GH Enterprise 116030-01 Smart Shaper User Manual

: June 10, 2024
: GH Enterprise

GH Enterprise 116030-01 Smart Shaper User Manual

Introduction

Input shaping algorithms are designed to suppress the vibrations characterized by a particular frequency and dumping ratio.

Dumping ratio is difficult to estimate and it’s usually assumed to be 10%. Frequency should be estimated experimentally for both axes.

The measure of the axes frequencies requires the following steps:

Print of a reference model (see 1.)
Measurement of distance between ringing peaks (see 2.)
Frequency calculation by given formula (see 2.)

Next it will be explained how to configure the boards with the frequencies previously found and the preferred Input Shaping algorithm (see 5.1.)

Finally It will possible to print again the reference model but with Input Shaping Enabled (see 5.6.) in order to verify the correct values of frequencies and the performance of the algorithm.

Requirements

The following instructions are intended for the following setup:

Cartesian and Core XY/YX
X/Y (or A/B for Core XY/YX printer) axes driven by Smart Shaper
X/Y axes resolution 80 steps/mm ( for axes with different resolutions see 5. )
Max Step Rate
Cartesian printer max printing speed is 600 mm/s with 80 step/mm.
Core XY/YX printer max printing speed is 300 mm/s with 80 step/mm.
TMC2225 configured with 16 microsteps resolution and
TMC2225 configuration can be done via UART or bootstrap

Hardware

TMC 2225 Driver Specifications

TMC2225-SA stepper motor controller & driver
Supply voltage 5.5-36V
Continuous Iphase = 1.4ARMS
Iphase up to 1.77ARMS = 2,5Apeak for a short time
Quiet operation with StealthChop
Sensorless homing with StallGuard
Energy saving with CoolStep
Configuration and extended diagnostic via UART
Control via Step&Dir interface
Board width 0.6”. board height 0.8”
2×8 pin 0.1” head rows for pins/connectors

Pinout

	Power Supply
GND	Ground
VM	Motor Supply Voltage 5.5V-36V
VCCIO	Logic Supply Voltage 3V-5V
	Motor Outputs
OA2	Motor Coil 1
OA1	Motor Coil 1
OB1	Motor Coil 2
OB2	Motor Coil 2
	Control Inputs
STEP	STEP input (internal pull-down resistor)
DIR	DIR input (internal pull-down resistor)
	TMC2225
EN	Enable Motor Outputs: GND=on, VIO=off

MS1

| Microsteps resolution configuration (internal pull- down resistors) MS2, MS1: 00: ¼, 01: ⅛, 10: 1/16, 11: 1/32
MS2| –
RXD| UART RX, Directly connected to the PDN
TXD| UART TX, Connected to the PDN via a 1K resistor on board
DIAG| Diagnostic output. Hi level upon driver error. Reset by ENN=high.
VREF| Analog Reference Voltage

Motor Current Regulation

Driver motor current should match the current tolerated from your step motors. The current can be adjusted the value of VREF using the onboard potentiometer.
VREF [V]= (Irms 2.5V) / 1.77A = Irms 1.41 = Imax [A] The value of VREF in Volt corresponds to the value of Peak Current Imax in Ampere.

In the following picture are indicated how to measure VREF. TheSmartShaper board should be installed on the motion board and the VM power supply should be present.
Pay attention to avoid any short circuits when using screwdriver on potentiometer

Dissipation recommendation

TMC2225 if not well cooled goes in to thermal protection state and stops to work. It’s highly recommended to:

Install the Heat Sinks provided with installation set
Use a 3D motion control board equipped with a cooling fan

Resonance Frequency Measurement

**** Print Calibration Model

For Cartesian printing the calibration model prepared for frequency estimation consists in a simple L Model printed with the walls aligned along X and Y axes.

The printed part has one wall marked with X label and another one marked with Y label. The X Label is on the wall aligned along the Y axes and the Y Label is on the wall aligned along the X axis. The reason is that the ringing due to Y acceleration/deceleration are visible on X axis and vice-versa.

The walls are printed at 100 mm/s ( this speed value is fundamental for the correct frequency calculation using the formula in 4.2.).

Acceleration is linearly increased from 500 mm/s2 (Bottom) to 18000 mm/s2 (Top) in order to increase the vibrations.
TMC2225 is configured in current mode to support high acceleration through G-code sequence.
X and Y Coordinates will not exceed 145 mm.
Material should be PLA (using a red color improves the measurement of ringings) and nozzle diameter 0.4 mm.
Print the model. It’s possible that at some height the printer start to loose steps because acceleration is too high to be tolerated by mechanics. If it happens just stop the printer.
Now extract the printed part from the printer and analyze it.

For Core XY/YX printers the print calibration model is different from that for Cartesian printers, because the model is rotated of 45 degrees respect to the cartesian plane and the label to reference axes are called A and B, but it has the same characteristics as the model for cartesians printers.

The calibration models can be downloaded from the web site.

3D Printer Controller

Frequency Measurement

116030SmartShaperUserManualV1-04
To find the ringing frequency it should be measured the distance between two peaks of the oscillations.

The easiest way is: put the part under a light beam parallel to the surface

mark each visible oscillation peaks
measure with a caliper the total distance D in mm between the first mark and last mark

calculate the oscillation frequency (Hz) using the formula

where

V =100 mm/s
N is the number of marks

Example of a Y axis oscillation frequency measurement.
We marked 7 oscillation peaks. The measured distance was about 19.8 so the frequency was:
f = 100 ( 7 − 1 ) ≈31 Hz

Boards Configuration

G-Code Generator

The G-Code generator is Online version on the GH Enterprise web site ( https ://gh-enterprise.com/smart-shaper-generator-1.1/smartshaper_gcode.html )

G-Code configuration sequence

Each Smart Shaper board can be programmed via a specific G-Code sequence generated by Smart Shaper G-Code Generator 1.1 (see 5.3. for description).

An example of such sequences can be found in the file CartesianSmartShaperCalibration.gcode (lines 32-129). In this case they have been inserted two sequences, one for X driver and one for the Y driver, that DISABLE the Input Shaping filter to detect ringings.

Smart Shaper G-Code Generator 1.1

Sequence Generator

The Smart Shaper G-Code Generator 1.1 is the tool to generate the G-Code configuration sequence.
Once the correct settings have been entered, a Gcode will be created in the right column to be copied and pasted into the gcode to be printed.

Printer with different axes resolutions

For the programming with G-Code to be correct, the resolution of the axes must be 80 step/mm.
If the resolutions is different, for example 100 step/mm for the X axis, proceed as follows:

First of all insert the M92 X80 G-Code command before the programming part made with Smart Shaper G-Code Generator 1.
After the programming G-Code insert the M92 X100 G-Code command to set the correct resolution of the

[](https://manuals.plus/wp-content/uploads/2023/05/GH-

Enterprise-116030-01-Smart-Shaper-User-Manual_4.png)The maximum print speed will be slower with higher resolution.

Print with Input Shaping

Generate a G-Code configuration sequence for each axes according to the measured frequencies.
Due to the high accelerations of Calibration Model,

the TMC2225 SHOULD BE CONFIGURED IN CURRENT MODE.

** Replace the two original sequences in the SmartShaperCalibration.gcode** (lines 32-129) with the new generated ones. Print the modified G-Code.
Just after homing procedure the two configuration sequence will be executed