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generic_cartesian: IQEX-related documentation
Also restored `SET_DUAL_CARRIAGE` behavior for cartesian and other kinematics Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
parent
cfb12bc657
commit
caef97af6d
4 changed files with 371 additions and 6 deletions
348
config/sample-iqex.cfg
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348
config/sample-iqex.cfg
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# This file contains a configuration snippet for a quad extruder printer
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# with two independent gantries each having two independent tools.
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# See docs/Config_Reference.md for a description of parameters.
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# Test config for generic cartesian kinematics with quad independent extruders
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[mcu]
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serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
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[mcu auxboard]
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serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_67890-if11
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[carriage carriage_t0]
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axis: x
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position_endstop: 0
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position_max: 300
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homing_speed: 50
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endstop_pin: auxboard:PG6
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[dual_carriage carriage_t1]
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primary_carriage: carriage_t0
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safe_distance: 70
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position_endstop: 300
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position_max: 300
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homing_speed: 50
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endstop_pin: auxboard:PG9
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[dual_carriage carriage_t2]
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axis: x
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position_endstop: 0
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position_max: 300
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homing_speed: 50
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endstop_pin: auxboard:PG10
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[dual_carriage carriage_t3]
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primary_carriage: carriage_t2
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safe_distance: 70
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position_endstop: 300
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position_max: 300
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homing_speed: 50
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endstop_pin: auxboard:PG11
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[carriage carriage_gantry0]
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axis: y
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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endstop_pin: PG6
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[dual_carriage carriage_gantry1]
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primary_carriage: carriage_gantry0
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safe_distance: 50
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position_endstop: 200
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position_max: 200
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homing_speed: 50
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endstop_pin: PG10
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[carriage carriage_z]
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axis: z
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position_endstop: 0.5
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position_max: 100
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endstop_pin: PG12
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[stepper stepper_t0_x]
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carriages: carriage_t0
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step_pin: auxboard:PF13
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dir_pin: auxboard:PF12
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enable_pin: !auxboard:PF14
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microsteps: 16
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rotation_distance: 40
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[stepper stepper_t1_x]
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carriages: carriage_t1
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step_pin: auxboard:PG0
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dir_pin: auxboard:PG1
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enable_pin: !auxboard:PF15
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microsteps: 16
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rotation_distance: 40
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[stepper stepper_t2_x]
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carriages: carriage_t2
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step_pin: auxboard:PF11
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dir_pin: auxboard:PG3
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enable_pin: !auxboard:PG5
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microsteps: 16
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rotation_distance: 40
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[stepper stepper_t3_x]
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carriages: carriage_t3
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step_pin: auxboard:PG4
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dir_pin: auxboard:PC1
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enable_pin: !auxboard:PA2
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microsteps: 16
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rotation_distance: 40
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[stepper gantry0]
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carriages: carriage_gantry0
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step_pin: PF13
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dir_pin: PF12
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enable_pin: !PF14
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microsteps: 16
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rotation_distance: 40
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[stepper gantry1]
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carriages: carriage_gantry1
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step_pin: PF11
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dir_pin: PG3
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enable_pin: !PG5
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microsteps: 16
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rotation_distance: 40
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[stepper z0]
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carriages: carriage_z0
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step_pin: PF9
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dir_pin: PF10
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enable_pin: !PG2
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microsteps: 16
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rotation_distance: 8
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[extruder]
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step_pin: auxboard:PF9
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dir_pin: auxboard:PF10
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enable_pin: !auxboard:PG2
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heater_pin: auxboard:PA0
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sensor_pin: auxboard:PF4
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microsteps: 16
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rotation_distance: 33.500
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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sensor_type: EPCOS 100K B57560G104F
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[extruder1]
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step_pin: auxboard:PC13
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dir_pin: auxboard:PF0
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enable_pin: !auxboard:PF1
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heater_pin: auxboard:PA3
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sensor_pin: auxboard:PF5
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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sensor_type: EPCOS 100K B57560G104F
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[extruder2]
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step_pin: auxboard:PE2
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dir_pin: auxboard:PE3
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enable_pin: !auxboard:PD4
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heater_pin: auxboard:PB0
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sensor_pin: auxboard:PF6
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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sensor_type: EPCOS 100K B57560G104F
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[extruder3]
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step_pin: auxboard:PE6
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dir_pin: auxboard:PA14
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enable_pin: !auxboard:PE0
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heater_pin: auxboard:PB11
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sensor_pin: auxboard:PF7
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microsteps: 16
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rotation_distance: 33.5
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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sensor_type: EPCOS 100K B57560G104F
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[gcode_macro PARK_EXTRUDERS]
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gcode:
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G90
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1
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G1 Y{printer.configfile.settings["dual_carriage carriage_gantry1"].position_max} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0
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G1 Y{printer.configfile.settings["carriage carriage_gantry0"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t3
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G1 X{printer.configfile.settings["dual_carriage carriage_t3"].position_max} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1
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G1 X{printer.configfile.settings["dual_carriage carriage_t1"].position_max} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2
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G1 X{printer.configfile.settings["dual_carriage carriage_t2"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0
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G1 X{printer.configfile.settings["carriage carriage_t0"].position_min} F12000
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[gcode_macro T0]
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gcode:
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PARK_EXTRUDERS
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0
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[gcode_macro T1]
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gcode:
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PARK_EXTRUDERS
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder1
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ACTIVATE_EXTRUDER EXTRUDER=extruder1
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1
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[gcode_macro T2]
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gcode:
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PARK_EXTRUDERS
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder2 MOTION_QUEUE=extruder2
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ACTIVATE_EXTRUDER EXTRUDER=extruder2
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2
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[gcode_macro T3]
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gcode:
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PARK_EXTRUDERS
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder3 MOTION_QUEUE=extruder3
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ACTIVATE_EXTRUDER EXTRUDER=extruder3
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2
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[gcode_macro SET_COPY_MODE]
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gcode:
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G90
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{% set y_center = 0.5 * (printer.configfile.settings["dual_carriage carriage_gantry1"].position_max + printer.configfile.settings["carriage carriage_gantry0"].position_min) %}
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{% set x_max = [printer.configfile.settings["dual_carriage carriage_t3"].position_max, printer.configfile.settings["dual_carriage carriage_t1"].position_max]|min %}
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{% set x_min = [printer.configfile.settings["dual_carriage carriage_t2"].position_min, printer.configfile.settings["carriage carriage_t0"].position_min]|max %}
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{% set x_center = 0.5 * (x_max + x_min) %}
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0
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G1 Y{printer.configfile.settings["carriage carriage_gantry0"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1
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G1 Y{y_center} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2
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G1 X{printer.configfile.settings["dual_carriage carriage_t2"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0
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G1 X{printer.configfile.settings["carriage carriage_t0"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t3
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G1 X{x_center} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1
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G1 X{x_center} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0 MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1 MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2 MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t3 MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0 MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1 MODE=COPY
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder2 MOTION_QUEUE=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder3 MOTION_QUEUE=extruder
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[gcode_macro SET_MIRROR_MODE1]
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gcode:
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G90
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{% set y_center = 0.5 * (printer.configfile.settings["dual_carriage carriage_gantry1"].position_max + printer.configfile.settings["carriage carriage_gantry0"].position_min) %}
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0
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G1 Y{printer.configfile.settings["carriage carriage_gantry0"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1
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G1 Y{y_center} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2
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G1 X{printer.configfile.settings["dual_carriage carriage_t2"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0
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G1 X{printer.configfile.settings["carriage carriage_t0"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t3
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G1 X{printer.configfile.settings["dual_carriage carriage_t3"].position_max} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1
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G1 X{printer.configfile.settings["dual_carriage carriage_t1"].position_max} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0 MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1 MODE=MIRROR
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2 MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t3 MODE=MIRROR
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0 MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1 MODE=COPY
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder2 MOTION_QUEUE=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder3 MOTION_QUEUE=extruder
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[gcode_macro SET_MIRROR_MODE2]
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gcode:
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G90
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{% set x_max = [printer.configfile.settings["dual_carriage carriage_t3"].position_max, printer.configfile.settings["dual_carriage carriage_t1"].position_max]|min %}
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{% set x_min = [printer.configfile.settings["dual_carriage carriage_t2"].position_min, printer.configfile.settings["carriage carriage_t0"].position_min]|max %}
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{% set x_center = 0.5 * (x_max + x_min) %}
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0
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G1 Y{printer.configfile.settings["carriage carriage_gantry0"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1
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G1 Y{printer.configfile.settings["dual_carriage carriage_gantry1"].position_max} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2
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G1 X{printer.configfile.settings["dual_carriage carriage_t2"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0
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G1 X{printer.configfile.settings["carriage carriage_t0"].position_min} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t3
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G1 X{x_center} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1
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G1 X{x_center} F12000
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t0 MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t1 MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t2 MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_t3 MODE=COPY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0 MODE=PRIMARY
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SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1 MODE=MIRROR
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ACTIVATE_EXTRUDER EXTRUDER=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder2 MOTION_QUEUE=extruder
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SYNC_EXTRUDER_MOTION EXTRUDER=extruder3 MOTION_QUEUE=extruder
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[printer]
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kinematics: generic_cartesian
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 5
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max_z_accel: 100
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## An optional input shaper support
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#[input_shaper]
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## The section is intentionally empty
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#
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#[delayed_gcode init_shaper]
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#initial_duration: 0.1
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#gcode:
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry1
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_t3
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<t3_shaper> SHAPER_FREQ_X=<t3_freq> SHAPER_TYPE_Y=<gantry1_shaper> SHAPER_FREQ_Y=<gantry1_freq>
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_t2
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<t2_shaper> SHAPER_FREQ_X=<t2_freq> SHAPER_TYPE_Y=<gantry1_shaper> SHAPER_FREQ_Y=<gantry1_freq>
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_gantry0
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_t1
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<t1_shaper> SHAPER_FREQ_X=<t1_freq> SHAPER_TYPE_Y=<gantry0_shaper> SHAPER_FREQ_Y=<gantry0_freq>
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# SET_DUAL_CARRIAGE CARRIAGE=carriage_t0
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# SET_INPUT_SHAPER SHAPER_TYPE_X=<t0_shaper> SHAPER_FREQ_X=<t0_freq> SHAPER_TYPE_Y=<gantry0_shaper> SHAPER_FREQ_Y=<gantry0_freq>
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@ -8,6 +8,10 @@ All dates in this document are approximate.
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## Changes
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20251229: `SET_DUAL_CARRIAGE CARRIAGE=<carriage_name> MODE=<mode>`
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command for modes `COPY` and `MIRROR` now requires that another
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carriage is activated as `PRIMARY` first for the corresponding axis.
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20251122: An option `axis` has been added to `[carriage <name>]` sections
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for `generic_cartesian` kinematics, allowing arbitrary names for primary
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carriages. Users are encouraged to explicitly specify `axis` option now.
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@ -2445,6 +2445,12 @@ axis:
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# See the "stepper" section for the definition of the above parameters.
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```
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`[dual_carriage]` is also supported with `generic_cartesian` kinematic,
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in which case it can be thought of as any additional carriage of an axis
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that can be moved independently from the primary `[carriage]` of that axis.
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The main difference between `[carriage]` and `[dual_carriage]` is that
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the latter is not activated by default after the printer startup or
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homing, and must be enabled explicitly via `SET_DUAL_CARRIAGE` command.
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For an example of dual carriage configuration with `generic_cartesian`
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kinematic, see the following configuration
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[sample](../config/example-generic-caretesian.cfg).
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@ -2524,9 +2530,12 @@ Note that `SHAPER_TYPE_Y` and `SHAPER_FREQ_Y` must be the same in both
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commands in this case, since the same motors drive Y axis when either
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of the `carriage_x` and `carriage_u` carriages are active.
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It is worth noting that `generic_cartesian` kinematic can support two
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dual carriages for X and Y axes. For reference, see for instance a
|
||||
[sample](../config/sample-corexyuv.cfg) of CoreXYUV configuration.
|
||||
It is worth noting that `generic_cartesian` kinematic can support more
|
||||
than a single `[dual_carriage]`, e.g. dual-gantry setups with one or
|
||||
two independent carriages per gantry. For reference, see for instance
|
||||
[CoreXYUV](../config/sample-corexyuv.cfg) or
|
||||
[IQEX](../config/sample-iqex.cfg) (independent quad extruders)
|
||||
printers sample configurations.
|
||||
|
||||
### [extruder_stepper]
|
||||
|
||||
|
|
|
|||
|
|
@ -244,6 +244,7 @@ class DualCarriages:
|
|||
cmd_SET_DUAL_CARRIAGE_help = "Configure the dual carriages mode"
|
||||
def cmd_SET_DUAL_CARRIAGE(self, gcmd):
|
||||
carriage_str = gcmd.get('CARRIAGE', None)
|
||||
index = None
|
||||
if carriage_str is None:
|
||||
raise gcmd.error('CARRIAGE must be specified')
|
||||
if carriage_str in self.dc_rails:
|
||||
|
|
@ -265,9 +266,6 @@ class DualCarriages:
|
|||
if mode not in self.VALID_MODES:
|
||||
raise gcmd.error("Invalid mode=%s specified" % (mode,))
|
||||
if mode in [COPY, MIRROR]:
|
||||
if self.primary_mode_dcs[dc_rail.axis] in [None, dc_rail]:
|
||||
raise gcmd.error(
|
||||
"Must activate another carriage as PRIMARY first")
|
||||
curtime = self.printer.get_reactor().monotonic()
|
||||
kin = self.printer.lookup_object('toolhead').get_kinematics()
|
||||
axis = 'xyz'[dc_rail.axis]
|
||||
|
|
@ -275,6 +273,12 @@ class DualCarriages:
|
|||
raise gcmd.error(
|
||||
"Axis %s must be homed prior to enabling mode=%s" %
|
||||
(axis.upper(), mode))
|
||||
if index is not None:
|
||||
self.toggle_active_dc_rail(
|
||||
self.get_dc_rail_wrapper(dc_rail.dual_rail))
|
||||
elif self.primary_mode_dcs[dc_rail.axis] in [None, dc_rail]:
|
||||
raise gcmd.error(
|
||||
"Must activate another carriage as PRIMARY first")
|
||||
self.activate_dc_mode(dc_rail, mode)
|
||||
cmd_SAVE_DUAL_CARRIAGE_STATE_help = \
|
||||
"Save dual carriages modes and positions"
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue