在Move()实例中，单位为mm和s。</li>
 </ul>
 </li>
-<li>Klipper使用<a href="https://en.wikipedia.org/wiki/Root-finding_algorithm">迭代求解</a>的方式生成步进电机的每步的时长。为了提高效率，步进脉冲时间是以C语言代码生成。一个运动先经过“梯形运动队列化” ：<code>ToolHead._process_moves() -&gt; trapq_append()</code> (位于 klippy/chelper/trapq.c)，然后生成步进时间 <code>ToolHead._process_moves() -&gt; ToolHead._update_move_time() -&gt; MCU_Stepper.generate_steps() -&gt; itersolve_generate_steps() -&gt; itersolve_gen_steps_range()</code> (位于 klippy/chelper/itersolve.c)。迭代求解器通过一个时间-位置方程计算出步进时间。求解时通过“假定”时间点，以时间-位置方程计算出下一步的位置。如果计算结果与实际需求的下一步位置一致，假定值将用于实际运动；否则，通过计算结果对“假定时间”进行修正，并进行下一次试算。这种反馈方式会使迭代快速收敛。运动学所使用的时间-位置函数位于 klippy/chelper/ 目录 (例如, kin_cart.c, kin_corexy.c, kin_delta.c, kin_extruder.c)。</li>
+<li>Klipper uses an <a href="https://en.wikipedia.org/wiki/Root-finding_algorithm">iterative solver</a> to generate the step times for each stepper. For efficiency reasons, the stepper pulse times are generated in C code. The moves are first placed on a "trapezoid motion queue": <code>ToolHead._process_moves() -&gt; trapq_append()</code> (in klippy/chelper/trapq.c). The step times are then generated: <code>ToolHead._process_moves() -&gt; ToolHead._advance_move_time() -&gt; ToolHead._advance_flush_time() -&gt; MCU_Stepper.generate_steps() -&gt; itersolve_generate_steps() -&gt; itersolve_gen_steps_range()</code> (in klippy/chelper/itersolve.c). The goal of the iterative solver is to find step times given a function that calculates a stepper position from a time. This is done by repeatedly "guessing" various times until the stepper position formula returns the desired position of the next step on the stepper. The feedback produced from each guess is used to improve future guesses so that the process rapidly converges to the desired time. The kinematic stepper position formulas are located in the klippy/chelper/ directory (eg, kin_cart.c, kin_corexy.c, kin_delta.c, kin_extruder.c).</li>
 <li>需要注意，挤出机有独特的运动学模型，使用<code>ToolHead._process_moves() -&gt; PrinterExtruder.move()</code>类继续宁处理。尽管挤出机使用了独立的Move()类，由于Move() 实例包含了实际运动的时间，并且脉冲时间的设备是定时发送到微控制器上，因此由挤出机类产生的步进运动将与打印头的运动同步。</li>
 <li>当迭代计算器计算出步进时长后，计算结果将被置于一个数组中：<code>itersolve_gen_steps_range() -&gt; stepcompress_append()</code> (位于 klippy/chelper/stepcompress.c)。数组(结构体 stepcompress.queue)存储每一步对应的微处理器时钟计数器时间。上述的“微处理器计数器”的值指的是微处理器硬件上的计数器——其值基于微处理器最后一次上电而定。</li>
 <li>接下来重要的是，对步进数据进行压缩： <code>stepcompress_flush() -&gt; compress_bisect_add()</code> (位于 klippy/chelper/stepcompress.c)。上述代码将基于前述的 步进时间列表 生成和编码一系列的微控制器"queue_step"（队列步进）命令。这些"queue_step"命令将被队列化，优先处理，并发送到微控制器中（上位机通过 stepcompress.c:steppersync；下位机通过serialqueue.c:serialqueue)）。</li>
--- a/zh/Config_Changes.html
+++ b/zh/Config_Changes.html
@@ -1349,6 +1349,15 @@
 <p>本文档涵盖了软件更新中对配置文件不向后兼容的部分。在升级 Klipper 时，最好也查看一下这份文档。</p>
 <p>文档的所有日期都是大概时间。</p>
 <h2 id="_2">变更<a class="headerlink" href="#_2" title="Permanent link">&para;</a></h2>
+<p>20240313: The <code>max_accel_to_decel</code> parameter in the <code>[printer]</code> config section has been deprecated. The <code>ACCEL_TO_DECEL</code> parameter of the <code>SET_VELOCITY_LIMIT</code> command has been deprecated. The <code>printer.toolhead.max_accel_to_decel</code> status has been removed. Use the <a href="Config_Reference.html#printer">minimum_cruise_ratio parameter</a> instead. The deprecated features will be removed in the near future, and using them in the interim may result in subtly different behavior.</p>
+<p>20240215: Several deprecated features have been removed. Using "NTC 100K beta 3950" as a thermistor name has been removed (deprecated on 20211110). The <code>SYNC_STEPPER_TO_EXTRUDER</code> and <code>SET_EXTRUDER_STEP_DISTANCE</code> commands have been removed, and the extruder <code>shared_heater</code> config option has been removed (deprecated on 20220210). The bed_mesh <code>relative_reference_index</code> option has been removed (deprecated on 20230619).</p>
+<p>20240123: The output_pin SET_PIN CYCLE_TIME parameter has been removed. Use the new <a href="Config_Reference.html#pwm_cycle_time">pwm_cycle_time</a> module if it is necessary to dynamically change a pwm pin's cycle time.</p>
+<p>20240123: The output_pin <code>maximum_mcu_duration</code> parameter is deprecated. Use a <a href="Config_Reference.html#pwm_tool">pwm_tool config section</a> instead. The option will be removed in the near future.</p>
+<p>20240123: The output_pin <code>static_value</code> parameter is deprecated. Replace with <code>value</code> and <code>shutdown_value</code> parameters. The option will be removed in the near future.</p>
+<p>20231216: The <code>[hall_filament_width_sensor]</code> is changed to trigger filament runout when the thickness of the filament exceeds <code>max_diameter</code>. The maximum diameter defaults to <code>default_nominal_filament_diameter + max_difference</code>. See <a href="Config_Reference.html#hall_filament_width_sensor">[hall_filament_width_sensor] configuration
+reference</a> for more details.</p>
+<p>20231207: Several undocumented config parameters in the <code>[printer]</code> config section have been removed (the buffer_time_low, buffer_time_high, buffer_time_start, and move_flush_time parameters).</p>
+<p>20231110: Klipper v0.12.0 released.</p>
 <p>20230826：如果在 <code>[dual_carriage]</code>中将“safe_distance”设置或计算为0，则将根据文档禁用车厢接近检查。用户可能希望明确配置“safe_distance”，以防止车厢彼此意外碰撞。此外，主滑架和双滑架的归位顺序在某些配置中会发生变化（当两个滑架都在同一方向上归位时的某些配置，请参阅<a href="Config_Reference.html#dual_carriage">[dual_carriage] 配置参考</a>了解更多详细信息）。</p>
 <p>20230810：Flash-sdcard.sh脚本现在支持Bigtreetech SKR-3的两个变体：STM32H743和STM32H723。为此，btt-skr-3的原始标签现在已更改为btt-skr-3-h743或btt-skr-3-h723。</p>
 <p>20230729:<code>dual_carriage</code>的导出状态已更改。不是导出 <code>mode</code>和<code>active_carriage</code>，而是将每个车厢的各个模式导出为 <code>printer.dual_carriage.carriage_0</code>和 <code>printer.dual_carriage.carriage_1</code>.</p>
--- a/zh/Config_Reference.html
+++ b/zh/Config_Reference.html
@@ -1310,6 +1310,20 @@
    [output_pin]
  </a>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#pwm_tool" class="md-nav__link">
+    [pwm_tool]
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#pwm_cycle_time" class="md-nav__link">
+    [pwm_cycle_time]
+  </a>
+  
 </li>
        
          <li class="md-nav__item">
@@ -3322,6 +3336,20 @@
    [output_pin]
  </a>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#pwm_tool" class="md-nav__link">
+    [pwm_tool]
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#pwm_cycle_time" class="md-nav__link">
+    [pwm_cycle_time]
+  </a>
+  
 </li>
        
          <li class="md-nav__item">
@@ -3744,27 +3772,49 @@ serial:
 <p>打印机控制的高级设置部分。</p>
 <div class="highlight"><pre><span></span><code>[printer]
 kinematics:
-#   使用的打印机类型。此选项可以是以下之一：cartesian，
-#   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta，
-#   deltesian, polar, winch, 或 none。必须指定此参数。
+#   The type of printer in use. This option may be one of: cartesian,
+#   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
+#   deltesian, polar, winch, or none. This parameter must be specified.
 max_velocity:
-#   工具头的最大速度（以mm/s计）。相对于打印件。
-#   必须指定此参数。
+#   Maximum velocity (in mm/s) of the toolhead (relative to the
+#   print). This parameter must be specified.
 max_accel:
-#   工具头的最大加速度（以mm/s^2计）。相对于打印件。
-#   必须指定此参数。
-#max_accel_to_decel:
-#   一种伪加速度（以mm/s^2计），控制工具头从加速到减速的速度。
-#   它用于降低短距离锯齿形移动的最高速度（从而减少这些移动造成
-#   的打印机振动）。
-#   默认值是max_accel的一半。
+#   Maximum acceleration (in mm/s^2) of the toolhead (relative to the
+#   print). Although this parameter is described as a &quot;maximum&quot;
+#   acceleration, in practice most moves that accelerate or decelerate
+#   will do so at the rate specified here. The value specified here
+#   may be changed at runtime using the SET_VELOCITY_LIMIT command.
+#   This parameter must be specified.
+#minimum_cruise_ratio: 0.5
+#   Most moves will accelerate to a cruising speed, travel at that
+#   cruising speed, and then decelerate. However, some moves that
+#   travel a short distance could nominally accelerate and then
+#   immediately decelerate. This option reduces the top speed of these
+#   moves to ensure there is always a minimum distance traveled at a
+#   cruising speed. That is, it enforces a minimum distance traveled
+#   at cruising speed relative to the total distance traveled. It is
+#   intended to reduce the top speed of short zigzag moves (and thus
+#   reduce printer vibration from these moves). For example, a
+#   minimum_cruise_ratio of 0.5 would ensure that a standalone 1.5mm
+#   move would have a minimum cruising distance of 0.75mm. Specify a
+#   ratio of 0.0 to disable this feature (there would be no minimum
+#   cruising distance enforced between acceleration and deceleration).
+#   The value specified here may be changed at runtime using the
+#   SET_VELOCITY_LIMIT command. The default is 0.5.
 #square_corner_velocity: 5.0
-#   工具头可能以90度角度转角的最大速度（以mm/s计）。一个非零值
-#   可以通过在转角时使工具头的速度瞬时改变，来减少挤出机流速的
-#   变化。此值配置内部向心速度转角算法；大于90度的角度会有更高的
-#   转角速度，而小于90度的角度会有较低的转角速度。如果此值设置为零，
-#   则工具头在每个角落都将减速到零。
-#   默认值是5mm/s。
+#   The maximum velocity (in mm/s) that the toolhead may travel a 90
+#   degree corner at. A non-zero value can reduce changes in extruder
+#   flow rates by enabling instantaneous velocity changes of the
+#   toolhead during cornering. This value configures the internal
+#   centripetal velocity cornering algorithm; corners with angles
+#   larger than 90 degrees will have a higher cornering velocity while
+#   corners with angles less than 90 degrees will have a lower
+#   cornering velocity. If this is set to zero then the toolhead will
+#   decelerate to zero at each corner. The value specified here may be
+#   changed at runtime using the SET_VELOCITY_LIMIT command. The
+#   default is 5mm/s.
+#max_accel_to_decel:
+#   This parameter is deprecated and should no longer be used.
 </code></pre></div>

 <h3 id="stepper">[stepper]<a class="headerlink" href="#stepper" title="Permanent link">&para;</a></h3>
@@ -4443,18 +4493,14 @@ max_temp:
 #   where Z = 0.  When this option is specified the mesh will be offset
 #   so that zero Z adjustment occurs at this location.  The default is
 #   no zero reference.
-#relative_reference_index:
-#   **DEPRECATED, use the &quot;zero_reference_position&quot; option**
-#   The legacy option superceded by the &quot;zero reference position&quot;.
-#   Rather than a coordinate this option takes an integer &quot;index&quot; that
-#   refers to the location of one of the generated points. It is recommended
-#   to use the &quot;zero_reference_position&quot; instead of this option for new
-#   configurations. The default is no relative reference index.
 #faulty_region_1_min:
 #faulty_region_1_max:
 #   Optional points that define a faulty region.  See docs/Bed_Mesh.md
 #   for details on faulty regions.  Up to 99 faulty regions may be added.
 #   By default no faulty regions are set.
+#adaptive_margin:
+#   An optional margin (in mm) to be added around the bed area used by
+#   the defined print objects when generating an adaptive mesh.
 </code></pre></div>

 <h3 id="bed_tilt">[bed_tilt]<a class="headerlink" href="#bed_tilt" title="Permanent link">&para;</a></h3>
@@ -5998,41 +6044,72 @@ pin:
 <p>运行时可配置的输出引脚（可以定义任意数量的带有 "output_pin "前缀的分段）。在这里配置的引脚将被设置为输出引脚，可以在运行时使用 "SET_PIN PIN=my_pin VALUE=.1 "类型的扩展<a href="G-Code.md#output_pin">G代码命令</a>对其进行修改。</p>
 <div class="highlight"><pre><span></span><code>[output_pin my_pin]
 pin:
-#   需要配置为输出的引脚。此参数必须提供。
+#   The pin to configure as an output. This parameter must be
+#   provided.
 #pwm: False
-#   设置输出引脚是否应能够进行脉冲宽度调制。如果为真，值字段应在
-#   0和1之间；如果为假，值字段应为0或1。
-#   默认为False。
-#static_value:
-#   如果设置了此项，则引脚在启动时被分配此值，并且引脚在运行时无
-#   法更改。静态引脚在微控制器中使用的RAM略少。
-#   默认情况下，使用引脚的运行时配置。
+#   Set if the output pin should be capable of pulse-width-modulation.
+#   If this is true, the value fields should be between 0 and 1; if it
+#   is false the value fields should be either 0 or 1. The default is
+#   False.
 #value:
-#   在MCU配置期间最初设置引脚的值。
-#   默认为0（低电压）。
+#   The value to initially set the pin to during MCU configuration.
+#   The default is 0 (for low voltage).
 #shutdown_value:
-#   在MCU关闭事件中设置引脚的值。
-#   默认为0（低电压）。
-#maximum_mcu_duration:
-#   MCU可以在未从主机获取确认的情况下驱动非关闭值的最大持续时间。
-#   如果主机无法跟上更新，MCU将关闭并将所有引脚设置为各自的关闭值。
-#   默认值：0（禁用）
-#   通常的值约为5秒。
+#   The value to set the pin to on an MCU shutdown event. The default
+#   is 0 (for low voltage).
 #cycle_time: 0.100
-#   每个PWM周期的时间（以秒为单位）。建议在使用基于软件的PWM时，
-#   这个值应大于或等于10毫秒。
-#   对于pwm引脚，默认值为0.100秒。
+#   The amount of time (in seconds) per PWM cycle. It is recommended
+#   this be 10 milliseconds or greater when using software based PWM.
+#   The default is 0.100 seconds for pwm pins.
 #hardware_pwm: False
-#   启用此项以使用硬件PWM而不是软件PWM。在使用硬件PWM时，实际的
-#   周期时间受到实现的限制，可能与请求的cycle_time显著不同。
-#   默认值为False。
+#   Enable this to use hardware PWM instead of software PWM. When
+#   using hardware PWM the actual cycle time is constrained by the
+#   implementation and may be significantly different than the
+#   requested cycle_time. The default is False.
 #scale:
-#   此参数可以用来改变如何解释&#39;value&#39;和&#39;shutdown_value&#39;参数对于pwm
-#   引脚。如果提供了此参数，那么&#39;value&#39;参数应在0.0和&#39;scale&#39;之间。当配
-#   置一个控制步进电机电压参考的PWM引脚时，这可能会很有用。&#39;scale&#39;
-#   可以设置为PWM全开时相当于步进电机的电流，然后可以使用步进电机
-#   的期望电流来指定&#39;value&#39;参数。
-#   默认情况下，不对&#39;value&#39;参数进行缩放。
+#   This parameter can be used to alter how the &#39;value&#39; and
+#   &#39;shutdown_value&#39; parameters are interpreted for pwm pins. If
+#   provided, then the &#39;value&#39; parameter should be between 0.0 and
+#   &#39;scale&#39;. This may be useful when configuring a PWM pin that
+#   controls a stepper voltage reference. The &#39;scale&#39; can be set to
+#   the equivalent stepper amperage if the PWM were fully enabled, and
+#   then the &#39;value&#39; parameter can be specified using the desired
+#   amperage for the stepper. The default is to not scale the &#39;value&#39;
+#   parameter.
+#maximum_mcu_duration:
+#static_value:
+#   These options are deprecated and should no longer be specified.
+</code></pre></div>
+
+<h3 id="pwm_tool">[pwm_tool]<a class="headerlink" href="#pwm_tool" title="Permanent link">&para;</a></h3>
+<p>Pulse width modulation digital output pins capable of high speed updates (one may define any number of sections with an "output_pin" prefix). Pins configured here will be setup as output pins and one may modify them at run-time using "SET_PIN PIN=my_pin VALUE=.1" type extended <a href="G-Codes.html#output_pin">g-code commands</a>.</p>
+<div class="highlight"><pre><span></span><code>[pwm_tool my_tool]
+pin:
+#   The pin to configure as an output. This parameter must be provided.
+#maximum_mcu_duration:
+#   The maximum duration a non-shutdown value may be driven by the MCU
+#   without an acknowledge from the host.
+#   If host can not keep up with an update, the MCU will shutdown
+#   and set all pins to their respective shutdown values.
+#   Default: 0 (disabled)
+#   Usual values are around 5 seconds.
+#value:
+#shutdown_value:
+#cycle_time: 0.100
+#hardware_pwm: False
+#scale:
+#   See the &quot;output_pin&quot; section for the definition of these parameters.
+</code></pre></div>
+
+<h3 id="pwm_cycle_time">[pwm_cycle_time]<a class="headerlink" href="#pwm_cycle_time" title="Permanent link">&para;</a></h3>
+<p>Run-time configurable output pins with dynamic pwm cycle timing (one may define any number of sections with an "pwm_cycle_time" prefix). Pins configured here will be setup as output pins and one may modify them at run-time using "SET_PIN PIN=my_pin VALUE=.1 CYCLE_TIME=0.100" type extended <a href="G-Codes.html#pwm_cycle_time">g-code commands</a>.</p>
+<div class="highlight"><pre><span></span><code>[pwm_cycle_time my_pin]
+pin:
+#value:
+#shutdown_value:
+#cycle_time: 0.100
+#scale:
+#   See the &quot;output_pin&quot; section for information on these parameters.
 </code></pre></div>

 <h3 id="static_digital_output">[static_digital_output]<a class="headerlink" href="#static_digital_output" title="Permanent link">&para;</a></h3>
--- a/zh/G-Codes.html
+++ b/zh/G-Codes.html
@@ -841,6 +841,26 @@
      </ul>
    </nav>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#axis_twist_compensation" class="md-nav__link">
+    [axis_twist_compensation]
+  </a>
+  
+    <nav class="md-nav" aria-label="[axis_twist_compensation]">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#axis_twist_compensation_calibrate" class="md-nav__link">
+    AXIS_TWIST_COMPENSATION_CALIBRATE
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
        
          <li class="md-nav__item">
@@ -1188,20 +1208,6 @@
    SYNC_EXTRUDER_MOTION
  </a>
  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#set_extruder_step_distance" class="md-nav__link">
-    SET_EXTRUDER_STEP_DISTANCE
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#sync_stepper_to_extruder" class="md-nav__link">
-    SYNC_STEPPER_TO_EXTRUDER
-  </a>
-  
 </li>
        
      </ul>
@@ -1858,6 +1864,26 @@
      </ul>
    </nav>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#pwm_cycle_time" class="md-nav__link">
+    [pwm_cycle_time]
+  </a>
+  
+    <nav class="md-nav" aria-label="[pwm_cycle_time]">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#set_pin_1" class="md-nav__link">
+    SET_PIN
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
        
          <li class="md-nav__item">
@@ -2262,26 +2288,6 @@
      </ul>
    </nav>
  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#axis_twist_compensation" class="md-nav__link">
-    [axis_twist_compensation]
-  </a>
-  
-    <nav class="md-nav" aria-label="[axis_twist_compensation]">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#axis_twist_compensation_calibrate" class="md-nav__link">
-    AXIS_TWIST_COMPENSATION_CALIBRATE
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
 </li>
        
          <li class="md-nav__item">
@@ -2980,6 +2986,26 @@
      </ul>
    </nav>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#axis_twist_compensation" class="md-nav__link">
+    [axis_twist_compensation]
+  </a>
+  
+    <nav class="md-nav" aria-label="[axis_twist_compensation]">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#axis_twist_compensation_calibrate" class="md-nav__link">
+    AXIS_TWIST_COMPENSATION_CALIBRATE
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
        
          <li class="md-nav__item">
@@ -3327,20 +3353,6 @@
    SYNC_EXTRUDER_MOTION
  </a>
  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#set_extruder_step_distance" class="md-nav__link">
-    SET_EXTRUDER_STEP_DISTANCE
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#sync_stepper_to_extruder" class="md-nav__link">
-    SYNC_STEPPER_TO_EXTRUDER
-  </a>
-  
 </li>
        
      </ul>
@@ -3997,6 +4009,26 @@
      </ul>
    </nav>
  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#pwm_cycle_time" class="md-nav__link">
+    [pwm_cycle_time]
+  </a>
+  
+    <nav class="md-nav" aria-label="[pwm_cycle_time]">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#set_pin_1" class="md-nav__link">
+    SET_PIN
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
        
          <li class="md-nav__item">
@@ -4401,26 +4433,6 @@
      </ul>
    </nav>
  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#axis_twist_compensation" class="md-nav__link">
-    [axis_twist_compensation]
-  </a>
-  
-    <nav class="md-nav" aria-label="[axis_twist_compensation]">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#axis_twist_compensation_calibrate" class="md-nav__link">
-    AXIS_TWIST_COMPENSATION_CALIBRATE
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
 </li>
        
          <li class="md-nav__item">
@@ -4545,10 +4557,15 @@
 <p><code>ANGLE_DEBUG_READ CHIP=&lt;配置名&gt; REG=&lt;寄存器&gt;</code>：查询传感器寄存器"寄存器"（例如：44或0x2C）。该命令常用于调试，仅适用于tle5012b芯片。</p>
 <h4 id="angle_debug_write">ANGLE_DEBUG_WRITE<a class="headerlink" href="#angle_debug_write" title="Permanent link">&para;</a></h4>
 <p><code>ANGLE_DEBUG_WRITE CHIP=&lt;配置名&gt; REG=&lt;寄存器&gt; VAL=&lt;值&gt;</code>：将“值”写入“寄存器”。“值”和“寄存器”可以是十进制或十六进制整数。请小心使用，并参考传感器数据手册。仅适用于 tle5012b芯片。</p>
+<h3 id="axis_twist_compensation">[axis_twist_compensation]<a class="headerlink" href="#axis_twist_compensation" title="Permanent link">&para;</a></h3>
+<p>The following commands are available when the <a href="Config_Reference.html#axis_twist_compensation">axis_twist_compensation config
+section</a> is enabled.</p>
+<h4 id="axis_twist_compensation_calibrate">AXIS_TWIST_COMPENSATION_CALIBRATE<a class="headerlink" href="#axis_twist_compensation_calibrate" title="Permanent link">&para;</a></h4>
+<p><code>AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=&lt;value&gt;]</code>: 启动X轴扭转校准向导。 <code>SAMPLE_COUNT</code> 指定沿着X轴进行校准的点数，默认为3个。</p>
 <h3 id="bed_mesh">[bed_mesh]<a class="headerlink" href="#bed_mesh" title="Permanent link">&para;</a></h3>
 <p>启用[床网格配置部分]（config_Reference.md#bed_mesh）时，以下命令可用（另请参阅[床网格指南]（bed_mesh.md））。</p>
 <h4 id="bed_mesh_calibrate">BED_MESH_CALIBRATE<a class="headerlink" href="#bed_mesh_calibrate" title="Permanent link">&para;</a></h4>
-<p><code>BED_MESH_CALIBRATE [METHOD=manual] [HORIZONTAL_MOVE_Z=&lt;value&gt;] [&lt;probe_parameter&gt;=&lt;value&gt;] [&lt;mesh_parameter&gt;=&lt;value&gt;]</code>: This command probes the bed using generated points specified by the parameters in the config. After probing, a mesh is generated and z-movement is adjusted according to the mesh. See the PROBE command for details on the optional probe parameters. If METHOD=manual is specified then the manual probing tool is activated - see the MANUAL_PROBE command above for details on the additional commands available while this tool is active. The optional <code>HORIZONTAL_MOVE_Z</code> value overrides the <code>horizontal_move_z</code> option specified in the config file.</p>
+<p><code>BED_MESH_CALIBRATE [PROFILE=&lt;name&gt;] [METHOD=manual] [HORIZONTAL_MOVE_Z=&lt;value&gt;] [&lt;probe_parameter&gt;=&lt;value&gt;] [&lt;mesh_parameter&gt;=&lt;value&gt;] [ADAPTIVE=1] [ADAPTIVE_MARGIN=&lt;value&gt;]</code>: This command probes the bed using generated points specified by the parameters in the config. After probing, a mesh is generated and z-movement is adjusted according to the mesh. The mesh will be saved into a profile specified by the <code>PROFILE</code> parameter, or <code>default</code> if unspecified. See the PROBE command for details on the optional probe parameters. If METHOD=manual is specified then the manual probing tool is activated - see the MANUAL_PROBE command above for details on the additional commands available while this tool is active. The optional <code>HORIZONTAL_MOVE_Z</code> value overrides the <code>horizontal_move_z</code> option specified in the config file. If ADAPTIVE=1 is specified then the objects defined by the Gcode file being printed will be used to define the probed area. The optional <code>ADAPTIVE_MARGIN</code> value overrides the <code>adaptive_margin</code> option specified in the config file.</p>
 <h4 id="bed_mesh_output">BED_MESH_OUTPUT<a class="headerlink" href="#bed_mesh_output" title="Permanent link">&para;</a></h4>
 <p><code>BED_MESH_OUTPUT PGP=[&lt;0:1&gt;]</code>：该命令将当前探测到的 Z 值和当前网格的值输出到终端。如果指定 PGP=1，则将bed_mesh产生的X、Y坐标，以及它们关联的指数，输出到终端。</p>
 <h4 id="bed_mesh_map">BED_MESH_MAP<a class="headerlink" href="#bed_mesh_map" title="Permanent link">&para;</a></h4>
@@ -4558,7 +4575,7 @@
 <h4 id="bed_mesh_profile">BED_MESH_PROFILE<a class="headerlink" href="#bed_mesh_profile" title="Permanent link">&para;</a></h4>
 <p><code>BED_MESH_PROFILE LOAD=&lt;名称&gt; SAVE=&lt;名称&gt; REMOVE=&lt;名称&gt;</code>：此命令提供了网床配置管理功能。LOAD 将从与所提供的名称相符的配置文件中恢复网格状态。SAVE 将会把目前的网格状态保存到与提供的名称相符的配置文件中。REMOVE（移除）将从持久性内存中删除与所提供名称相符的配置文件。请注意，在 SAVE 或 REMOVE 操作后，必须发送SAVE_CONFIG G代码，以保存变更到持久性内存。</p>
 <h4 id="bed_mesh_offset">BED_MESH_OFFSET<a class="headerlink" href="#bed_mesh_offset" title="Permanent link">&para;</a></h4>
-<p><code>BED_MESH_OFFSET [X=&lt;value&gt;] [Y=&lt;value&gt;]</code>。将X和/或Y的偏移量应用于网格查找。这对具有多个独立挤出头的打印机很有用，因为偏移量对切换工具头后产生正确的 Z 值调整是至关重要的。</p>
+<p><code>BED_MESH_OFFSET [X=&lt;value&gt;] [Y=&lt;value&gt;] [ZFADE=&lt;value]</code>: Applies X, Y, and/or ZFADE offsets to the mesh lookup. This is useful for printers with independent extruders, as an offset is necessary to produce correct Z adjustment after a tool change. Note that a ZFADE offset does not apply additional z-adjustment directly, it is used to correct the <code>fade</code> calculation when a <code>gcode offset</code> has been applied to the Z axis.</p>
 <h3 id="bed_screws">[bed_screws]<a class="headerlink" href="#bed_screws" title="Permanent link">&para;</a></h3>
 <p>以下命令当 <a href="Config_Reference.html#bed_screws">bed_screws 配置段</a> 使能的时候可用 (也可参考 <a href="Manual_Level.html#adjusting-bed-leveling-screws">手动调平指南</a>)。</p>
 <h4 id="bed_screws_adjust">BED_SCREWS_ADJUST<a class="headerlink" href="#bed_screws_adjust" title="Permanent link">&para;</a></h4>
@@ -4644,10 +4661,6 @@
 <p><code>SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=&lt;配置名&gt; [DISTANCE=&lt;距离&gt;]</code>：为提供的挤出机步进电机的“旋转距离”（如 <a href="Config_Reference.html#extruder">挤出机</a> 或 <a href="Config_Reference.html#extruder_stepper">extruder_stepper</a>配置分段中定义）设置新值。如果旋转距离为负数，则步进运动将反转（相对于配置文件中指定的步进方向）。更改的设置不会在 Klipper 重置时保留。请谨慎使用，因为微小的变化会导致挤出机和热端之间的压力过大。使用前需要用耗材进行适当的校准。如果未提供“DISTANCE”值，则此命令将返回当前旋转距离。</p>
 <h4 id="sync_extruder_motion">SYNC_EXTRUDER_MOTION<a class="headerlink" href="#sync_extruder_motion" title="Permanent link">&para;</a></h4>
 <p><code>SYNC_EXTRUDER_MOTION EXTRUDER=&lt;name&gt; MOTION_QUEUE=&lt;name&gt;</code>: This command will cause the stepper specified by EXTRUDER (as defined in an <a href="Config_Reference.html#extruder">extruder</a> or <a href="Config_Reference.html#extruder_stepper">extruder_stepper</a> config section) to become synchronized to the movement of an extruder specified by MOTION_QUEUE (as defined in an <a href="Config_Reference.html#extruder">extruder</a> config section). If MOTION_QUEUE is an empty string then the stepper will be desynchronized from all extruder movement.</p>
-<h4 id="set_extruder_step_distance">SET_EXTRUDER_STEP_DISTANCE<a class="headerlink" href="#set_extruder_step_distance" title="Permanent link">&para;</a></h4>
-<p>This command is deprecated and will be removed in the near future.</p>
-<h4 id="sync_stepper_to_extruder">SYNC_STEPPER_TO_EXTRUDER<a class="headerlink" href="#sync_stepper_to_extruder" title="Permanent link">&para;</a></h4>
-<p>This command is deprecated and will be removed in the near future.</p>
 <h3 id="fan_generic">[fan_generic]<a class="headerlink" href="#fan_generic" title="Permanent link">&para;</a></h3>
 <p>当<a href="Config_Reference.html#fan_generic">fan_generic 配置分段</a>被启用时，以下命令可用：</p>
 <h4 id="set_fan_speed">SET_FAN_SPEED<a class="headerlink" href="#set_fan_speed" title="Permanent link">&para;</a></h4>
@@ -4769,8 +4782,7 @@
 <h3 id="output_pin">[output_pin]<a class="headerlink" href="#output_pin" title="Permanent link">&para;</a></h3>
 <p>使用<a href="Config_Reference.html#output_pin">output_pin 配置分段</a>时，以下命令可用：</p>
 <h4 id="set_pin">SET_PIN<a class="headerlink" href="#set_pin" title="Permanent link">&para;</a></h4>
-<p><code>SET_PIN PIN=config_name VALUE=&lt;value&gt; [CYCLE_TIME=&lt;cycle_time&gt;]</code>: Set the pin to the given output <code>VALUE</code>. VALUE should be 0 or 1 for "digital" output pins. For PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and <code>scale</code> if a scale is configured in the output_pin config section.</p>
-<p>Some pins (currently only "soft PWM" pins) support setting an explicit cycle time using the CYCLE_TIME parameter (specified in seconds). Note that the CYCLE_TIME parameter is not stored between SET_PIN commands (any SET_PIN command without an explicit CYCLE_TIME parameter will use the <code>cycle_time</code> specified in the output_pin config section).</p>
+<p><code>SET_PIN PIN=config_name VALUE=&lt;value&gt;</code>: Set the pin to the given output <code>VALUE</code>. VALUE should be 0 or 1 for "digital" output pins. For PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and <code>scale</code> if a scale is configured in the output_pin config section.</p>
 <h3 id="palette2">[palette2]<a class="headerlink" href="#palette2" title="Permanent link">&para;</a></h3>
 <p>当<a href="Config_Reference.html#palette2">palette2 配置分段</a>被启用时，以下命令可用：</p>
 <p>Palette打印通过在GCode文件中嵌入特殊的OCodes（Omega Codes）来工作。</p>
@@ -4818,6 +4830,10 @@
 <p><code>PROBE_CALIBRATE [SPEED=&lt;speed&gt;] [&lt;probe_parameter&gt;=&lt;value&gt;]</code>:运行一个对校准测头的z_offset有用的辅助脚本。有关可选测头参数的详细信息，请参见PROBE命令。参见MANUAL_PROBE命令，了解SPEED参数和工具激活时可用的附加命令的详细信息。请注意，PROBE_CALIBRATE命令使用速度变量在XY方向以及Z方向上移动。</p>
 <h4 id="z_offset_apply_probe">Z_OFFSET_APPLY_PROBE<a class="headerlink" href="#z_offset_apply_probe" title="Permanent link">&para;</a></h4>
 <p><code>Z_OFFSET_APPLY_PROBE</code>：将当前的Z 的 G 代码偏移量（就是 babystepping）从 probe 的 z_offset 中减去。该命令将持久化一个常用babystepping 微调值。需要执行 <code>SAVE_CONFIG</code>才能生效。</p>
+<h3 id="pwm_cycle_time">[pwm_cycle_time]<a class="headerlink" href="#pwm_cycle_time" title="Permanent link">&para;</a></h3>
+<p>The following command is available when a <a href="Config_Reference.html#pwm_cycle_time">pwm_cycle_time config section</a> is enabled.</p>
+<h4 id="set_pin_1">SET_PIN<a class="headerlink" href="#set_pin_1" title="Permanent link">&para;</a></h4>
+<p><code>SET_PIN PIN=config_name VALUE=&lt;value&gt; [CYCLE_TIME=&lt;cycle_time&gt;]</code>: This command works similarly to <a href="#output_pin">output_pin</a> SET_PIN commands. The command here supports setting an explicit cycle time using the CYCLE_TIME parameter (specified in seconds). Note that the CYCLE_TIME parameter is not stored between SET_PIN commands (any SET_PIN command without an explicit CYCLE_TIME parameter will use the <code>cycle_time</code> specified in the pwm_cycle_time config section).</p>
 <h3 id="query_adc">[query_adc]<a class="headerlink" href="#query_adc" title="Permanent link">&para;</a></h3>
 <p>The query_adc module is automatically loaded.</p>
 <h4 id="query_adc_1">QUERY_ADC<a class="headerlink" href="#query_adc_1" title="Permanent link">&para;</a></h4>
@@ -4909,7 +4925,7 @@
 <h3 id="toolhead">[toolhead]<a class="headerlink" href="#toolhead" title="Permanent link">&para;</a></h3>
 <p>The toolhead module is automatically loaded.</p>
 <h4 id="set_velocity_limit">SET_VELOCITY_LIMIT<a class="headerlink" href="#set_velocity_limit" title="Permanent link">&para;</a></h4>
-<p><code>SET_VELOCITY_LIMIT [VELOCITY=&lt;值&gt;] [ACCEL=&lt;值&gt;] [ACCEL_TO_DECEL=&lt;值&gt;] [SQUARE_CORNER_VELOCITY=&lt;值&gt;]</code>：修改打印机速度限制。</p>
+<p><code>SET_VELOCITY_LIMIT [VELOCITY=&lt;value&gt;] [ACCEL=&lt;value&gt;] [MINIMUM_CRUISE_RATIO=&lt;value&gt;] [SQUARE_CORNER_VELOCITY=&lt;value&gt;]</code>: This command can alter the velocity limits that were specified in the printer config file. See the <a href="Config_Reference.html#printer">printer config section</a> for a description of each parameter.</p>
 <h3 id="tuning_tower">[tuning_tower]<a class="headerlink" href="#tuning_tower" title="Permanent link">&para;</a></h3>
 <p>The tuning_tower module is automatically loaded.</p>
 <h4 id="tuning_tower_1">TUNING_TOWER<a class="headerlink" href="#tuning_tower_1" title="Permanent link">&para;</a></h4>
@@ -4935,11 +4951,6 @@
 <p><code>SDCARD_PRINT_FILE FILENAME=&lt;文件名&gt;</code>：载入一个文件并开始 SD 打印</p>
 <h4 id="sdcard_reset_file">SDCARD_RESET_FILE<a class="headerlink" href="#sdcard_reset_file" title="Permanent link">&para;</a></h4>
 <p><code>SDCARD_RESET_FILE</code>：卸载文件并清除SD状态。</p>
-<h3 id="axis_twist_compensation">[axis_twist_compensation]<a class="headerlink" href="#axis_twist_compensation" title="Permanent link">&para;</a></h3>
-<p>The following commands are available when the <a href="Config_Reference.html#axis_twist_compensation">axis_twist_compensation config
-section</a> is enabled.</p>
-<h4 id="axis_twist_compensation_calibrate">AXIS_TWIST_COMPENSATION_CALIBRATE<a class="headerlink" href="#axis_twist_compensation_calibrate" title="Permanent link">&para;</a></h4>
-<p><code>AXIS_TWIST_COMPENSATION_CALIBRATE [SAMPLE_COUNT=&lt;value&gt;]</code>: 启动X轴扭转校准向导。 <code>SAMPLE_COUNT</code> 指定沿着X轴进行校准的点数，默认为3个。</p>
 <h3 id="z_thermal_adjust">[z_thermal_adjust]<a class="headerlink" href="#z_thermal_adjust" title="Permanent link">&para;</a></h3>
 <p>The following commands are available when the <a href="Config_Reference.html#z_thermal_adjust">z_thermal_adjust config section</a> is enabled.</p>
 <h4 id="set_z_thermal_adjust">SET_Z_THERMAL_ADJUST<a class="headerlink" href="#set_z_thermal_adjust" title="Permanent link">&para;</a></h4>
--- a/zh/Kinematics.html
+++ b/zh/Kinematics.html
@@ -983,8 +983,8 @@
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
-  <a href="#_4" class="md-nav__link">
-    预计算结果平滑
+  <a href="#minimum-cruise-ratio" class="md-nav__link">
+    Minimum cruise ratio
  </a>
  
 </li>
@@ -1003,7 +1003,7 @@
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
-  <a href="#_5" class="md-nav__link">
+  <a href="#_4" class="md-nav__link">
    笛卡尔机器
  </a>
  
@@ -1017,28 +1017,28 @@
 </li>
        
          <li class="md-nav__item">
-  <a href="#_6" class="md-nav__link">
+  <a href="#_5" class="md-nav__link">
    三角洲机器
  </a>
  
 </li>
        
          <li class="md-nav__item">
-  <a href="#_7" class="md-nav__link">
+  <a href="#_6" class="md-nav__link">
    步进电机加速限制
  </a>
  
 </li>
        
          <li class="md-nav__item">
-  <a href="#_8" class="md-nav__link">
+  <a href="#_7" class="md-nav__link">
    挤出机运动学
  </a>
  
 </li>
        
          <li class="md-nav__item">
-  <a href="#_9" class="md-nav__link">
+  <a href="#_8" class="md-nav__link">
    压力提前
  </a>
  
@@ -1428,8 +1428,8 @@
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
-  <a href="#_4" class="md-nav__link">
-    预计算结果平滑
+  <a href="#minimum-cruise-ratio" class="md-nav__link">
+    Minimum cruise ratio
  </a>
  
 </li>
@@ -1448,7 +1448,7 @@
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
-  <a href="#_5" class="md-nav__link">
+  <a href="#_4" class="md-nav__link">
    笛卡尔机器
  </a>
  
@@ -1462,28 +1462,28 @@
 </li>
        
          <li class="md-nav__item">
-  <a href="#_6" class="md-nav__link">
+  <a href="#_5" class="md-nav__link">
    三角洲机器
  </a>
  
 </li>
        
          <li class="md-nav__item">
-  <a href="#_7" class="md-nav__link">
+  <a href="#_6" class="md-nav__link">
    步进电机加速限制
  </a>
  
 </li>
        
          <li class="md-nav__item">
-  <a href="#_8" class="md-nav__link">
+  <a href="#_7" class="md-nav__link">
    挤出机运动学
  </a>
  
 </li>
        
          <li class="md-nav__item">
-  <a href="#_9" class="md-nav__link">
+  <a href="#_8" class="md-nav__link">
    压力提前
  </a>
  
@@ -1540,12 +1540,14 @@
 <div class="highlight"><pre><span></span><code>end_velocity^2 = start_velocity^2 + 2*accel*move_distance
 </code></pre></div>

-<h3 id="_4">预计算结果平滑<a class="headerlink" href="#_4" title="Permanent link">&para;</a></h3>
+<h3 id="minimum-cruise-ratio">Minimum cruise ratio<a class="headerlink" href="#minimum-cruise-ratio" title="Permanent link">&para;</a></h3>
 <p>Klipper 实现了一种用于平滑短距离之字形移动的机制。参考以下移动：</p>
 <p><img alt="zigzag" src="img/zigzag.svg.png" /></p>
-<p>在上述情况下，从加速到减速的频繁变化会导致机器振动并且会对机器造成压力和加噪音。为了减少这种情况，Klipper既跟踪常规的移动加速度并且也跟踪虚拟的"加减速率"。利用这个系统，这些短的"zigzag"移动的最高速度被限制以使得打印机的运动可以更加平滑：</p>
+<p>In the above, the frequent changes from acceleration to deceleration can cause the machine to vibrate which causes stress on the machine and increases the noise. Klipper implements a mechanism to ensure there is always some movement at a cruising speed between acceleration and deceleration. This is done by reducing the top speed of some moves (or sequence of moves) to ensure there is a minimum distance traveled at cruising speed relative to the distance traveled during acceleration and deceleration.</p>
+<p>Klipper implements this feature by tracking both a regular move acceleration as well as a virtual "acceleration to deceleration" rate:</p>
 <p><img alt="smoothed" src="img/smoothed.svg.png" /></p>
-<p>具体来说，代码计算的是限制在这个虚拟的“加速到减速”率下时（默认为正常加速率的一半），每个动作的速度是多少。在上图中，灰色虚线代表了第一段移动时的虚拟加速率。如果一段移动使用这个虚拟加速度不能达到目标巡航速度，那么这段移动的最高速度将被降低到它在这个虚拟加速率下所能获得的最大速度。对于大多数移动来说，该限制将处于或高于该移动的现有限制，并且不会改变移动的行为。然而，对于短的 "之 "字形移动，这个限制会降低最高速度。请注意，它不会改变移动中的实际加速度--移动会继续使用正常的加速，直到其调整后的最高速度。</p>
+<p>Specifically, the code calculates what the velocity of each move would be if it were limited to this virtual "acceleration to deceleration" rate. In the above picture the dashed gray lines represent this virtual acceleration rate for the first move. If a move can not reach its full cruising speed using this virtual acceleration rate then its top speed is reduced to the maximum speed it could obtain at this virtual acceleration rate.</p>
+<p>For most moves the limit will be at or above the move's existing limits and no change in behavior is induced. For short zigzag moves, however, this limit reduces the top speed. Note that it does not change the actual acceleration within the move - the move continues to use the normal acceleration scheme up to its adjusted top-speed.</p>
 <h2 id="generating-steps">生成步数（Generating steps）<a class="headerlink" href="#generating-steps" title="Permanent link">&para;</a></h2>
 <p>前瞻过程完成后给定移动的打印头运动已被确定（时间、开始位置、结束位置、每一点的速度），可以被用于生成移动的步进时间。这个过程是在Klipper代码的运动学类中完成的。在这些运动学类之外，所有的东西都是以毫米、秒为单位，在笛卡尔坐标空间进行跟踪。运动学类负责将这个通用坐标系统转换为符合打印机硬件特性的坐标系。</p>
 <p>Klipper使用一个<a href="https://zh.wikipedia.org/wiki/%E6%B1%82%E6%A0%B9%E7%AE%97%E6%B3%95">迭代求解器</a>来生成每个步进的步进时间。该代码包含了计算打印头在每个时间点上的理想笛卡尔坐标的公式，它还有运动学公式来计算基于这些笛卡尔坐标的理想步进位置。通过这些公式，Klipper可以确定步进电机在每个步进位置时的理想步进时间。然后在这些计算出的时间内安排给定的步进。</p>
@@ -1563,7 +1565,7 @@ cartesian_y_position = start_y + move_distance * total_y_movement / total_moveme
 cartesian_z_position = start_z + move_distance * total_z_movement / total_movement
 </code></pre></div>

-<h3 id="_5">笛卡尔机器<a class="headerlink" href="#_5" title="Permanent link">&para;</a></h3>
+<h3 id="_4">笛卡尔机器<a class="headerlink" href="#_4" title="Permanent link">&para;</a></h3>
 <p>为笛卡尔坐标的打印机生成步进是最简单的情况。每个轴上的运动与笛卡尔空间中的运动直接相关。</p>
 <p>关键公式：</p>
 <div class="highlight"><pre><span></span><code>stepper_x_position = cartesian_x_position
@@ -1578,7 +1580,7 @@ stepper_b_position = cartesian_x_position - cartesian_y_position
 stepper_z_position = cartesian_z_position
 </code></pre></div>

-<h3 id="_6">三角洲机器<a class="headerlink" href="#_6" title="Permanent link">&para;</a></h3>
+<h3 id="_5">三角洲机器<a class="headerlink" href="#_5" title="Permanent link">&para;</a></h3>
 <p>三角洲结构机器人上的步进生成基于勾股定理：</p>
 <div class="highlight"><pre><span></span><code>stepper_position = (sqrt(arm_length^2

@@ -1587,16 +1589,16 @@ stepper_z_position = cartesian_z_position
                    + cartesian_z_position)
 </code></pre></div>

-<h3 id="_7">步进电机加速限制<a class="headerlink" href="#_7" title="Permanent link">&para;</a></h3>
+<h3 id="_6">步进电机加速限制<a class="headerlink" href="#_6" title="Permanent link">&para;</a></h3>
 <p>在三角洲机器运动时，打印头在笛卡尔空间中运动进行一定加速度的加速运动，其对应轴的步进电机需要高于前述加速度的加速度。这种状况在一打印壁需提供的水平运动幅度大于垂直运动幅度，并且，运动直线靠近某一垂柱时发生。尽管这些运动会要求步进电机的加速度超过打印机的加速度设置限额，但单个步进电机需要承担的有效质量是相对较小的。因此，增加的步进电机加速度不会显著增加步进电机的扭矩需求，可认为这种现象是无害的。</p>
 <p>然而，为了避免极端状况，Klipper强制将步进电机的加速度上限设置为打印机加速度上限的3倍。（同样，步进电机的速度上限也设置为打印机速度上限的3倍。）为了实现上述设置，在打印区域水平边沿的（存在打印臂接近水平的）位置，打印头的速度和加速度上限将相应降低。</p>
-<h3 id="_8">挤出机运动学<a class="headerlink" href="#_8" title="Permanent link">&para;</a></h3>
+<h3 id="_7">挤出机运动学<a class="headerlink" href="#_7" title="Permanent link">&para;</a></h3>
 <p>Klipper 在自身的运动学类中实现了挤出机的运动。由于每个打印头运动的时间和速度是完全已知的，因此可以独立于打印头运动的步长计算来计算挤出机的步长。</p>
 <p>基本的挤出机运动计算起来很简单。步进时间的生成使用和笛卡尔结构相同的公式：</p>
 <div class="highlight"><pre><span></span><code>stepper_position = requested_e_position
 </code></pre></div>

-<h3 id="_9">压力提前<a class="headerlink" href="#_9" title="Permanent link">&para;</a></h3>
+<h3 id="_8">压力提前<a class="headerlink" href="#_8" title="Permanent link">&para;</a></h3>
 <p>实验表明，在基本的挤出机方程之上可以改进挤出机的模型。在理想情况下，随着挤出移动的进行，沿移动的每个点应寄出相同体积的耗材，并且在移动后不应挤出任何耗材。不幸的是，在实际情况下，基本的挤出机方程会导致在挤出运动开始时挤出过少的耗材，并且在挤出结束后挤出过多的耗材。这通常被称为“溢料”。</p>
 <p><img alt="溢料" src="img/ooze.svg.png" /></p>
 <p>"压力推进"系统试图通过使用一个不同的挤出机模型来解决这个问题。它不理想的假设送入挤出机的每mm^3耗材将导致该体积的mm^3立即被挤出，而是使用基于压力的模型。当耗材被推入挤出机时，压力会增加（如<a href="https://en.wikipedia.org/wiki/Hooke%27s_law">胡克定律</a>），而挤出所需的压力则由通过喷嘴孔口的流速决定（如<a href="https://en.wikipedia.org/wiki/Poiseuille_law">泊伊维尔定律</a>）。关键的想法是，耗材、压力和流速之间的关系可以用一个线性系数来建模：</p>
--- a/zh/Measuring_Resonances.html
+++ b/zh/Measuring_Resonances.html
@@ -2144,7 +2144,7 @@ GND+SCL
 <h3 id="_5">软件设置<a class="headerlink" href="#_5" title="Permanent link">&para;</a></h3>
 <p>请注意，共振测量和整形器自动校准需要默认情况下不安装的其他软件依赖项。首先，在你的树莓派上运行以下命令：</p>
 <div class="highlight"><pre><span></span><code>sudo apt update
-sudo apt install python3-numpy python3-matplotlib libatlas-base-dev
+sudo apt install python3-numpy python3-matplotlib libatlas-base-dev libopenblas-dev
 </code></pre></div>

 <p>接下来，为了在Klipper环境中安装NumPy，运行命令：</p>
@@ -2429,6 +2429,11 @@ max_smoothing: 0.25  # an example
 <p>由于输入整形器会在打印件中产生一些平滑，特别是在高加速时，选择一个不会产生过多平滑的<code>max_accel</code> 依然很重要校准脚本为<code>max_accel</code> 参数提供了一个不应该产生过多平滑的估计值。请注意，由校准脚本显示的<code>max_accel</code> 只是一个理论上的最大值，在这个值上，各自的整形器仍然能够工作而不产生过多的平滑。这决不是建议设置的打印加速度。你的打印机能够承受的最大加速度取决于它的机械性能和所用步进电机的最大扭矩。因此，建议在<code>[printer]</code> 部分设置<code>max_accel</code> 时不要超过X轴和Y轴的估计值，并保守一些。</p>
 <p>或者，按照<a href="Resonance_Compensation.html#selecting-max_accel">这个</a>章节的输入整形器调整指南，打印测试模型，通过实验选择<code>max_accel</code> 参数。</p>
 <p>同样的通知也适用于带有<code>SHAPER_CALIBRATE</code> 命令的输入整形器<a href="#input-shaper-auto-calibration">自动校准</a>：在自动校准后仍需选择正确的<code>max_accel</code> 值，建议的加速度限制将不会被自动应用。</p>
+<p>Keep in mind that the maximum acceleration without too much smoothing depends on the <code>square_corner_velocity</code>. The general recommendation is not to change it from its default value 5.0, and this is the value used by default by the <code>calibrate_shaper.py</code> script. If you did change it though, you should inform the script about it by passing <code>--square_corner_velocity=...</code> parameter, e.g.</p>
+<div class="highlight"><pre><span></span><code>~/klipper/scripts/calibrate_shaper.py /tmp/resonances_x_*.csv -o /tmp/shaper_calibrate_x.png --square_corner_velocity=10.0
+</code></pre></div>
+
+<p>so that it can calculate the maximum acceleration recommendations correctly. Note that the <code>SHAPER_CALIBRATE</code> command already takes the configured <code>square_corner_velocity</code> parameter into account, and there is no need to specify it explicitly.</p>
 <p>如果重新校准一个整形器，并且建议的整形器配置的报告平滑度与你在以前的校准中得到的几乎相同，这个步骤可以被跳过。</p>
 <h3 id="_11">自定义测试轴<a class="headerlink" href="#_11" title="Permanent link">&para;</a></h3>
 <p><code>TEST_RESONANCES</code>命令支持自定义轴。虽然这对输入整形器校准并不真正有用，但它可用于深入研究打印机共振，并检查皮带张力等。</p>
--- a/zh/Multi_MCU_Homing.html
+++ b/zh/Multi_MCU_Homing.html
@@ -1307,7 +1307,8 @@
 <p>过度运动的可能成因是，控制步进电机运动的微控制器 和 监控限位开关的微控制器之间的信息传递存在延时。Klipper在设计上将延时压缩到25ms以下。（在使用多mcu时，各个微控制器会通过周期性发送状态信息确定与上位机的延时不超过25ms。）</p>
 <p>例如，如果归零速度为10 mm/s则可能的过运动的量为0.25mm（10mm/s * .025s == 0.250mm）。在进行多mcu的归零配置时应充分考虑过运动的影响。使用低速归零可以有效减少过运动。</p>
 <p>步进电机的过运动不太可能对归零和探高的精度产生很大的影响。Klippe代码上会考虑通讯延时校正归零的结果。但是，过运动对硬件稳固性有要求，因为过运动发生时有可能会损坏硬件。</p>
-<p>对配置有多mcu归零的Klipper，如在进行归零时遭遇通讯错误，软件会出现"Communication timeout during homing"（归零时，控制器通讯超时）的错误信息。</p>
+<p>In order to use this "multi-mcu homing" capability the hardware must have predictably low latency between the host computer and all of the micro-controllers. Typically the round-trip time must be consistently less than 10ms. High latency (even for short periods) is likely to result in homing failures.</p>
+<p>如果高延迟导致故障（或者有其他通信问题），Klipper 将触发“复位期间通信超时”错误。</p>
 <p>需要注意的是当一个轴由多个步进电机控制（比如<code>stepper_z</code>和<code>stepper_z1</code>），这些电机必须连接到同一微控制器上以实现复数微控制器归零。详细来说，即Z限位开关位于微控制器1， <code>stepper_z</code>连接到微控制器2，则<code>stepper_z1</code>必须连接到微控制器2。</p>

              
--- a/zh/Probe_Calibrate.html
+++ b/zh/Probe_Calibrate.html
@@ -1429,7 +1429,7 @@
 <p>准确的探针 z 偏移(z_offset)是高质量打印的基础。z 偏移是探针触发时探针和喷嘴之间的高度差。Klipper 中的 <code>PROBE_CALIBRATE</code>（探针校准）工具可用于测量这个值——首先，该工具会运行一次自动探测以获取探针的 z 触发位置，然后需要手动调整Z坐标以获取喷嘴碰触到热床时的 z 高度。然后将根据这些测量值计算探针的 z 偏移。</p>
 <p>首先进行三轴的归零，然后将喷嘴移动到热床的中央位置。转到OctoPrint的“命令行（Terminal）”子页，输入 <code>PROBE_CALIBRATE</code>以启动z_offset校准工具。</p>
 <p>工具首先会令探针进行一次自动探测，获取触发探针的z位置，之后，控制喷嘴上升，并将喷嘴的X/Y位置移动到探针对应位置上，并开始手动调平流程。如果喷嘴没有移动到探针进行自动探测的位置，输入<code>ABORT</code>以停止手动调平，并上文根据X、y偏移校准流程进行探针X、Y校准。</p>
-<p>进入手动调平的过程后，请按照<a href="Bed_Level.html#the-paper-test">“纸片测试”</a>的流程，确定在探针探测位置上，喷嘴与热床之间的距离。完成上述流程后，使用<code>ACCEPT</code>命令将测量到的z_offset应用到当前配置，如需要保存配置到文件，则键入：</p>
+<p>Once the manual probe tool starts, follow the steps described at <a href="Bed_Level.html#the-paper-test">"the paper test"</a> to determine the actual distance between the nozzle and bed at the given location. Once those steps are complete one can <code>ACCEPT</code> the position and save the results to the config file with:</p>
 <div class="highlight"><pre><span></span><code>SAVE_CONFIG
 </code></pre></div>

--- a/zh/Resonance_Compensation.html
+++ b/zh/Resonance_Compensation.html
@@ -1616,7 +1616,7 @@
 <p>首先，测量<strong>振纹频率</strong>。</p>
 <ol>
 <li>如果<code>square_corner_velocity</code>参数已更改，请将其恢复到5.0。当使用输入整形器时，不建议增加它，因为它会导致零件更加平滑——最好使用更高的加速度值。</li>
-<li>Increase <code>max_accel_to_decel</code> by issuing the following command: <code>SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000</code></li>
+<li>Disable the <code>miminum_cruise_ratio</code> feature by issuing the following command: <code>SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0</code></li>
 <li>Disable Pressure Advance: <code>SET_PRESSURE_ADVANCE ADVANCE=0</code></li>
 <li>如果你已经将<code>[input_shaper]</code>分段添加到print.cfg中，执行<code>SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0</code>命令。如果你得到"未知命令"错误，此时你可以安全地忽略它，继续进行测量。</li>
 <li>Execute the command: <code>TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5</code> Basically, we try to make ringing more pronounced by setting different large values for acceleration. This command will increase the acceleration every 5 mm starting from 1500 mm/sec^2: 1500 mm/sec^2, 2000 mm/sec^2, 2500 mm/sec^2 and so forth up until 7000 mm/sec^2 at the last band.</li>
@@ -1657,7 +1657,7 @@ shaper_freq_y: ...  # frequency for the Y mark of the test model
 <p>Print the ringing test model as follows:</p>
 <ol>
 <li>Restart the firmware: <code>RESTART</code></li>
-<li>Prepare for test: <code>SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000</code></li>
+<li>Prepare for test: <code>SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0</code></li>
 <li>Disable Pressure Advance: <code>SET_PRESSURE_ADVANCE ADVANCE=0</code></li>
 <li>Execute: <code>SET_INPUT_SHAPER SHAPER_TYPE=MZV</code></li>
 <li>Execute the command: <code>TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5</code></li>
@@ -1695,7 +1695,7 @@ shaper_type: mzv
 <p>请注意，使用共振测试模型进行的共振频率测量的精度通常足够用于大多数目的，因此不建议进一步调整。如果您仍然想尝试再次检查您的结果（例如，如果您在打印与您之前测量的频率相同的输入整形器的测试模型后仍然看到某些振纹），您可以按照本节中的步骤操作。请注意，如果您在启用[input_shaper]后看到不同频率的振纹，本节将无法解决这个问题。</p>
 <p>Assuming that you have sliced the ringing model with suggested parameters, complete the following steps for each of the axes X and Y:</p>
 <ol>
-<li>Prepare for test: <code>SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000</code></li>
+<li>Prepare for test: <code>SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0</code></li>
 <li>Make sure Pressure Advance is disabled: <code>SET_PRESSURE_ADVANCE ADVANCE=0</code></li>
 <li>Execute: <code>SET_INPUT_SHAPER SHAPER_TYPE=ZV</code></li>
 <li>From the existing ringing test model with your chosen input shaper select the acceleration that shows ringing sufficiently well, and set it with: <code>SET_VELOCITY_LIMIT ACCEL=...</code></li>
@@ -1717,7 +1717,7 @@ shaper_type: mzv
 <p>For tuning, add empty <code>[input_shaper]</code> section to your <code>printer.cfg</code>. Then, assuming that you have sliced the ringing model with suggested parameters, print the test model 3 times as follows. First time, prior to printing, run</p>
 <ol>
 <li><code>RESTART</code></li>
-<li><code>SET_VELOCITY_LIMIT ACCEL_TO_DECEL=7000</code></li>
+<li><code>SET_VELOCITY_LIMIT MINIMUM_CRUISE_RATIO=0</code></li>
 <li><code>SET_PRESSURE_ADVANCE ADVANCE=0</code></li>
 <li><code>SET_INPUT_SHAPER SHAPER_TYPE=2HUMP_EI SHAPER_FREQ_X=60 SHAPER_FREQ_Y=60</code></li>
 <li><code>TUNING_TOWER COMMAND=SET_VELOCITY_LIMIT PARAMETER=ACCEL START=1500 STEP_DELTA=500 STEP_HEIGHT=5</code></li>
--- a/zh/Skew_Correction.html
+++ b/zh/Skew_Correction.html
@@ -1409,7 +1409,7 @@
 <p>纠正偏斜的第一步是沿着你要纠正的平面打印一个<a href="https://www.thingiverse.com/thing:2563185/files">校准物件</a>。还有一个<a href="https://www.thingiverse.com/thing:2972743">校准物件</a>包括了一个模型中的所有平面。你需要旋转这个物件，使角A朝向平面的原点。</p>
 <p>不要在这次打印中应用倾斜校正。你可以通过从printer.cfg中删除<code>[skew_correction]</code>模块或发送 <code>SET_SKEW CLEAR=1</code>G-Code 来实现。</p>
 <h2 id="_3">进行测量<a class="headerlink" href="#_3" title="Permanent link">&para;</a></h2>
-<p><code>[skew_correcton]</code> 模块需要三次对校准平面的测量值；从角 A 到角 C 的距离，从角 B 到角 D 的距离，以及从角 A 到角 D 的距离。当测量距离 AD 时，不包括一些测试物件的角上的平面。</p>
+<p>The <code>[skew_correction]</code> module requires 3 measurements for each plane you want to correct; the length from Corner A to Corner C, the length from Corner B to Corner D, and the length from Corner A to Corner D. When measuring length AD do not include the flats on the corners that some test objects provide.</p>
 <p><img alt="skew_lengths" src="img/skew_lengths.png" /></p>
 <h2 id="_4">配置偏斜<a class="headerlink" href="#_4" title="Permanent link">&para;</a></h2>
 <p>确保 <code>[skew_correction]</code> 已经在 printer.cfg 中。现在可以使用<code>SET_SKEW</code> G-Code 来配置 skew_correcton。例如，如果对 XY 平面测量的距离结果如下：</p>
--- a/zh/Status_Reference.html
+++ b/zh/Status_Reference.html
@@ -1003,6 +1003,13 @@
    probe
  </a>
  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#pwm_cycle_time" class="md-nav__link">
+    pwm_cycle_time
+  </a>
+  
 </li>
      
        <li class="md-nav__item">
@@ -1820,6 +1827,13 @@
    probe
  </a>
  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#pwm_cycle_time" class="md-nav__link">
+    pwm_cycle_time
+  </a>
+  
 </li>
      
        <li class="md-nav__item">
@@ -2167,6 +2181,11 @@
 <li><code>last_query</code>：如果探针在上一个 QUERY_PROBE 命令期间报告为"已触发"，则返回 True。请注意，如果在宏中使用它，根据模板展开的顺序，必须在包含此引用的宏之前运行 QUERY_PROBE 命令。</li>
 <li><code>last_z_result</code>：返回上一次 PROBE 命令的结果 Z 值。请注意，由于模板展开的顺序，在宏中使用时必须在包含此引用的宏之前运行 PROBE（或类似）命令。</li>
 </ul>
+<h2 id="pwm_cycle_time">pwm_cycle_time<a class="headerlink" href="#pwm_cycle_time" title="Permanent link">&para;</a></h2>
+<p>The following information is available in <a href="Config_Reference.html#pwm_cycle_time">pwm_cycle_time some_name</a> objects:</p>
+<ul>
+<li><code>value</code>：由<code>SET_PIN</code>指令设置的引脚“值”。</li>
+</ul>
 <h2 id="quad_gantry_level">quad_gantry_level<a class="headerlink" href="#quad_gantry_level" title="Permanent link">&para;</a></h2>
 <p><code>quad_gantry_level</code> 对象提供了以下信息（如果定义了 quad_gantry_level，则该对象可用）：</p>
 <ul>
@@ -2242,7 +2261,7 @@
 <li><code>homed_axes</code>：当前被认为处于“已归位”状态的车轴。这是一个包含一个或多个"x"、"y"、"z"的字符串。</li>
 <li><code>axis_minimum</code>、<code>axis_maximum</code>：归位后的轴的行程限制（毫米）。可以访问此极限值的 x、y、z 分量（例如，<code>axis_minimum.x</code>、<code>axis_maximum.z</code>）。</li>
 <li>对于三角洲打印机，<code>cone_start_z</code> 是最大半径时的最大z高度(<code>printer.toolhead.cone_start_z</code>)。</li>
-<li><code>max_velocity</code>、<code>max_accel</code>、<code>max_accel_to_decel</code>和<code>square_corner_velocity</code>：当前生效的打印机限制。如果 <code>SET_VELOCITY_LIMIT</code>（或 <code>M204</code>）命令在运行时改变它们，这些值可能与配置文件设置不同。</li>
+<li><code>max_velocity</code>, <code>max_accel</code>, <code>minimum_cruise_ratio</code>, <code>square_corner_velocity</code>: The current printing limits that are in effect. This may differ from the config file settings if a <code>SET_VELOCITY_LIMIT</code> (or <code>M204</code>) command alters them at run-time.</li>
 <li><code>stalls</code>：由于工具头移动速度快于从 G 代码输入读取的移动速度，因此打印机必须暂停的总次数（自上次重新启动以来）。</li>
 </ul>
 <h2 id="dual_carriage">dual_carriage<a class="headerlink" href="#dual_carriage" title="Permanent link">&para;</a></h2>
--- a/zh/_klipper3d/pycache/mkdocs_hooks.cpython-38.pyc
+++ b/zh/_klipper3d/pycache/mkdocs_hooks.cpython-38.pyc
--- a/zh/search/search_index.json
+++ b/zh/search/search_index.json
--- a/zh/sitemap.xml
+++ b/zh/sitemap.xml
@@ -2,267 +2,267 @@
 <urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
    <url>
         <loc>None</loc>
-         <lastmod>2024-04-27</lastmod>
+         <lastmod>2024-04-28</lastmod>
         <changefreq>daily</changefreq>
    </url>
 </urlset>
--- a/zh/sitemap.xml.gz
+++ b/zh/sitemap.xml.gz