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printer.cfg
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# This file contains common pin mappings for MKS Robin Nano V3
# boards. To use this config, the firmware should be compiled for the
# stm32f407. When running "make menuconfig", select the 48KiB
# bootloader, and enable "USB for communication".
# The "make flash" command does not work on the MKS Robin. Instead,
# after running "make", copy the generated "out/klipper.bin" file to a
# file named "Robin_nano_v3.bin" on an SD card and then restart the
# MKS Robin with that SD card.
# See docs/Config_Reference.md for a description of parameters.
#########################################################################
#!!!!!!!!!!!!!!!!! DELETE SAVE CONFIG AT THE VERY BOTTOM !!!!!!!!!!!!!!!#
#########################################################################
########################################
# MCU
########################################
# Configuration of the primary micro-controller.
[mcu]
# Run ls /dev/serial/by-id/* on your Raspberry Pi to get which serial to use.
serial: /dev/serial/by-id/usb-Klipper_stm32f407xx_3A0037001650314335393520-if00
# The serial port to connect to the MCU. If unsure (or if it
# changes) see the "Where's my serial port?" section of the FAQ.
# This parameter must be provided when using a serial port.
baud: 250000
# The baud rate to use. The default is 250000.
#canbus_uuid:
# If using a device connected to a CAN bus then this sets the unique
# chip identifier to connect to. This value must be provided when using
# CAN bus for communication.
#canbus_interface:
# If using a device connected to a CAN bus then this sets the CAN
# network interface to use. The default is 'can0'.
restart_method: command
# This controls the mechanism the host will use to reset the
# micro-controller. The choices are 'arduino', 'cheetah', 'rpi_usb',
# and 'command'. The 'arduino' method (toggle DTR) is common on
# Arduino boards and clones. The 'cheetah' method is a special
# method needed for some Fysetc Cheetah boards. The 'rpi_usb' method
# is useful on Raspberry Pi boards with micro-controllers powered
# over USB - it briefly disables power to all USB ports to
# accomplish a micro-controller reset. The 'command' method involves
# sending a Klipper command to the micro-controller so that it can
# reset itself. The default is 'arduino' if the micro-controller
# communicates over a serial port, 'command' otherwise.
########################################
# Printer / Misc
########################################
# The printer section controls high level printer settings.
[printer]
kinematics: delta
# The type of printer in use. This option may be one of: cartesian,
# corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
# polar, winch, or none.
# This parameter must be specified.
max_velocity: 7000
# Maximum velocity (in mm/s) of the toolhead (relative to the print).
# This parameter must be specified.
max_accel: 7000
# Maximum acceleration (in mm/s^2) of the toolhead (relative to the print).
# This parameter must be specified.
#max_accel_to_decel:
# A pseudo acceleration (in mm/s^2) controlling how fast the
# toolhead may go from acceleration to deceleration. It is used to
# reduce the top speed of short zig-zag moves (and thus reduce
# printer vibration from these moves). The default is half of
# max_accel.
max_z_velocity: 2500
# For delta printers this limits the maximum velocity (in mm/s) of
# moves with z axis movement. This setting can be used to reduce the
# maximum speed of up/down moves (which require a higher step rate
# than other moves on a delta printer). The default is to use
# max_velocity for max_z_velocity.
max_z_accel: 1000
# This sets the maximum acceleration (in mm/s^2) of movement along
# the z axis. Setting this may be useful if the printer can reach higher
# acceleration on XY moves than Z moves (eg, when using input shaper).
# The default is to use max_accel for max_z_accel.
minimum_z_position: -5
# The minimum Z position that the user may command the head to move
# to. The default is 0.
square_corner_velocity: 5.0
# The maximum velocity (in mm/s) that the toolhead may travel a 90
# degree corner at. A non-zero value can reduce changes in extruder
# flow rates by enabling instantaneous velocity changes of the
# toolhead during cornering. This value configures the internal
# centripetal velocity cornering algorithm; corners with angles
# larger than 90 degrees will have a higher cornering velocity while
# corners with angles less than 90 degrees will have a lower
# cornering velocity. If this is set to zero then the toolhead will
# decelerate to zero at each corner. The default is 5mm/s.
delta_radius: 150
# Radius (in mm) of the horizontal circle formed by the three linear
# axis towers. This parameter may also be calculated as:
# delta_radius = smooth_rod_offset - effector_offset - carriage_offset
# This parameter must be provided.
print_radius: 133
# The radius (in mm) of valid toolhead XY coordinates. One may use
# this setting to customize the range checking of toolhead moves. If
# a large value is specified here then it may be possible to command
# the toolhead into a collision with a tower. The default is to use
# delta_radius for print_radius (which would normally prevent a
# tower collision).
########################################
# A (X-Stepper) Configuration
########################################
# The stepper_a section describes the stepper controlling the front
# left tower (at 210 degrees). This section also controls the homing
# parameters (homing_speed, homing_retract_dist) for all towers.
[stepper_a]
step_pin: PE3
# Step GPIO pin (triggered high). This parameter must be provided.
dir_pin: PE2
# Direction GPIO pin (high indicates positive direction). This
# parameter must be provided.
enable_pin: !PE4
# Enable pin (default is enable high; use ! to indicate enable
# low). If this parameter is not provided then the stepper motor
# driver must always be enabled.
microsteps: 128
# The number of microsteps the stepper motor driver uses. This
# parameter must be provided.
rotation_distance: 40
# Distance (in mm) that the axis travels with one full rotation of
# the stepper motor (or final gear if gear_ratio is specified).
# This parameter must be provided.
full_steps_per_rotation: 200
# The number of full steps for one rotation of the stepper motor.
# Set this to 200 for a 1.8 degree stepper motor or set to 400 for a
# 0.9 degree motor. The default is 200.
endstop_pin: ^PA15 # X_MAX
# Endstop switch detection pin. If this endstop pin is on a
# different mcu than the stepper motor then it enables "multi-mcu
# homing". This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
#position_min: 0
# Minimum valid distance (in mm) the user may command the stepper to
# move to. The default is 0mm.
#position_endstop: 336.5
# Distance (in mm) between the nozzle and the bed when the nozzle is
# in the center of the build area and the endstop triggers. This
# parameter must be provided for stepper_a; for stepper_b and
# stepper_c this parameter defaults to the value specified for
# stepper_a.
#position_max:
# Maximum valid distance (in mm) the user may command the stepper to
# move to. This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
homing_speed: 90
# Maximum velocity (in mm/s) of the stepper when homing.
# The default is 5 mm/s.
homing_retract_dist: 3.0
# Distance to backoff (in mm) before homing a second time during
# homing. Set this to zero to disable the second home.
# The default is 5 mm.
homing_retract_speed: 10
# 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: 3.0
# Velocity (in mm/s) of the stepper when performing the second home.
# The default is homing_speed/2.
#homing_positive_dir:
# If true, homing will cause the stepper 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.
#arm_length: 315
# Length (in mm) of the diagonal rod that connects this tower to the
# print head. This parameter must be provided for stepper_a; for
# stepper_b and stepper_c this parameter defaults to the value
# specified for stepper_a.
#angle: 210
# This option specifies the angle (in degrees) that the tower is
# at. The default is 210 for stepper_a, 330 for stepper_b, and 90
# for stepper_c.
step_pulse_duration: 0.000000100
# The minimum time between the step pulse signal edge and the
# following "unstep" signal edge. This is also used to set the
# minimum time between a step pulse and a direction change signal.
# The default is 0.000000100 (100ns) for TMC steppers that are
# configured in UART or SPI mode, and the default is 0.000002 (which
# is 2us) for all other steppers.
########################################
# B (Y-Stepper) Configuration
########################################
# The stepper_b section describes the stepper controlling the front
# right tower (at 330 degrees).
[stepper_b]
step_pin: PE0
# Step GPIO pin (triggered high). This parameter must be provided.
dir_pin: PB9
# Direction GPIO pin (high indicates positive direction). This
# parameter must be provided.
enable_pin: !PE1
# Enable pin (default is enable high; use ! to indicate enable
# low). If this parameter is not provided then the stepper motor
# driver must always be enabled.
microsteps: 128
# The number of microsteps the stepper motor driver uses. This
# parameter must be provided.
rotation_distance: 40
# Distance (in mm) that the axis travels with one full rotation of
# the stepper motor (or final gear if gear_ratio is specified).
# This parameter must be provided.
full_steps_per_rotation: 200
# The number of full steps for one rotation of the stepper motor.
# Set this to 200 for a 1.8 degree stepper motor or set to 400 for a
# 0.9 degree motor. The default is 200.
endstop_pin: ^PD2 # Y_MAX
# Endstop switch detection pin. If this endstop pin is on a
# different mcu than the stepper motor then it enables "multi-mcu
# homing". This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
#position_min: 0
# Minimum valid distance (in mm) the user may command the stepper to
# move to. The default is 0mm.
#position_endstop: 336.5
# Distance (in mm) between the nozzle and the bed when the nozzle is
# in the center of the build area and the endstop triggers. This
# parameter must be provided for stepper_a; for stepper_b and
# stepper_c this parameter defaults to the value specified for
# stepper_a.
#position_max:
# Maximum valid distance (in mm) the user may command the stepper to
# move to. This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
homing_speed: 90
# Maximum velocity (in mm/s) of the stepper when homing.
# The default is 5 mm/s.
homing_retract_dist: 3.0
# Distance to backoff (in mm) before homing a second time during
# homing. Set this to zero to disable the second home.
# The default is 5 mm.
homing_retract_speed: 10
# 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: 3.0
# Velocity (in mm/s) of the stepper when performing the second home.
# The default is homing_speed/2.
#homing_positive_dir:
# If true, homing will cause the stepper 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.
#arm_length: 315
# Length (in mm) of the diagonal rod that connects this tower to the
# print head. This parameter must be provided for stepper_a; for
# stepper_b and stepper_c this parameter defaults to the value
# specified for stepper_a.
#angle: 330
# This option specifies the angle (in degrees) that the tower is
# at. The default is 210 for stepper_a, 330 for stepper_b, and 90
# for stepper_c.
step_pulse_duration: 0.000000100
# The minimum time between the step pulse signal edge and the
# following "unstep" signal edge. This is also used to set the
# minimum time between a step pulse and a direction change signal.
# The default is 0.000000100 (100ns) for TMC steppers that are
# configured in UART or SPI mode, and the default is 0.000002 (which
# is 2us) for all other steppers.
########################################
# C (Z-Stepper) Configuration
########################################
# The stepper_c section describes the stepper controlling the rear
# tower (at 90 degrees).
[stepper_c]
step_pin: PB5
# Step GPIO pin (triggered high). This parameter must be provided.
dir_pin: PB4
# Direction GPIO pin (high indicates positive direction). This
# parameter must be provided.
enable_pin: !PB8
# Enable pin (default is enable high; use ! to indicate enable
# low). If this parameter is not provided then the stepper motor
# driver must always be enabled.
microsteps: 128
# The number of microsteps the stepper motor driver uses. This
# parameter must be provided.
rotation_distance: 40
# Distance (in mm) that the axis travels with one full rotation of
# the stepper motor (or final gear if gear_ratio is specified).
# This parameter must be provided.
full_steps_per_rotation: 200
# The number of full steps for one rotation of the stepper motor.
# Set this to 200 for a 1.8 degree stepper motor or set to 400 for a
# 0.9 degree motor. The default is 200.
endstop_pin: ^PC4 # Z_MAX
# Endstop switch detection pin. If this endstop pin is on a
# different mcu than the stepper motor then it enables "multi-mcu
# homing". This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
#position_min: 0
# Minimum valid distance (in mm) the user may command the stepper to
# move to. The default is 0mm.
#position_endstop: 336.5
# Distance (in mm) between the nozzle and the bed when the nozzle is
# in the center of the build area and the endstop triggers. This
# parameter must be provided for stepper_a; for stepper_b and
# stepper_c this parameter defaults to the value specified for
# stepper_a.
#position_max:
# Maximum valid distance (in mm) the user may command the stepper to
# move to. This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
homing_speed: 90
# Maximum velocity (in mm/s) of the stepper when homing.
# The default is 5 mm/s.
homing_retract_dist: 3.0
# Distance to backoff (in mm) before homing a second time during
# homing. Set this to zero to disable the second home.
# The default is 5 mm.
homing_retract_speed: 10
# 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: 3.0
# Velocity (in mm/s) of the stepper when performing the second home.
# The default is homing_speed/2.
#homing_positive_dir:
# If true, homing will cause the stepper 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.
#arm_length: 315
# Length (in mm) of the diagonal rod that connects this tower to the
# print head. This parameter must be provided for stepper_a; for
# stepper_b and stepper_c this parameter defaults to the value
# specified for stepper_a.
#angle: 90
# This option specifies the angle (in degrees) that the tower is
# at. The default is 210 for stepper_a, 330 for stepper_b, and 90
# for stepper_c.
step_pulse_duration: 0.000000100
# The minimum time between the step pulse signal edge and the
# following "unstep" signal edge. This is also used to set the
# minimum time between a step pulse and a direction change signal.
# The default is 0.000000100 (100ns) for TMC steppers that are
# configured in UART or SPI mode, and the default is 0.000002 (which
# is 2us) for all other steppers.
########################################
# Extruder Configuration
########################################
[extruder]
step_pin: PD6
# Step GPIO pin (triggered high). This parameter must be provided.
dir_pin: !PD3
# Direction GPIO pin (high indicates positive direction). This
# parameter must be provided.
enable_pin: !PB3
# Enable pin (default is enable high; use ! to indicate enable
# low). If this parameter is not provided then the stepper motor
# driver must always be enabled.
microsteps: 32
# The number of microsteps the stepper motor driver uses. This
# parameter must be provided.
gear_ratio: 50:17
# The gear ratio if the stepper motor is connected to the axis via a
# gearbox. For example, one may specify "5:1" if a 5 to 1 gearbox is
# in use. If the axis has multiple gearboxes one may specify a comma
# separated list of gear ratios (for example, "57:11, 2:1"). If a
# gear_ratio is specified then rotation_distance specifies the
# distance the axis travels for one full rotation of the final gear.
# The default is to not use a gear ratio.
# Change this to what applies to custom extruder this is for bondtech / bmg clone.
rotation_distance: 7.68
# Distance (in mm) that the axis travels with one full rotation of
# the stepper motor (or final gear if gear_ratio is specified).
# This parameter must be provided.
# E3D Hemera Default 7.82
# E3D Hemera Other: 16.273
# FLSUN Stock: 7.68
full_steps_per_rotation: 200
# The number of full steps for one rotation of the stepper motor.
# Set this to 200 for a 1.8 degree stepper motor or set to 400 for a
# 0.9 degree motor. The default is 200.
# Change me to 400 for 0.9 degree steppers rotation distance will automatically be
# calibrated this applies to stepping as well no changes required.
nozzle_diameter: 0.400
# Diameter of the nozzle orifice (in mm). This parameter must be provided.
filament_diameter: 1.750
# The nominal diameter of the raw filament (in mm) as it enters the
# extruder. This parameter must be provided.
#max_extrude_cross_section:
# Maximum area (in mm^2) of an extrusion cross section (eg,
# extrusion width multiplied by layer height). This setting prevents
# excessive amounts of extrusion during relatively small XY moves.
# If a move requests an extrusion rate that would exceed this value
# it will cause an error to be returned. The default is: 4.0 *
# nozzle_diameter^2
instantaneous_corner_velocity: 2.5
# The maximum instantaneous velocity change (in mm/s) of the
# extruder during the junction of two moves. The default is 1mm/s.
# The equivalent of extruder jerk.
# This does not speed up pressue advance like linear adance.
max_extrude_only_distance: 800.0
# Maximum length (in mm of raw filament) that a retraction or
# extrude-only move may have. If a retraction or extrude-only move
# requests a distance greater than this value it will cause an error
# to be returned. The default is 50mm.
#max_extrude_only_velocity:
#max_extrude_only_accel:
# Maximum velocity (in mm/s) and acceleration (in mm/s^2) of the
# extruder motor for retractions and extrude-only moves. These
# settings do not have any impact on normal printing moves. If not
# specified then they are calculated to match the limit an XY
# printing move with a cross section of 4.0*nozzle_diameter^2 would have.
pressure_advance: 0.0
# The amount of raw filament to push into the extruder during
# extruder acceleration. An equal amount of filament is retracted
# during deceleration. It is measured in millimeters per
# millimeter/second. The default is 0, which disables pressure
# advance.
pressure_advance_smooth_time: 0.040
# A time range (in seconds) to use when calculating the average
# extruder velocity for pressure advance. A larger value results in
# smoother extruder movements. This parameter may not exceed 200ms.
# This setting only applies if pressure_advance is non-zero. The
# default is 0.040 (40 milliseconds).
#
# The remaining variables describe the extruder heater.
heater_pin: PE5
# PWM output pin controlling the heater. This parameter must be
# provided.
#max_power: 1.0
# The maximum power (expressed as a value from 0.0 to 1.0) that the
# heater_pin may be set to. The value 1.0 allows the pin to be set
# fully enabled for extended periods, while a value of 0.5 would
# allow the pin to be enabled for no more than half the time. This
# setting may be used to limit the total power output (over extended
# periods) to the heater. The default is 1.0.
sensor_type: Generic 3950
# Type of sensor - common thermistors are "EPCOS 100K B57560G104F",
# "ATC Semitec 104GT-2", "ATC Semitec 104NT-4-R025H42G", "Generic
# 3950","Honeywell 100K 135-104LAG-J01", "NTC 100K MGB18-104F39050L32",
# "SliceEngineering 450", and "TDK NTCG104LH104JT1". See the
# "Temperature sensors" section for other sensors. This parameter
# must be provided.
sensor_pin: PC1
# Analog input pin connected to the sensor. This parameter must be provided.
#pullup_resistor: 4700
# The resistance (in ohms) of the pullup attached to the thermistor.
# This parameter is only valid when the sensor is a thermistor. The
# default is 4700 ohms.
#smooth_time: 1.0
# A time value (in seconds) over which temperature measurements will
# be smoothed to reduce the impact of measurement noise. The default
# is 1 seconds.
control: pid
# Control algorithm (either pid or watermark). This parameter must be provided.
pid_Kp: 16.658
# Kp is the "proportional" constant for the pid. This parameter must
# be provided for PID heaters.
pid_Ki: 0.657
# Ki is the "integral" constant for the pid. This parameter must be
# provided for PID heaters.
pid_Kd: 105.568
# Kd is the "derivative" constant for the pid. This parameter must
# be provided for PID heaters.
#max_delta: 2.0
# On 'watermark' controlled heaters this is the number of degrees in
# Celsius above the target temperature before disabling the heater
# as well as the number of degrees below the target before
# re-enabling the heater. The default is 2 degrees Celsius.
#pwm_cycle_time: 0.100
# Time in seconds for each software PWM cycle of the heater. It is
# not recommended to set this unless there is an electrical
# requirement to switch the heater faster than 10 times a second.
# The default is 0.100 seconds.
min_extrude_temp: 170
# The minimum temperature (in Celsius) at which extruder move
# commands may be issued. The default is 170 Celsius.
min_temp: 0
max_temp: 238
# The maximum range of valid temperatures (in Celsius) that the
# heater must remain within. This controls a safety feature
# implemented in the micro-controller code - should the measured
# temperature ever fall outside this range then the micro-controller
# will go into a shutdown state. This check can help detect some
# heater and sensor hardware failures. Set this range just wide
# enough so that reasonable temperatures do not result in an error.
# These parameters must be provided.
# ================ !!!!!!!!!!!!!!!!!!!!!! ==================
# This value is set high for the purpose of hot-tightening the hotend
# stock hotends / PTFE tubes will degrade rappidly past 245.
# Burning PTFE is also a neurotoxin !!!
step_pulse_duration: 0.000000100
# The minimum time between the step pulse signal edge and the
# following "unstep" signal edge. This is also used to set the
# minimum time between a step pulse and a direction change signal.
# The default is 0.000000100 (100ns) for TMC steppers that are
# configured in UART or SPI mode, and the default is 0.000002 (which
# is 2us) for all other steppers.
[tmc2209 stepper_a]
uart_pin: PD5
# The pin connected to the PDN_UART line.
# This parameter must be provided.
#tx_pin:
# If using separate receive and transmit lines to communicate with
# the driver then set uart_pin to the receive pin and tx_pin to the
# transmit pin. The default is to use uart_pin for both reading and
# writing.
#select_pins:
# A comma separated list of pins to set prior to accessing the
# tmc2208 UART. This may be useful for configuring an analog mux for
# UART communication. The default is to not configure any pins.
interpolate: true
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). This interpolation does
# introduce a small systemic positional deviation - see
# TMC_Drivers.md for details. The default is True.
run_current: 0.90 # 1.100
# The amount of current (in amps RMS) to configure the driver to use
# during stepper movement. This parameter must be provided.
hold_current: 0.5 # 0.636
# The amount of current (in amps RMS) to configure the driver to use
# when the stepper is not moving. Setting a hold_current is not
# recommended (see TMC_Drivers.md for details). The default is to
# not reduce the current.
sense_resistor: 0.110
# The resistance (in ohms) of the motor sense resistor.
# The default is 0.110 ohms.
stealthchop_threshold: 999999
# The velocity (in mm/s) to set the "stealthChop" threshold to. When
# set, "stealthChop" mode will be enabled if the stepper motor
# velocity is below this value. The default is 0, which disables
# "stealthChop" mode.
#uart_address:
# The address of the TMC2209 chip for UART messages (an integer
# between 0 and 3). This is typically used when multiple TMC2209
# chips are connected to the same UART pin. The default is zero.
#driver_IHOLDDELAY: 8
#driver_TPOWERDOWN: 20
#driver_TBL: 2
#driver_TOFF: 3
#driver_HEND: 0
#driver_HSTRT: 5
#driver_PWM_AUTOGRAD: True
#driver_PWM_AUTOSCALE: True
#driver_PWM_LIM: 12
#driver_PWM_REG: 8
#driver_PWM_FREQ: 1
#driver_PWM_GRAD: 14
#driver_PWM_OFS: 36
#driver_SGTHRS: 0
# Set the given register during the configuration of the TMC2209
# chip. This may be used to set custom motor parameters. The
# defaults for each parameter are next to the parameter name in the
# above list.
#diag_pin:
# The micro-controller pin attached to the DIAG line of the TMC2209
# chip. The pin is normally prefaced with "^" to enable a pullup.
# Setting this creates a "tmc2209_stepper_x:virtual_endstop" virtual
# pin which may be used as the stepper's endstop_pin. Doing this
# enables "sensorless homing". (Be sure to also set driver_SGTHRS to
# an appropriate sensitivity value.) The default is to not enable
# sensorless homing.
[tmc2209 stepper_b]
uart_pin: PD7
# The pin connected to the PDN_UART line.
# This parameter must be provided.
#tx_pin:
# If using separate receive and transmit lines to communicate with
# the driver then set uart_pin to the receive pin and tx_pin to the
# transmit pin. The default is to use uart_pin for both reading and
# writing.
#select_pins:
# A comma separated list of pins to set prior to accessing the
# tmc2208 UART. This may be useful for configuring an analog mux for
# UART communication. The default is to not configure any pins.
interpolate: true
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). This interpolation does
# introduce a small systemic positional deviation - see
# TMC_Drivers.md for details. The default is True.
run_current: 0.90 # 1.100
# The amount of current (in amps RMS) to configure the driver to use
# during stepper movement. This parameter must be provided.
hold_current: 0.5 # 0.636
# The amount of current (in amps RMS) to configure the driver to use
# when the stepper is not moving. Setting a hold_current is not
# recommended (see TMC_Drivers.md for details). The default is to
# not reduce the current.
sense_resistor: 0.110
# The resistance (in ohms) of the motor sense resistor.
# The default is 0.110 ohms.
stealthchop_threshold: 999999
# The velocity (in mm/s) to set the "stealthChop" threshold to. When
# set, "stealthChop" mode will be enabled if the stepper motor
# velocity is below this value. The default is 0, which disables
# "stealthChop" mode.
#uart_address:
# The address of the TMC2209 chip for UART messages (an integer
# between 0 and 3). This is typically used when multiple TMC2209
# chips are connected to the same UART pin. The default is zero.
#driver_IHOLDDELAY: 8
#driver_TPOWERDOWN: 20
#driver_TBL: 2
#driver_TOFF: 3
#driver_HEND: 0
#driver_HSTRT: 5
#driver_PWM_AUTOGRAD: True
#driver_PWM_AUTOSCALE: True
#driver_PWM_LIM: 12
#driver_PWM_REG: 8
#driver_PWM_FREQ: 1
#driver_PWM_GRAD: 14
#driver_PWM_OFS: 36
#driver_SGTHRS: 0
# Set the given register during the configuration of the TMC2209
# chip. This may be used to set custom motor parameters. The
# defaults for each parameter are next to the parameter name in the
# above list.
#diag_pin:
# The micro-controller pin attached to the DIAG line of the TMC2209
# chip. The pin is normally prefaced with "^" to enable a pullup.
# Setting this creates a "tmc2209_stepper_x:virtual_endstop" virtual
# pin which may be used as the stepper's endstop_pin. Doing this
# enables "sensorless homing". (Be sure to also set driver_SGTHRS to
# an appropriate sensitivity value.) The default is to not enable
# sensorless homing.
[tmc2209 stepper_c]
uart_pin: PD4
# The pin connected to the PDN_UART line.
# This parameter must be provided.
#tx_pin:
# If using separate receive and transmit lines to communicate with
# the driver then set uart_pin to the receive pin and tx_pin to the
# transmit pin. The default is to use uart_pin for both reading and
# writing.
#select_pins:
# A comma separated list of pins to set prior to accessing the
# tmc2208 UART. This may be useful for configuring an analog mux for
# UART communication. The default is to not configure any pins.
interpolate: true
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). This interpolation does
# introduce a small systemic positional deviation - see
# TMC_Drivers.md for details. The default is True.
run_current: 0.90 # 1.100
# The amount of current (in amps RMS) to configure the driver to use
# during stepper movement. This parameter must be provided.
hold_current: 0.5 # 0.636
# The amount of current (in amps RMS) to configure the driver to use
# when the stepper is not moving. Setting a hold_current is not
# recommended (see TMC_Drivers.md for details). The default is to
# not reduce the current.
sense_resistor: 0.110
# The resistance (in ohms) of the motor sense resistor.
# The default is 0.110 ohms.
stealthchop_threshold: 999999
# The velocity (in mm/s) to set the "stealthChop" threshold to. When
# set, "stealthChop" mode will be enabled if the stepper motor
# velocity is below this value. The default is 0, which disables
# "stealthChop" mode.
#uart_address:
# The address of the TMC2209 chip for UART messages (an integer
# between 0 and 3). This is typically used when multiple TMC2209
# chips are connected to the same UART pin. The default is zero.
#driver_IHOLDDELAY: 8
#driver_TPOWERDOWN: 20
#driver_TBL: 2
#driver_TOFF: 3
#driver_HEND: 0
#driver_HSTRT: 5
#driver_PWM_AUTOGRAD: True
#driver_PWM_AUTOSCALE: True
#driver_PWM_LIM: 12
#driver_PWM_REG: 8
#driver_PWM_FREQ: 1
#driver_PWM_GRAD: 14
#driver_PWM_OFS: 36
#driver_SGTHRS: 0
# Set the given register during the configuration of the TMC2209
# chip. This may be used to set custom motor parameters. The
# defaults for each parameter are next to the parameter name in the
# above list.
#diag_pin:
# The micro-controller pin attached to the DIAG line of the TMC2209
# chip. The pin is normally prefaced with "^" to enable a pullup.
# Setting this creates a "tmc2209_stepper_x:virtual_endstop" virtual
# pin which may be used as the stepper's endstop_pin. Doing this
# enables "sensorless homing". (Be sure to also set driver_SGTHRS to
# an appropriate sensitivity value.) The default is to not enable
# sensorless homing.
[tmc2209 extruder]
uart_pin: PD9
# The pin connected to the PDN_UART line.
# This parameter must be provided.
#tx_pin:
# If using separate receive and transmit lines to communicate with
# the driver then set uart_pin to the receive pin and tx_pin to the
# transmit pin. The default is to use uart_pin for both reading and
# writing.
#select_pins:
# A comma separated list of pins to set prior to accessing the
# tmc2208 UART. This may be useful for configuring an analog mux for
# UART communication. The default is to not configure any pins.
interpolate: false
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). This interpolation does
# introduce a small systemic positional deviation - see
# TMC_Drivers.md for details. The default is True.
run_current: 0.847 # 1.100
# The amount of current (in amps RMS) to configure the driver to use
# during stepper movement. This parameter must be provided.
hold_current: 0.5 # 0.636
# The amount of current (in amps RMS) to configure the driver to use
# when the stepper is not moving. Setting a hold_current is not
# recommended (see TMC_Drivers.md for details). The default is to
# not reduce the current.
sense_resistor: 0.110
# The resistance (in ohms) of the motor sense resistor.
# The default is 0.110 ohms.
# Optional, depends on setup and how much noise from the case is considered acceptable.
# Simply printing a stepper mount and hanging it off a cable eliminates the case noise.
stealthchop_threshold: 999999
# The velocity (in mm/s) to set the "stealthChop" threshold to. When
# set, "stealthChop" mode will be enabled if the stepper motor
# velocity is below this value. The default is 0, which disables
# "stealthChop" mode.
#uart_address:
# The address of the TMC2209 chip for UART messages (an integer
# between 0 and 3). This is typically used when multiple TMC2209
# chips are connected to the same UART pin. The default is zero.
#driver_IHOLDDELAY: 8
#driver_TPOWERDOWN: 20
#driver_TBL: 2
#driver_TOFF: 3
#driver_HEND: 0
#driver_HSTRT: 5
#driver_PWM_AUTOGRAD: True
#driver_PWM_AUTOSCALE: True
#driver_PWM_LIM: 12
#driver_PWM_REG: 8
#driver_PWM_FREQ: 1
#driver_PWM_GRAD: 14
#driver_PWM_OFS: 36
#driver_SGTHRS: 0
# Set the given register during the configuration of the TMC2209
# chip. This may be used to set custom motor parameters. The
# defaults for each parameter are next to the parameter name in the
# above list.
#diag_pin:
# The micro-controller pin attached to the DIAG line of the TMC2209
# chip. The pin is normally prefaced with "^" to enable a pullup.
# Setting this creates a "tmc2209_stepper_x:virtual_endstop" virtual
# pin which may be used as the stepper's endstop_pin. Doing this
# enables "sensorless homing". (Be sure to also set driver_SGTHRS to
# an appropriate sensitivity value.) The default is to not enable
# sensorless homing.
########################################
# Delta Calibration / Bed Mesh
########################################
# The delta_calibrate section enables a DELTA_CALIBRATE extended
# g-code command that can calibrate the shoulder endstop positions.
[delta_calibrate]
radius: 131
# Radius (in mm) of the area that may be probed. This is the radius
# of nozzle coordinates to be probed; if using an automatic probe
# with an XY offset then choose a radius small enough so that the
# probe always fits over the bed. This parameter must be provided.
speed: 45
# The speed (in mm/s) of non-probing moves during the calibration.
# The default is 50.
horizontal_move_z: 25
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
[bed_mesh]
speed: 45
# The speed (in mm/s) of non-probing moves during the calibration.
# The default is 50.
horizontal_move_z: 25
# The height (in mm) that the head should be commanded to move to
# just prior to starting a probe operation. The default is 5.
mesh_radius: 130
# Defines the radius of the mesh to probe for round beds. Note that
# the radius is relative to the coordinate specified by the
# mesh_origin option. This parameter must be provided for round beds
# and omitted for rectangular beds.
mesh_origin: 0,0
# Defines the center X, Y coordinate of the mesh for round beds. This
# coordinate is relative to the probe's location. It may be useful
# to adjust the mesh_origin in an effort to maximize the size of the
# mesh radius. Default is 0, 0. This parameter must be omitted for
# rectangular beds.
round_probe_count: 11
# For round beds, this integer value defines the maximum number of
# points to probe along each axis. This value must be an odd number.
# Default is 5.
#fade_start: 1.0
# The gcode z position in which to start phasing out z-adjustment
# when fade is enabled. Default is 1.0.
#fade_end: 0.0
# The gcode z position in which phasing out completes. When set to a
# value below fade_start, fade is disabled. It should be noted that
# fade may add unwanted scaling along the z-axis of a print. If a
# user wishes to enable fade, a value of 10.0 is recommended.
# Default is 0.0, which disables fade.
#fade_target:
# The z position in which fade should converge. When this value is
# set to a non-zero value it must be within the range of z-values in
# the mesh. Users that wish to converge to the z homing position
# should set this to 0. Default is the average z value of the mesh.
#split_delta_z: .025
# The amount of Z difference (in mm) along a move that will trigger
# a split. Default is .025.
#move_check_distance: 5.0
# The distance (in mm) along a move to check for split_delta_z.
# This is also the minimum length that a move can be split. Default
# is 5.0.
#mesh_pps: 2, 2
# A comma separated pair of integers X, Y defining the number of
# points per segment to interpolate in the mesh along each axis. A
# "segment" can be defined as the space between each probed point.
# The user may enter a single value which will be applied to both
# axes. Default is 2, 2.
algorithm: bicubic
# The interpolation algorithm to use. May be either "lagrange" or
# "bicubic". This option will not affect 3x3 grids, which are forced
# to use lagrange sampling. Default is lagrange.
#bicubic_tension: .2
# When using the bicubic algorithm the tension parameter above may
# be applied to change the amount of slope interpolated. Larger
# numbers will increase the amount of slope, which results in more
# curvature in the mesh. Default is .2.
#relative_reference_index:
# A point index in the mesh to reference all z values to. Enabling
# this parameter produces a mesh relative to the probed z position
# at the provided index.
#faulty_region_1_min:
#faulty_region_1_max:
# Optional points that define a faulty region. See docs/Bed_Mesh.md
# for details on faulty regions. Up to 99 faulty regions may be added.
# By default no faulty regions are set.
########################################
# End Stop
########################################
# Make sure to run this first then DELTA_CALIBRATE, G29 (Home), BED_MESH_CALIBRATE
# Use command endstop_phase_calibrate stepper=stepper_a (do this for all 3 axis,
# change the letters abc then save config).
# Enables the ENDSTOP_PHASE_CALIBRATE command.
[endstop_phase]
[endstop_phase stepper_a]
#endstop_accuracy:
# Sets the expected accuracy (in mm) of the endstop. This represents
# the maximum error distance the endstop may trigger (eg, if an
# endstop may occasionally trigger 100um early or up to 100um late
# then set this to 0.200 for 200um). The default is
# 4*rotation_distance/full_steps_per_rotation.
#trigger_phase:
# This specifies the phase of the stepper motor driver to expect
# when hitting the endstop. It is composed of two numbers separated
# by a forward slash character - the phase and the total number of
# phases (eg, "7/64"). Only set this value if one is sure the
# stepper motor driver is reset every time the mcu is reset. If this
# is not set, then the stepper phase will be detected on the first
# home and that phase will be used on all subsequent homes.
endstop_align_zero: false
# If true then the position_endstop of the axis will effectively be
# modified so that the zero position for the axis occurs at a full
# step on the stepper motor. (If used on the Z axis and the print
# layer height is a multiple of a full step distance then every
# layer will occur on a full step.) The default is False.
[endstop_phase stepper_b]
#endstop_accuracy:
# Sets the expected accuracy (in mm) of the endstop. This represents
# the maximum error distance the endstop may trigger (eg, if an
# endstop may occasionally trigger 100um early or up to 100um late
# then set this to 0.200 for 200um). The default is
# 4*rotation_distance/full_steps_per_rotation.
#trigger_phase:
# This specifies the phase of the stepper motor driver to expect
# when hitting the endstop. It is composed of two numbers separated
# by a forward slash character - the phase and the total number of
# phases (eg, "7/64"). Only set this value if one is sure the
# stepper motor driver is reset every time the mcu is reset. If this
# is not set, then the stepper phase will be detected on the first
# home and that phase will be used on all subsequent homes.
endstop_align_zero: false
# If true then the position_endstop of the axis will effectively be
# modified so that the zero position for the axis occurs at a full
# step on the stepper motor. (If used on the Z axis and the print
# layer height is a multiple of a full step distance then every
# layer will occur on a full step.) The default is False.
[endstop_phase stepper_c]
#endstop_accuracy:
# Sets the expected accuracy (in mm) of the endstop. This represents
# the maximum error distance the endstop may trigger (eg, if an
# endstop may occasionally trigger 100um early or up to 100um late
# then set this to 0.200 for 200um). The default is
# 4*rotation_distance/full_steps_per_rotation.
#trigger_phase:
# This specifies the phase of the stepper motor driver to expect
# when hitting the endstop. It is composed of two numbers separated
# by a forward slash character - the phase and the total number of
# phases (eg, "7/64"). Only set this value if one is sure the
# stepper motor driver is reset every time the mcu is reset. If this
# is not set, then the stepper phase will be detected on the first
# home and that phase will be used on all subsequent homes.
endstop_align_zero: false
# If true then the position_endstop of the axis will effectively be
# modified so that the zero position for the axis occurs at a full
# step on the stepper motor. (If used on the Z axis and the print
# layer height is a multiple of a full step distance then every
# layer will occur on a full step.) The default is False.
########################################
# Filament Sensor
########################################
[filament_switch_sensor filament_runout_sensor]
switch_pin: PA4
pause_on_runout: true
#runout_gcode:
# A list of G-Code commands to execute after a filament runout is
# detected. See docs/Command_Templates.md for G-Code format. If
# pause_on_runout is set to True this G-Code will run after the
# PAUSE is complete. The default is not to run any G-Code commands.
#insert_gcode:
# A list of G-Code commands to execute after a filament insert is
# detected. See docs/Command_Templates.md for G-Code format. The
# default is not to run any G-Code commands, which disables insert
# # note this is not linked to a macro yet coming soon in further updates detection.
#event_delay: 3.0
# The minimum amount of time in seconds to delay between events.
# Events triggered during this time period will be silently
# ignored. The default is 3 seconds.
#pause_delay: 0.5
# The amount of time to delay, in seconds, between the pause command
# dispatch and execution of the runout_gcode. It may be useful to
# increase this delay if OctoPrint exhibits strange pause behavior.
########################################
# Bed Configuration
########################################
[heater_bed]
heater_pin: PA0
sensor_type: NTC 100K beta 3950
sensor_pin: PC0
smooth_time: 1.0
max_power: 0.80
# PID for 60 C
#control: pid
#pid_kp: 70.606
#pid_ki: 1.422
#pid_kd: 876.400
min_temp: 0
max_temp: 100 # 130
########################################
# Heating
#
# Heater and temperature sensor verification.
# Heater verification is automatically enabled for each heater that
# is configured on the printer.
########################################
[verify_heater heater_bed]
#max_error: 120
# The maximum "cumulative temperature error" before raising an
# error. Smaller values result in stricter checking and larger
# values allow for more time before an error is reported.
# Specifically, the temperature is inspected once a second and if it
# is close to the target temperature then an internal "error