mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-08-08 14:34:06 -06:00
cc6736c3e3
* tests: Added a regression test for generic_cartesian kinematics * kinematics: An intial implementation of generic_cartesian kinematics * generic_cartesian: Refactored kinematics configuration API * generic_cartesian: Use stepper instead of kinematic_stepper in configs * generic_cartesian: Added SET_STEPPER_KINEMATICS command * generic_cartesian: Fixed parsing of section names * docs: Generic Caretsian kinematics documentation and config samples * generic_cartesian: Implemented multi-mcu homing validation * generic_cartesian: Fixed typos in docs, minor fixes * generic_cartesian: Renamed `kinematics` option to `carriages` * generic_cartesian: Moved kinematic_stepper.py file * idex_modes: Internal refactoring of handling dual carriages * stepper: Refactored the code to not store a reference to config object * config: Updated example-generic-cartesian config * generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status * idex_modes: Fixed handling stepper kinematics with input shaper enabled * config: Updated configs and tests for SET_DUAL_CARRIAGE new params * generic_cartesian: Avoid inheritance in the added classes Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
177 lines
3.9 KiB
INI
177 lines
3.9 KiB
INI
# This file contains a configuration snippet for a CoreXYUV
|
|
# printer with an independent dual extruder moving over X and Y axes.
|
|
|
|
# See docs/Config_Reference.md for a description of parameters.
|
|
|
|
[carriage x]
|
|
position_endstop: 0
|
|
position_max: 300
|
|
homing_speed: 50
|
|
endstop_pin: ^PE5
|
|
|
|
[carriage y]
|
|
position_endstop: 0
|
|
position_max: 200
|
|
homing_speed: 50
|
|
endstop_pin: ^PJ1
|
|
|
|
[dual_carriage u]
|
|
primary_carriage: x
|
|
safe_distance: 70
|
|
position_endstop: 300
|
|
position_max: 300
|
|
homing_speed: 50
|
|
endstop_pin: ^PE4
|
|
|
|
[dual_carriage v]
|
|
primary_carriage: y
|
|
safe_distance: 50
|
|
position_endstop: 200
|
|
position_max: 200
|
|
homing_speed: 50
|
|
endstop_pin: ^PD4
|
|
|
|
[stepper a]
|
|
carriages: x+y
|
|
step_pin: PF0
|
|
dir_pin: PF1
|
|
enable_pin: !PD7
|
|
microsteps: 16
|
|
rotation_distance: 40
|
|
|
|
[stepper b]
|
|
carriages: u-v
|
|
step_pin: PH1
|
|
dir_pin: PH0
|
|
enable_pin: !PA1
|
|
microsteps: 16
|
|
rotation_distance: 40
|
|
|
|
[stepper c]
|
|
carriages: x-y
|
|
step_pin: PF6
|
|
dir_pin: !PF7
|
|
enable_pin: !PF2
|
|
microsteps: 16
|
|
rotation_distance: 40
|
|
|
|
[stepper d]
|
|
carriages: u+v
|
|
step_pin: PE3
|
|
dir_pin: !PH6
|
|
enable_pin: !PG5
|
|
microsteps: 16
|
|
rotation_distance: 40
|
|
|
|
[extruder]
|
|
step_pin: PA4
|
|
dir_pin: PA6
|
|
enable_pin: !PA2
|
|
microsteps: 16
|
|
rotation_distance: 33.5
|
|
nozzle_diameter: 0.400
|
|
filament_diameter: 1.750
|
|
heater_pin: PB4
|
|
sensor_type: EPCOS 100K B57560G104F
|
|
sensor_pin: PK5
|
|
control: pid
|
|
pid_Kp: 22.2
|
|
pid_Ki: 1.08
|
|
pid_Kd: 114
|
|
min_temp: 0
|
|
max_temp: 250
|
|
|
|
[gcode_macro PARK_extruder]
|
|
gcode:
|
|
SET_DUAL_CARRIAGE CARRIAGE=x
|
|
SET_DUAL_CARRIAGE CARRIAGE=y
|
|
G90
|
|
G1 X0 Y0
|
|
|
|
[gcode_macro T0]
|
|
gcode:
|
|
PARK_{printer.toolhead.extruder}
|
|
ACTIVATE_EXTRUDER EXTRUDER=extruder
|
|
SET_DUAL_CARRIAGE CARRIAGE=x
|
|
SET_DUAL_CARRIAGE CARRIAGE=y
|
|
|
|
[extruder1]
|
|
step_pin: PC1
|
|
dir_pin: PC3
|
|
enable_pin: !PC7
|
|
microsteps: 16
|
|
rotation_distance: 33.5
|
|
nozzle_diameter: 0.400
|
|
filament_diameter: 1.750
|
|
heater_pin: PB5
|
|
sensor_type: EPCOS 100K B57560G104F
|
|
sensor_pin: PK7
|
|
control: pid
|
|
pid_Kp: 22.2
|
|
pid_Ki: 1.08
|
|
pid_Kd: 114
|
|
min_temp: 0
|
|
max_temp: 250
|
|
|
|
[gcode_macro PARK_extruder1]
|
|
gcode:
|
|
SET_DUAL_CARRIAGE CARRIAGE=u
|
|
SET_DUAL_CARRIAGE CARRIAGE=v
|
|
G90
|
|
G1 X300 Y200
|
|
|
|
[gcode_macro T1]
|
|
gcode:
|
|
PARK_{printer.toolhead.extruder}
|
|
ACTIVATE_EXTRUDER EXTRUDER=extruder1
|
|
SET_DUAL_CARRIAGE CARRIAGE=u
|
|
SET_DUAL_CARRIAGE CARRIAGE=v
|
|
|
|
# A helper script to activate copy mode
|
|
[gcode_macro ACTIVATE_COPY_MODE]
|
|
gcode:
|
|
SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
|
|
SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
|
|
G1 X0 Y0
|
|
ACTIVATE_EXTRUDER EXTRUDER=extruder
|
|
SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
|
|
SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
|
|
G1 X150 Y100
|
|
SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
|
|
SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
|
|
SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
|
|
|
|
# A helper script to activate mirror mode
|
|
[gcode_macro ACTIVATE_MIRROR_MODE]
|
|
gcode:
|
|
SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
|
|
SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
|
|
G1 X0 Y0
|
|
ACTIVATE_EXTRUDER EXTRUDER=extruder
|
|
SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
|
|
SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
|
|
G1 X300 Y100
|
|
SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
|
|
SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
|
|
SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
|
|
|
|
[printer]
|
|
kinematics: generic_cartesian
|
|
max_velocity: 300
|
|
max_accel: 3000
|
|
max_z_velocity: 5
|
|
max_z_accel: 100
|
|
|
|
## An optional input shaper support
|
|
#[input_shaper]
|
|
## The section is intentionally empty
|
|
#
|
|
#[delayed_gcode init_shaper]
|
|
#initial_duration: 0.1
|
|
#gcode:
|
|
# SET_DUAL_CARRIAGE CARRIAGE=u
|
|
# SET_DUAL_CARRIAGE CARRIAGE=v
|
|
# SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<dual_carriage_y_shaper> SHAPER_FREQ_Y=<dual_carriage_y_freq>
|
|
# SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
|
|
# SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
|
|
# SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<primary_carriage_y_shaper> SHAPER_FREQ_Y=<primary_carriage_y_freq>
|