The motor driver send signal to make the stepper motor rotate,
The angle or number of turns of the stepper motor depends on the of signals value.
The value calculate depends on:
1/Subdivision drive 2/Motor step angle 3/Diameter of gear 4/Gear ratio
E-Step :Value= Filament Move 1MM.
This case description is a normal stepper motor drive, The working principle of a non-closed-loop stepper motor drive is the same
such as TMC2209 A4988, etc The driver subdivision value can be modified,
The motherboard (master) modification method is different, please consult the motherboard supplier
Commonly used are 1/16 1/32 1/64 etc.
If the motor step angle is 1.8°, the subdivision value is 16
Indicates that the rotation angle of a pulse signal motor is: 1.8°/16=0.1125°
2/Motor step angle
The electronic pulse is sent by the main control (motor driven) such as TMC2209 A4988, etc.
A fixed angle of stepping motor rotation is called “step angle”.
The step angle of each stepping motor is a fixed value and cannot be modified.
There are two types of stepping motors commonly used in 3D printers, 0.9° and 1.8°.
0.9° means an electronic pulse signal controls the motor to rotate at an angle of 0.9°
1.8° means an electronic pulse signal controls the motor to rotate at an angle of 1.8°
0.9° step angle motor: 400 pulse signals are needed for each rotation of the motor (360°)
1.8° step angle motor: 200 pulse signals are needed for each rotation of the motor (360°)
Small step angle- is mean high controllable precision
3/Diameter of gear
OMGV2S Extruder Filament Gear φ8.4mm +-0.1
OMGV2s Extruder Gear ratio 1:3 That is, the motor rotates 3 cycle-360°=1080° , and the filament gear rotates 1 cycle-360°=360°
E-Step ：For example Calculation
Use 1/16 subdivision motor drive,
Stepping motor step angle=1.8°,
The gear diameter is 8.4mm,
The stepper motor needs 16*200=3200 pulse signals to rotate 360°,
Moving length of filament=gear circumference=πD=3.14*8.4=26.38mm
How many E-Step = filament move 1mm:
Calculation method: 3200/26.38=121 Pulse signal.
E-step value is 121
If the gear ratio is 1:3 –The E-step value needs 3 times that is 121*3=363 (theoretical value)
E-Step value is 363
if use step angle 0.9°- The E-step value needs 2 times that is 364*2=726 (theoretical value)
E-Step value is 726
The calculated value is the theoretical value
Need to test and fine-tune-suitable for your machine.
Some 3D printer firmware has set temperature protection, you need to turn on the hot end temperature to reach the set value before the extruder starts working.
Please pay attention to safety when testing.
A. The pressure of the spring is different, and the filament material is different in soft and hard, which will cause the change of the gear diameter
B. The distance between the extruder and the hot end-different installation methods of the extruder will also affect the step value.
Because of A.B. reasons. The E-Step value may need to be adjusted.
It is recommended that different 3D printer models, or different extrusion methods: long-distance feeding filament, direct drive. Need to re-test and adjust the appropriate step value.
A Use the controller-control the extruder to automatically send the filament 10 or 100mm filament length, and then use a ruler to measure the actual length of the extruded filament.
B can squeeze out 100mm and retreat 100mm. After repeating several times, check whether the position of the filament is the same.
If the actual distance of extruding the filament is long, adjust the step value to be smaller. If the actual filament distance is short, increase the step value.
1/ Use notepad to write the following code (red words) in the computer. Save the file to the TF card – file format is .gcode
2/ Insert the TF card into the printer and start printing to modify the E-step (the original value is 93)
363 is a modifiable value. If using a motor it is a 0.9° step angle. Please modify it to 726
The following picture is after modification to check whether the step value is correct
(Model： Ender 3 v2)
728 can be modified to the step value. For ASPINA motor, DM1-set.
If 42 NAMA 17 step angle is 1.8° original motor is used, the E-step value is 364.
If you change to a new TF card, you need to print the firmware again, or copy the EEPRO file to the new card
Note: After modifying the step value DAT format files will be generated in the TF card
The name is: EEPRO
If deleted, restart the 3D printer,
The original value of 93 will be restored,
For non-professionals, please consult the motherboard supplier for modification.
Some motherboards such as MKS modify the step value method
Main board firmware modification code:
#Default Axis-E Steps Per Unit (steps/mm)
Stepper motor drivers on Klipper require a rotation_distance parameter in each stepper config section. The rotation_distance is the amount of distance that the axis moves with one full revolution of the stepper motor. This document describes how one can configure this value.
Obtaining rotation_distance from steps_per_mm (or step_distance)
The designers of your 3d printer originally calculated steps_per_mm from a rotation distance. If you know the steps_per_mm then it is possible to use this general formula to obtain that original rotation distance:
rotation_distance = <full_steps_per_rotation> * <microsteps> / <steps_per_mm>
Or, if you have an older Klipper configuration and know the step_distance parameter you can use this formula:
rotation_distance = <full_steps_per_rotation> * <microsteps> * <step_distance>
The <full_steps_per_rotation> setting is determined from the type of stepper motor. Most stepper motors are "1.8 degree steppers" and therefore have 200 full steps per rotation (360 divided by 1.8 is 200). Some stepper motors are "0.9 degree steppers" and thus have 400 full steps per rotation. Other stepper motors are rare. If unsure, do not set full_steps_per_rotation in the config file and use 200 in the formula above.
The <microsteps> setting is determined by the stepper motor driver. Most drivers use 16 microsteps. If unsure, set microsteps: 16 in the config and use 16 in the formula above.
Almost all printers should have a whole number for rotation_distance on X, Y, and Z type axes. If the above formula results in a rotation_distance that is within .01 of a whole number then round the final value to that whole_number.
Calibrating rotation_distance on extruders
On an extruder, the rotation_distance is the amount of distance the filament travels for one full rotation of the stepper motor. The best way to get an accurate value for this setting is to use a "measure and trim" procedure.
First start with an initial guess for the rotation distance. This may be obtained from steps_per_mm or by inspecting the hardware.
Then use the following procedure to "measure and trim":
Make sure the extruder has filament in it, the hotend is heated to an appropriate temperature, and the printer is ready to extrude.
Use a marker to place a mark on the filament around 70mm from the intake of the extruder body. Then use a digital calipers to measure the actual distance of that mark as precisely as one can. Note this as <initial_mark_distance>.
Extrude 50mm of filament with the following command sequence: G91 followed by G1 E50 F60. Note 50mm as <requested_extrude_distance>. Wait for the extruder to finish the move (it will take about 50 seconds). It is important to use the slow extrusion rate for this test as a faster rate can cause high pressure in the extruder which will skew the results. (Do not use the "extrude button" on graphical front-ends for this test as they extrude at a fast rate.)
Use the digital calipers to measure the new distance between the extruder body and the mark on the filament. Note this as <subsequent_mark_distance>. Then calculate: actual_extrude_distance = <initial_mark_distance> - <subsequent_mark_distance>
Calculate rotation_distance as: rotation_distance = <previous_rotation_distance> * <actual_extrude_distance> / <requested_extrude_distance> Round the new rotation_distance to three decimal places.
If the actual_extrude_distance differs from requested_extrude_distance by more than about 2mm then it is a good idea to perform the steps above a second time.
Note: Do not use a "measure and trim" type of method to calibrate x, y, or z type axes. The "measure and trim" method is not accurate enough for those axes and will likely lead to a worse configuration. Instead, if needed, those axes can be determined by measuring the belts, pulleys, and lead screw hardware.
Obtaining rotation_distance by inspecting the hardware
It's possible to calculate rotation_distance with knowledge of the stepper motors and printer kinematics. This may be useful if the steps_per_mm is not known or if designing a new printer.
Belt driven axes
It is easy to calculate rotation_distance for a linear axis that uses a belt and pulley.
First determine the type of belt. Most printers use a 2mm belt pitch (that is, each tooth on the belt is 2mm apart). Then count the number of teeth on the stepper motor pulley. The rotation_distance is then calculated as:
rotation_distance = <belt_pitch> * <number_of_teeth_on_pulley>
For example, if a printer has a 2mm belt and uses a pulley with 20 teeth, then the rotation distance is 40.
Axes with a lead screw
It is easy to calculate the rotation_distance for common lead screws using the following formula:
rotation_distance = <screw_pitch> * <number_of_separate_threads>
For example, the common "T8 leadscrew" has a rotation distance of 8 (it has a pitch of 2mm and has 4 separate threads).
Older printers with "threaded rods" have only one "thread" on the lead screw and thus the rotation distance is the pitch of the screw. (The screw pitch is the distance between each groove on the screw.) So, for example, an M6 metric rod has a rotation distance of 1 and an M8 rod has a rotation distance of 1.25.
It's possible to obtain an initial rotation distance for extruders by measuring the diameter of the "hobbed bolt" that pushes the filament and using the following formula: rotation_distance = <diameter> * 3.14
If the extruder uses gears then it will also be necessary to determine and set the gear_ratio for the extruder.
The actual rotation distance on an extruder will vary from printer to printer, because the grip of the "hobbed bolt" that engages the filament can vary. It can even vary between filament spools. After obtaining an initial rotation_distance, use the measure and trim procedure to obtain a more accurate setting.
Using a gear_ratio
Setting a gear_ratio can make it easier to configure the rotation_distance on steppers that have a gear box (or similar) attached to it. Most steppers do not have a gear box - if unsure then do not set gear_ratio in the config.
When gear_ratio is set, the rotation_distance represents the distance the axis moves with one full rotation of the final gear on the gear box. If, for example, one is using a gearbox with a "5:1" ratio, then one could calculate the rotation_distance with knowledge of the hardware and then add gear_ratio: 5:1 to the config.
For gearing implemented with belts and pulleys, it is possible to determine the gear_ratio by counting the teeth on the pulleys. For example, if a stepper with a 16 toothed pulley drives the next pulley with 80 teeth then one would use gear_ratio: 80:16. Indeed, one could open a common off the shelf "gear box" and count the teeth in it to confirm its gear ratio.
Note that sometimes a gearbox will have a slightly different gear ratio than what it is advertised as. The common BMG extruder motor gears are an example of this - they are advertised as "3:1" but actually use "50:17" gearing. (Using teeth numbers without a common denominator may improve overall gear wear as the teeth don't always mesh the same way with each revolution.) The common "5.18:1 planetary gearbox", is more accurately configured with gear_ratio: 57:11.
If several gears are used on an axis then it is possible to provide a comma separated list to gear_ratio. For example, a "5:1" gear box driving a 16 toothed to 80 toothed pulley could use gear_ratio: 5:1, 80:16.
In most cases, gear_ratio should be defined with whole numbers as common gears and pulleys have a whole number of teeth on them. However, in cases where a belt drives a pulley using friction instead of teeth, it may make sense to use a floating point number in the gear ratio (eg, gear_ratio: 107.237:16).