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Voron Printers: this extension allows the Voron user to define a formula to change the Classic PID Kp, Ki, and Kd values so that your heater will experience the smallest amount of overshoot

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Zero Overshoot is a way to dampen CLASSIC PID Kp, Ki, and Kd values

RepRap website has a nice discussion of PID Tuning. Please see the following URL:

https://reprap.org/wiki/PID_Tuning

A Klipper Extension that allows the Voron User to describe a formula that will recalculate the Classic PID values after a PID_CALIBRATE command is executed. Only two heaters are presently supported: heater_bed and extruder.

These new zero_overshoot PID values will then be saved to your Klipper's printer.cfg file, so they can be used during the heating process for the heater_bed and extruder heaters.

This Klipper extension adds a command line parameter called ZERO_OVERSHOOT that can be used to turn on this extension or turn off this extension via the command line.

If ZERO_OVERSHOOT is set to 1 then this Klipper extension will take the Classic PID values generated via the PID_CALIBRATE command and recalculate them with the formula the Voron user describes in the config file. Then these new zero_overshoot PID values will be stored in the printer.cfg file.

If ZERO_OVERSHOOT is set to 0 then this Klipper extension will NOT change the Classic PID values and store the Classic PID values in the printer.cfg file.

Here are the options for Klipper's PID_CALIBRATE :

PID_CALIBRATE HEATER=heater_bed TARGET=110                      #this will default to the zero_overshoot option from the config file
PID_CALIBRATE HEATER=heater_bed TARGET=110 ZERO_OVERSHOOT=0
PID_CALIBRATE HEATER=heater_bed TARGET=110 ZERO_OVERSHOOT=1
PID_CALIBRATE HEATER=heater_bed TARGET=110 WRITE_FILE=0 ZERO_OVERSHOOT=1
PID_CALIBRATE HEATER=heater_bed TARGET=110 WRITE_FILE=1 ZERO_OVERSHOOT=1

PID_CALIBRATE HEATER=extruder TARGET=240                        #this will default to the zero_overshoot option from the config file
PID_CALIBRATE HEATER=extruder TARGET=240 ZERO_OVERSHOOT=0
PID_CALIBRATE HEATER=extruder TARGET=240 ZERO_OVERSHOOT=1
PID_CALIBRATE HEATER=extruder TARGET=240 WRITE_FILE=0 ZERO_OVERSHOOT=1
PID_CALIBRATE HEATER=extruder TARGET=240 WRITE_FILE=1 ZERO_OVERSHOOT=1

If the WRITE_FILE parameter is enabled, then the file `/tmp/heattest.txt` will be created with a log of all temperature samples taken during the test.

This Klipper extension can be run on any Klipper 3D Printer.

How to enable zero_overshoot on your Klipper 3D printer:

To enable the module, add the following to your printer.cfg file:

[zero_overshoot heater_bed]
zero_overshoot:
#   Globally enable the the recalculation of the Classic PID Kp, Ki, and Kd values. Default is 'True'.
#   Setting this to 'True' will enable the formula and the Kp, Ki and Kd values will be changed before they
#   are saved back to the printer.cfg file during the SAVE_CONFIG command. This extension only works with
#   the help of Klipper's PID_CALIBRATE command.
Kp_multiplier:
#    default value is 1.0000000000
Ki_multiplier:
#    default value is 1.0000000000
Kd_multiplier:
#   default value is 1.0000000000
#
[zero_overshoot extruder]
zero_overshoot:
#   Globally enable the the recalculation of the Classic PID Kp, Ki, and Kd values. Default is 'True'.
#   Setting this to 'True' will enable the formula and the Kp, Ki and Kd values will be changed before they
#   are saved back to the printer.cfg file during the SAVE_CONFIG command. This extension only works with
#   the help of Klipper's PID_CALIBRATE command.
Kp_multiplier:
#    default value is 1.0000000000
Ki_multiplier:
#   default value is 1.0000000000
Kd_multiplier:
#   default value is 1.0000000000
#

# The following formulas will be used to recalculate the pid_Kp, pid_Ki, and pid_Kd:
# Kp = Kp_classic * Kp_multiplier
# Ki = Ki_classic * Ki_multiplier
# Kd = Kd_classic * Kd_multiplier
#
# NOTE: if you need to divide, remember that 1/x = 1 * reciprocal of the number;
# The reciprocal is simply: 1/number. To get the reciprocal of a number, we divide 1 by the number. Example: the reciprocal of # 2 is ½
#
# So for example 0.3333333333 is really 1.0 divide by 3.0 or 1./3.
# The number will be calculated to the first 3 significant digits because that is all the significant digits that Klipper will
# store for SAVE_CONFIG command.
#
# NOTE2: for the zero_overshoot calculated values to be done automatically, you must have the following in you printer.cfg file:
# (they can be commented out and located at bottom of the printer.cfg file in the
#*# <---------------------- SAVE_CONFIG ----------------------> section.)
#
# File printer.cfg:
# [heater_bed]
# control = pid
# pid_Kp = 41.135
# pid_Ki = 1.187
# pid_Kd = 356.328
#
# [extruder]
# control = pid
# pid_Kp = 37.787
# pid_Ki = 5.360
# pid_Kd = 66.601
#
# If the above pid_Kp, pid_Ki, and pid_Kd values are located in a seperate `include` file, the software will not
# know where to look to find the classic PID values for Kp, Ki and Kd.

☝️ NOTE: The default for the option zero_overshoot is True. So if you forget to assign True or False for the option zero_overshoot then the extension will load True automatically. But this only applies if you have a [zero_overshoot heater_bed] section and/or [zero_overshoot extruder] section defined in your printer.cfg file.

I have set the defaults to the option as such so that if you do not know what you want this extension will default to using the Classic PID values that Klipper generates.

The module also augments the PID_CALIBRATE command with an extra parameter - ZERO_OVERSHOOT - which can be used to control whether the command performs the zero_over shoot recalculation independently of thezero_overshoot setting in the configuration section [zero_overshoot heater_bed] or [zero_overshoot extruder].

All you will see is a message in your klippy.log file stating the following so that if you need help, the Voron design team will need to know this extension is installed and its current settings:

zero_overshoot ::INFO:: [zero_overshoot heater_bed]: zero_overshoot = True
zero_overshoot ::INFO:: [zero_overshoot heater_bed]: Kp_multiplier = 0.3333333333
zero_overshoot ::INFO:: [zero_overshoot heater_bed]: Ki_multiplier = 0.3333333333
zero_overshoot ::INFO:: [zero_overshoot heater_bed]: Kd_multiplier = 0.8800000000
zero_overshoot ::INFO:: [zero_overshoot extruder]: zero_overshoot = True
zero_overshoot ::INFO:: [zero_overshoot extruder]: Kp_multiplier = 0.3333333333
zero_overshoot ::INFO:: [zero_overshoot extruder]: Ki_multiplier = 1.0000000000
zero_overshoot ::INFO:: [zero_overshoot extruder]: Kd_multiplier = 2.6666666667

Basically, this extension will document the settings in the klippy.log file.

The above are taken from my klippy.log file. So these are the setting I am using presently.

I own an LDO 300 Kit Kenovo pad with the following characteristics:

  1. Kenovo 280x280mm (600W) & Thermal Fuse (125c) URL: https://keenovo.store/products/keenovo-square-silicone-heater-3d-printer-build-plate-heatbed-heating-pad?variant=12592089268279
  2. sensor_type: keenovo ##my user defined type instead of Generic 3950
  3. My user defined keenovo thermistor definition is as follows:
[thermistor keenovo]
# URL: https://github.com/RealDeuce/Voron-MKS-Monster8/blob/main/keenovo.cfg
# https://www.keenovo.com/NTC-Thermistor-R-T-Table.pdf
temperature1:	25
resistance1:	100000
temperature2:	70
resistance2:	17550
temperature3:	110
resistance3:	5070

I am still trying to tweak my E3D Revo Voron heater settings.

I own an E3D Revo Voron with the following characteristics:

  1. E3D Voron Revo hot end (40W, 24V heater, USA) URL: https://e3d-online.com/products/revo-voron
  2. sensor_type: ATC Semitec 104NT-4-R025H42G
  3. ATC Semitec 104NT-4-R025H42G is the Klipper definition

💡 INFO: Please keep in mind there are many factors that effect the PID tuning process. Like your thermistor definition and the option smooth_time: in your heater definition.

Installation:

You have two ways you can install this zero_overshoot extension (manually or via an installation script)

Here is the manual install instruction:

  1. Write down the location of the following directories:
    • Klipper Extras: Usually located at /home/USER/klipper/klippy/extras.
  2. Download zero_overshoot.py file.
  3. Download the ZERO_OVERSHOOT.cfg and include it into your printer.cfg file.
  4. Move zero_overshoot.py to your Klipper Extras folder (home/pi/klipper/klippy/extras).
  5. Restart Klipper service and do a FIRMWARE RESTART command if needed.

💡 NOTE: If you install the extension before you create the[zero_overshoot heater_bed] and/or [zero_overshoot extruder] section(s) with the option zero_overshoot: True Klipper will NOT load the extension when you restart Klipper.

💡 INFO: Please restart the Klipper service by using the Mainsail/Fluidd UI (upper right-hand corner Power button Symbol) or perform the following command at your Raspberry Pi command prompt (on the Pi that runs Klipper for your 3D printer):

cd ~
sudo systemctl restart klipper

👇 Run the following command:

cd ~
sudo systemctl restart klipper

Here is the installation script method:

Install the zero_overshoot extension to Klipper, please run the following commands:

cd /home/pi
git clone https://github.com/GadgetAngel/Zero_Overshoot.git
./Zero_Overshoot/install_zero_overshoot.sh

Example Usage: An Example of using [zero_overshoot heater_bed] section

First you must create the [zero_overshoot heater_bed] section in your printer.cfg file so Klipper knows to load the zero_overshoot.py and zero_overshoots.py files and include them into the Klipper code running on your Raspberry Pi.

Here are the contents of ZERO_OVERSHOOT.cfg file:

#-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
# ZERO_OVERSHOOT Setup
#-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-

# Define the [zero_overshoot heater_bed] and/or [zero_overshoot extruder] section and \
# define the option parameter 'zero_overshoot'.
#  When option parmaeter 'zero_overshoot' is set to True then the printer will automatically change
#  the pid_Kp, pid_Ki, and pid_Kd classical values by the formula you specify to produce a better
#  PID Tune for the specified heater.  There are two heaters this extension will work with
#  'heater_bed' and 'extruder'
#
#  When the option parameter 'zero_overshoot' is set to False then the printer will NOT automatically
#  adjust the pid_Kp, pid_Ki,and pid_Kd values and Classic PID control will be used.
#
# Kp_multiplier default value is 1.0000000000, Ki_multiplier default value is 1.0000000000 and Kd_multiplier
# default value is 1.0000000000
#
# The following formulas will be used:
# Kp = Kp_classic * Kp_multiplier
# Ki = Ki_classic * Ki_multiplier
# Kd = Kd_classic * Kd_multiplier
# NOTE: if you need to divide, remember that 1/x = 1 * reciprocal of the number;
# The reciprocal is simply: 1/number. To get the reciprocal of a number, we divide 1 by the number. Example: the reciprocal of 2 is ½
#
# So for example 0.3333333333 is really 1.0 divide by 3.0 or 1./3.
# The number will be calculated to the first 3 significant digits because that is all the significant digits that Klipper will
# store for SAVE_CONFIG command.
#
# NOTE2: for the zero_overshoot calculated values to be done automatically, you must have the following in you printer.cfg file:
# (they can be commented out and located at bottom of the printer.cfg file in the
#*# <---------------------- SAVE_CONFIG ----------------------> section.)
# File printer.cfg:
# [heater_bed]
# control = pid
# pid_Kp = 41.135
# pid_Ki = 1.187
# pid_Kd = 356.328
#
# [extruder]
# control = pid
# pid_Kp = 37.787
# pid_Ki = 5.360
# pid_Kd = 66.601
#
# If the above pid_Kp, pid_Ki, and pid_Kd values are located in a seperate include file, the software will not
# know where to look to find the classic PID values for Kp, Ki and Kd.
#
# Run a the following to get this extension to redo a PID calibration and recalculate the pid_K values:
#      PID_CALIBRATE HEATER=heater_bed TARGET=110
#      PID_CALIBRATE HEATER=extruder TARGET=240
#
# After the Classic PID calibration is done, the extension will display the classic PID values and also display
# the zero_overshoot PID pid_K values but ONLY SAVE the zero_overshoot PID recaluculated values to the printer.cfg
#
# This way when you heat up your desired heater the 3D printer will use the zero_overshoot PID values instead.
#
# With this extension installed you will no longer have to redo this calculation by hand and manually
# replace the pid_Kp, pid_Ki, and pid_Kp values.

#
# My heater for my bed is a Kenovo (600W, 24V, USA) heater from the LDO 300 Kit
#
[zero_overshoot heater_bed]
zero_overshoot: True
Kp_multiplier: 1.0000000000
Ki_multiplier: 1.0000000000
Kd_multiplier: 1.0000000000
#
# My hotend is an E3D Voron Revo which has an E3D 40W (24V heater, USA) heater
#
[zero_overshoot extruder]
zero_overshoot: True
Kp_multiplier: 1.0000000000
Ki_multiplier: 1.0000000000
Kd_multiplier: 1.0000000000

☝️ NOTE: You can have different equations for the different heaters. The above example uses the same formula, but this extension allows you to create two separate formulas if you want.

Now restart the Klipper service by going to the upper right-hand side corner of Mainsail UI and click on the Power Button symbol. Take your mouse and click on the curved arrow next to the word Klipper to restart the Klipper service.

💡 Do a PID_CALIBRATE command so that this Klipper extension can do the calculation from the Classic PID Kp, Ki, and Kd values. If you choose NOT to do the SAVE_CONFIG command after the PID_CALIBRATE command completes, then the recalculated PID values will not be saved to the printer.cfg file and the benefit of this extension will be lost. If you delete the *# <---------------------- SAVE_CONFIG ----------------------> section from your printer.cfg file then the benefit of this extension will be lost. But no worries, you will just have to rerun the PID_CALIBRATE command again and do a SAVE_CONFIG after the PID_CALIBARTE command finishes to regain the benefit of this extension. This Klipper extension adds to your quality of life experience.

How often do you do a PID_CALIBRATE command? Answer: Not very often. I tend to forget that I want to change my classic PID values so that I can dampen the overshoot of the PID control. So I end up doing a PID_CALIBRATE command to achieve my desired response. With this extension, I will never have to worry about manually updating the pid_Kp, pid_Ki and pid_Kd values again because now the 3D printer will do it for me automatically as long as I do a SAVE_CONFIG command afterwards.

BTW, I have macros that I use to do BED PID Tuning and Nozzle PID Turning that automatically do the SAVE_CONFIG command.

Here is my BED PID Tune macro (you can find the _general_Debug macro in this GitHub Repo):

URL to my GitHub Repo for all the other external macros (G32, M117, CURRENT_NORMAL, PARK_UpperRight, _COOL_WAIT, STATUS_READY, TURN_OFF_HEATERS, _USER_VARIABLE, M141, and FILTER): https://github.com/GadgetAngel/Klipperbackup_Voron2.4r2_LDO300kit

#.................................................................................................................
# BED_PID - Optional parameters: BED_TEMP{float_value}, FAN_SPEED{0-1},
#                                ENCLOSURE_TEMP{float_value}, ZERO_OVERSHOOT{0,1},
#                                WRITE_FILE{0,1}
#
#   / Usage:
#           BED_PID,
#           BED_PID BED_TEMP=110 FAN_SPEED=60 ENCLOSURE_TEMP=40
#           BED_PID BED_TEMP=110 FAN_SPEED=60 ENCLOSURE_TEMP=40 WRITE_FILE=1
#           BED_PID BED_TEMP=110 FAN_SPEED=60 ENCLOSURE_TEMP=40 WRITE_FILE=1 ZERO_OVERSHOOT=1
#
#   It performs bed PID tune. If no parameters are specified, BED_TEMP will be [defaultTempBed]
#
#.................................................................................................................
# Required variable(s) to be set. Add the following to your global variable dictionary block as:
#
# [gcode_macro _USER_VARIABLE]
# variable_filament.profile.defaultTempBed
# variable_park.mid.x
# variable_park.mid.y
# variable_hw.chamber.fan
# variable_filament.profile.defaultEnclosure
#
#.................................................................................................................
# Required external macro(s) used by this macro.
#
# _general_Debug
# G32
# M117
# CURRENT_NORMAL
# PARK_UpperRight
# _COOL_WAIT
# STATUS_READY
# TURN_OFF_HEATERS
# _USER_VARIABLE
# M141
# FILTER
#
#.................................................................................................................
#.................................................................................................................
#
## URL Resources: https://github.com/rkolbi/voron2.4/blob/main/MY_V24-350/ACTIVE/MACRO-BED_PID_TUNE.cfg
##
#.................................................................................................................

[gcode_macro BED_PID]
# Usage: BED_PID BED_TEMP=110 FAN_SPEED=40
# Fan speed, from 0 to 255. S255 provides 100% duty cycle; S128 produces 50%
description: Helper: Performs BED PID tune
gcode:
    _general_Debug msg="_BED_PID - entering"
    {% if printer.idle_timeout.state == "Printing" or printer.pause_resume.is_paused %}
        {action_respond_info("Cannot do that while printing")}
    {% else %}
        {% set user = printer['gcode_macro _USER_VARIABLE'] %}
        {% set defaultTB = user.filament.profile.defaultTempBed|float %}
        {% if printer.configfile.config['zero_overshoot heater_bed'].zero_overshoot|string in ['True','true'] %}
            {% set defaultOverShoot = 1 %}
         {% endif %}
        {action_respond_info("defaultOverShoot for heater_bed = %s;" % defaultOverShoot)}
        {% set Z_OVER = params.ZERO_OVERSHOOT|default(defaultOverShoot)|int %}
        {% set WRITE_FILE = params.WRITE_FILE|default(0)|int %}
        {action_respond_info("Z_OVER for heater_bed = %s;" % Z_OVER)}
        # if WRITE_FILE = 1 then file is saved to `/tmp/heattest.txt` on raspberry pi
        {action_respond_info("WRITE_FILE for heater_bed = %s;" % WRITE_FILE)}
        {% set BED_TEMP = params.BED_TEMP|default(defaultTB)|float %}
        {% set FAN_SPEED = params.FAN_SPEED|default(0.40)|float %}
        {% set X_MID =  user.park.mid.x|float %}
        {% set Y_MID =  user.park.mid.y|float %}
        {% set defaultENCLOSURE = user.filament.profile.defaultEnclosure|float %}
        {% set ENCLOSURE_TEMP = params.ENCLOSURE_TEMP|default(defaultENCLOSURE)|float %}
        G90                                                                 ;Absolute Positioning
        {% if user.hw.chamber.fan %} M141 S{ENCLOSURE_TEMP} {% endif %}     ;set chamber temperature for Exhaust fan and Bed fans
        M117 Performing initial homing.
        G32                                                                 ;Clears bed-mesh and performs G28, ATTACH_PROBE, QGL, DOCK_PROBE
        FILTER                                                              ;Toggle Nevermore Filter
        G1 Z5 Y{Y_MID} X{X_MID} F4000                                       ;move to center of bed
        SET_FAN_SPEED FAN=Bedfan_Left SPEED={FAN_SPEED}                     ;set Fan speed for bedfans fan
        SET_FAN_SPEED FAN=Bedfan_Right SPEED={FAN_SPEED}                    ;set Fan speed for bedfans fan
        M117 Starting PID calibration.
        PID_CALIBRATE HEATER=heater_bed TARGET={BED_TEMP} ZERO_OVERSHOOT={Z_OVER} WRITE_FILE={WRITE_FILE}  ;PID tune the heater_bed
        M117 Finished PID calibration.
        TURN_OFF_HEATERS                                                    ;Turn off all heaters and reset the chamber temperature for Exhaust fan
        FILTER                                                              ;Toggle Nevermore Filter
        CURRENT_NORMAL                                                      ;call Macro CURRENT_NORMAL
        PARK_UpperRight                                                     ;Parks nozzle at top front-right
        M18 X Y E                                                           ;Disable Stepper motor
        _COOL_WAIT MINUTES=1                                                ;Cooling cycle waiting routine
		STATUS_READY                                                        ;SB LED status
        SAVE_CONFIG                                                         ;save results of PID tune back in printer.cfg file
    {% endif %}
   _general_Debug msg="_BED_PID - exiting"

Here is my Nozzle PID Tune macro(you can find the _general_Debug macro in this GitHub Repo):

URL to my GitHub Repo for all the other external macros (STATUS_HOMING, STATUS_BUSY, STATUS_READY, _COOL_WAIT, _HEAT_WAIT, PARK_UpperRight, M117, TURN_OFF_HEATERS, G32, M190, M106, _USER_VARIABLE, M141, FILTER): https://github.com/GadgetAngel/Klipperbackup_Voron2.4r2_LDO300kit

#.................................................................................................................
# NZL_PID - Optional parameters: BED_TEMP{float_value}, NZL_TEMP{float_value},
#                                FAN_SPEED{float_value between 0-1}, SOAK_MINUTES{float_value},
#                                ENCLOSURE_TEMP{float_value}, ZERO_OVERSHOOT{0,1},
#                                WRITE_FILE{0,1}
#
#   / Usage:
#           NZL_PID,
#           NZL_PID NZL_TEMP=240 BED_TEMP=110
#           NZL_PID NZL_TEMP=240 BED_TEMP=110.0 FAN_SPEED=0.64 SOAK_MINUTES=12.5 ENCLOSURE_TEMP=40.0
#           NZL_PID NZL_TEMP=240 BED_TEMP=110.0 FAN_SPEED=0.64 SOAK_MINUTES=12.5 ENCLOSURE_TEMP=40.0 WRITE_FILE=1
#           NZL_PID NZL_TEMP=240 BED_TEMP=110.0 FAN_SPEED=0.64 SOAK_MINUTES=12.5 ENCLOSURE_TEMP=40.0 WRITE_FILE=1 ZERO_OVERSHOOT=1
#
#   It performs bed heat soak and then nozzle PID tune. If no parameters are specified, BED_TEMP will be
#   [defaultTempBed], and NZL_TEMP will be [defaultTempNozzle].
#
# Usage: NZL_PID BED_TEMP=95 NZL_TEMP=238
#.................................................................................................................
# Required variable(s) to be set. Add the following to your global variable dictionary block as:
#
# [gcode_macro _USER_VARIABLE]
#  variable_filament.profile.defaultTempNozzle
#  variable_filament.profile.defaultTempBed
#  variable_filament.filament.profile.defaultEnclosure
#  variable_filament.profile.PostPrintParkCool
#  variable_filament.profile.defaultEnclosure
#  variable_hw.chamber.fan
#
#.................................................................................................................
# Required external macro(s) used by this macro.
#
# _general_Debug
# STATUS_HOMING
# STATUS_BUSY
# STATUS_READY
# _COOL_WAIT
# _HEAT_WAIT
# PARK_UpperRight
# M117
# TURN_OFF_HEATERS
# G32
# M190
# M106
# _USER_VARIABLE
# M141
# FILTER
#
#.................................................................................................................

#.................................................................................................................
#
## URL Resources: https://github.com/rkolbi/voron2.4/blob/main/MY_V24-350/ACTIVE/MACRO-NZL_PID_TUNE.cfg
#
#.................................................................................................................
[gcode_macro NZL_PID]
# Usage: NZL_PID BED_TEMP=110 NZL_TEMP=245 FAN_SPEED=85 SOAK_MINUTES=10
# Fan speed, from 0 to 255. S255 provides 100% duty cycle; S128 produces 50%.
description: Helper: Performs NOZZLE PID tune
gcode:
    _general_Debug msg="NZL_PID - entering"
    {% set user = printer['gcode_macro _USER_VARIABLE'] %}
    {% if printer.idle_timeout.state == "Printing" or printer.pause_resume.is_paused %}
        {action_respond_info("Cannot do that while printing")}
    {% else %}
        {% set defaultTN = user.filament.profile.defaultTempNozzle|float %}
        {% set defaultTB = user.filament.profile.defaultTempBed|float %}
        {% if printer.configfile.config['zero_overshoot extruder'].zero_overshoot |string in ['True','true'] %}
            {% set defaultOverShoot = 1 %}
        {% endif %}
        {action_respond_info("defaultOverShoot for extruder = %s;" % defaultOverShoot)}
        {% set Z_OVER = params.ZERO_OVERSHOOT|default(defaultOverShoot)|int %}
        {action_respond_info("Z_OVER for extruder = %s;" % Z_OVER)}
        {% set FAN_SPEED = params.FAN_SPEED|default(0.64)|float %}
        {% set SOAK_MINUTES = params.SOAK_MINUTES|default(12)|float %}
        {% set BED_TEMP = params.BED_TEMP|default(defaultTB)|float %}
        {% set NZL_TEMP = params.NZL_TEMP|default(defaultTN)|float %}
        {% set X_MID = printer.configfile.config.stepper_x.position_max|float / 2.0 %}
        {% set Y_MID = printer.configfile.config.stepper_y.position_max|float / 2.0 %}
        {% set defaultENCLOSURE = user.filament.profile.defaultEnclosure|float %}
        {% set ENCLOSURE_TEMP = params.ENCLOSURE_TEMP|default(defaultENCLOSURE)|float %}
        {% set WRITE_FILE = params.WRITE_FILE|default(0)|int %}
        # if WRITE_FILE = 1 then file is saved to `/tmp/heattest.txt` on raspberry pi
        {action_respond_info("WRITE_FILE for heater_bed = %s;" % WRITE_FILE)}
        G90                                                                                       ;Absolute Positioning
        M117 Performing initial homing.
        G32                                                                                       ;Clears bed-mesh and performs G28, ATTACH_PROBE, QGL, DOCK_PROBE
        G1 Z5 Y{Y_MID} X{X_MID} F4000                                                             ;move to center of bed
        M117 Bringing bed to temperature.
        {% if user.hw.chamber.fan %} M141 S{ENCLOSURE_TEMP} {% endif %}                           ;set chamber temperature for Exhaust fan and Bed fans
        FILTER                                                                                    ;Toggle Nevermore Filter
        M106 S{(FAN_SPEED*255)}                                                                   ;Part Cooling Fan On and start monitoring the tach signal
        M190 S{BED_TEMP}                                                                          ;Wait for bed temp within 5 degrees
        _HEAT_WAIT MINUTES={SOAK_MINUTES} MSG="Pre NZL_PID Soaking..."                            ;Heating cycle waiting routine
        SET_LED LED=sb_leds INDEX=17 RED=.5 GREEN=.5 BLUE=0
        SET_LED LED=sb_leds INDEX=18 RED=.5 GREEN=.5 BLUE=0
        M117 Starting PID calibration.
        PID_CALIBRATE HEATER=extruder TARGET={NZL_TEMP} ZERO_OVERSHOOT={Z_OVER} WRITE_FILE={WRITE_FILE}   ;PID tune the extruder
        M117 Finished PID calibration.
        TURN_OFF_HEATERS                                                                          ;Turn off all heaters and reset the chamber temperature for Exhaust fan
        FILTER                                                                                    ;Toggle Nevermore Filter
        G90                                                                                       ;Absolute Positioning
        PARK_UpperRight                                                                           ;Parks nozzle at top front-right
        M18 X Y E                                                                                 ;Disable Stepper motor
        SET_LED LED=sb_leds INDEX=17 RED=.2 GREEN=.5 BLUE=.2
        SET_LED LED=sb_leds INDEX=18 RED=.2 GREEN=.5 BLUE=.2
        _COOL_WAIT MINUTES={user.filament.profile.PostPrintParkCool|float}                        ;Cooling cycle waiting routine
        STATUS_READY                                                                              ;SB LED status
		SAVE_CONFIG
    {% endif %}
    _general_Debug msg="NZL_PID - exiting"
### Moonraker Update Manager:

It's possible to keep this extension up to date with the Moonraker's update manager by adding this configuration block to the `moonraker.conf` of your printer:

```python
[update_manager zero_overshoot]
type: git_repo
path: ~/Zero_Overshoot
origin: https://github.com/GadgetAngel/Zero_Overshoot.git
install_script: install_zero_overshoot.sh
is_system_service: False
managed_services: klipper

After you update moonraker.conf file, I rebooted my Raspberry Pi to get it to install (or you could just restart the moonraker service).

This requires this repository to be cloned into your home directory (e.g. /home/pi):

git clone https://github.com/GadgetAngel/Zero_Overshoot.git

The URL for Moonraker [update_manager] section can be found here

Now, you are free to try out the following commands:

PID_CALIBRATE HEATER=heater_bed TARGET=110
PID_CALIBRATE HEATER=heater_bed TARGET=110 ZERO_OVERSHOOT=0
PID_CALIBRATE HEATER=heater_bed TARGET=110 ZERO_OVERSHOOT=1
PID_CALIBRATE HEATER=extruder TARGET=240
PID_CALIBRATE HEATER=extruder TARGET=240 ZERO_OVERSHOOT=0
PID_CALIBRATE HEATER=extruder TARGET=240 ZERO_OVERSHOOT=1

Happy 3D printing!!

About

Voron Printers: this extension allows the Voron user to define a formula to change the Classic PID Kp, Ki, and Kd values so that your heater will experience the smallest amount of overshoot

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Zero_Overshoot consolidated into one python file Latest
Feb 3, 2023
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