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KevinOConnor
2024-06-19 17:48:13 +00:00
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@@ -724,6 +724,33 @@
</ul>
</nav>
</li>
<li class="md-nav__item">
<a href="#surface-scans" class="md-nav__link">
Surface Scans
</a>
<nav class="md-nav" aria-label="Surface Scans">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#scan-height" class="md-nav__link">
Scan Height
</a>
</li>
<li class="md-nav__item">
<a href="#rapid-continuous-scanning" class="md-nav__link">
Rapid (Continuous) Scanning
</a>
</li>
</ul>
</nav>
</li>
<li class="md-nav__item">
@@ -785,6 +812,67 @@
</ul>
</nav>
</li>
<li class="md-nav__item">
<a href="#bed-mesh-webhooks-apis" class="md-nav__link">
Bed Mesh Webhooks APIs
</a>
<nav class="md-nav" aria-label="Bed Mesh Webhooks APIs">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#dumping-mesh-data" class="md-nav__link">
Dumping mesh data
</a>
</li>
</ul>
</nav>
</li>
<li class="md-nav__item">
<a href="#visualization-and-analysis" class="md-nav__link">
Visualization and analysis
</a>
<nav class="md-nav" aria-label="Visualization and analysis">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#pre-requisites" class="md-nav__link">
Pre-requisites
</a>
</li>
<li class="md-nav__item">
<a href="#plotting-mesh-data" class="md-nav__link">
Plotting Mesh data
</a>
</li>
<li class="md-nav__item">
<a href="#bed-mesh-analysis" class="md-nav__link">
Bed Mesh Analysis
</a>
</li>
<li class="md-nav__item">
<a href="#save-mesh-data-to-a-file" class="md-nav__link">
Save mesh data to a file
</a>
</li>
</ul>
</nav>
</li>
</ul>
@@ -1567,6 +1655,33 @@
</ul>
</nav>
</li>
<li class="md-nav__item">
<a href="#surface-scans" class="md-nav__link">
Surface Scans
</a>
<nav class="md-nav" aria-label="Surface Scans">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#scan-height" class="md-nav__link">
Scan Height
</a>
</li>
<li class="md-nav__item">
<a href="#rapid-continuous-scanning" class="md-nav__link">
Rapid (Continuous) Scanning
</a>
</li>
</ul>
</nav>
</li>
<li class="md-nav__item">
@@ -1628,6 +1743,67 @@
</ul>
</nav>
</li>
<li class="md-nav__item">
<a href="#bed-mesh-webhooks-apis" class="md-nav__link">
Bed Mesh Webhooks APIs
</a>
<nav class="md-nav" aria-label="Bed Mesh Webhooks APIs">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#dumping-mesh-data" class="md-nav__link">
Dumping mesh data
</a>
</li>
</ul>
</nav>
</li>
<li class="md-nav__item">
<a href="#visualization-and-analysis" class="md-nav__link">
Visualization and analysis
</a>
<nav class="md-nav" aria-label="Visualization and analysis">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#pre-requisites" class="md-nav__link">
Pre-requisites
</a>
</li>
<li class="md-nav__item">
<a href="#plotting-mesh-data" class="md-nav__link">
Plotting Mesh data
</a>
</li>
<li class="md-nav__item">
<a href="#bed-mesh-analysis" class="md-nav__link">
Bed Mesh Analysis
</a>
</li>
<li class="md-nav__item">
<a href="#save-mesh-data-to-a-file" class="md-nav__link">
Save mesh data to a file
</a>
</li>
</ul>
</nav>
</li>
</ul>
@@ -2040,19 +2216,79 @@ height. Machines with mechanical issues that a full bed mesh normally compensate
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="surface-scans">Surface Scans<a class="headerlink" href="#surface-scans" title="Permanent link">&para;</a></h2>
<p>Some probes, such as the <a href="Eddy_Probe.html">Eddy Current Probe</a>, are capable of
"scanning" the surface of the bed. That is, these probes can sample a mesh
without lifting the tool between samples. To activate scanning mode, the
<code>METHOD=scan</code> or <code>METHOD=rapid_scan</code> probe parameter should be passed in the
<code>BED_MESH_CALIBRATE</code> gcode command.</p>
<h3 id="scan-height">Scan Height<a class="headerlink" href="#scan-height" title="Permanent link">&para;</a></h3>
<p>The scan height is set by the <code>horizontal_move_z</code> option in <code>[bed_mesh]</code>. In
addition it can be supplied with the <code>BED_MESH_CALIBRATE</code> gcode command via the
<code>HORIZONTAL_MOVE_Z</code> parameter.</p>
<p>The scan height must be sufficiently low to avoid scanning errors. Typically
a height of 2mm (ie: <code>HORIZONTAL_MOVE_Z=2</code>) should work well, presuming that the
probe is mounted correctly.</p>
<p>It should be noted that if the probe is more than 4mm above the surface then the
results will be invalid. Thus, scanning is not possible on beds with severe
surface deviation or beds with extreme tilt that hasn't been corrected.</p>
<h3 id="rapid-continuous-scanning">Rapid (Continuous) Scanning<a class="headerlink" href="#rapid-continuous-scanning" title="Permanent link">&para;</a></h3>
<p>When performing a <code>rapid_scan</code> one should keep in mind that the results will
have some amount of error. This error should be low enough to be useful on
large print areas with reasonably thick layer heights. Some probes may be
more prone to error than others.</p>
<p>It is not recommended that rapid mode be used to scan a "dense" mesh. Some of
the error introduced during a rapid scan may be gaussian noise from the sensor,
and a dense mesh will reflect this noise (ie: there will be peaks and valleys).</p>
<p>Bed Mesh will attempt to optimize the travel path to provide the best possible
result based on the configuration. This includes avoiding faulty regions
when collecting samples and "overshooting" the mesh when changing direction.
This overshoot improves sampling at the edges of a mesh, however it requires
that the mesh be configured in a way that allows the tool to travel outside
of the mesh.</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
scan_overshoot: 8
</code></pre></div>
<ul>
<li><code>scan_overshoot</code>
<em>Default Value: 0 (disabled)</em><br>
The maximum amount of travel (in mm) available outside of the mesh.
For rectangular beds this applies to travel on the X axis, and for round beds
it applies to the entire radius. The tool must be able to travel the amount
specified outside of the mesh. This value is used to optimize the travel
path when performing a "rapid scan". The minimum value that may be specified
is 1. The default is no overshoot.</li>
</ul>
<p>If no scan overshoot is configured then travel path optimization will not
be applied to changes in direction.</p>
<h2 id="bed-mesh-gcodes">Bed Mesh Gcodes<a class="headerlink" href="#bed-mesh-gcodes" title="Permanent link">&para;</a></h2>
<h3 id="calibration">Calibration<a class="headerlink" href="#calibration" title="Permanent link">&para;</a></h3>
<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><br>
<p><code>BED_MESH_CALIBRATE PROFILE=&lt;name&gt; METHOD=[manual | automatic | scan | rapid_scan] &lt;br&gt;
[&lt;probe_parameter&gt;=&lt;value&gt;] [&lt;mesh_parameter&gt;=&lt;value&gt;] [ADAPTIVE=[0|1] &lt;br&gt;
[ADAPTIVE_MARGIN=&lt;value&gt;]</code><br>
<em>Default Profile: default</em><br>
<em>Default Method: automatic if a probe is detected, otherwise manual</em> <br>
<em>Default Adaptive: 0</em> <br>
<em>Default Adaptive Margin: 0</em></p>
<p>Initiates the probing procedure for Bed Mesh Calibration.</p>
<p>The mesh will be saved into a profile specified by the <code>PROFILE</code> parameter,
or <code>default</code> if unspecified. If <code>METHOD=manual</code> is selected then manual probing
will occur. When switching between automatic and manual probing the generated
mesh points will automatically be adjusted.</p>
or <code>default</code> if unspecified. The <code>METHOD</code> parameter takes one of the following
values:</p>
<ul>
<li><code>METHOD=manual</code>: enables manual probing using the nozzle and the paper test</li>
<li><code>METHOD=automatic</code>: Automatic (standard) probing. This is the default.</li>
<li><code>METHOD=scan</code>: Enables surface scanning. The tool will pause over each position
to collect a sample.</li>
<li><code>METHOD=rapid_scan</code>: Enables continuous surface scanning.</li>
</ul>
<p>XY positions are automatically adjusted to include the X and/or Y offsets
when a probing method other than <code>manual</code> is selected.</p>
<p>It is possible to specify mesh parameters to modify the probed area. The
following parameters are available:</p>
<ul>
@@ -2069,6 +2305,7 @@ following parameters are available:</p>
</ul>
</li>
<li>All beds:<ul>
<li><code>MESH_PPS</code></li>
<li><code>ALGORITHM</code></li>
<li><code>ADAPTIVE</code></li>
<li><code>ADAPTIVE_MARGIN</code></li>
@@ -2151,6 +2388,169 @@ is intended to compensate for a <code>gcode offset</code> when <a href="#mesh-fa
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>
<h2 id="bed-mesh-webhooks-apis">Bed Mesh Webhooks APIs<a class="headerlink" href="#bed-mesh-webhooks-apis" title="Permanent link">&para;</a></h2>
<h3 id="dumping-mesh-data">Dumping mesh data<a class="headerlink" href="#dumping-mesh-data" title="Permanent link">&para;</a></h3>
<p><code>{"id": 123, "method": "bed_mesh/dump_mesh"}</code></p>
<p>Dumps the configuration and state for the current mesh and all
saved profiles.</p>
<p>The <code>dump_mesh</code> endpoint takes one optional parameter, <code>mesh_args</code>.
This parameter must be an object, where the keys and values are
parameters available to <a href="#bed_mesh_calibrate">BED_MESH_CALIBRATE</a>.
This will update the mesh configuration and probe points using the
supplied parameters prior to returning the result. It is recommended
to omit mesh parameters unless it is desired to visualize the probe points
and/or travel path before performing <code>BED_MESH_CALIBRATE</code>.</p>
<h2 id="visualization-and-analysis">Visualization and analysis<a class="headerlink" href="#visualization-and-analysis" title="Permanent link">&para;</a></h2>
<p>Most users will likely find that the visualizers included with
applications such as Mainsail, Fluidd, and Octoprint are sufficient
for basic analysis. However, Klipper's <code>scripts</code> folder contains the
<code>graph_mesh.py</code> script that may be used to perform additional
visualizations and more detailed analysis, particularly useful
for debugging hardware or the results produced by <code>bed_mesh</code>:</p>
<div class="highlight"><pre><span></span><code>usage: graph_mesh.py [-h] {list,plot,analyze,dump} ...
Graph Bed Mesh Data
positional arguments:
{list,plot,analyze,dump}
list List available plot types
plot Plot a specified type
analyze Perform analysis on mesh data
dump Dump API response to json file
options:
-h, --help show this help message and exit
</code></pre></div>
<h3 id="pre-requisites">Pre-requisites<a class="headerlink" href="#pre-requisites" title="Permanent link">&para;</a></h3>
<p>Like most graphing tools provided by Klipper, <code>graph_mesh.py</code> requires
the <code>matplotlib</code> and <code>numpy</code> python dependencies. In addition, connecting
to Klipper via Moonraker's websocket requires the <code>websockets</code> python
dependency. While all visualizations can be output to an <code>svg</code> file, most of
the visualizations offered by <code>graph_mesh.py</code> are better viewed in live
preview mode on a desktop class PC. For example, the 3D visualizations may be
rotated and zoomed in preview mode, and the path visualizations can optionally
be animated in preview mode.</p>
<h3 id="plotting-mesh-data">Plotting Mesh data<a class="headerlink" href="#plotting-mesh-data" title="Permanent link">&para;</a></h3>
<p>The <code>graph_mesh.py</code> tool can plot several types of visualizations.
Available types can be shown by running <code>graph_mesh.py list</code>:</p>
<div class="highlight"><pre><span></span><code>graph_mesh.py list
points Plot original generated points
path Plot probe travel path
rapid Plot rapid scan travel path
probedz Plot probed Z values
meshz Plot mesh Z values
overlay Plots the current probed mesh overlaid with a profile
delta Plots the delta between current probed mesh and a profile
</code></pre></div>
<p>Several options are available when plotting visualizations:</p>
<div class="highlight"><pre><span></span><code>usage: graph_mesh.py plot [-h] [-a] [-s] [-p PROFILE_NAME] [-o OUTPUT] &lt;plot type&gt; &lt;input&gt;
positional arguments:
&lt;plot type&gt; Type of data to graph
&lt;input&gt; Path/url to Klipper Socket or path to json file
options:
-h, --help show this help message and exit
-a, --animate Animate paths in live preview
-s, --scale-plot Use axis limits reported by Klipper to scale plot X/Y
-p PROFILE_NAME, --profile-name PROFILE_NAME
Optional name of a profile to plot for &#39;probedz&#39;
-o OUTPUT, --output OUTPUT
Output file path
</code></pre></div>
<p>Below is a description of each argument:</p>
<ul>
<li><code>plot type</code>: A required positional argument designating the type of
visualization to generate. Must be one of the types output by the
<code>graph_mesh.py list</code> command.</li>
<li><code>input</code>: A required positional argument containing a path or url
to the input source. This must be one of the following:<ul>
<li>A path to Klipper's Unix Domain Socket</li>
<li>A url to an instance of Moonraker</li>
<li>A path to a json file produced by <code>graph_mesh.py dump &lt;input&gt;</code></li>
</ul>
</li>
<li><code>-a</code>: Optional animation for the <code>path</code> and <code>rapid</code> visualization types.
Animations only apply to a live preview.</li>
<li><code>-s</code>: Optionally scales a plot using the <code>axis_minimum</code> and <code>axis_maximum</code>
values reported by Klipper's <code>toolhead</code> object when the dump file was
generated.</li>
<li><code>-p</code>: A profile name that may be specified when generating the
<code>probedz</code> 3D mesh visualization. When generating an <code>overlay</code> or
<code>delta</code> visualization this argument must be provided.</li>
<li><code>-o</code>: An optional file path indicating that the script should save the
visualization to this location rather than run in preview mode. Images
are saved in <code>svg</code> format.</li>
</ul>
<p>For example, to plot an animated rapid path, connecting via Klipper's unix
socket:</p>
<div class="highlight"><pre><span></span><code>graph_mesh.py plot -a rapid ~/printer_data/comms/klippy.sock
</code></pre></div>
<p>Or to plot a 3d visualization of the mesh, connecting via Moonraker:</p>
<div class="highlight"><pre><span></span><code>graph_mesh.py plot meshz http://my-printer.local
</code></pre></div>
<h3 id="bed-mesh-analysis">Bed Mesh Analysis<a class="headerlink" href="#bed-mesh-analysis" title="Permanent link">&para;</a></h3>
<p>The <code>graph_mesh.py</code> tool may also be used to perform an analysis on the
data provided by the <a href="#dumping-mesh-data">bed_mesh/dump_mesh</a> API:</p>
<div class="highlight"><pre><span></span><code>graph_mesh.py analyze &lt;input&gt;
</code></pre></div>
<p>As with the <code>plot</code> command, the <code>&lt;input&gt;</code> must be a path to Klipper's
unix socket, a URL to an instance of Moonraker, or a path to a json file
generated by the dump command.</p>
<p>To begin, the analysis will perform various checks on the points and
probe paths generated by <code>bed_mesh</code> at the time of the dump. This
includes the following:</p>
<ul>
<li>The number of probe points generated, without any additions</li>
<li>The number of probe points generated including any points generated
as the result faulty regions and/or a configured zero reference position.</li>
<li>The number of probe points generated when performing a rapid scan.</li>
<li>The total number of moves generated for a rapid scan.</li>
<li>A validation that the probe points generated for a rapid scan are
identical to the probe points generated for a standard probing procedure.</li>
<li>A "backtracking" check for both the standard probe path and a rapid scan
path. Backtracking can be defined as moving to the same position more than
once during the probing procedure. Backtracking should never occur during a
standard probe. Faulty regions <em>can</em> result in backtracking during a rapid
scan in an attempt to avoid entering a faulty region when approaching or
leaving a probe location, however should never occur otherwise.</li>
</ul>
<p>Next each probed mesh present in the dump will by analyzed, beginning with
the mesh loaded at the time of the dump (if present) and followed by any
saved profiles. The following data is extracted:</p>
<ul>
<li>Mesh shape (Min X,Y, Max X,Y Probe Count)</li>
<li>Mesh Z range, (Minimum Z, Maximum Z)</li>
<li>Mean Z value in the mesh</li>
<li>Standard Deviation of the Z values in the Mesh</li>
</ul>
<p>In addition to the above, a delta analysis is performed between meshes
with the same shape, reporting the following:</p>
<ul>
<li>The range of the delta between to meshes (Minimum and Maximum)</li>
<li>The mean delta</li>
<li>Standard Deviation of the delta</li>
<li>The absolute maximum difference</li>
<li>The absolute mean</li>
</ul>
<h3 id="save-mesh-data-to-a-file">Save mesh data to a file<a class="headerlink" href="#save-mesh-data-to-a-file" title="Permanent link">&para;</a></h3>
<p>The <code>dump</code> command may be used to save the response to a file which
can be shared for analysis when troubleshooting:</p>
<div class="highlight"><pre><span></span><code>graph_mesh.py dump -o &lt;output file name&gt; &lt;input&gt;
</code></pre></div>
<p>The <code>&lt;input&gt;</code> should be a path to Klipper's unix socket or
a URL to an instance of Moonraker. The <code>-o</code> option may be used to
specify the path to the output file. If omitted, the file will be
saved in the working directory, with a file name in the following
format:</p>
<p><code>klipper-bedmesh-{year}{month}{day}{hour}{minute}{second}.json</code></p>
</article>