85 lines
3.8 KiB
Markdown
85 lines
3.8 KiB
Markdown
Klipper is an experimental 3d printer firmware. It has several
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compelling features:
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* High precision stepper movement. Klipper utilizes an application
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processor (such as a low-cost Raspberry Pi) when calculating printer
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movements. The application processor determines when to step each
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stepper motor, it compresses those events, transmits them to the
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micro-controller, and then the micro-controller executes each event
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at the requested time. Each stepper event is scheduled with a
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precision of 25 micro-seconds or better. The software does not use
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kinematic estimations (such as the Bresenham algorithm) - instead it
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calculates precise step times based on the physics of acceleration
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and the physics of the machine kinematics. More precise stepper
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movement translates to quieter and more stable printer operation.
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* Best in class performance. Klipper is able to achieve high stepping
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rates on both new and old micro-controllers. Even an old 8bit AVR
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micro-controller can obtain rates up to 150K steps per second. On
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more recent ARM micro-controllers, rates over 350K steps per second
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are possible. Higher stepper rates enable higher print
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velocities. The stepper event timing remains precise even at high
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speeds which improves overall stability.
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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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makes it easier to setup and maintain the hardware.
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* Portable code. Klipper works on both ARM and AVR
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micro-controllers. Existing "reprap" style printers can run Klipper
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without hardware modification - just add a Raspberry Pi. Klipper's
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internal code layout makes it easier to support other
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micro-controller architectures as well.
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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 gcode parsing, the heating
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and thermistor algorithms, etc. are all written in Python. This
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makes it easier to develop new functionality.
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* Advanced features. Klipper implements the "pressure advance"
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algorithm for extruders. When properly tuned, pressure advance
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reduces extruder ooze. Klipper also implements a novel "stepper
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phase endstop" algorithm that can dramatically improve the accuracy
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of typical endstop switches. When properly tuned it can improve a
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print's first layer bed adhesion.
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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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Klipper supports many standard 3d printer features:
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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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* Standard G-Code support. Common g-code commands that are produced by
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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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* "Lookahead" support. The incoming stream of G-Code movement commands
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are queued and analyzed - the acceleration between movements in a
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similar direction will be optimized to reduce print stalls and
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improve overall print time.
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* Support for both delta printers and cartesian style printers.
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Step Benchmarks
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===============
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Below are the results of stepper performance tests. The numbers shown
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represent total number of steps per second on the micro-controller.
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| Micro-controller | 1 stepper active | 3 steppers active |
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| ----------------- | ---------------- | ----------------- |
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| 20Mhz AVR | 158.7K | 103K |
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| 16Mhz AVR | 126.9K | 82K |
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| Arduino Due (ARM) | 352.9K | 288K |
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