klipper/docs/Features.md

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Klipper has several compelling features:
* High precision stepper movement. Klipper utilizes an application
processor (such as a low-cost Raspberry Pi) when calculating printer
movements. The application processor determines when to step each
stepper motor, it compresses those events, transmits them to the
micro-controller, and then the micro-controller executes each event
at the requested time. Each stepper event is scheduled with a
precision of 25 micro-seconds or better. The software does not use
kinematic estimations (such as the Bresenham algorithm) - instead it
calculates precise step times based on the physics of acceleration
and the physics of the machine kinematics. More precise stepper
movement translates to quieter and more stable printer operation.
* Best in class performance. Klipper is able to achieve high stepping
rates on both new and old micro-controllers. Even an old 8bit AVR
micro-controller can obtain rates over 175K steps per second. On
more recent micro-controllers, rates over 500K steps per second are
possible. Higher stepper rates enable higher print velocities. The
stepper event timing remains precise even at high speeds which
improves overall stability.
* Klipper supports printers with multiple micro-controllers. For
example, one micro-controller could be used to control an extruder,
while another controls the printer's heaters, while a third controls
the rest of the printer. The Klipper host software implements clock
synchronization to account for clock drift between
micro-controllers. No special code is needed to enable multiple
micro-controllers - it just requires a few extra lines in the config
file.
* Configuration via simple config file. There's no need to reflash the
micro-controller to change a setting. All of Klipper's configuration
is stored in a standard config file which can be easily edited. This
makes it easier to setup and maintain the hardware.
* Portable code. Klipper works on ARM, AVR, and PRU based
micro-controllers. Existing "reprap" style printers can run Klipper
without hardware modification - just add a Raspberry Pi. Klipper's
internal code layout makes it easier to support other
micro-controller architectures as well.
* Simpler code. Klipper uses a very high level language (Python) for
most code. The kinematics algorithms, the G-code parsing, the
heating and thermistor algorithms, etc. are all written in Python.
This makes it easier to develop new functionality.
* Klipper uses an "iterative solver" to calculate precise step times
from simple kinematic equations. This makes porting Klipper to new
types of robots easier and it keeps timing precise even with complex
kinematics (no "line segmentation" is needed).
Additional features
===================
Klipper supports many standard 3d printer features:
* Klipper implements the "pressure advance" algorithm for extruders.
When properly tuned, pressure advance reduces extruder ooze.
* Works with Octoprint. This allows the printer to be controlled using
a regular web-browser. The same Raspberry Pi that runs Klipper can
also run Octoprint.
* Standard G-Code support. Common g-code commands that are produced by
typical "slicers" are supported. One may continue to use Slic3r,
Cura, etc. with Klipper.
* Support for multiple extruders. Extruders with shared heaters and
extruders on independent carriages (IDEX) are also supported.
* Support for cartesian, delta, and corexy style printers.
* Automatic bed leveling support. Klipper can be configured for basic
bed tilt detection or full mesh bed leveling. If the bed uses
multiple Z steppers then Klipper can also level by independently
manipulating the Z steppers. Most Z height probes are supported,
including servo activated probes.
* Automatic delta calibration support. The calibration tool can
perform basic height calibration as well as an enhanced X and Y
dimension calibration. The calibration can be done with a Z height
probe or via manual probing.
* Support for common temperature sensors (eg, common thermistors,
AD595, PT100, MAX6675, MAX31855, MAX31856, MAX31865). Custom
thermistors and custom analog temperature sensors can also be
configured.
* Basic thermal heater protection enabled by default.
* Support for standard fans, nozzle fans, and temperature controlled
fans. No need to keep fans running when the printer is idle.
* Support for run-time configuration of TMC2130, TMC2208, TMC2224, and
TMC2660 stepper motor drivers. There is also support for current
control of traditional stepper drivers via AD5206 and MCP4451
digipots.
* Support for common LCD displays attached directly to the printer. A
default menu is also available.
* Constant acceleration and "look-ahead" support. All printer moves
will gradually accelerate from standstill to cruising speed and then
decelerate back to a standstill. The incoming stream of G-Code
movement commands are queued and analyzed - the acceleration between
movements in a similar direction will be optimized to reduce print
stalls and improve overall print time.
* Klipper implements a "stepper phase endstop" algorithm that can
improve the accuracy of typical endstop switches. When properly
tuned it can improve a print's first layer bed adhesion.
* Support for limiting the top speed of short "zigzag" moves to reduce
printer vibration and noise. See the [kinematics](Kinematics.md)
document for more information.
* Sample configuration files are available for many common printers.
Check the [config directory](../config/) for a list.
To get started with Klipper, read the [installation](Installation.md)
guide.
Step Benchmarks
===============
Below are the results of stepper performance tests. The numbers shown
represent total number of steps per second on the micro-controller.
| Micro-controller | Fastest step rate | 3 steppers active |
| --------------------------- | ----------------- | ----------------- |
| 16Mhz AVR | 151K | 100K |
| 20Mhz AVR | 189K | 125K |
| Arduino Zero (ARM SAMD21) | 234K | 217K |
| STM32F103 | 364K | 324K |
| Smoothieboard (ARM LPC1768) | 385K | 385K |
| Arduino Due (ARM SAM3X8E) | 410K | 397K |
| Smoothieboard (ARM LPC1769) | 462K | 462K |
| SAM4E8E ARM | 475K | 475K |
| Beaglebone PRU | 689K | 689K |
On AVR platforms, the highest achievable step rate is with just one
stepper stepping. On the STM32F103, Arduino Zero, and Due, the highest
step rate is with two simultaneous steppers stepping. On the PRU,
SAM4E8E, and LPC176x the highest step rate is with three simultaneous
steppers.