Sebastien Plante
33030a9ee8
Klipper version: v0.13.0-411-g938300f3 Moonraker version: v0.9.3-128-g960e933 Mainsail version: v2.15.0
622 lines
20 KiB
INI
622 lines
20 KiB
INI
# This macro was provided by discord user Garrettwp to whom i give my thanks for sharing it with me.
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# I have tweaked it a lot.
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#
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# this macro is based on the great Annex magprobe dockable probe macros "#Originally developed by Mental, modified for better use on K-series printers by RyanG and Trails"
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# that macro can be found here https://github.com/Annex-Engineering/Annex-Engineering_Other_Printer_Mods/blob/master/All_Printers/Microswitch_Probe/Klipper_Macros/dockable_probe_macros.cfg
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#
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# by standing on the shoulders of giants, lets see if we can see further
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[gcode_macro User_Variables]
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variable_verbose: True # Enable verbose output
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variable_travel_speed: 200 # how fast all other travel moves will be performed when running these macros
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variable_dock_speed: 50 # how fast should the toolhead move when docking the probe for the final movement
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variable_release_speed: 100 # how fast should the toolhead move to release the hold of the magnets after docking
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variable_z_drop_speed: 20 # how fast the z will lower when moving to the z location to clear the probe
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variable_home_z_height: 15 # Z when homing
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# if a separate Z endstop switch is in
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# use, specify the coordinates of the switch here (Voron).
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# Set to 0 to have the probe move to center of bed
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variable_z_endstop_x: 231
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variable_z_endstop_y: 350
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#variable_z_endstop_x: 0
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#variable_z_endstop_y: 0
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# location to park the toolhead
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variable_park_toolhead: True # Enable toolhead parking
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variable_parkposition_x: 175
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variable_parkposition_y: 175
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variable_parkposition_z: 10
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#dock location
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variable_docklocation_x: 12 # X Dock position
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variable_docklocation_y: 350 # Y Dock position
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variable_docklocation_z: 15 # Z dock position
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variable_dockarmslenght: 30 # Dock arms lenght, toolhead movement necessary to clear the dock arms
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#Umbilical to help untangle the umbilical in difficult situations
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variable_umbilical_x: 15 #X umbilical position
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variable_umbilical_y: 15 #Y umbilical position
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variable_umbilical: False #should we untabgle the umbilical
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# Do not modify below
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gcode:
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{% set Mx = printer['configfile'].config["stepper_x"]["position_max"]|float %}
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{% set My = printer['configfile'].config["stepper_y"]["position_max"]|float %}
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{% set Ox = printer['configfile'].config["probe"]["x_offset"]|float %}
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{% set Oy = printer['configfile'].config["probe"]["y_offset"]|float %}
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{% set Oz = printer['configfile'].config["probe"]["z_offset"]|float %}
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# if docklocation_z is zero, use Home Z height for safety
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{% if docklocation_z == 0 %}
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=docklocation_z VALUE={ home_z_height }
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{% endif %}
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# If x, y coordinates are set for z endstop, assign them
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{% if z_endstop_x != 0 or z_endstop_y != 0 %}
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=z_endstop_x VALUE={ z_endstop_x }
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=z_endstop_y VALUE={ z_endstop_y }
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# if no x, y coordinates for z endstop, assume probe is endstop and move toolhead to center of bed
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{% else %}
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=z_endstop_x VALUE={ (Mx * 0.5) - Ox }
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=z_endstop_y VALUE={ (My * 0.5) - Oy }
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{% endif %}
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[gcode_macro Probe_Variables]
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variable_probe_attached: False
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variable_probe_state: False
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variable_probe_lock: False
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variable_z_endstop_x: 0
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variable_z_endstop_y: 0
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gcode:
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[gcode_macro Homing_Variables]
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#default_parameter_reset: 0
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gcode:
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{% set R = params.RESET|default(0)|float %}
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{% if R %}
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_lock VALUE={ False }
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{% endif %}
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# Attach probe and lock it
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[gcode_macro Attach_Probe_Lock]
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gcode:
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Attach_Probe
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_lock VALUE={ True }
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# Dock probe and lock it
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[gcode_macro Dock_Probe_Unlock]
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gcode:
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_lock VALUE={ False }
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Dock_Probe
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# Unlock Probe
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[gcode_macro Probe_Unlock]
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gcode:
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_lock VALUE={ False }
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# Lock Probe
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[gcode_macro Probe_Lock]
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gcode:
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SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_lock VALUE={ True }
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# Attach Probe Routine
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[gcode_macro Attach_Probe]
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gcode:
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# Get probe attach status
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{% set P = printer["gcode_macro Probe_Variables"].probe_attached %}
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{% set L = printer["gcode_macro Probe_Variables"].probe_lock %}
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{% set V = printer["gcode_macro User_Variables"].verbose %}
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# Get Docking location
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{% set Dx = printer["gcode_macro User_Variables"].docklocation_x %}
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{% set Dy = printer["gcode_macro User_Variables"].docklocation_y %}
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{% set Dz = printer["gcode_macro User_Variables"].docklocation_z %}
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{% set Da = printer["gcode_macro User_Variables"].dockarmslenght %}
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# Safe Z for travel
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{% set Hzh = printer["gcode_macro User_Variables"].home_z_height|float %}
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#Set speed
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{% set St = printer["gcode_macro User_Variables"].travel_speed * 60 %}
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#prior to saving actual position, check if its necessary to move to a safe Z
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#that has enought overhead for the attached probe
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{% if (printer.toolhead.position.z < Hzh) %}
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G1 Z{Hzh} F1200
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{% endif %}
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M400 # mandatory to save the new safe position
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#allows the docking position to be independent of the Z offset, necessary for bed mounted probes
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SAVE_GCODE_STATE name=_attachProbe
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SET_GCODE_OFFSET Z=0
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# if x and y are not homed
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{% if not 'xy' in printer.toolhead.homed_axes %}
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{ action_raise_error("Must Home X and Y Axis First!") }
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# If probe not attached and locked
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{% elif not P and not L %}
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{% if V %}
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{ action_respond_info("Attaching Probe") }
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{% endif %}
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G90
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{% if (not 'z' in printer.toolhead.homed_axes) %}
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{% if V %}
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{ action_respond_info("Resetting Z position to zero") }
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{% endif %}
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SET_KINEMATIC_POSITION Z=0
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{% endif %}
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{% if (printer.toolhead.position.z < Hzh) %}
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G1 Z{Hzh} F1200
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{% endif %}
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Umbilical_Path
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# Probe entry location
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G1 X{Dx} Y{Dy|int - Da|int} Z{Hzh} F{St}
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#lower to Z dock
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G1 Z{Dz} F600
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# pickup from Probe location
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G1 X{Dx} Y{Dy} F1800
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# Probe entry location
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G1 X{Dx} Y{Dy|int - Da|int} F6000
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#Go to Z safe distance
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G1 Z{Hzh} F600
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Park_Toolhead
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CheckProbe action=attach
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{% elif L %}
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{% if V %}
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{ action_respond_info("Probe locked!") }
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{% endif %}
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# Probe attached, do nothing
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CheckProbe action=query
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{% else %}
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{% if V %}
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{ action_respond_info("Probe already attached!") }
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{% endif %}
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# Probe attached, do nothing
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CheckProbe action=query
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{% endif %}
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#reverts to the original Z offset
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RESTORE_GCODE_STATE name=_attachProbe
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# Dock Probe Routine
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[gcode_macro Dock_Probe]
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gcode:
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# Get probe attach status
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{% set P = printer["gcode_macro Probe_Variables"].probe_attached %}
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{% set L = printer["gcode_macro Probe_Variables"].probe_lock %}
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{% set V = printer["gcode_macro User_Variables"].verbose %}
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# Get Docking location
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{% set Dx = printer["gcode_macro User_Variables"].docklocation_x %}
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{% set Dy = printer["gcode_macro User_Variables"].docklocation_y %}
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{% set Dz = printer["gcode_macro User_Variables"].docklocation_z %}
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{% set Da = printer["gcode_macro User_Variables"].dockarmslenght %}
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# Safe Z for travel
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{% set Hzh = printer["gcode_macro User_Variables"].home_z_height|float %}
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# Set speed
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{% set St = printer["gcode_macro User_Variables"].travel_speed * 60 %}
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{% set Sd = printer["gcode_macro User_Variables"].dock_speed * 60 %}
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{% set Sr = printer["gcode_macro User_Variables"].release_speed * 60 %}
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{% set Sz = printer["gcode_macro User_Variables"].z_drop_speed * 60 %}
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M400 # mandatory to save the new safe position
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#allows the docking position to be independent of the Z offset, necessary for bed mounted probes
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SAVE_GCODE_STATE name=_dockProbe
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SET_GCODE_OFFSET Z=0
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{% if not 'xyz' in printer.toolhead.homed_axes %}
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{ action_raise_error("Must Home X, Y and Z Axis First!") }
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# If probe not attached and not locked
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{% elif P and not L %}
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{% if V %}
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{ action_respond_info("Docking Probe") }
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{% endif %}
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G90
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{% if (printer.toolhead.position.z < Hzh) %}
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G1 Z{Hzh} F{Sz}
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{% endif %}
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Umbilical_Path
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# Probe entry location
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G1 X{Dx} Y{Dy|int - Da|int} Z{Hzh} F{St}
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#lower to Z dock
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G1 Z{Dz} F{Sz}
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# Drop Probe to Probe location
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G1 X{Dx} Y{Dy} F{Sd}
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# Probe decoupling
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G1 X{Dx|int + 40} Y{Dy} F{Sr}
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#Go to Z safe distance
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G1 X{Dx|int + 40} Y{Dy|int - 5} Z{Hzh} F{St}
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Park_Toolhead
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CheckProbe action=dock
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{% elif L %}
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{% if V %}
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{ action_respond_info("Probe locked!") }
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{% endif %}
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# Probe docked, do nothing
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CheckProbe action=query
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{% else %}
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{% if V %}
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{ action_respond_info("Probe already docked!") }
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{% endif %}
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# Probe docked, do nothing
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CheckProbe action=query
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{% endif %}
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#reverts to the original Z offset
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RESTORE_GCODE_STATE name=_dockProbe
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# Quad Gantry Level
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[gcode_macro QUAD_GANTRY_LEVEL]
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rename_existing: _QUAD_GANTRY_LEVEL
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gcode:
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BED_MESH_CLEAR
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{% set V = printer["gcode_macro User_Variables"].verbose %}
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{% if V %}
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{ action_respond_info("QG Level") }
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{% endif %}
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CheckProbe action=query
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Attach_Probe
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_QUAD_GANTRY_LEVEL {% for p in params
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%}{'%s=%s ' % (p, params[p])}{%
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endfor %}
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Dock_Probe
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# Z Tilt Adjust
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#[gcode_macro Z_TILT_ADJUST]
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#rename_existing: _Z_TILT_ADJUST
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#gcode:
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# {% set V = printer["gcode_macro User_Variables"].verbose %}
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# {% if V %}
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# { action_respond_info("Z Tilt Adjust") }
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# {% endif %}
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#
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# CheckProbe action=query
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# Attach_Probe
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#
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# _Z_TILT_ADJUST {% for p in params
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# %}{'%s=%s ' % (p, params[p])}{%
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# endfor %}
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# G28 Z0
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# Dock_Probe
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# Screws Tilt Adjust
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#gcode_macro SCREWS_TILT_CALCULATE]
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#rename_existing: _SCREWS_TILT_CALCULATE
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#gcode:
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# {% set V = printer["gcode_macro User_Variables"].verbose %}
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# {% if V %}
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# { action_respond_info("Screws Tilt Adjust") }
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# {% endif %}
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#
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# CheckProbe action=query
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# Attach_Probe
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#
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# _SCREWS_TILT_CALCULATE {% for p in params
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# %}{'%s=%s ' % (p, params[p])}{%
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# endfor %}
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#
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# Dock_Probe
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# Bed Mesh Calibrate
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[gcode_macro BED_MESH_CALIBRATE]
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rename_existing: _BED_MESH_CALIBRATE
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gcode:
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{% set V = printer["gcode_macro User_Variables"].verbose %}
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{% if V %}
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{ action_respond_info("Bed Mesh Calibrate") }
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{% endif %}
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CheckProbe action=query
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Attach_Probe
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_BED_MESH_CALIBRATE {% for p in params
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%}{'%s=%s ' % (p, params[p])}{%
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endfor %}
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Dock_Probe
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# Probe Calibrate
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[gcode_macro PROBE_CALIBRATE]
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rename_existing: _PROBE_CALIBRATE
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gcode:
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{% set Hzh = printer["gcode_macro User_Variables"].home_z_height|float %}
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{% set Sz = printer["gcode_macro User_Variables"].z_drop_speed * 60 %}
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{% set St = printer["gcode_macro User_Variables"].travel_speed %}
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# Go to Z safe distance before saving location in order to
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# avoid crashing the probe on the bed when coming back
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G1 Z{Hzh} F{Sz}
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M400 # mandatory to save the new safe position
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SAVE_GCODE_STATE NAME=_original_nozzle_location
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CheckProbe action=query
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Attach_Probe
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# Restore nozzle location to probe the right place
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RESTORE_GCODE_STATE NAME=_original_nozzle_location MOVE=1 MOVE_SPEED={St}
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_PROBE_CALIBRATE {% for p in params
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%}{'%s=%s ' % (p, params[p])}{%
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endfor %}
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#store current nozzle location
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SAVE_GCODE_STATE NAME=_original_nozzle_location
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Dock_Probe
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# Restore nozzle location again at the end
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RESTORE_GCODE_STATE NAME=_original_nozzle_location MOVE=1 MOVE_SPEED={St}
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# Probe Accuracy
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[gcode_macro PROBE_ACCURACY]
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rename_existing: _PROBE_ACCURACY
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gcode:
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{% set Hzh = printer["gcode_macro User_Variables"].home_z_height|float %}
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{% set Sz = printer["gcode_macro User_Variables"].z_drop_speed * 60 %}
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{% set St = printer["gcode_macro User_Variables"].travel_speed %}
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# Go to Z safe distance before saving location in order to
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# avoid crashing the probe on the bed when coming back
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G1 Z{Hzh} F{Sz}
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M400 # mandatory to save the new safe position
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SAVE_GCODE_STATE NAME=_original_nozzle_location
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CheckProbe action=query
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Attach_Probe
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# Restore nozzle location to probe the right place
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RESTORE_GCODE_STATE NAME=_original_nozzle_location MOVE=1 MOVE_SPEED={St}
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_PROBE_ACCURACY {% for p in params
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%}{'%s=%s ' % (p, params[p])}{%
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endfor %}
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#store current nozzle location
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SAVE_GCODE_STATE NAME=_original_nozzle_location
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Dock_Probe
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# Restore nozzle location again at the end
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RESTORE_GCODE_STATE NAME=_original_nozzle_location MOVE=1 MOVE_SPEED={St}
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# enable to SET_KINEMATIC_POSITION for Z hop
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[force_move]
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enable_force_move: True
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# Homeing Override
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[homing_override]
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axes: xyz
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gcode:
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BED_MESH_CLEAR
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# collect user state variables
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User_Variables
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{% set V = printer["gcode_macro User_Variables"].verbose %}
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{% set Hzh = printer["gcode_macro User_Variables"].home_z_height|float %}
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{% if (not 'z' in printer.toolhead.homed_axes) %}
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SET_KINEMATIC_POSITION Z=0
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G90
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G0 Z{Hzh} F600
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{% endif %}
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CheckProbe action=query
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# reset parameters
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{% set X, Y, Z = False, False, False %}
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# which axes have been requested for homing
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{% if not 'X' in params
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and not 'Y' in params
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and not 'Z' in params %}
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{% set X, Y, Z = True, True, True %}
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{% else %}
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{% if 'X' in params %}
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{% set X = True %}
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{% endif %}
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{% if 'Y' in params %}
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{% set Y = True %}
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{% endif %}
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{% if 'Z' in params %}
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{% set Z = True %}
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{% endif %}
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{% if 'X' in params
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and 'Y' in params
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and 'Z' in params %}
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# reset homing state variables
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# if homing all axes
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Homing_Variables reset=1
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{% endif %}
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{% endif %}
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# Home x
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{% if X %}
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{% if V %}
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{ action_respond_info("Homing X") }
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{% endif %}
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G28 X0
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{% endif %}
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# Home y
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{% if Y %}
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{% if V %}
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{ action_respond_info("Homing Y") }
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{% endif %}
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G28 Y0
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{% endif %}
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# Home z
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{% if Z %}
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{% if V %}
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{ action_respond_info("Homing Z") }
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{% endif %}
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# if probe is configured as endstop, attach it
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{% if printer['configfile'].config["stepper_z"]["endstop_pin"] == 'probe:z_virtual_endstop' %}
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Attach_Probe
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{% endif %}
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Home_Z
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#Wipe the nozzle and Home Again
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#G1 Y350 X85 Z4 F7000
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#G1 Y348 X115 Z4 F7000
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#G1 Y350 X85 Z4 F7000
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#G1 Y348 X115 Z4 F7000
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#G1 Y350 X85 Z4 F7000
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#G1 Y348 X115 Z4 F7000
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#G1 Y350 X85 Z4 F7000
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#G1 Y348 X115 Z4 F7000
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CLEAN_NOZZLE
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Home_Z
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# if probe is configured as endstop, dock it
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{% if printer['configfile'].config["stepper_z"]["endstop_pin"] == 'probe:z_virtual_endstop' %}
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Dock_Probe
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{% endif %}
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{% endif %}
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CheckProbe action=query
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|
|
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# park the toolhead
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|
Park_Toolhead
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|
|
|
# umbilical path setup
|
|
[gcode_macro Umbilical_Path]
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|
gcode:
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|
{% set Ux = printer["gcode_macro User_Variables"].umbilical_x %}
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|
{% set Uy = printer["gcode_macro User_Variables"].umbilical_y %}
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|
{% set U = printer["gcode_macro User_Variables"].umbilical %}
|
|
{% set Hzh = printer["gcode_macro User_Variables"].home_z_height|float %}
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|
{% set St = printer["gcode_macro User_Variables"].travel_speed * 60 %}
|
|
|
|
{% if U %}
|
|
# Used to give the umbilical a better path to follow and coil properly if dock is tight in space
|
|
G1 X{Ux} Y{Uy} Z{Hzh} F{St}
|
|
{% endif %}
|
|
|
|
|
|
# Home Z Routine
|
|
[gcode_macro Home_Z]
|
|
gcode:
|
|
{% set Zx = printer["gcode_macro Probe_Variables"].z_endstop_x %}
|
|
{% set Zy = printer["gcode_macro Probe_Variables"].z_endstop_y %}
|
|
{% set Hzh = printer["gcode_macro User_Variables"].home_z_height|float %}
|
|
{% set St = printer["gcode_macro User_Variables"].travel_speed * 60 %}
|
|
{% set Sz = printer["gcode_macro User_Variables"].z_drop_speed * 60 %}
|
|
|
|
# if x and y are not homed yet, raise error
|
|
{% if not 'xy' in printer.toolhead.homed_axes %}
|
|
{ action_raise_error("Must Home X and Y Axis First!") }
|
|
|
|
{% else %}
|
|
{% if (not 'z' in printer.toolhead.homed_axes) %}
|
|
{% if V %}
|
|
{ action_respond_info("Resetting Z position to zero") }
|
|
{% endif %}
|
|
SET_KINEMATIC_POSITION Z=0
|
|
{% endif %}
|
|
|
|
# move tool to safe homing position and home Z axis
|
|
# location of z endstop
|
|
G1 X{Zx} Y{Zy} Z{Hzh} F{St}
|
|
G28 Z0
|
|
G1 Z{Hzh} F{Sz}
|
|
|
|
{% endif %}
|
|
|
|
|
|
# check to see if probe is where it is supposed to be after
|
|
# attaching/docking maneuver and set homing error or shutdown
|
|
[gcode_macro CheckProbe]
|
|
variable_probe_state: 0
|
|
#default_parameter_action:
|
|
gcode:
|
|
Query_Probe
|
|
SetProbeState action={ ACTION }
|
|
|
|
|
|
# due to how templates are evaluated, we have query endstops in one
|
|
# macro and call another macro to make decisions based on the result
|
|
[gcode_macro SetProbeState]
|
|
#default_parameter_action:
|
|
gcode:
|
|
{% set P = printer.probe.last_query %}
|
|
{% set V = printer["gcode_macro User_Variables"].verbose %}
|
|
|
|
# If triggered (true), probe not attached
|
|
{% if P %}
|
|
SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_attached VALUE={ False }
|
|
|
|
# If not triggered (false), probe attached
|
|
{% else %}
|
|
SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_attached VALUE={ True }
|
|
{% endif %}
|
|
|
|
{% if params.ACTION == 'query' %}
|
|
SET_GCODE_VARIABLE MACRO=Probe_Variables VARIABLE=probe_state VALUE={ P }
|
|
{% endif %}
|
|
|
|
# if probe fails to attach/detach
|
|
# if not docked
|
|
{% if (not P and params.ACTION == 'dock') %}
|
|
{ action_raise_error("Probe dock failed!") }
|
|
{% endif %}
|
|
|
|
# if not attached
|
|
{% if P and params.ACTION == 'attach' %}
|
|
{ action_raise_error("Probe attach failed!") }
|
|
{% endif %}
|
|
|
|
# Park Toolhead Routine
|
|
[gcode_macro Park_Toolhead]
|
|
gcode:
|
|
{% set P = printer["gcode_macro User_Variables"].park_toolhead %}
|
|
{% set Px = printer["gcode_macro User_Variables"].parkposition_x %}
|
|
{% set Py = printer["gcode_macro User_Variables"].parkposition_y %}
|
|
{% set Pz = printer["gcode_macro User_Variables"].parkposition_z %}
|
|
{% set St = printer["gcode_macro User_Variables"].travel_speed * 60 %}
|
|
{% set V = printer["gcode_macro User_Variables"].verbose %}
|
|
|
|
{% if (P and 'xyz' in printer.toolhead.homed_axes) %}
|
|
{% if V %}
|
|
{ action_respond_info("Parking Toolhead") }
|
|
{% endif %}
|
|
G90
|
|
G1 X{Px} Y{Py} Z{Pz} F{St}
|
|
{% endif %}
|
|
|