Voron Input Shaper Guide — Eliminate Ghosting & Ringing

校准 Klipper Input Shaper

Input shaper is the single most impactful Klipper feature for print quality. It measures your printer's natural resonance frequencies and filters the motion commands to cancel out vibrations before they appear on your print. The result: zero ghosting, sharp corners, and clean surfaces even at high speeds. 最后更新：2025年5月

Every Voron has its own resonance fingerprint — frame size, belt tension, toolhead mass, and even your table surface all affect the frequencies. This guide covers both methods for finding and applying input shaper: the ADXL345加速度计方法 (fast, precise, recommended) and the manual tuning method (no extra hardware needed). We also cover which shaper types work best for each Voron model and how to squeeze the most out of your acceleration limits.

前置条件： You should have Klipper installed and connected. If you haven't set it up yet, see our Klipper setup guide first. You'll also want a solid baseline calibration before fine-tuning input shaper.

为什么 Input Shaper 对 Voron 打印机至关重要

Voron printers are designed for speed — but speed introduces vibration. At accelerations of 5,000-10,000 mm/s², the gantry's inertia excites natural resonance frequencies in the frame. This shows up as 振纹（重影）: repeating wave patterns on vertical surfaces, especially near sharp corners. Without input shaper, you have two bad options: print slower (defeating the purpose of a Voron) or live with ghosting.

Input shaper 通过数学方式解决此问题。它预先调整加速度曲线，使一次运动的振动抵消前一次运动的振动。Klipper 的实现支持多种 shaper 算法——每种算法在振动抑制、平滑度和稳定时间之间有不同的权衡。

The China-direct advantage: ADXL345 accelerometer boards cost 3-5美元（AliExpress） vs $15-20 from US/EU retailers. At that price, there's no reason not to use the hardware method. If you're sourcing parts for your Voron build, check our parts page for recommended suppliers.

方法 1：ADXL345 加速度计（推荐）

这是快速且精确的方法。ADXL345 加速度计实时测量工具头上的振动，Klipper 自动计算精确的共振频率。

连接 ADXL345

ADXL345通过SPI通信。将其连接到您的SBC（Raspberry Pi、CB1等）——而非主控制板。SPI引脚如下：

重要提示： Use a 1-2米 lightweight ribbon cable or silicone wire. Keep the wires as short as practical and twist the SCLK and MOSI lines to reduce noise. Do not use jumper wire bundles longer than 2m — signal integrity degrades and you'll get unreliable readings.

将 ADXL345 安装在工具头上

ADXL345必须刚性安装在工具头上。每个Voron工具头都有对应的打印安装座：

• StealthBurner： Use the Voron-spec ADXL mount (M3 screw into the rear fan mount hole).
• Afterburner： Clip-on mount that attaches to the extruder body.
• Mini-Stealth / Galileo 2： Specific mounts on GitHub for each variant.
• 通用型： Double-sided tape (3M VHB) works in a pinch — but a screw mount is better for repeatable results.

The sensor orientation matters: mount it so the X and Y axes align with your printer's movement axes. Most ADXL345 boards have the axes printed on the PCB. If you mount it rotated, compensate in the Klipper config with the axes_map parameter.

用于 ADXL345 的 Klipper 配置

Add the following to your printer.cfg. This assumes SPI connection on the SBC:

[adxl345]
cs_pin: rpi:None
spi_software_sclk_pin: rpi:GPIO23
spi_software_mosi_pin: rpi:GPIO19
spi_software_miso_pin: rpi:GPIO21


如果使用硬件SPI（Raspberry Pi引脚19/21/23/24），请使用：

[adxl345]
cs_pin: rpi:None


The cs_pin: rpi:None tells Klipper the ADXL345 is connected directly to the SBC (not via the main MCU). Run RESTART in the Klipper console to load the config.

验证传感器

Run ACCELEROMETER_QUERY in the Klipper console. You should see acceleration readings for X, Y, and Z axes. If you get an error, check:

• 接线正确（CS 引脚是最常见的错误）
• ADXL345 获得 3.3V 电压（不是 5V——否则会损坏）
• SPI is enabled on the SBC (sudo raspi-config -> Interface Options -> SPI -> Enable)
• The cs_pin matches your wiring (CE0 = rpi:None, CE1 = rpi:None on alternate CS)

运行 SHAPER_CALIBRATE

这是主要操作。Klipper将对X轴和Y轴执行频率扫描，分析振动数据，并为每个轴推荐最佳整形器类型和频率。

1. 将热床加热至 100°C（打印温度很重要——热膨胀会影响共振）
2. Home the printer: G28
3. Run: SHAPER_CALIBRATE
4. Klipper 将先沿 X 轴振动工具头，然后沿 Y 轴，收集频率响应数据
5. After ~2-3 minutes, Klipper outputs recommended settings like:
   Recommended shaper_type_x = 2hump_ei, shaper_freq_x = 58.4 Hz
Recommended shaper_type_y = mzv, shaper_freq_y = 52.1 Hz
6. Run SAVE_CONFIG to write the recommended settings to your printer.cfg

专业提示： After saving, run a ringing test print (a cube with sharp corners at high acceleration) to visually verify the improvement. If you still see ghosting, re-run SHAPER_CALIBRATE — sometimes a single run has noise that throws off the measurement.

可视化频率图

Klipper可以生成频率响应数据的CSV文件。使用：

ACCELEROMETER_GRAPH — this generates a PNG graph showing vibration amplitude vs frequency for both axes. Large spikes are your printer's resonance frequencies. The goal of input shaper is to notch-filter those spikes.

You can also run MEASURE_AXES_NOISE to check the noise floor. If the noise floor is above 50-100 mg, your ADXL345 mounting or wiring is picking up interference.

方法 2：手动调谐（无需 ADXL345）

没有加速度计？没问题——您仍然可以手动调整输入整形器。这需要更长时间（预计5-10次测试打印），但一旦调好，效果几乎一样好。

打印振纹测试图案

1. Download the ringing test tower from the Klipper documentation
2. 使用高加速度（8,000-10,000 mm/s²）切片以使振纹可见
3. 打印测试塔——它随着高度增加速度，揭示不同频率下的重影图案
4. 测量打印表面上重影波纹之间的距离

测量重影频率

打印件上的重影距离与频率通过一个简单公式关联：

频率（Hz）= 打印速度（mm/s）/ 重影距离（mm）

For example, if you print at 100 mm/s and the ghosting waves are 2mm apart: 100 / 2 = 50 Hz. That's your resonance frequency.

使用卡尺精确测量重影距离。取3-5次测量值并求平均值。对X和Y方向分别进行此操作（如有需要，为每个轴打印单独的测试塔）。

手动配置 Input Shaper

Add the following to your printer.cfg:

[input_shaper]
shaper_type_x: mzv
shaper_freq_x: 55
shaper_type_y: mzv
shaper_freq_y: 50


Start with MZV (Modified Zero Vibration) — it's the best all-rounder for Voron printers. Print a test piece, check for ghosting, and adjust the frequency up or down by 2-3 Hz increments until ghosting is minimized.

Choosing the Best Shaper 类型 for Your Voron

Klipper支持多种整形器算法，各有不同的权衡。以下是它们的比较：

我们的推荐： Start with MZV for all Voron models. If ghosting persists, try 2HUMP_EI (particularly good for V2.4s that have two distinct resonance peaks from the flying gantry). Only use EI or 3HUMP_EI if you're willing to trade acceleration for maximum surface quality — these types introduce more smoothing and reduce your maximum acceleration more.

使用 Input Shaper 后的推荐加速度

输入整形器允许更高的加速度，但框架刚性仍设定上限。以下是每个Voron型号在正确整形器校准后的起始值：

• V0.2（120mm）： 10,000-15,000 mm/s². The tiny frame is extremely rigid. With 2HUMP_EI you can push past 15K.
• Trident 250mm： 8,000-12,000 mm/s². Excellent rigidity from the fixed gantry.
• Trident 300mm： 6,000-10,000 mm/s². Some reduction from the larger frame span.
• V2.4 250mm： 6,000-10,000 mm/s². The flying gantry is less rigid than a fixed gantry.
• V2.4 350mm： 4,000-8,000 mm/s². Large frame = more resonance. 3HUMP_EI recommended.

These values assume proper belt tension and a well-squared frame. If your frame isn't perfectly square or belts are loose, you'll need to reduce accelerations regardless of input shaper settings. See our belt tension guide and calibration guide for details.

皮带、框架刚度及其对共振的影响

Input shaper can't fix mechanical problems. If your belts are loose, input shaper will measure the right frequency — but that frequency will change as the belt stretches during fast moves, making the shaper less effective. Tighten belts to spec first (see our belt tension guide), then calibrate input shaper.

框架刚度也很重要。摇晃的桌子或不平整的地面会引入低频振动，输入整形器无法完全消除。确保您的Voron放置在稳固的表面上。一些制作者在支脚下添加混凝土垫块或橡胶减震器。

皮带驱动Z轴 vs 丝杆Z轴： The Trident's triple Z leadscrews are inherently more rigid than the V2.4's belt-driven Z, which shows in the resonance profile. Trident users typically see cleaner frequency graphs with one dominant peak. V2.4 users may see two peaks (frame + gantry belt resonance). Use 2HUMP_EI for the V2.4 for this reason.

Input Shaper 故障排除

• SHAPER_CALIBRATE失败并提示"ADXL345 not ready"： Check wiring, especially the CS pin. Run ACCELEROMETER_QUERY to verify the sensor responds.
• 仅单轴出现重影： That axis has a resonance peak the shaper isn't cancelling. Re-run SHAPER_CALIBRATE or manually adjust shaper_freq for that axis by ±5 Hz.
• 重影持续存在但频率正确： Try a different shaper type. MZV might not be aggressive enough for your frame's resonance amplitude. Switch to 2HUMP_EI or ZVD.
• 仅在特定速度下出现伪影： VFA (Very Fine Artifacts) from stepper motor resonance, not frame resonance. Input shaper won't help — try adjusting microstepping or stepper driver current.
• ADXL345 读数显示噪声尖峰： Check that the sensor cable isn't running next to stepper motor wires or the hotend heater wires. EMI interference corrupts the readings.
• 重新测试时出现不同频率： Normal — small variations in belt tension, temperature, and mounting position cause minor shifts. Average 3 runs and use the middle values.

高级：使用 CSV 数据进行微调

For the truly dedicated, Klipper can export raw CSV data from the accelerometer. Run ACCELEROMETER_MEASURE CHIP=adxl345 NAME=test_x while moving the toolhead on X. The CSV file is saved in /tmp/klipper/. You can import this into Python (using matplotlib) for custom analysis, or share it with the Voron community for help diagnosing tricky resonance profiles.

部分Klipper前端界面（如Mainsail和Fluidd）可直接在UI中显示频率图，使分析更加便捷。如果您使用的是旧版Mainsail，请更新以获取图形功能。