178 lines
8.6 KiB
Markdown
178 lines
8.6 KiB
Markdown
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 old 8bit
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micro-controllers 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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* 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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* 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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===================
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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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* 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, rotary delta, polar,
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and cable winch style 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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* 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, and LM75). Custom thermistors and custom
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analog temperature sensors can also be configured.
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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.
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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, 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 measuring and recording acceleration using an adxl345
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accelerometer.
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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
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[config directory](https://github.com/KevinOConnor/klipper/tree/master/config/)
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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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===============
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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 | 154K | 102K |
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| 20Mhz AVR | 192K | 127K |
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| Arduino Zero (SAMD21) | 234K | 217K |
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| "Blue Pill" (STM32F103) | 387K | 360K |
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| Arduino Due (SAM3X8E) | 438K | 438K |
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| Duet2 Maestro (SAM4S8C) | 564K | 564K |
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| Smoothieboard (LPC1768) | 574K | 574K |
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| Smoothieboard (LPC1769) | 661K | 661K |
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| Beaglebone PRU | 680K | 680K |
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| Duet2 Wifi/Eth (SAM4E8E) | 686K | 686K |
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| Adafruit Metro M4 (SAMD51) | 761K | 692K |
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| BigTreeTech SKR Pro (STM32F407) | 922K | 711K |
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On AVR platforms, the highest achievable step rate is with just one
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stepper stepping. On the SAMD21 and STM32F103 the highest step rate is
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with two simultaneous steppers stepping. On the SAM3X8E, SAM4S8C,
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SAM4E8E, LPC176x, and PRU the highest step rate is with three
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simultaneous steppers. On the SAMD51 and STM32F4 the highest step rate
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is with four simultaneous steppers. (Further details on the benchmarks
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are available in the [Benchmarks document](Benchmarks.md).)
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