---
title: Extruder Component
description: Documentation for the Extruder component which manages VFD-controlled extrusion with joystick and potentiometer control
keywords: extruder, VFD, joystick, potentiometer, torque monitoring, jam detection
---

# Extruder

**Path**: [`src/components/Extruder.h`](../src/components/Extruder.h)

**Revision History**: Initial documentation

The Extruder component provides control over a SAKO VFD-driven extruder motor. It supports both manual and automatic extrusion modes, with configurable speed and overload protection via potentiometers. The component integrates with a joystick for manual control and features jam detection based on motor torque feedback.

## Requirements

### Hardware
- SAKO VFD (Variable Frequency Drive) for motor control
- Joystick for manual control (optional)
- Potentiometer for speed control (optional)
- Potentiometer for overload threshold control (optional)

### Pins
- No direct pin requirements (manages components that have their own pin requirements)

## Features

- Dual operating modes: manual (joystick-controlled) and auto (timed operation)
- Configurable extrusion speed via potentiometer
- Adjustable overload/jam detection threshold
- Automatic jam detection based on motor torque feedback
- Modbus TCP interface for remote control and monitoring
- Safety features including maximum runtime limits
- Auto-mode activation via joystick hold

## Dependencies

- [Component](../src/Component.h) - Base component class
- [SAKO_VFD](../src/components/SAKO_VFD.h) - VFD motor controller
- [Pos3Analog](../src/components/3PosAnalog.h) - 3-position analog input (joystick)
- [POT](../src/components/POT.h) - Potentiometer interface
- [ModbusTCP](../src/modbus/ModbusTCP.h) - Modbus interface

```mermaid
graph TD
    Extruder --> Component
    Extruder --> SAKO_VFD
    Extruder --> Pos3Analog
    Extruder --> POT
    Extruder --> ModbusTCP
```

## Behaviour

The Extruder component implements a state machine with the following states:

```mermaid
stateDiagram-v2
    [*] --> IDLE
    IDLE --> EXTRUDING_MANUAL: Joystick UP
    EXTRUDING_MANUAL --> EXTRUDING_AUTO: Hold joystick UP for set duration
    EXTRUDING_MANUAL --> IDLE: Release joystick
    EXTRUDING_AUTO --> STOPPING: Auto time complete or manual stop
    EXTRUDING_MANUAL --> JAMMED: Torque exceeds threshold
    EXTRUDING_AUTO --> JAMMED: Torque exceeds threshold
    STOPPING --> IDLE: VFD stopped
    JAMMED --> RESETTING_JAM: Reset command
    RESETTING_JAM --> IDLE: Reset complete
```

## TODOs

### Performance

- Consider implementing acceleration/deceleration ramps for smoother operation
- Optimize VFD polling frequency based on system requirements
- Evaluate the potential for predictive jam detection using torque trend analysis

### Security

- Implement authentication for Modbus commands that control the extruder
- Consider adding physical emergency stop integration
- Validate input values from potentiometers to prevent unexpected behavior

### Compliance

- Ensure conformance with industrial safety standards for automated machinery
- Implement proper error handling and logging for diagnostic purposes
- Consider adding UL/CE compliance features if required for deployment environment

### Recommendations

- Add temperature monitoring to prevent motor overheating
- Consider implementing a material feed sensor to detect material availability
- Implement a maintenance tracking system based on operation hours
- Add visual feedback (e.g., LED indicators) for different states, especially jammed condition

## Example

The following example shows how to create and configure an Extruder component:

```cpp
#ifdef ENABLE_EXTRUDER
  // First ensure required components exist
  if (sakoVFD && joystick && speedPot && overloadPot) {
    extruder = new Extruder(
      this,             // owner
      sakoVFD,          // VFD controller
      joystick,         // joystick for manual control
      speedPot,         // potentiometer for speed control
      overloadPot       // potentiometer for overload threshold
    );
    
    if (extruder) {
      components.push_back(extruder);
      Log.infoln(F("Extruder initialized"));
    } else {
      Log.errorln(F("Extruder initialization failed"));
    }
  } else {
    Log.warningln(F("Extruder not initialized - missing dependencies"));
  }
#endif

```

### References