# Input Shaper Calibration Guide - StealthChanger Multi-Tool
> **Purpose**: Step-by-step guide for calibrating input shaper for each toolhead on a Voron 2.4 StealthChanger setup.
## Overview
With StealthChanger, each toolhead has different mass and resonance characteristics. For optimal print quality, you should calibrate input shaper **separately for each tool** and store unique values in their respective config files.
## Prerequisites
- ADXL345 accelerometer mounted and configured
- Printer homed and heated to typical printing temperature (resonance can change with temp)
- All tools docked
## Toolhead Configuration Files
| Tool | Config File | Color |
|------|------------|-------|
| T0 | `~/printer_data/config/Toolheads/T0.cfg` | Red |
| T1 | `~/printer_data/config/Toolheads/T1.cfg` | Orange |
| T2 | `~/printer_data/config/Toolheads/T2.cfg` | White |
Each file contains these input shaper parameters:
```ini
params_input_shaper_freq_x: 62.2
params_input_shaper_freq_y: 44.0
params_input_shaper_type_x: mzv
params_input_shaper_type_y: mzv
```
## Calibration Procedure
### Step 1: Prepare the Printer
```gcode
; Home and heat
G28
M104 S200 ; Heat nozzle (optional but recommended)
M140 S60 ; Heat bed (optional)
```
### Step 2: Calibrate T0 (Red)
```gcode
; Select T0
T0
; Run calibration (runs both X and Y axes)
SHAPER_CALIBRATE
```
Wait for the calibration to complete. This takes 2-5 minutes per axis.
**Read the results from the console output:**
```
Recommended shaper is mzv @ 62.4 Hz
Recommended shaper is mzv @ 88.6 Hz
```
**Save to T0.cfg:**
```ini
[tool T0]
params_input_shaper_freq_x: 62.4 ; Your X result
params_input_shaper_freq_y: 88.6 ; Your Y result
params_input_shaper_type_x: mzv ; Recommended type for X
params_input_shaper_type_y: mzv ; Recommended type for Y
```
### Step 3: Calibrate T1 (Orange)
```gcode
; Switch to T1
T1
; Run calibration
SHAPER_CALIBRATE
```
Record the results and update `T1.cfg` with the unique values.
### Step 4: Calibrate T2 (White)
```gcode
; Switch to T2
T2
; Run calibration
SHAPER_CALIBRATE
```
Record the results and update `T2.cfg` with the unique values.
### Step 5: Save Configuration
After updating all config files:
```gcode
RESTART
```
Or from Mainsail/Fluidd, use the "Save & Restart" button.
## Verifying Per-Tool Shaper Application
The `toolchanger.cfg` automatically applies the correct shaper settings when switching tools via the `after_change_gcode`:
```jinja2
{% if tool.params_input_shaper_freq_x %}
{% set shaper_type_x = tool.params_input_shaper_type_x|default("mzv") %}
{% set shaper_type_y = tool.params_input_shaper_type_y|default("mzv") %}
SET_INPUT_SHAPER SHAPER_FREQ_X={tool.params_input_shaper_freq_x} SHAPER_FREQ_Y={tool.params_input_shaper_freq_y} SHAPER_TYPE_X={shaper_type_x} SHAPER_TYPE_Y={shaper_type_y}
{% endif %}
```
**To verify active shaper settings:**
```gcode
; Check current input shaper status
GET_INPUT_SHAPER
```
Or use the MCP server endpoint:
```
http://192.168.2.87:8000/shaper.html
```
## Troubleshooting
### "Accelerometer not found"
- Check ADXL345 wiring
- Verify `[adxl345]` section in printer.cfg
- Run `ACCELEROMETER_QUERY` to test connection
### "Could not home" during calibration
- Ensure the printer is homed (`G28`) before running `SHAPER_CALIBRATE`
- Check that the correct tool is active
### Very different values between tools
This is **normal**! Different toolheads have different masses and will resonate at different frequencies. Typical differences:
- 5-15 Hz variation between tools is common
- Different shaper types (mzv vs ei) may be recommended for different tools
### Ringing still visible after calibration
- Try running calibration with the bed and nozzle at printing temperature
- Consider using a more aggressive shaper type (e.g., `ei` instead of `mzv`)
- Check for mechanical issues (loose belts, wobble in toolhead mount)
## Shaper Types Reference
| Type | Vibration Reduction | Smoothing | Best For |
|------|---------------------|-----------|----------|
| `zv` | Minimal | Lowest | Very stiff frames |
| `mzv` | Good | Low | Most printers (default) |
| `zvd` | Better | Medium | Moderate ringing |
| `ei` | Very Good | Higher | Significant ringing |
| `2hump_ei` | Maximum | Highest | Severe ringing issues |
## Quick Reference Commands
| Command | Description |
|---------|-------------|
| `SHAPER_CALIBRATE` | Full calibration (both axes) |
| `SHAPER_CALIBRATE AXIS=X` | Calibrate X axis only |
| `SHAPER_CALIBRATE AXIS=Y` | Calibrate Y axis only |
| `GET_INPUT_SHAPER` | Show current shaper settings |
| `SET_INPUT_SHAPER SHAPER_FREQ_X=60` | Manually set X frequency |
| `SET_INPUT_SHAPER SHAPER_TYPE_X=ei` | Manually set X shaper type |
## Expected Calibration Results
For a typical Voron 2.4 with StealthChanger:
| Tool | Freq X (Hz) | Freq Y (Hz) | Notes |
|------|-------------|-------------|-------|
| T0 | 55-70 | 40-55 | Lightest tool typically highest freq |
| T1 | 50-65 | 38-52 | Varies with hotend weight |
| T2 | 50-65 | 38-52 | Similar to T1 if same hotend |
*Your values will vary based on toolhead mass, belt tension, and frame stiffness.*
---
**Last Updated**: January 2026
**Applies To**: Voron 2.4 350mm with StealthChanger (T0, T1, T2)
