108 lines
5.2 KiB
Markdown
Executable File
108 lines
5.2 KiB
Markdown
Executable File
Klipper has several 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 over 175K steps per second. On
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more recent micro-controllers, rates over 500K steps per second are
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possible. Higher stepper rates enable higher print velocities. The
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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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* 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 ARM, AVR, and PRU based
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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 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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* 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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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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* "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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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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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 | Fastest step rate | 3 steppers active |
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| --------------------------- | ----------------- | ----------------- |
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| 16Mhz AVR | 151K | 100K |
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| 20Mhz AVR | 189K | 125K |
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| Arduino Zero (ARM SAMD21) | 234K | 217K |
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| STM32F103 | 340K | 300K |
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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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| 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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