docs: Features.md updates
Add information on new features in Klipper. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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docs/Features.md
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docs/Features.md
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@ -20,6 +20,15 @@ Klipper has several compelling features:
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stepper event timing remains precise even at high speeds which
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improves overall stability.
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* Klipper supports printers with multiple micro-controllers. For
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example, one micro-controller could be used to control an extruder,
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while another controls the printer's heaters, while a third controls
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the rest of the printer. The Klipper host software implements clock
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synchronization to account for clock drift between
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micro-controllers. No special code is needed to enable multiple
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micro-controllers - it just requires a few extra lines in the config
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file.
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* Configuration via simple config file. There's no need to reflash the
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micro-controller to change a setting. All of Klipper's configuration
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is stored in a standard config file which can be easily edited. This
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@ -33,37 +42,22 @@ Klipper has several compelling features:
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* Simpler code. Klipper uses a very high level language (Python) for
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most code. The kinematics algorithms, the G-code parsing, the
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heating and thermistor algorithms, etc. are all written in
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Python. This makes it easier to develop new functionality.
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heating and thermistor algorithms, etc. are all written in Python.
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This makes it easier to develop new functionality.
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* Advanced features:
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* Klipper implements the "pressure advance" algorithm for
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extruders. When properly tuned, pressure advance reduces extruder
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ooze.
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* Klipper supports printers with multiple micro-controllers. For
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example, one micro-controller could be used to control an
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extruder, while another could control the printer's heaters, while
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a third controls the rest of the printer. The Klipper host
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software implements clock synchronization to account for clock
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drift between micro-controllers. No special code is needed to
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enable multiple micro-controllers - it just requires a few extra
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lines in the config file.
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* Klipper also implements a novel "stepper phase endstop" algorithm
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that can dramatically improve the accuracy of typical endstop
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switches. When properly tuned it can improve a print's first layer
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bed adhesion.
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* Support for limiting the top speed of short "zigzag" moves to
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reduce printer vibration and noise. See the
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[kinematics](Kinematics.md) document for more information.
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* Klipper uses an "iterative solver" to calculate precise step times
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from simple kinematic equations. This makes porting Klipper to new
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types of robots easier and it keeps timing precise even with complex
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kinematics (no "line segmentation" is needed).
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To get started with Klipper, read the [installation](Installation.md)
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guide.
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Common features supported by Klipper
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====================================
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Additional features
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===================
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Klipper supports many standard 3d printer features:
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* Klipper implements the "pressure advance" algorithm for extruders.
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When properly tuned, pressure advance reduces extruder ooze.
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* Works with Octoprint. This allows the printer to be controlled using
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a regular web-browser. The same Raspberry Pi that runs Klipper can
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also run Octoprint.
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@ -72,16 +66,56 @@ Klipper supports many standard 3d printer features:
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typical "slicers" are supported. One may continue to use Slic3r,
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Cura, etc. with Klipper.
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* Constant speed acceleration support. All printer moves will
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gradually accelerate from standstill to cruising speed and then
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decelerate back to a standstill.
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* Support for multiple extruders. Extruders with shared heaters and
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extruders on independent carriages (IDEX) are also supported.
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* "Look-ahead" support. The incoming stream of G-Code movement
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commands are queued and analyzed - the acceleration between
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* Support for cartesian, delta, and corexy style printers.
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* Automatic bed leveling support. Klipper can be configured for basic
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bed tilt detection or full mesh bed leveling. If the bed uses
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multiple Z steppers then Klipper can also level by independently
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manipulating the Z steppers. Most Z height probes are supported,
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including servo activated probes.
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* Automatic delta calibration support. The calibration can be done
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with a Z height probe or via manual probing.
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* Support for common temperature sensors (eg, common thermistors,
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AD595, PT100, MAX6675, MAX31855, MAX31856, MAX31865). Custom
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thermistors and custom analog temperature sensors can also be
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configured.
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* Basic thermal heater protection enabled by default.
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* Support for standard fans, nozzle fans, and temperature controlled
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fans. No need to keep fans running when the printer is idle.
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* Support for run-time configuration of TMC2130, TMC2208, and TMC2224
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stepper motor drivers.
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* Support for common LCD displays attached directly to the printer. A
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default menu is also available.
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* Constant acceleration and "look-ahead" support. All printer moves
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will gradually accelerate from standstill to cruising speed and then
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decelerate back to a standstill. The incoming stream of G-Code
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movement commands are queued and analyzed - the acceleration between
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movements in a similar direction will be optimized to reduce print
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stalls and improve overall print time.
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* Support for cartesian, delta, and corexy style printers.
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* Klipper implements a "stepper phase endstop" algorithm that can
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improve the accuracy of typical endstop switches. When properly
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tuned it can improve a print's first layer bed adhesion.
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* Support for limiting the top speed of short "zigzag" moves to reduce
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printer vibration and noise. See the [kinematics](Kinematics.md)
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document for more information.
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* Sample configuration files are available for many common printers.
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Check the [config directory](../config/) for a list.
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To get started with Klipper, read the [installation](Installation.md)
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guide.
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Step Benchmarks
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===============
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@ -98,10 +132,11 @@ represent total number of steps per second on the micro-controller.
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| Arduino Due (ARM SAM3X8E) | 382K | 337K |
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| Smoothieboard (ARM LPC1768) | 385K | 385K |
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| Smoothieboard (ARM LPC1769) | 462K | 462K |
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| Duet Wifi/Eth (ARM SAM4E8E) | 475K | 475K |
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| SAM4E8E ARM | 475K | 475K |
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| Beaglebone PRU | 689K | 689K |
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On AVR platforms, the highest achievable step rate is with just one
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stepper stepping. On the STM32F103, Arduino Zero, and Due, the highest
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step rate is with two simultaneous steppers stepping. On the PRU, SAM4E8E and
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LPC176x, the highest step rate is with three simultaneous steppers.
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step rate is with two simultaneous steppers stepping. On the PRU,
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SAM4E8E, and LPC176x the highest step rate is with three simultaneous
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steppers.
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