505 lines
24 KiB
Markdown
505 lines
24 KiB
Markdown
Frequently asked questions
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==========================
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1. [How can I donate to the project?](#how-can-i-donate-to-the-project)
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2. [How do I calculate the step_distance parameter in the printer config file?](#how-do-i-calculate-the-step_distance-parameter-in-the-printer-config-file)
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3. [Where's my serial port?](#wheres-my-serial-port)
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4. [When the micro-controller restarts the device changes to /dev/ttyUSB1](#when-the-micro-controller-restarts-the-device-changes-to-devttyusb1)
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5. [The "make flash" command doesn't work](#the-make-flash-command-doesnt-work)
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6. [How do I change the serial baud rate?](#how-do-i-change-the-serial-baud-rate)
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7. [Can I run Klipper on something other than a Raspberry Pi 3?](#can-i-run-klipper-on-something-other-than-a-raspberry-pi-3)
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8. [Can I run multiple instances of Klipper on the same host machine?](#can-i-run-multiple-instances-of-klipper-on-the-same-host-machine)
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9. [Do I have to use OctoPrint?](#do-i-have-to-use-octoprint)
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10. [Why can't I move the stepper before homing the printer?](#why-cant-i-move-the-stepper-before-homing-the-printer)
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11. [Why is the Z position_endstop set to 0.5 in the default configs?](#why-is-the-z-position_endstop-set-to-05-in-the-default-configs)
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12. [I converted my config from Marlin and the X/Y axes work fine, but I just get a screeching noise when homing the Z axis](#i-converted-my-config-from-marlin-and-the-xy-axes-work-fine-but-i-just-get-a-screeching-noise-when-homing-the-z-axis)
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13. [My TMC motor driver turns off in the middle of a print](#my-tmc-motor-driver-turns-off-in-the-middle-of-a-print)
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14. [I keep getting random "Lost communication with MCU" errors](#i-keep-getting-random-lost-communication-with-mcu-errors)
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15. [My Raspberry Pi keeps rebooting during prints](#my-raspberry-pi-keeps-rebooting-during-prints)
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16. [When I set "restart_method=command" my AVR device just hangs on a restart](#when-i-set-restart_methodcommand-my-avr-device-just-hangs-on-a-restart)
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17. [Will the heaters be left on if the Raspberry Pi crashes?](#will-the-heaters-be-left-on-if-the-raspberry-pi-crashes)
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18. [How do I convert a Marlin pin number to a Klipper pin name?](#how-do-i-convert-a-marlin-pin-number-to-a-klipper-pin-name)
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19. [How do I cancel an M109/M190 "wait for temperature" request?](#how-do-i-cancel-an-m109m190-wait-for-temperature-request)
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20. [How do I upgrade to the latest software?](#how-do-i-upgrade-to-the-latest-software)
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21. [Can I find out whether the printer has lost steps?](#can-i-find-out-whether-the-printer-has-lost-steps)
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### How can I donate to the project?
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Thanks. Kevin has a Patreon page at: https://www.patreon.com/koconnor
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### How do I calculate the step_distance parameter in the printer config file?
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If you know the steps per millimeter for the axis then use a
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calculator to divide 1.0 by steps_per_mm. Then round this number to
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six decimal places and place it in the config (six decimal places is
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nano-meter precision).
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The step_distance defines the distance that the axis will travel on
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each motor driver pulse. It can also be calculated from the axis
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pitch, motor step angle, and driver microstepping. If unsure, do a web
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search for "calculate steps per mm" to find an online calculator.
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Klipper uses step_distance instead of steps_per_mm in order to use
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consistent units of measurement in the config file. (The config uses
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millimeters for all distance measurements.) It is believed that
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steps_per_mm originated as an optimization on old 8-bit
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micro-controllers (the desire to use a multiply instead of a divide in
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some low-level code). Continuing to configure this one distance in
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units of "inverse millimeters" is felt to be quirky and unnecessary.
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### Where's my serial port?
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The general way to find a USB serial port is to run `ls -l
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/dev/serial/by-id/` from an ssh terminal on the host machine. It will
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likely produce output similar to the following:
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```
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lrwxrwxrwx 1 root root 13 Jun 1 21:12 usb-1a86_USB2.0-Serial-if00-port0 -> ../../ttyUSB0
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```
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The name found in the above command is stable and it is possible to
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use it in the config file and while flashing the micro-controller
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code. For example, a flash command might look similar to:
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```
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sudo service klipper stop
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make flash FLASH_DEVICE=/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
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sudo service klipper start
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```
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and the updated config might look like:
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```
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[mcu]
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serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
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```
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Be sure to copy-and-paste the name from the "ls" command that you ran
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above as the name will be different for each printer.
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If you are using multiple micro-controllers and they do not have
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unique ids (common on boards with a CH340 USB chip) then follow the
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directions above using the directory `/dev/serial/by-path/` instead.
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### When the micro-controller restarts the device changes to /dev/ttyUSB1
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Follow the directions in the
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"[Where's my serial port?](#wheres-my-serial-port)" section to prevent
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this from occurring.
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### The "make flash" command doesn't work
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The code attempts to flash the device using the most common method for
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each platform. Unfortunately, there is a lot of variance in flashing
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methods, so the "make flash" command may not work on all boards.
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If you're having an intermittent failure or you do have a standard
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setup, then double check that Klipper isn't running when flashing
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(sudo service klipper stop), make sure OctoPrint isn't trying to
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connect directly to the device (open the Connection tab in the web
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page and click Disconnect if the Serial Port is set to the device),
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and make sure FLASH_DEVICE is set correctly for your board (see the
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[question above](#wheres-my-serial-port)).
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However, if "make flash" just doesn't work for your board, then you
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will need to manually flash. See if there is a config file in the
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[config directory](https://github.com/KevinOConnor/klipper/tree/master/config)
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with specific instructions for flashing the device. Also, check the
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board manufacturer's documentation to see if it describes how to flash
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the device. Finally, on AVR devices, it may be possible to manually
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flash the device using [avrdude](http://www.nongnu.org/avrdude/) with
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custom command-line parameters - see the avrdude documentation for
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further information.
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### How do I change the serial baud rate?
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The recommended baud rate for Klipper is 250000. This baud rate works
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well on all micro-controller boards that Klipper supports. If you've
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found an online guide recommending a different baud rate, then ignore
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that part of the guide and continue with the default value of 250000.
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If you want to change the baud rate anyway, then the new rate will
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need to be configured in the micro-controller (during **make
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menuconfig**) and that updated code will need to be compiled and
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flashed to the micro-controller. The Klipper printer.cfg file will
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also need to be updated to match that baud rate (see the example.cfg
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file for details). For example:
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```
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[mcu]
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baud: 250000
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```
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The baud rate shown on the OctoPrint web page has no impact on the
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internal Klipper micro-controller baud rate. Always set the OctoPrint
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baud rate to 250000 when using Klipper.
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The Klipper micro-controller baud rate is not related to the baud rate
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of the micro-controller's bootloader. See the
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[bootloader document](Bootloaders.md) for additional information on
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bootloaders.
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### Can I run Klipper on something other than a Raspberry Pi 3?
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The recommended hardware is a Raspberry Pi 2 or a Raspberry
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Pi 3.
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Klipper will run on a Raspberry Pi 1 and on the Raspberry Pi Zero, but
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these boards don't have enough processing power to run OctoPrint
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well. It's not uncommon for print stalls to occur on these slower
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machines (the printer may move faster than OctoPrint can send movement
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commands) when printing directly from OctoPrint. If you wish to run on
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one one of these slower boards anyway, consider using the
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"virtual_sdcard" feature (see
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[config/example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
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for details) when printing.
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For running on the Beaglebone, see the
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[Beaglebone specific installation instructions](beaglebone.md).
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Klipper has been run on other machines. The Klipper host software
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only requires Python running on a Linux (or similar)
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computer. However, if you wish to run it on a different machine you
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will need Linux admin knowledge to install the system prerequisites
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for that particular machine. See the
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[install-octopi.sh](https://github.com/KevinOConnor/klipper/tree/master/scripts/install-octopi.sh)
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script for further information on the necessary Linux admin steps.
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### Can I run multiple instances of Klipper on the same host machine?
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It is possible to run multiple instances of the Klipper host software,
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but doing so requires Linux admin knowledge. The Klipper installation
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scripts ultimately cause the following Unix command to be run:
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```
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~/klippy-env/bin/python ~/klipper/klippy/klippy.py ~/printer.cfg -l /tmp/klippy.log
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```
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One can run multiple instances of the above command as long as each
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instance has its own printer config file, its own log file, and its
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own pseudo-tty. For example:
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```
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~/klippy-env/bin/python ~/klipper/klippy/klippy.py ~/printer2.cfg -l /tmp/klippy2.log -I /tmp/printer2
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```
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If you choose to do this, you will need to implement the necessary
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start, stop, and installation scripts (if any). The
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[install-octopi.sh](https://github.com/KevinOConnor/klipper/tree/master/scripts/install-octopi.sh)
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script and the
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[klipper-start.sh](https://github.com/KevinOConnor/klipper/tree/master/scripts/klipper-start.sh)
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script may be useful as examples.
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### Do I have to use OctoPrint?
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The Klipper software is not dependent on OctoPrint. It is possible to
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use alternative software to send commands to Klipper, but doing so
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requires Linux admin knowledge.
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Klipper creates a "virtual serial port" via the "/tmp/printer" file,
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and it emulates a classic 3d-printer serial interface via that file.
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In general, alternative software may work with Klipper as long as it
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can be configured to use "/tmp/printer" for the printer serial port.
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### Why can't I move the stepper before homing the printer?
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The code does this to reduce the chance of accidentally commanding the
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head into the bed or a wall. Once the printer is homed the software
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attempts to verify each move is within the position_min/max defined in
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the config file. If the motors are disabled (via an M84 or M18
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command) then the motors will need to be homed again prior to
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movement.
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If you want to move the head after canceling a print via OctoPrint,
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consider changing the OctoPrint cancel sequence to do that for
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you. It's configured in OctoPrint via a web browser under:
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Settings->GCODE Scripts
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If you want to move the head after a print finishes, consider adding
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the desired movement to the "custom g-code" section of your slicer.
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If the printer requires some additional movement as part of the homing
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process itself (or fundamentally does not have a homing process) then
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consider using a homing_override section in the config file. If you
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need to move a stepper for diagnostic or debugging purposes then
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consider adding a force_move section to the config file. See
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[example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
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for further details on these options.
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### Why is the Z position_endstop set to 0.5 in the default configs?
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For cartesian style printers the Z position_endstop specifies how far
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the nozzle is from the bed when the endstop triggers. If possible, it
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is recommended to use a Z-max endstop and home away from the bed (as
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this reduces the potential for bed collisions). However, if one must
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home towards the bed then it is recommended to position the endstop so
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it triggers when the nozzle is still a small distance away from the
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bed. This way, when homing the axis, it will stop before the nozzle
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touches the bed.
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Almost all mechanical switches can still move a small distance
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(eg, 0.5mm) after they are triggered. So, for example, if the
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position_endstop is set to 0.5mm then one may still command the
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printer to move to Z0.2. The position_min config setting (which
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defaults to 0) is used to specify the minimum Z position one may
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command the printer to move to.
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Note, the Z position_endstop specifies the distance from the nozzle to
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the bed when the nozzle and bed (if applicable) are hot. It is typical
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for thermal expansion to cause nozzle expansion of around .1mm, which
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is also the typical thickness of a sheet of printer paper. Thus, it is
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common to use the "paper test" to confirm calibration of the Z
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height - check that the bed and nozzle are at room temperature, check
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that there is no plastic on the head or bed, home the printer, place a
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piece of paper between the nozzle and bed, and repeatedly command the
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head to move closer to the bed checking each time if you feel a small
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amount of friction when sliding the paper between bed and nozzle - if
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all is calibrated well a small amount of friction would be felt when
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the height is at Z0.
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### I converted my config from Marlin and the X/Y axes work fine, but I just get a screeching noise when homing the Z axis
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Short answer: Try reducing the max_z_velocity setting in the printer
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config. Also, if the Z stepper is moving in the wrong direction, try
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inverting the dir_pin setting in the config (eg, "dir_pin: !xyz"
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instead of "dir_pin: xyz").
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Long answer: In practice Marlin can typically only step at a rate of
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around 10000 steps per second. If it is requested to move at a speed
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that would require a higher step rate then Marlin will generally just
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step as fast as it can. Klipper is able to achieve much higher step
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rates, but the stepper motor may not have sufficient torque to move at
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a higher speed. So, for a Z axis with a very precise step_distance the
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actual obtainable max_z_velocity may be smaller than what is
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configured in Marlin.
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### My TMC motor driver turns off in the middle of a print
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Short answer: Do not use the TMC2208 driver in "standalone mode" with
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Klipper! Do not use the TMC2224 driver in "stealthchop standalone
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mode" with Klipper!
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Long answer: Klipper implements very precise timing.
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In the above picture, if Klipper is requested to move along the red
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line and if each black line represents the nominal location to step a
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stepper, then in the middle of that movement Klipper will arrange to
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take a step, change the step direction, and then step back. Klipper
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can perform this step, direction change, and step back in a very small
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amount of time.
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It is our current understanding that the TMC2208 and TMC2224 will
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react poorly to this when they are in "stealthchop" mode. (It is not
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believed any other TMC drivers are impacted.) It is believed that when
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the driver sees the two step requests in a small time frame that it
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dramatically increases current in anticipation of high acceleration.
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That high current can trip the driver's internal "over current"
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detection which causes the driver to disable itself.
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This pattern of steps can occur on all stepper motors and on all
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robot kinematics.
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The TMC2208 and TMC2224 do work well with Klipper when run-time
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configuration mode is used (that is, when a wire is routed from the
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micro-controller to the PDN-UART pin and the printer config file has a
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corresponding [tmc2208] config section). When using run-time
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configuration, either configure the drivers to use "spreadcycle mode"
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or configure them to use "stealthchop mode" with a reasonable
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"stealthchop threshold". If one wishes to exclusively use
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"stealthchop" mode with run-time UART configuration then make sure the
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stealthchop_threshold is no more than about 10% greater than the
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maximum velocity of the given axis. It is speculated that with a
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reasonable stealthchop threshold, then if Klipper sends a "step,
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direction change, step back" sequence, the driver will briefly
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transition from stealthchop mode, to spreadcycle mode, and back to
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stealthchop mode, which should be harmless.
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### I keep getting random "Lost communication with MCU" errors
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This is commonly caused by hardware errors on the USB connection
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between the host machine and the micro-controller. Things to look for:
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- Use a good quality USB cable between the host machine and
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micro-controller. Make sure the plugs are secure.
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- If using a Raspberry Pi, use a
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[good quality power supply](https://www.raspberrypi.org/documentation/hardware/raspberrypi/power/README.md)
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for the Raspberry Pi and use a
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[good quality USB cable](https://www.raspberrypi.org/forums/viewtopic.php?p=589877#p589877)
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to connect that power supply to the Pi. If you get "under voltage"
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warnings from OctoPrint, this is related to the power supply and it
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must be fixed.
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- Make sure the printer's power supply is not being overloaded. (Power
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fluctuations to the micro-controller's USB chip may result in resets
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of that chip.)
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- Verify stepper, heater, and other printer wires are not crimped or
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frayed. (Printer movement may place stress on a faulty wire causing
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it to lose contact, briefly short, or generate excessive noise.)
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- There have been reports of high USB noise when both the printer's
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power supply and the host's 5V power supply are mixed. (If you find
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that the micro-controller powers on when either the printer's power
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supply is on or the USB cable is plugged in, then it indicates the
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5V power supplies are being mixed.) It may help to configure the
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micro-controller to use power from only one source. (Alternatively,
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if the micro-controller board can not configure its power source,
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one may modify a USB cable so that it does not carry 5V power
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between the host and micro-controller.)
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### My Raspberry Pi keeps rebooting during prints
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This is most likely do to voltage fluctuations. Follow the same
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troubleshooting steps for a
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["Lost communication with MCU"](#i-keep-getting-random-lost-communication-with-mcu-errors)
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error.
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### When I set "restart_method=command" my AVR device just hangs on a restart
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Some old versions of the AVR bootloader have a known bug in watchdog
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event handling. This typically manifests when the printer.cfg file has
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restart_method set to "command". When the bug occurs, the AVR device
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will be unresponsive until power is removed and reapplied to the
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device (the power or status LEDs may also blink repeatedly until the
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power is removed).
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The workaround is to use a restart_method other than "command" or to
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flash an updated bootloader to the AVR device. Flashing a new
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bootloader is a one time step that typically requires an external
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programmer - see [Bootloaders](Bootloaders.md) for further details.
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### Will the heaters be left on if the Raspberry Pi crashes?
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The software has been designed to prevent that. Once the host enables
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a heater, the host software needs to confirm that enablement every 5
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seconds. If the micro-controller does not receive a confirmation every
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5 seconds it goes into a "shutdown" state which is designed to turn
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off all heaters and stepper motors.
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See the "config_digital_out" command in the
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[MCU commands](MCU_Commands.md) document for further details.
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In addition, the micro-controller software is configured with a
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minimum and maximum temperature range for each heater at startup (see
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the min_temp and max_temp parameters in the
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[example.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example.cfg)
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file for details). If the micro-controller detects that the
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temperature is outside of that range then it will also enter a
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"shutdown" state.
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Separately, the host software also implements code to check that
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heaters and temperature sensors are functioning correctly. See the
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"verify_heater" section of the
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[example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
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for further details.
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### How do I convert a Marlin pin number to a Klipper pin name?
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Short answer: In some cases one can use Klipper's `pin_map: arduino`
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feature. Otherwise, for "digital" pins, one method is to search for
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the requested pin in Marlin's fastio header files. The Atmega2560 and
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Atmega1280 chips use
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[fastio_1280.h](https://github.com/MarlinFirmware/Marlin/blob/1.1.9/Marlin/fastio_1280.h),
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while the Atmega644p and Atmega1284p chips use
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[fastio_644.h](https://github.com/MarlinFirmware/Marlin/blob/1.1.9/Marlin/fastio_644.h).
|
|
For example, if you are looking to translate Marlin's digital pin
|
|
number 23 on an atmega2560 then one could find the following line in
|
|
Marlin's fastio_1280.h file:
|
|
```
|
|
#define DIO23_PIN PINA1
|
|
```
|
|
The `DIO23` indicates the line is for Marlin's pin 23 and the `PINA1`
|
|
indicates the pin uses the hardware name of `PA1`. Klipper uses the
|
|
hardware names (eg, `PA1`).
|
|
|
|
Long answer: Klipper uses the standard pin names defined by the
|
|
micro-controller. On the Atmega chips these hardware pins have names
|
|
like `PA4`, `PC7`, or `PD2`.
|
|
|
|
Long ago, the Arduino project decided to avoid using the standard
|
|
hardware names in favor of their own pin names based on incrementing
|
|
numbers - these Arduino names generally look like `D23` or `A14`. This
|
|
was an unfortunate choice that has lead to a great deal of confusion.
|
|
In particular the Arduino pin numbers frequently don't translate to
|
|
the same hardware names. For example, `D21` is `PD0` on one common
|
|
Arduino board, but is `PC7` on another common Arduino board.
|
|
|
|
In order to support 3d printers based on real Arduino boards, Klipper
|
|
supports the Arduino pin aliases. This feature is enabled by adding
|
|
`pin_map: arduino` to the [mcu] section of the config file. When these
|
|
aliases are enabled, Klipper understands pin names that start with the
|
|
prefix "ar" (eg, Arduino pin `D23` is Klipper alias `ar23`) and the
|
|
prefix "analog" (eg, Arduino pin `A14` is Klipper alias `analog14`).
|
|
Klipper does not use the Arduino names directly because we feel a name
|
|
like D7 is too easily confused with the hardware name PD7.
|
|
|
|
Marlin primarily follows the Arduino pin numbering scheme. However,
|
|
Marlin supports a few chips that Arduino does not support and in some
|
|
cases it supports pins that Arduino boards do not expose. In these
|
|
cases, Marlin chose their own pin numbering scheme. Klipper does not
|
|
support these custom pin numbers - check Marlin's fastio headers (see
|
|
above) to translate these pin numbers to their standard hardware
|
|
names.
|
|
|
|
### How do I cancel an M109/M190 "wait for temperature" request?
|
|
|
|
Navigate to the OctoPrint terminal tab and issue an M112 command in
|
|
the terminal box. The M112 command will cause Klipper to enter into a
|
|
"shutdown" state, and it will cause OctoPrint to disconnect from
|
|
Klipper. Navigate to the OctoPrint connection area and click on
|
|
"Connect" to cause OctoPrint to reconnect. Navigate back to the
|
|
terminal tab and issue a FIRMWARE_RESTART command to clear the Klipper
|
|
error state. After completing this sequence, the previous heating
|
|
request will be canceled and a new print may be started.
|
|
|
|
### How do I upgrade to the latest software?
|
|
|
|
The general way to upgrade is to ssh into the Raspberry Pi and run:
|
|
|
|
```
|
|
cd ~/klipper
|
|
git pull
|
|
~/klipper/scripts/install-octopi.sh
|
|
```
|
|
|
|
Then one can recompile and flash the micro-controller code. For
|
|
example:
|
|
|
|
```
|
|
make menuconfig
|
|
make clean
|
|
make
|
|
|
|
sudo service klipper stop
|
|
make flash FLASH_DEVICE=/dev/ttyACM0
|
|
sudo service klipper start
|
|
```
|
|
|
|
However, it's often the case that only the host software changes. In
|
|
this case, one can update and restart just the host software with:
|
|
|
|
```
|
|
cd ~/klipper
|
|
git pull
|
|
sudo service klipper restart
|
|
```
|
|
|
|
If after using this shortcut the software warns about needing to
|
|
reflash the micro-controller or some other unusual error occurs, then
|
|
follow the full upgrade steps outlined above. Note that the RESTART
|
|
and FIRMWARE_RESTART g-code commands do not load new software - the
|
|
above "sudo service klipper restart" and "make flash" commands are
|
|
needed for a software change to take effect.
|
|
|
|
When upgrading the software, be sure to check the
|
|
[config changes](Config_Changes.md) document for information on
|
|
software changes that may require updates to your printer.cfg file.
|
|
|
|
### Can I find out whether the printer has lost steps?
|
|
|
|
In a way, yes. Home the printer, issue a `GET_POSITION` command, run
|
|
your print, home again and issue another `GET_POSITION`. Then compare
|
|
the values in the `mcu:` line.
|
|
|
|
This might be helpful to tune settings like stepper motor currents,
|
|
accelerations and speeds without needing to actually print something
|
|
and waste filament: just run some high-speed moves in between the
|
|
`GET_POSITION` commands.
|
|
|
|
Note that endstop switches themselves tend to trigger at slightly
|
|
different positions, so a difference of a couple of microsteps is
|
|
likely the result of endstop inaccuracies. A stepper motor itself can
|
|
only lose steps in increments of 4 full steps. (So, if one is using 16
|
|
microsteps, then a lost step on the stepper would result in the "mcu:"
|
|
step counter being off by a multiple of 64 microsteps.)
|