Calibration & Motion MODULEKLIPPER

Klipper Input Shaper Resonance & Max Acceleration Optimizer

Calculate optimal Klipper input shaper filters (MZV, EI, 2HUMP_EI), filter durations, and safe maximum accelerations for your printer resonance frequency.

Resonance Frequency (Hz)48.5 Hz

Obtained from manual ringing test tower or ADXL345 accelerometer graph peak.

Damping Ratio (ζ)

Default 0.10 works for 95% of Cartesian and CoreXY printers.

Target Axis

Bedslingers typically have higher X frequency and lower Y bed frequency.

RECOMMENDED SHAPERMZV (Modified Zero Vibration)

Optimal balance between high acceleration and crisp corners with minimal smoothing for frequencies >= 45 Hz.

Max Safe Accel

17,600 mm/s²

Filter Duration

15.5 ms

Input Shaper Algorithms Comparison Matrix

Sorted by filter strength

Filter Type	Duration (τ)	Max Acceleration	Vibration Reduction	Corner Smoothing	Status

Generated Klipper printer.cfg BlockReady to copy-paste

Copy Klipper Config

# Input Shaper configuration

01 / PROTOCOL

Measurement & Operating Instructions

STEP 01

1. Measure Resonance Frequency

Run a manual Klipper tuning tower (TEST_RESONANCES) or analyze an ADXL345 accelerometer resonance graph to identify the peak frequency (Hz).

STEP 02

2. Compare Shaper Algorithms

Review the comparison matrix: MZV provides the best all-around crispness, while EI and 2HUMP_EI offer wider tolerance for compliant bedslingers.

STEP 03

3. Paste Config to printer.cfg

Copy the generated [input_shaper] and [printer] max_accel snippet directly into your Klipper configuration file.

02 / MATHEMATICS

Input Shaper Filter Physics & Acceleration Formulation

Computes input shaping impulse filters (ZV, MZV, ZVD, EI, 2HUMP_EI) designed to suppress mechanical resonance frequencies without excessive corner rounding.

a_max ≈ β × f₀² / 100 (where β is the filter damping tolerance factor and f₀ is resonance frequency in Hz)

Real-World Worked Benchmark:

For a CoreXY X-axis resonance peak at f = 48.5 Hz: MZV shaper duration is τ = 0.75 / 48.5 = 15.5 ms. Maximum recommended acceleration = 48.5² × 0.075 ≈ 17,600 mm/s² with 92% vibration attenuation.

Frequently Asked Questions

What is the difference between MZV and EI input shapers in Klipper?

MZV (Modified Zero Vibration) has a shorter impulse duration, causing less corner smoothing and higher acceleration capability. EI (Extra Insensitive) filters across a broader frequency band, making it ideal when resonance shifts as print mass increases.

Can I use different input shapers for X and Y axes?

Yes! On Cartesian bedslingers (e.g. Ender 3 or Prusa MK3), the lightweight X toolhead often resonates around 50-60 Hz, whereas the heavy Y bed resonates around 35-40 Hz. Klipper supports distinct shaper_type_x and shaper_type_y settings.

What is the recommended maximum acceleration for MZV input shaper?

Klipper calculates max acceleration from resonance frequency f and shaper duration: a_max ≈ f² × coefficient. For MZV at 50 Hz, maximum recommended acceleration is typically ~7,500 mm/s² to prevent corner rounding.

How do I test resonance without an ADXL345 accelerometer?

You can print a manual ringing test tower using Klipper's TUNING_TOWER command. Measure the ringing ripple distance with calipers and calculate resonance frequency: f = V / wavelength.

Why does Input Shaper make fine text or corners look rounded?

Input shaping cancels vibration by filtering out high-frequency accelerations. When acceleration exceeds the shaper's smoothing threshold, sharp corners and embossed text become rounded. Lowering acceleration preserves crisp details.

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