[printer]
kinematics:
# The type of printer in use. This option may be one of: cartesian,
-# corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
-# deltesian, polar, winch, or none. This parameter must be specified.
+# corexy, corexz, hybrid_corexy, hybrid_corexz, generic_cartesian,
+# rotary_delta, delta, deltesian, polar, winch, or none.
+# This parameter must be specified.
max_velocity:
# Maximum velocity (in mm/s) of the toolhead (relative to the
# print). This value may be changed at runtime using the
@@ -4622,6 +4637,160 @@ anchor_z:
# These parameters must be provided.
See example-generic-cartesian.cfg +for an example generic Cartesian kinematics config file.
+This printer kinematic class allows a user to define in a pretty flexible +manner an arbitrary Cartesian-style kinematics. In principle, the regular +cartesian, corexy, hybrid_corexy can be defined this way too. However, +more importantly, various otherwise unsupported kinematics such as +inverted hybrid_corexy or corexyuv can be defined using this kinematic.
+Notably, the definition of a generic Cartesian kinematic deviates
+significantly from the other kinematic types. It follows the following
+convention: a user defines a set of carriages with certain range of motion
+that can move independently from each other (they should move over the
+Cartesian axes X, Y, and Z, hence the name of the kinematic) and
+corresponding endstops that allow the firmware to determine the position
+of carriages during homing, as well as a set of steppers that move those
+carriages. The [printer] section must specify the kinematic and
+other printer-level settings same as the regular Cartesian kinematic:
[printer]
+kinematics: generic_cartesian
+max_velocity:
+max_accel:
+#minimum_cruise_ratio:
+#square_corner_velocity:
+#max_accel_to_decel:
+#max_z_velocity:
+#max_z_accel:
+Then a user must define the following three carriages: [carriage x],
+[carriage y], and [carriage z], e.g.
[carriage x]
+endstop_pin:
+# Endstop switch detection pin. If this endstop pin is on a
+# different mcu than the stepper motor(s) moving this carriage,
+# then it enables "multi-mcu homing". This parameter must be provided.
+#position_min: 0
+# Minimum valid distance (in mm) the user may command the carriage to
+# move to. The default is 0mm.
+position_endstop:
+# Location of the endstop (in mm). This parameter must be provided.
+position_max:
+# Maximum valid distance (in mm) the user may command the stepper to
+# move to. This parameter must be provided.
+#homing_speed: 5.0
+# Maximum velocity (in mm/s) of the carriage when homing. The default
+# is 5mm/s.
+#homing_retract_dist: 5.0
+# Distance to backoff (in mm) before homing a second time during
+# homing. Set this to zero to disable the second home. The default
+# is 5mm.
+#homing_retract_speed:
+# Speed to use on the retract move after homing in case this should
+# be different from the homing speed, which is the default for this
+# parameter
+#second_homing_speed:
+# Velocity (in mm/s) of the carriage when performing the second home.
+# The default is homing_speed/2.
+#homing_positive_dir:
+# If true, homing will cause the carriage to move in a positive
+# direction (away from zero); if false, home towards zero. It is
+# better to use the default than to specify this parameter. The
+# default is true if position_endstop is near position_max and false
+# if near position_min.
+Afterwards, a user specifies the stepper motors that move these carriages, +for instance
+[stepper my_stepper]
+carriages:
+# A string describing the carriages the stepper moves. All defined
+# carriages can be specified here, as well as their linear combinations,
+# e.g. x, x+y, y-0.5*z, x-z, etc. This parameter must be provided.
+step_pin:
+dir_pin:
+enable_pin:
+rotation_distance:
+microsteps:
+#full_steps_per_rotation: 200
+#gear_ratio:
+#step_pulse_duration:
+See stepper section for more information on the regular
+stepper parameters. The carriages parameter defines how the stepper
+affects the motion of the carriages. For example, x+y indicates that
+the motion of the stepper in the positive direction by the distance d
+moves the carriages x and y by the same distance d in the positive
+direction, while x-0.5*y means the motion of the stepper in the positive
+direction by the distance d moves the carriage x by the distance d
+in the positive direction, but the carriage y will travel distance d/2
+in the negative direction.
More than a single stepper motor can be defined to drive the same axis +or belt. For example, on a CoreXY AWD setups two motors driving the same +belt can be defined as
+[carriage x]
+endstop_pin: ...
+...
+
+[carriage y]
+endstop_pin: ...
+...
+
+[stepper a0]
+carriages: x-y
+step_pin: ...
+dir_pin: ...
+enable_pin: ...
+rotation_distance: ...
+...
+
+[stepper a1]
+carriages: x-y
+step_pin: ...
+dir_pin: ...
+enable_pin: ...
+rotation_distance: ...
+...
+with a0 and a1 steppers having their own control pins, but
+sharing the same carriages and corresponding endstops.
There are situations when a user wants to have more than one endstop +per axis. Examples of such configurations include Y axis driven by +two independent stepper motors with belts attached to both ends of the +X beam, with effectively two carriages on Y axis each having an +independent endstop, and multi-stepper Z axis with each stepper having +its own endstop (not to be confused with the configurations with +multiple Z motors but only a single endstop). These configurations +can be declared by specifying additional carriage(s) with their endstops:
+[extra_carriage my_carriage]
+primary_carriage:
+# The name of the primary carriage this carriage corresponds to.
+# It also effectively defines the axis the carriage moves over.
+# This parameter must be provided.
+endstop_pin:
+# Endstop switch detection pin. This parameter must be provided.
+and the corresponding stepper motors, for example:
+[extra_carriage y1]
+primary_carriage: y
+endstop_pin: ...
+
+[stepper sy1]
+carriages: y1
+...
+Notably, an [extra_carriage] does not define parameters such as
+position_min, position_max, and position_endstop, but instead
+inherits them from the specified primary_carriage, thus sharing
+the same range of motion with the primary carriage.
For the references on how to configure IDEX setups, see the +dual carriage section.
It is possible to define a special "none" kinematics to disable kinematic support in Klipper. This may be useful for controlling @@ -5969,8 +6138,8 @@ for an example configuration.
Support for cartesian and hybrid_corexy/z printers with dual carriages -on a single axis. The carriage mode can be set via the +
Support for cartesian, generic_cartesian and hybrid_corexy/z printers with
+dual carriages on a single axis. The carriage mode can be set via the
SET_DUAL_CARRIAGE extended g-code command. For example,
"SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined
in this section (CARRIAGE=0 will return activation to the primary carriage).
@@ -5995,7 +6164,7 @@ typically be achieved with
"SYNC_EXTRUDER_MOTION MOTION_QUEUE=extruder EXTRUDER=
See sample-idex.cfg for an example -configuration.
+configuration with a regular Cartesian kinematic.[dual_carriage]
axis:
# The axis this extra carriage is on (either x or y). This parameter
@@ -6007,7 +6176,7 @@ axis:
# error. If safe_distance is not provided, it will be inferred from
# position_min and position_max for the dual and primary carriages. If set
# to 0 (or safe_distance is unset and position_min and position_max are
-# identical for the primary and dual carraiges), the carriages proximity
+# identical for the primary and dual carriages), the carriages proximity
# checks will be disabled.
#step_pin:
#dir_pin:
@@ -6021,6 +6190,59 @@ axis:
# See the "stepper" section for the definition of the above parameters.
For an example of dual carriage configuration with generic_cartesian
+kinematic, see the following configuration
+sample.
+Please note that in this case the [dual_carriage] configuration deviates
+from the configuration described above:
[dual_carriage my_dc_carriage]
+primary_carriage:
+# Defines the matching primary carriage of this dual carriage and
+# the corresponding IDEX axis. Valid choices are x, y, z.
+# This parameter must be provided.
+#safe_distance:
+# The minimum distance (in mm) to enforce between the dual and the primary
+# carriages. If a G-Code command is executed that will bring the carriages
+# closer than the specified limit, such a command will be rejected with an
+# error. If safe_distance is not provided, it will be inferred from
+# position_min and position_max for the dual and primary carriages. If set
+# to 0 (or safe_distance is unset and position_min and position_max are
+# identical for the primary and dual carriages), the carriages proximity
+# checks will be disabled.
+endstop_pin:
+#position_min:
+position_endstop:
+position_max:
+#homing_speed:
+#homing_retract_dist:
+#homing_retract_speed:
+#second_homing_speed:
+#homing_positive_dir:
+...
+Refer to generic cartesian section for more information
+on the regular carriage parameters.
Then a user must define one or more stepper motors moving the dual carriage +(and other carriages as appropriate), for instance
+[carriage x]
+...
+
+[carriage y]
+...
+
+[dual_carriage u]
+primary_carriage: x
+...
+
+[stepper dc_stepper]
+carriages: u-y
+...
+It is worth noting that generic_cartesian kinematic can support two
+dual carriages for X and Y axes. For reference, see for instance a
+sample of CoreXYUV configuration.
Support for additional steppers synchronized to the movement of an extruder (one may define any number of sections with an diff --git a/G-Codes.html b/G-Codes.html index adbd4b8ec..dae9fc389 100644 --- a/G-Codes.html +++ b/G-Codes.html @@ -1484,6 +1484,26 @@ +
SET_DUAL_CARRIAGE CARRIAGE=[0|1] [MODE=[PRIMARY|COPY|MIRROR]]:
+
SET_DUAL_CARRIAGE CARRIAGE=<carriage> [MODE=[PRIMARY|COPY|MIRROR]]:
This command will change the mode of the specified carriage.
-If no MODE is provided it defaults to PRIMARY. Setting the mode
-to PRIMARY deactivates the other carriage and makes the specified
-carriage execute subsequent G-Code commands as-is. COPY and MIRROR
-modes are supported only for CARRIAGE=1. When set to either of these
-modes, carriage 1 will then track the subsequent moves of the carriage 0
-and either copy relative movements of it (in COPY mode) or execute them
-in the opposite (mirror) direction (in MIRROR mode).
MODE is provided it defaults to PRIMARY. <carriage> must
+reference a defined primary or dual carriage for generic_cartesian
+kinematics or be 0 (for primary carriage) or 1 (for dual carriage)
+for all other kinematics supporting IDEX. Setting the mode to PRIMARY
+deactivates the other carriage and makes the specified carriage execute
+subsequent G-Code commands as-is. COPY and MIRROR modes are supported
+only for dual carriages. When set to either of these modes, dual carriage
+will then track the subsequent moves of its primary carriage and either
+copy relative movements of it (in COPY mode) or execute them in the
+opposite (mirror) direction (in MIRROR mode).
SAVE_DUAL_CARRIAGE_STATE [NAME=<state_name>]: Save the current positions
of the dual carriages and their modes. Saving and restoring DUAL_CARRIAGE
@@ -5443,6 +5486,41 @@ be issued to move back to the previous XYZ position. If "MOVE_SPEED"
is specified then the toolhead move will be performed with the given
speed (in mm/s); otherwise the toolhead move will use the restored
g-code speed.
The commands in this section become automatically available when
+kinematics: generic_cartesian is specified as the printer kinematics.
SET_STEPPER_CARRIAGES STEPPER=<stepper_name> CARRIAGES=<carriages>
+[DISABLE_CHECKS=[0|1]]: Set or update the stepper carriages.
+<stepper_name> must reference an existing stepper defined in printer.cfg,
+and <carriages> describes the carriages the stepper moves. See
+Generic Cartesian Kinematics
+for a more detailed overview of the carriages parameter in the
+stepper configuration section. Note that it is only possible
+to change the coefficients or signs of the carriages with this
+command, but a user cannot add or remove the carriages that the stepper
+controls.
SET_STEPPER_CARRIAGES is an advanced tool, and the user is advised
+to exercise an extreme caution using it, since specifying incorrect
+configuration may physically damage the printer.
Note that SET_STEPPER_CARRIAGES performs certain internal validations
+of the new printer kinematics after the change. Keep in mind that if it
+detects an issue, it may leave printer kinematics in an invalid state.
+This means that if SET_STEPPER_CARRIAGES reports an error, it is unsafe
+to issue other GCode commands, and the user must inspect the error message
+and either fix the problem, or manually restore the previous stepper(s)
+configuration.
Since SET_STEPPER_CARRIAGES can update a configuration of a single
+stepper at a time, some sequences of changes can lead to invalid
+intermediate kinematic configurations, even if the final configuration
+is valid. In such cases a user can pass DISABLE_CHECKS=1 parameters to
+all but the last command to disable intermediate checks. For example,
+if stepper a and stepper b initially have x-y and x+y carriages
+correspondingly, then the following sequence of commands will let a user
+effectively swap the carriage controls:
+SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1
+and SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y, while
+still validating the final kinematics state.
The following commands are available when the tsl1401cl filament width sensor config section diff --git a/Status_Reference.html b/Status_Reference.html index bbb9b44d0..5f102bedf 100644 --- a/Status_Reference.html +++ b/Status_Reference.html @@ -2653,6 +2653,13 @@ on a cartesian, hybrid_corexy or hybrid_corexz robot
carriage_1: The mode of the carriage 1. Possible values are:
"INACTIVE", "PRIMARY", "COPY", and "MIRROR".On a generic_cartesian kinematic, the following information is
+available in dual_carriage:
carriages["<carriage>"]: The mode of the carriage <carriage>. Possible
+ values are "INACTIVE" and "PRIMARY" for the primary carriage and "INACTIVE",
+ "PRIMARY", "COPY", and "MIRROR" for the dual carriage.The following information is available in the virtual_sdcard object:
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