Step 14.13 — Run SHAPER_CALIBRATE¶
Step 13 of 36 · Chapter 14 — Calibration and tuning
(no image — see text)
Parts: none.
Do: G28 first. Make sure nothing is resting on the gantry and the panels are on, and have M112 typed and unsent in a second console window; this is the fastest the machine has moved so far. Then:
SHAPER_CALIBRATE
Check
One output block per axis, each ending in a Recommended shaper_type_x = …, shaper_freq_x = … Hz line.
What you're looking at
SHAPER_CALIBRATE drives the toolhead through a frequency sweep while the accelerometer records, then fits a filter to what it measured. Both axes run in one pass because the sensor is on the toolhead rather than clipped to a moving bed.
Both axes run in one pass (the accelerometer is on the toolhead, so this is not a bed-slinger — no re-mounting between axes). It takes a few minutes and is loud. Do not SAVE_CONFIG yet.
What the output block looks like
Klipper's own worked example, one block per axis. Each block gives the fitted
frequency, the residual vibration %, the smoothing figure and a suggested
max_accel, for each of the five shaper types:
Fitted shaper 'mzv' frequency = 36.8 Hz (vibrations = 1.7%, smoothing ~= 0.150)
To avoid too much smoothing with 'mzv', suggested max_accel <= 4000 mm/sec^2
...
Recommended shaper_type_y = mzv, shaper_freq_y = 36.8 Hz
Source: Klipper docs § Input shaper auto-calibration · Klipper docs § SHAPER_CALIBRATE · Video: Extras! @1:46:46