Anycubic Kossel Klipper delta calibration

After flashing Klipper, it is necessary to perform a delta calibration.
Delta calibration will probe multiple points on bed and calculate rod length, tower angle, z height and other delta variables.

1. Attach and connect Z probe

2. Open OctoPrint

Open OctoPrint and connect to printer.

3. Delta calibration

Open Terminal and send home command:
G28
Send this command after the printer homes:
DELTA_CALIBRATE

4. Understand your calibration values

After a succesful delta calibration, you will see all values in a terminal window.
As you can see in the picture, it consists of three parts:

probe at x y is z
This tells you Z height at each probing point at X, Y coordinates.

stepper_a/b/c position_endstop : angle: arm:
stepper a = x tower, stepper b = y tower, stepper c = z tower
position_endstop – tells you distance between bed and end stop
angle – angle between tower and cartesian coordinates
arm – arm lenght

delta_radius

5. Save cakubration values

To values with this command:
SAVE_CONFIG

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13 Comments

Krishna says:

4. 8. 2020 at 4:50

After finishing the DELTA_CALIBRATION and PROBE_CALIBRATE, my Z offset it still not correct. When I run the commad “G1 Z0”, the nozzle stays up in the air about 10-12mm above the plate.
When I did the manual calibration, it touched the plate on Z0.

Thanks

Reply
1. Lukas says:
  
  4. 8. 2020 at 13:42
  
  Hi, there is a bug in Klipper.
  Both calibrations work well, but….
  
  You need to take the probe value from calibration values, copy it, paste it into the probe value in the printer.cfg configuration section and undefine it.
  
  Klipper does not use probe value from calibration, it need to be modified in the configuration after calibration.
  
  Do this and perform automatic delta calibration.
  
  Reply
Krishna says:

3. 8. 2020 at 18:40

Thanks a lot for all the info about Anycibic Kosell. I started to install Klipper and get it working.. When I calibrate, I get the following error!
Send: G28
Recv: ok
[…]
Send: DELTA_CALIBRATE
Recv: !! Probe triggered prior to movement
Recv: ok
[…]
Send: G28

I went ahead and did manual calibration. Then it does not print well.. looks like it is printing in only one layer.. not raising at all..
thanks in advance

Reply
1. Lukas says:
  
  3. 8. 2020 at 19:41
  
  Hi, your problem is probably wrong probe type.
  Check it and change it in the FW.
  
  Reply
  1. Krishna says:
    
    4. 8. 2020 at 3:33
    
    Thanks. The probe is the issue. Loose connector!
    
    Reply
Megan says:

4. 5. 2020 at 20:35

i got this message what shoud i do?
Recv: // Starting manual Z probe. Use TESTZ to adjust position.
Recv: // Finish with ACCEPT or ABORT command.
Recv: // Z position: ?????? –> 5.000 <– ??????
[…]
Recv: // Unknown command:"PROBE"
[…]
Recv: !! Already in a manual Z probe. Use ABORT to abort it.

Reply
1. Lukas says:
  
  4. 5. 2020 at 23:42
  
  Can you tell me more informations abour your Kossel, probe etc.?
  
  Reply
  1. Megan says:
    
    7. 5. 2020 at 14:04
    
    i’m sorry , just forgot not edited the config file… for selecting the probe type…
    right now my printer work like a charm thanks to your tutorial…..
    
    Reply
    1. Lukas says:
      
      7. 5. 2020 at 18:25
      
      Good to hear!
      Wish you luck with Kossel.
      
      Reply
MarsArtis says:

22. 4. 2020 at 9:12

Is there a way to do Delta Calibration without a probe but using the nozzle and a sheet of Paper? (just Like the G33 on MK4DUO or Marlin)

Reply
1. Lukas says:
  
  22. 4. 2020 at 11:05
  
  Hi, there is:
  https://github.com/KevinOConnor/klipper/blob/master/docs/Delta_Calibrate.md
  
  Reply
Torsten Pentz says:

19. 4. 2020 at 13:35

If i do that my probe crashes into the bed?? I used your config for the SKR 1.3 and i only changed the steppers to 2209_uart..

I use the Anycubic probe V2. Is there anything else i should change??

Reply
1. Lukas says:
  
  19. 4. 2020 at 13:36
  
  Yes you can.
  Change your Z probe offset and check your probe type.
  
  Reply