198 lines
9.6 KiB
Markdown
198 lines
9.6 KiB
Markdown
# Features
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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 provides 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 old 8-bit
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micro-controllers can obtain rates over 175K steps per second. On
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more recent micro-controllers, several million 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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* 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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makes it easier to setup and maintain the hardware.
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* Klipper supports "Smooth Pressure Advance" - a mechanism to account
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for the effects of pressure within an extruder. This reduces
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extruder "ooze" and improves the quality of print corners. Klipper's
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implementation does not introduce instantaneous extruder speed
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changes, which improves overall stability and robustness.
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* Klipper supports "Input Shaping" to reduce the impact of vibrations
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on print quality. This can reduce or eliminate "ringing" (also known
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as "ghosting", "echoing", or "rippling") in prints. It may also
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allow one to obtain faster printing speeds while still maintaining
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high print quality.
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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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* Klipper is hardware agnostic. One should get the same precise timing
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independent of the low-level electronics hardware. The Klipper
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micro-controller code is designed to faithfully follow the schedule
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provided by the Klipper host software (or prominently alert the user
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if it is unable to). This makes it easier to use available hardware,
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to upgrade to new hardware, and to have confidence in 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 Python.
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This makes it easier to develop new functionality.
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* Custom programmable macros. New G-Code commands can be defined in
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the printer config file (no code changes are necessary). Those
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commands are programmable - allowing them to produce different
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actions depending on the state of the printer.
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* Builtin API server. In addition to the standard G-Code interface,
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Klipper supports a rich JSON based application interface. This
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enables programmers to build external applications with detailed
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control of the printer.
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## Additional features
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Klipper supports many standard 3d printer features:
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* Several web interfaces available. Works with Mainsail, Fluidd,
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OctoPrint and others. 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 the web interface.
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* Standard G-Code support. Common g-code commands that are produced by
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typical "slicers" (SuperSlicer, Cura, PrusaSlicer, etc.) are
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supported.
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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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* Support for cartesian, delta, corexy, corexz, hybrid-corexy,
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hybrid-corexz, deltesian, rotary delta, polar, and cable winch style
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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 BL-Touch probes and servo activated probes.
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* Automatic delta calibration support. The calibration tool can
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perform basic height calibration as well as an enhanced X and Y
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dimension calibration. The calibration can be done with a Z height
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probe or via manual probing.
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* Run-time "exclude object" support. When configured, this module may
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facilitate canceling of just one object in a multi-part print.
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* Support for common temperature sensors (eg, common thermistors,
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AD595, AD597, AD849x, PT100, PT1000, MAX6675, MAX31855, MAX31856,
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MAX31865, BME280, HTU21D, DS18B20, and LM75). Custom thermistors and
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custom analog temperature sensors can also be configured. One can
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monitor the internal micro-controller temperature sensor and the
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internal temperature sensor of a Raspberry Pi.
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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. Fan
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speed can be monitored on fans that have a tachometer.
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* Support for run-time configuration of TMC2130, TMC2208/TMC2224,
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TMC2209, TMC2660, and TMC5160 stepper motor drivers. There is also
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support for current control of traditional stepper drivers via
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AD5206, DAC084S085, MCP4451, MCP4728, MCP4018, and PWM pins.
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* Support for common LCD displays attached directly to the printer. A
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default menu is also available. The contents of the display and menu
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can be fully customized via the config file.
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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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* 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 filament presence sensors, filament motion sensors, and
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filament width sensors.
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* Support for measuring and recording acceleration using an adxl345,
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mpu9250, and mpu6050 accelerometers.
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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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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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| 16Mhz AVR | 157K | 99K |
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| 20Mhz AVR | 196K | 123K |
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| SAMD21 | 686K | 471K |
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| STM32F042 | 814K | 578K |
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| Beaglebone PRU | 866K | 708K |
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| STM32G0B1 | 1103K | 790K |
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| STM32F103 | 1180K | 818K |
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| SAM3X8E | 1273K | 981K |
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| SAM4S8C | 1690K | 1385K |
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| LPC1768 | 1923K | 1351K |
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| LPC1769 | 2353K | 1622K |
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| RP2040 | 2400K | 1636K |
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| SAM4E8E | 2500K | 1674K |
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| SAMD51 | 3077K | 1885K |
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| STM32F407 | 3652K | 2459K |
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| STM32F446 | 3913K | 2634K |
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| STM32H743 | 9091K | 6061K |
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If unsure of the micro-controller on a particular board, find the
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appropriate [config file](../config/), and look for the
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micro-controller name in the comments at the top of that file.
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Further details on the benchmarks are available in the
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[Benchmarks document](Benchmarks.md).
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