klipper/docs/Features.md

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.

• 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.

• Advanced features:

  • Klipper implements the "pressure advance" algorithm for extruders. When properly tuned, pressure advance reduces extruder ooze.
  • Klipper supports printers with multiple micro-controllers. For example, one micro-controller could be used to control an extruder, while another could control 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.
  • Klipper also implements a novel "stepper phase endstop" algorithm that can dramatically 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 document for more information.

To get started with Klipper, read the installation guide.

Common features supported by Klipper

Klipper supports many standard 3d printer features:

• 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.

• Constant speed acceleration support. All printer moves will gradually accelerate from standstill to cruising speed and then decelerate back to a standstill.

• "Look-ahead" support. 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.

• Support for cartesian, delta, and corexy style printers.

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	340K	300K
Arduino Due (ARM SAM3X8E)	382K	337K
Smoothieboard (ARM LPC1768)	385K	385K
Smoothieboard (ARM LPC1769)	462K	462K
Duet Wifi/Eth (ARM SAM4E8E)	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.