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delta: Cap maximum stepper velocity and acceleration

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Some XY moves at the extreme end of the build envelope could cause
excessive axis stepper movement.  Check for any moves that could
possibly result in a stepper movement of more than 3 times the XY
movement and cap the move's acceleration and speed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-02-13 15:04:29 -05:00
parent 9f65ae72c3
commit bdfdf7ef55
2 changed files with 47 additions and 3 deletions
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10
config/example-delta.cfg
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@@ -79,7 +79,17 @@ pin_map: arduino
kinematics: delta
# This option must be "delta" for linear delta printers.
max_velocity: 300
# Maximum velocity (in mm/s) of the toolhead relative to the
# print. This limits the velocity of the toolhead relative to the
# print - at the extreme end of the print envelope the delta axis
# steppers themselves may briefly exceed this speed by up to 3
# times. This parameter must be specified.
max_accel: 3000
# Maximum acceleration (in mm/s^2) of the toolhead relative to the
# print. This limits the acceleration of the toolhead relative to
# the print - at the extreme end of the print envelope the delta
# axis steppers may briefly exceed this acceleration by up to 3
# times. This parameter must be specified.
max_z_velocity: 200
# For delta printers this limits the maximum velocity (in mm/s) of
# moves with z axis movement. This setting can be used to reduce the