diff --git a/systems/flexibot/.gitignore b/systems/flexibot/.gitignore new file mode 100644 index 000000000..cd89859e3 --- /dev/null +++ b/systems/flexibot/.gitignore @@ -0,0 +1,7 @@ +/node_modules +/coverage +*.log +.DS_Store +~$*.SLDDRW +~$*.SLDPRT +~$*.SLDASM \ No newline at end of file diff --git a/systems/flexibot/.npmignore b/systems/flexibot/.npmignore new file mode 100644 index 000000000..4c9addac3 --- /dev/null +++ b/systems/flexibot/.npmignore @@ -0,0 +1,4 @@ +./docs +./scripts +./tests +./incoming \ No newline at end of file diff --git a/systems/flexibot/Gruntfile.js b/systems/flexibot/Gruntfile.js new file mode 100644 index 000000000..cdbcb07c6 --- /dev/null +++ b/systems/flexibot/Gruntfile.js @@ -0,0 +1,54 @@ +"use strict"; +Object.defineProperty(exports, "__esModule", { value: true }); +exports.grunt = void 0; +const read_1 = require("@plastichub/fs/read"); +const product_1 = require("./product"); +const getProducts = (branch) => { + const conf = (0, read_1.sync)("./config/machines.json", "json") || {}; + if (branch) { + conf['all'] = [...conf["extruders"]]; + return conf[branch] || []; + } + else { + return Object.values(conf).flat(); + } +}; +const grunt = (grunt) => { + grunt.initConfig({ + pkg: grunt.file.readJSON("package.json"), + sshexec: { + update: { + debug: true, + verbose: true, + commands: 'sh update-osr.sh' + } + } + }); + grunt.loadNpmTasks('grunt-parallel'); + grunt.loadNpmTasks("grunt-extend-config"); + const product_laser_tasks = []; + const product_cad_tasks = []; + const productTasks = (items) => { + items.forEach((i) => { + (0, product_1.productCADTask)(grunt, i, {}, product_cad_tasks); + //productLaserTask(grunt, i, {}, product_laser_tasks) + }); + }; + const _products = getProducts(grunt.option('branch') || "current"); + productTasks(_products); + grunt.registerTask('products_update', [ + 'products-cad', + //'products-laser' + ]); + grunt.registerTask('products_sync', [ + // 'sshexec:update' + ]); + grunt.registerTask('products_full', [ + 'products_update', + 'products_sync' + ]); + require("@plastichub/osr-tasks").initConfig(grunt, {}); +}; +exports.grunt = grunt; +module.exports = exports.grunt; +//# sourceMappingURL=data:application/json;base64,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 \ No newline at end of file diff --git a/systems/flexibot/LICENSE b/systems/flexibot/LICENSE new file mode 100644 index 000000000..b0e20f538 --- /dev/null +++ b/systems/flexibot/LICENSE @@ -0,0 +1,9 @@ +Copyright (c) All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/systems/flexibot/README.md b/systems/flexibot/README.md new file mode 100644 index 000000000..ccf0a3a8e --- /dev/null +++ b/systems/flexibot/README.md @@ -0,0 +1,68 @@ +# Flexi Print + +- [Forum Tracker](https://forum.osr-plastic.org/t/flexi-print/) + +## References + +- [https://www.dls-schmiersysteme.de/FlexxPump-400-DLS/235-411-210 - HWIN](https://www.dls-schmiersysteme.de/FlexxPump-400-DLS/235-411-210) +- [https://www.fruugo.es/one-set-lubricating-oil-pump-hand-actuated-cnc-router-electromagnetic-lubrication-pump-lubricator-s/E](https://www.fruugo.es/one-set-lubricating-oil-pump-hand-actuated-cnc-router-electromagnetic-lubrication-pump-lubricator-s/E) +-[https://www.central-lubrication.com/Lubrication-systems_1](https://www.central-lubrication.com/Lubrication-systems_1) +- [https://cncbote.de/en/product/yeong-dien-mfe-302fw-t4p-central-lubrication/ - TM-302-FW](https://cncbote.de/en/product/yeong-dien-mfe-302fw-t4p-central-lubrication/) + +### 4th Axis - Print (Low End / Opensource) + +- https://all3dp.com/4/prusa-4-axis-3d-printing/ +- https://reprap.org/forum/read.php?180,530001 +- https://hackaday.com/2022/03/13/5-axis-3d-printing-for-the-rest-of-us/ +- https://www.diabasemachines.com/post/top-5-benefits-of-rotary-3d-printing-or-4-axis-3d-printing +- https://reprap.org/forum/read.php?1,824119,824341 +- https://lauras3dprintingprojects.wordpress.com/rotary-3d-printer/ +- R360 - https://github.com/kory75/Marlin_360 +- https://forum.linuxcnc.org/additive-manufacturing +- [Marlin 5axis](https://github.com/DerAndere1/Marlin) +- [Marlin Fusion - 360 Post](https://github.com/flyfisher604/mpcnc_post_processor/blob/master/MPCNC.cps) +- [Slicers, tools, ...](https://xyzdims.com/) +- [3D Printing: Penta Axis (PAX) / 5 Axis Printing Option – Draft](https://xyzdims.com/2021/02/08/3d-printing-penta-axis-pax-5-axis-printing-option/) +- [Universal slicing](https://xyzdims.com/3d-printing/universalslicing/) + + +### Misc - Software & Libraries + +- [OpenSCAD - JS](https://github.com/Spiritdude/OpenSCAD.jscad) +- [Fusion 360 - Sample Mill Turning](https://a360.co/3qdRdAo) +- [AI toolpaths for robots](https://ai-build.com/) + +### STM - 446ZE + +- [buildroot\share\PlatformIO\variants\MARLIN_F446ZE\variant.h](buildroot\share\PlatformIO\variants\MARLIN_F446ZE\variant.h) + +### Tests & Setup + +## References - Suppliers (industrial) + +- [Fusion 360 - Sample Mill Turning](https://a360.co/3qdRdAo) + +## Parts + +- [SFU2005 - 1500mm - EBay](https://www.ebay.es/itm/313477317601?var=612322375062) +- [HGH20-1500 mm - EBay](https://www.ebay.es/itm/274741722317) +- [CEAD - Extrusion Heads](https://ceadgroup.com/) +- [Weber - Twin Extruders](https://www.hansweber.de/produkte-services/extrusion/baureihen/weber-konische-doppelschnecken) +- [MD - MDPH2 - Pellet Head Extruder](https://massivedimension.com/products/mdphe-v1-pellet-head-extruder-system) +- [dyzedesign Hotends & parts](https://dyzedesign.com/) +- [Wire-Laser Metal 3D Printing](https://meltio3d.com/) +- [Q5D - Manufacturing Cell](https://q5d.com/haas/technical-details/) +- [Pellet Extruder](https://extrudinaire.com/extrudinaire-pellet-extruder/) + +## HMI - TFT / OLED + +- [4D](https://4dsystems.com.au/products/4d-clearcore-adaptor/) + +## Servos & Controllers + +- [ClearPath - Nema23](https://teknic.com/model-info/CPM-SDSK-2321S-RLN/?model_voltage=75VDC) + - [ClearPath - Encoder Feedback - FPGA](https://www.cnczone.com/forums/servo-motors-drives/337240-possible-clearpath-servos-provide-encoder-feedback.html) +- [ClearPath - Nema34](https://teknic.com/model-info/CPM-SDHP-3446P-ELN/?model_voltage=75VDC) +- [ClearPath Cables](https://teknic.com/clearpath-accessories-guide/accessories-guide-sd-dc/#power-supplies) +- [Clear - Core - Motion Controller](https://teknic.com/products/io-motion-controller/) +- [DynaMotion - Windows Only - Shitty DotNet SDK](https://www.dynomotion.com/) diff --git a/systems/flexibot/cad/components/bt30/atc/Spindle_BT30_ATC.STEP b/systems/flexibot/cad/components/bt30/atc/Spindle_BT30_ATC.STEP new file mode 100644 index 000000000..bf98e1f0e --- /dev/null +++ b/systems/flexibot/cad/components/bt30/atc/Spindle_BT30_ATC.STEP @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b76514ad07e03bf58717f07c99f19e65419218903777599144345b6228bd152 +size 2548366 diff --git a/systems/flexibot/cad/components/bt30/atc/bt30 atc spindle.JPG 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b/systems/flexibot/cad/components/print-bed-sprcb-650/cad/200_PressPlate-Global-650.step new file mode 100644 index 000000000..093d9ded6 --- /dev/null +++ b/systems/flexibot/cad/components/print-bed-sprcb-650/cad/200_PressPlate-Global-650.step @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5886d237a6e3533d017af8aed847e84fac4ffc9acc96b86568e449c8d3e30d86 +size 1600386 diff --git a/systems/flexibot/cad/components/print-bed-sprcb-650/cad/200_pressplate-global-650.json b/systems/flexibot/cad/components/print-bed-sprcb-650/cad/200_pressplate-global-650.json new file mode 100644 index 000000000..8526a76d9 --- /dev/null +++ b/systems/flexibot/cad/components/print-bed-sprcb-650/cad/200_pressplate-global-650.json @@ -0,0 +1,37 @@ +[ + { + "File Path": "C:\\Users\\mc007\\Desktop\\ph3\\products\\products\\sheetpress\\components\\sprcb-650\\cad\\200_PressPlate-Global-650.SLDASM", + "IsLaser": "1" + }, + { + "File Path": "C:\\Users\\mc007\\Desktop\\ph3\\products\\products\\sheetpress\\components\\sprcb-650\\cad\\303_TriMount_x8_5mm_FERRO.SLDPRT" + }, + { + "File Path": "C:\\Users\\mc007\\Desktop\\ph3\\products\\products\\sheetpress\\components\\sprcb-650\\cad\\304_SideMount_x4_5mm_FERRO.SLDPRT" + }, + { + "File Path": "C:\\Users\\mc007\\Desktop\\ph3\\products\\products\\sheetpress\\components\\sprcb-650\\cad\\201_PlateCoverTri_x8_1mm_INOX.SLDPRT" + }, + { + "File Path": "C:\\Users\\mc007\\Desktop\\ph3\\products\\products\\sheetpress\\components\\sprcb-650\\cad\\8_Rib_x2_5mm_FERRO.SLDPRT" + }, + { + "File Path": "C:\\Users\\mc007\\Desktop\\ph3\\products\\products\\sheetpress\\components\\sprcb-650\\cad\\7_Rib_x2_5mm_FERRO.SLDPRT" + }, + { + "File Path": "C:\\Users\\mc007\\Desktop\\ph3\\products\\products\\sheetpress\\components\\sprcb-650\\cad\\6_Side_x2_5mm_FERRO.SLDPRT" + }, + { + "File Path": 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Axis2P3D',#1781,#1782,#1783) ; +#1813=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#1810,#1811,#1812) ; +#1842=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#1839,#1840,#1841) ; +#1891=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#1889,#1890,$) ; +#1910=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#1908,#1909,$) ; +#1926=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#1924,#1925,$) ; +#1939=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#1936,#1937,#1938) ; +#1943=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#1941,#1942,$) ; +#1959=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#1957,#1958,$) ; +#1973=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#1971,#1972,$) ; +#1987=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#1985,#1986,$) ; +#2022=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2020,#2021,$) ; +#2036=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2034,#2035,$) ; +#2043=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2041,#2042,$) ; +#2055=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2053,#2054,$) ; +#2064=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2062,#2063,$) ; +#2078=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2076,#2077,$) ; +#2097=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2095,#2096,$) ; +#2106=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2104,#2105,$) ; +#2120=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2118,#2119,$) ; +#2148=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2146,#2147,$) ; +#2162=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2160,#2161,$) ; +#2169=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2167,#2168,$) ; +#2183=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2180,#2181,#2182) ; +#2240=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2237,#2238,#2239) ; +#2251=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2249,#2250,$) ; +#2272=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2270,#2271,$) ; +#2285=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2282,#2283,#2284) ; +#2316=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2313,#2314,#2315) ; +#2327=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2325,#2326,$) ; +#2340=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2337,#2338,#2339) ; +#2364=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2361,#2362,#2363) ; +#2375=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2373,#2374,$) ; +#2388=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2385,#2386,#2387) ; +#2412=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2409,#2410,#2411) ; +#2423=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2421,#2422,$) ; +#2436=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2433,#2434,#2435) ; +#2460=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2457,#2458,#2459) ; +#2464=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2462,#2463,$) ; +#2477=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2474,#2475,#2476) ; +#2485=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2483,#2484,$) ; +#2494=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2492,#2493,$) ; +#2505=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2502,#2503,#2504) ; +#2519=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2517,#2518,$) ; +#2528=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2526,#2527,$) ; +#2537=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2535,#2536,$) ; +#2546=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2544,#2545,$) ; +#2560=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2558,#2559,$) ; +#2588=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2586,#2587,$) ; +#2602=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2600,#2601,$) ; +#2609=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2607,#2608,$) ; +#2630=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2628,#2629,$) ; +#2644=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2642,#2643,$) ; +#2651=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2649,#2650,$) ; +#2663=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2661,#2662,$) ; +#2672=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2670,#2671,$) ; +#2686=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2684,#2685,$) ; +#2707=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2704,#2705,#2706) ; +#2718=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2716,#2717,$) ; +#2737=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2735,#2736,$) ; +#2744=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2742,#2743,$) ; +#2758=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2755,#2756,#2757) ; +#2769=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2767,#2768,$) ; +#2788=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2786,#2787,$) ; +#2801=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2798,#2799,#2800) ; +#2810=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2808,#2809,$) ; +#2819=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2817,#2818,$) ; +#2830=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2827,#2828,#2829) ; +#2838=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2836,#2837,$) ; +#2847=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#2845,#2846,$) ; +#2858=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2855,#2856,#2857) ; +#2887=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2884,#2885,#2886) ; +#2909=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2906,#2907,#2908) ; +#2926=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2923,#2924,#2925) ; +#2943=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2940,#2941,#2942) ; +#2965=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#2962,#2963,#2964) ; +#2982=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#2979,#2980,#2981) ; +#3016=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3013,#3014,#3015) ; +#3045=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3042,#3043,#3044) ; +#3091=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3088,#3089,#3090) ; +#3105=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3102,#3103,#3104) ; +#3119=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3116,#3117,#3118) ; +#3133=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3130,#3131,#3132) ; +#3152=AXIS2_PLACEMENT_3D(' ',#3155,#3159,#3158) ; +#3153=AXIS2_PLACEMENT_3D(' ',#3154,#3157,#3156) ; +#3182=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3179,#3180,#3181) ; +#3186=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3184,#3185,$) ; +#3195=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3193,#3194,$) ; +#3202=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3200,#3201,$) ; +#3209=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3207,#3208,$) ; +#3221=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3219,#3220,$) ; +#3226=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3224,#3225,$) ; +#3239=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3236,#3237,#3238) ; +#3250=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3248,#3249,$) ; +#3269=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3267,#3268,$) ; +#3282=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3279,#3280,#3281) ; +#3286=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3284,#3285,$) ; +#3293=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3291,#3292,$) ; +#3300=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3298,#3299,$) ; +#3312=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3310,#3311,$) ; +#3325=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3322,#3323,#3324) ; +#3329=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3327,#3328,$) ; +#3345=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3343,#3344,$) ; +#3364=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3362,#3363,$) ; +#3369=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3367,#3368,$) ; +#3382=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3379,#3380,#3381) ; +#3386=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3384,#3385,$) ; +#3393=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3391,#3392,$) ; +#3400=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3398,#3399,$) ; +#3412=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3410,#3411,$) ; +#3431=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3429,#3430,$) ; +#3450=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3448,#3449,$) ; +#3463=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3460,#3461,#3462) ; +#3467=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3465,#3466,$) ; +#3474=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3472,#3473,$) ; +#3481=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3479,#3480,$) ; +#3493=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3491,#3492,$) ; +#3512=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3510,#3511,$) ; +#3531=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3529,#3530,$) ; +#3544=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#3541,#3542,#3543) ; +#3558=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#3555,#3556,#3557) ; +#3577=AXIS2_PLACEMENT_3D(' ',#3580,#3584,#3583) ; +#3578=AXIS2_PLACEMENT_3D(' ',#3579,#3582,#3581) ; +#3599=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3596,#3597,#3598) ; +#3603=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3601,#3602,$) ; +#3619=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3617,#3618,$) ; +#3638=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3636,#3637,$) ; +#3643=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3641,#3642,$) ; +#3656=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3653,#3654,#3655) ; +#3660=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3658,#3659,$) ; +#3667=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3665,#3666,$) ; +#3674=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3672,#3673,$) ; +#3686=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3684,#3685,$) ; +#3699=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3696,#3697,#3698) ; +#3703=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3701,#3702,$) ; +#3719=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3717,#3718,$) ; +#3738=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3736,#3737,$) ; +#3743=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3741,#3742,$) ; +#3756=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3753,#3754,#3755) ; +#3760=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3758,#3759,$) ; +#3767=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3765,#3766,$) ; +#3774=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3772,#3773,$) ; +#3786=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3784,#3785,$) ; +#3799=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#3796,#3797,#3798) ; +#3810=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3808,#3809,$) ; +#3829=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3827,#3828,$) ; +#3842=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3839,#3840,#3841) ; +#3846=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3844,#3845,$) ; +#3853=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3851,#3852,$) ; +#3860=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3858,#3859,$) ; +#3872=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3870,#3871,$) ; +#3891=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3889,#3890,$) ; +#3910=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3908,#3909,$) ; +#3923=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#3920,#3921,#3922) ; +#3927=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3925,#3926,$) ; +#3936=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3934,#3935,$) ; +#3941=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3939,#3940,$) ; +#3953=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#3951,#3952,$) ; +#3966=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#3963,#3964,#3965) ; +#3980=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#3977,#3978,#3979) ; +#3999=AXIS2_PLACEMENT_3D(' ',#4002,#4006,#4005) ; +#4000=AXIS2_PLACEMENT_3D(' ',#4001,#4004,#4003) ; +#4021=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#4018,#4019,#4020) ; +#4025=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4023,#4024,$) ; +#4034=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4032,#4033,$) ; +#4041=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4039,#4040,$) ; +#4062=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4060,#4061,$) ; +#4080=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4078,#4079,$) ; +#4101=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4099,#4100,$) ; +#4110=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4108,#4109,$) ; +#4117=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4115,#4116,$) ; +#4138=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4136,#4137,$) ; +#4145=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4143,#4144,$) ; +#4166=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4164,#4165,$) ; +#4184=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4182,#4183,$) ; +#4205=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4203,#4204,$) ; +#4212=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4210,#4211,$) ; +#4233=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4231,#4232,$) ; +#4273=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4271,#4272,$) ; +#4342=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4339,#4340,#4341) ; +#4346=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4344,#4345,$) ; +#4355=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4353,#4354,$) ; +#4379=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4376,#4377,#4378) ; +#4383=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4381,#4382,$) ; +#4392=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4390,#4391,$) ; +#4416=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4413,#4414,#4415) ; +#4420=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4418,#4419,$) ; +#4429=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4427,#4428,$) ; +#4453=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4450,#4451,#4452) ; +#4457=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4455,#4456,$) ; +#4466=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4464,#4465,$) ; +#4495=AXIS2_PLACEMENT_3D(' ',#4498,#4502,#4501) ; +#4496=AXIS2_PLACEMENT_3D(' ',#4497,#4500,#4499) ; +#4517=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#4514,#4515,#4516) ; +#4521=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4519,#4520,$) ; +#4530=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4528,#4529,$) ; +#4537=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4535,#4536,$) ; +#4558=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4556,#4557,$) ; +#4576=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4574,#4575,$) ; +#4597=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4595,#4596,$) ; +#4606=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4604,#4605,$) ; +#4613=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4611,#4612,$) ; +#4634=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4632,#4633,$) ; +#4641=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4639,#4640,$) ; +#4662=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4660,#4661,$) ; +#4680=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4678,#4679,$) ; +#4701=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4699,#4700,$) ; +#4708=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4706,#4707,$) ; +#4729=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4727,#4728,$) ; +#4769=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4767,#4768,$) ; +#4838=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4835,#4836,#4837) ; +#4842=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4840,#4841,$) ; +#4851=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4849,#4850,$) ; +#4875=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4872,#4873,#4874) ; +#4879=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4877,#4878,$) ; +#4888=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4886,#4887,$) ; +#4912=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4909,#4910,#4911) ; +#4916=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4914,#4915,$) ; +#4925=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4923,#4924,$) ; +#4949=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#4946,#4947,#4948) ; +#4953=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4951,#4952,$) ; +#4962=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#4960,#4961,$) ; +#4991=AXIS2_PLACEMENT_3D(' ',#4994,#4998,#4997) ; +#4992=AXIS2_PLACEMENT_3D(' ',#4993,#4996,#4995) ; +#5004=AXIS2_PLACEMENT_3D(' ',#5007,#5011,#5010) ; +#5005=AXIS2_PLACEMENT_3D(' ',#5006,#5009,#5008) ; +#5026=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#5023,#5024,#5025) ; +#5039=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5037,#5038,$) ; +#5053=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5051,#5052,$) ; +#5065=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5063,#5064,$) ; +#5070=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5068,#5069,$) ; +#5083=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#5080,#5081,#5082) ; +#5096=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5094,#5095,$) ; +#5110=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5108,#5109,$) ; +#5122=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5120,#5121,$) ; +#5127=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5125,#5126,$) ; +#5140=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#5137,#5138,#5139) ; +#5169=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#5166,#5167,#5168) ; +#5316=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#5313,#5314,#5315) ; +#5329=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5327,#5328,$) ; +#5343=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5341,#5342,$) ; +#5355=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5353,#5354,$) ; +#5360=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5358,#5359,$) ; +#5373=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5370,#5371,#5372) ; +#5377=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5375,#5376,$) ; +#5386=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5384,#5385,$) ; +#5401=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#5398,#5399,#5400) ; +#5423=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#5420,#5421,#5422) ; +#5435=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5432,#5433,#5434) ; +#5495=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5492,#5493,#5494) ; +#5527=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5524,#5525,#5526) ; +#5551=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5548,#5549,#5550) ; +#5575=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5572,#5573,#5574) ; +#5599=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5596,#5597,#5598) ; +#5623=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5620,#5621,#5622) ; +#5641=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5638,#5639,#5640) ; +#5661=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5658,#5659,#5660) ; +#5677=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5674,#5675,#5676) ; +#5693=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5690,#5691,#5692) ; +#5709=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5706,#5707,#5708) ; +#5725=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5722,#5723,#5724) ; +#5742=AXIS2_PLACEMENT_3D(' ',#5745,#5749,#5748) ; +#5743=AXIS2_PLACEMENT_3D(' ',#5744,#5747,#5746) ; +#5764=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#5761,#5762,#5763) ; +#5777=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5775,#5776,$) ; +#5791=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5789,#5790,$) ; +#5804=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#5801,#5802,#5803) ; +#5817=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5815,#5816,$) ; +#5822=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5820,#5821,$) ; +#5835=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#5832,#5833,#5834) ; +#5839=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5837,#5838,$) ; +#5853=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5851,#5852,$) ; +#5866=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#5863,#5864,#5865) ; +#5870=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5868,#5869,$) ; +#5875=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#5873,#5874,$) ; +#5888=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#5885,#5886,#5887) ; +#6030=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6027,#6028,#6029) ; +#6034=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6032,#6033,$) ; +#6061=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6058,#6059,#6060) ; +#6085=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6082,#6083,#6084) ; +#6096=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6094,#6095,$) ; +#6109=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6106,#6107,#6108) ; +#6120=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6118,#6119,$) ; +#6152=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6149,#6150,#6151) ; +#6156=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6154,#6155,$) ; +#6176=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6173,#6174,#6175) ; +#6200=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6197,#6198,#6199) ; +#6213=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6211,#6212,$) ; +#6218=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6216,#6217,$) ; +#6231=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6228,#6229,#6230) ; +#6242=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6240,#6241,$) ; +#6255=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6252,#6253,#6254) ; +#6259=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6257,#6258,$) ; +#6286=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6283,#6284,#6285) ; +#6303=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6300,#6301,#6302) ; +#6323=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6321,#6322,$) ; +#6332=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6330,#6331,$) ; +#6339=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6337,#6338,$) ; +#6346=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6344,#6345,$) ; +#6365=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6362,#6363,#6364) ; +#6387=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6384,#6385,#6386) ; +#6404=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6401,#6402,#6403) ; +#6421=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6418,#6419,#6420) ; +#6433=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6430,#6431,#6432) ; +#6446=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6444,#6445,$) ; +#6460=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6458,#6459,$) ; +#6473=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6470,#6471,#6472) ; +#6495=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6492,#6493,#6494) ; +#6512=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6509,#6510,#6511) ; +#6525=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6523,#6524,$) ; +#6539=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6537,#6538,$) ; +#6552=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6549,#6550,#6551) ; +#6583=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6580,#6581,#6582) ; +#6587=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6585,#6586,$) ; +#6601=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6599,#6600,$) ; +#6614=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6611,#6612,#6613) ; +#6645=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6642,#6643,#6644) ; +#6649=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6647,#6648,$) ; +#6663=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6661,#6662,$) ; +#6676=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6673,#6674,#6675) ; +#6707=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6704,#6705,#6706) ; +#6711=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6709,#6710,$) ; +#6718=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6716,#6717,$) ; +#6738=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#6735,#6736,#6737) ; +#6760=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6757,#6758,#6759) ; +#6764=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6762,#6763,$) ; +#6780=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6778,#6779,$) ; +#6800=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6797,#6798,#6799) ; +#6804=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6802,#6803,$) ; +#6818=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6816,#6817,$) ; +#6831=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6828,#6829,#6830) ; +#6835=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6833,#6834,$) ; +#6849=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6847,#6848,$) ; +#6862=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6859,#6860,#6861) ; +#6866=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6864,#6865,$) ; +#6871=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6869,#6870,$) ; +#6884=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6881,#6882,#6883) ; +#6888=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6886,#6887,$) ; +#6904=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6902,#6903,$) ; +#6924=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6921,#6922,#6923) ; +#6928=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6926,#6927,$) ; +#6942=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6940,#6941,$) ; +#6955=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6952,#6953,#6954) ; +#6959=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6957,#6958,$) ; +#6973=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6971,#6972,$) ; +#6986=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#6983,#6984,#6985) ; +#6990=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6988,#6989,$) ; +#6995=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#6993,#6994,$) ; +#7008=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7005,#7006,#7007) ; +#7012=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7010,#7011,$) ; +#7028=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7026,#7027,$) ; +#7048=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7045,#7046,#7047) ; +#7052=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7050,#7051,$) ; +#7066=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7064,#7065,$) ; +#7079=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7076,#7077,#7078) ; +#7083=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7081,#7082,$) ; +#7097=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7095,#7096,$) ; +#7110=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7107,#7108,#7109) ; +#7114=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7112,#7113,$) ; +#7119=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7117,#7118,$) ; +#7132=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7129,#7130,#7131) ; +#7136=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7134,#7135,$) ; +#7152=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7150,#7151,$) ; +#7172=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7169,#7170,#7171) ; +#7176=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7174,#7175,$) ; +#7190=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7188,#7189,$) ; +#7203=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7200,#7201,#7202) ; +#7207=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7205,#7206,$) ; +#7221=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7219,#7220,$) ; +#7234=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7231,#7232,#7233) ; +#7238=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7236,#7237,$) ; +#7243=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7241,#7242,$) ; +#7256=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#7253,#7254,#7255) ; +#7287=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#7284,#7285,#7286) ; +#7298=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7296,#7297,$) ; +#7347=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#7344,#7345,#7346) ; +#7371=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#7368,#7369,#7370) ; +#7427=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7424,#7425,#7426) ; +#7444=AXIS2_PLACEMENT_3D(' ',#7447,#7451,#7450) ; +#7445=AXIS2_PLACEMENT_3D(' ',#7446,#7449,#7448) ; +#7466=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7463,#7464,#7465) ; +#7470=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7468,#7469,$) ; +#7486=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7484,#7485,$) ; +#7506=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#7503,#7504,#7505) ; +#7510=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7508,#7509,$) ; +#7521=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7518,#7519,#7520) ; +#7525=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7523,#7524,$) ; +#7538=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#7535,#7536,#7537) ; +#7748=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7745,#7746,#7747) ; +#7772=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7770,#7771,$) ; +#7785=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7782,#7783,#7784) ; +#7789=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7787,#7788,$) ; +#7818=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7815,#7816,#7817) ; +#7844=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#7841,#7842,#7843) ; +#7949=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7946,#7947,#7948) ; +#7979=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#7976,#7977,#7978) ; +#7983=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#7981,#7982,$) ; +#8012=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8009,#8010,#8011) ; +#8038=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#8035,#8036,#8037) ; +#8143=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8140,#8141,#8142) ; +#8178=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8175,#8176,#8177) ; +#8189=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8187,#8188,$) ; +#8203=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8200,#8201,#8202) ; +#8207=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8205,#8206,$) ; +#8236=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8233,#8234,#8235) ; +#8262=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#8259,#8260,#8261) ; +#8367=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8364,#8365,#8366) ; +#8397=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8394,#8395,#8396) ; +#8417=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8415,#8416,$) ; +#8430=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8427,#8428,#8429) ; +#8456=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#8453,#8454,#8455) ; +#8561=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8558,#8559,#8560) ; +#8578=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#8575,#8576,#8577) ; +#8684=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8682,#8683,$) ; +#8698=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8696,#8697,$) ; +#8711=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8709,#8710,$) ; +#8724=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8722,#8723,$) ; +#8738=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8736,#8737,$) ; +#8747=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8745,#8746,$) ; +#8756=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8754,#8755,$) ; +#8765=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8763,#8764,$) ; +#8774=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8772,#8773,$) ; +#8783=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8781,#8782,$) ; +#8792=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8790,#8791,$) ; +#8801=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8799,#8800,$) ; +#8812=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8809,#8810,#8811) ; +#8816=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#8814,#8815,$) ; +#8998=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#8995,#8996,#8997) ; +#9002=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#9000,#9001,$) ; +#9167=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#9164,#9165,#9166) ; +#9171=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#9169,#9170,$) ; +#9357=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#9354,#9355,#9356) ; +#9361=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#9359,#9360,$) ; +#9530=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#9527,#9528,#9529) ; +#9695=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#9692,#9693,#9694) ; +#9699=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#9697,#9698,$) ; +#9719=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#9716,#9717,#9718) ; +#9877=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#9874,#9875,#9876) ; +#9881=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#9879,#9880,$) ; +#9901=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#9898,#9899,#9900) ; +#10062=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10059,#10060,#10061) ; +#10066=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10064,#10065,$) ; +#10086=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#10083,#10084,#10085) ; +#10247=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10244,#10245,#10246) ; +#10251=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10249,#10250,$) ; +#10264=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10261,#10262,#10263) ; +#10268=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10266,#10267,$) ; +#10295=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10292,#10293,#10294) ; +#10299=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10297,#10298,$) ; +#10312=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10309,#10310,#10311) ; +#10316=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10314,#10315,$) ; +#10343=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10340,#10341,#10342) ; +#10347=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10345,#10346,$) ; +#10360=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10357,#10358,#10359) ; +#10364=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10362,#10363,$) ; +#10391=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10388,#10389,#10390) ; +#10395=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10393,#10394,$) ; +#10408=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10405,#10406,#10407) ; +#10412=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10410,#10411,$) ; +#10439=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10436,#10437,#10438) ; +#10443=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10441,#10442,$) ; +#10456=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#10453,#10454,#10455) ; +#10460=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10458,#10459,$) ; +#10473=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#10470,#10471,#10472) ; +#10477=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10475,#10476,$) ; +#10490=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10487,#10488,#10489) ; +#10517=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10515,#10516,$) ; +#10545=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10543,#10544,$) ; +#10577=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10575,#10576,$) ; +#10598=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#10595,#10596,#10597) ; +#10618=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10616,#10617,$) ; +#10650=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10648,#10649,$) ; +#10671=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10669,#10670,$) ; +#10676=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10674,#10675,$) ; +#10697=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#10694,#10695,#10696) ; +#10701=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10699,#10700,$) ; +#10714=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#10711,#10712,#10713) ; +#10726=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#10723,#10724,#10725) ; +#10730=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10728,#10729,$) ; +#10743=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#10740,#10741,#10742) ; +#10755=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#10752,#10753,#10754) ; +#10759=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10757,#10758,$) ; +#10772=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#10769,#10770,#10771) ; +#10784=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#10781,#10782,#10783) ; +#10788=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10786,#10787,$) ; +#10803=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10801,#10802,$) ; +#10826=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#10823,#10824,#10825) ; +#10853=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#10850,#10851,#10852) ; +#10857=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10855,#10856,$) ; +#10872=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#10870,#10871,$) ; +#10886=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#10883,#10884,#10885) ; +#10980=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#10977,#10978,#10979) ; +#11084=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#11081,#11082,#11083) ; +#11104=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11102,#11103,$) ; +#11118=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#11115,#11116,#11117) ; +#11145=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#11142,#11143,#11144) ; +#11149=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11147,#11148,$) ; +#11164=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11162,#11163,$) ; +#11178=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#11175,#11176,#11177) ; +#11191=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11189,#11190,$) ; +#11217=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11215,#11216,$) ; +#11224=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11222,#11223,$) ; +#11231=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11229,#11230,$) ; +#11250=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#11247,#11248,#11249) ; +#11254=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11252,#11253,$) ; +#11267=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#11264,#11265,#11266) ; +#11271=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11269,#11270,$) ; +#11276=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11274,#11275,$) ; +#11281=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11279,#11280,$) ; +#11296=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11294,#11295,$) ; +#11315=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11313,#11314,$) ; +#11322=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11320,#11321,$) ; +#11398=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11396,#11397,$) ; +#11415=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11413,#11414,$) ; +#11422=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11420,#11421,$) ; +#11468=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11466,#11467,$) ; +#11484=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11482,#11483,$) ; +#11498=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11496,#11497,$) ; +#11512=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11510,#11511,$) ; +#11550=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11548,#11549,$) ; +#11603=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11601,#11602,$) ; +#11610=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11608,#11609,$) ; +#11636=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11634,#11635,$) ; +#11689=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11687,#11688,$) ; +#11696=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11694,#11695,$) ; +#11724=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#11721,#11722,#11723) ; +#11728=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11726,#11727,$) ; +#11741=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#11738,#11739,#11740) ; +#11752=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11750,#11751,$) ; +#11766=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11764,#11765,$) ; +#11773=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11771,#11772,$) ; +#11780=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11778,#11779,$) ; +#11799=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#11796,#11797,#11798) ; +#11803=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11801,#11802,$) ; +#11818=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11816,#11817,$) ; +#11841=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#11838,#11839,#11840) ; +#11868=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#11865,#11866,#11867) ; +#11872=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11870,#11871,$) ; +#11887=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#11885,#11886,$) ; +#11901=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#11898,#11899,#11900) ; +#11995=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#11992,#11993,#11994) ; +#12015=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12013,#12014,$) ; +#12029=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12026,#12027,#12028) ; +#12056=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12053,#12054,#12055) ; +#12060=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12058,#12059,$) ; +#12082=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#12079,#12080,#12081) ; +#12086=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12084,#12085,$) ; +#12099=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12096,#12097,#12098) ; +#12110=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12108,#12109,$) ; +#12124=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12122,#12123,$) ; +#12131=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12129,#12130,$) ; +#12138=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12136,#12137,$) ; +#12157=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12154,#12155,#12156) ; +#12161=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12159,#12160,$) ; +#12176=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12174,#12175,$) ; +#12198=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12195,#12196,#12197) ; +#12225=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12222,#12223,#12224) ; +#12229=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12227,#12228,$) ; +#12244=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12242,#12243,$) ; +#12258=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12255,#12256,#12257) ; +#12352=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12349,#12350,#12351) ; +#12372=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12370,#12371,$) ; +#12386=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12383,#12384,#12385) ; +#12413=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12410,#12411,#12412) ; +#12417=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12415,#12416,$) ; +#12440=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#12437,#12438,#12439) ; +#12444=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12442,#12443,$) ; +#12457=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12454,#12455,#12456) ; +#12468=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12466,#12467,$) ; +#12482=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12480,#12481,$) ; +#12489=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12487,#12488,$) ; +#12496=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12494,#12495,$) ; +#12515=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12512,#12513,#12514) ; +#12519=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12517,#12518,$) ; +#12549=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12546,#12547,#12548) ; +#12576=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12573,#12574,#12575) ; +#12580=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12578,#12579,$) ; +#12602=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12599,#12600,#12601) ; +#12614=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12612,#12613,$) ; +#12636=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#12633,#12634,#12635) ; +#12663=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#12660,#12661,#12662) ; +#12675=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12673,#12674,$) ; +#12830=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#12827,#12828,#12829) ; +#12842=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12840,#12841,$) ; +#12857=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12855,#12856,$) ; +#12934=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#12931,#12932,#12933) ; +#12946=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12944,#12945,$) ; +#12969=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#12966,#12967,#12968) ; +#12981=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12979,#12980,$) ; +#12996=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#12994,#12995,$) ; +#13073=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#13070,#13071,#13072) ; +#13085=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13083,#13084,$) ; +#13108=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13105,#13106,#13107) ; +#13125=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13122,#13123,#13124) ; +#13144=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13141,#13142,#13143) ; +#13161=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13158,#13159,#13160) ; +#13178=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13175,#13176,#13177) ; +#13195=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13192,#13193,#13194) ; +#13214=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13211,#13212,#13213) ; +#13238=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13235,#13236,#13237) ; +#13255=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13252,#13253,#13254) ; +#13272=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13269,#13270,#13271) ; +#13289=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13286,#13287,#13288) ; +#13308=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13305,#13306,#13307) ; +#13320=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13317,#13318,#13319) ; +#13331=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13329,#13330,$) ; +#13351=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13348,#13349,#13350) ; +#13355=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13353,#13354,$) ; +#13375=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13372,#13373,#13374) ; +#13379=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13377,#13378,$) ; +#13399=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13396,#13397,#13398) ; +#13403=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13401,#13402,$) ; +#13423=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13420,#13421,#13422) ; +#13447=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13444,#13445,#13446) ; +#13471=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13468,#13469,#13470) ; +#13475=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13473,#13474,$) ; +#13495=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13492,#13493,#13494) ; +#13519=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13516,#13517,#13518) ; +#13536=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13533,#13534,#13535) ; +#13567=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13564,#13565,#13566) ; +#13591=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13588,#13589,#13590) ; +#13595=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13593,#13594,$) ; +#13615=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13612,#13613,#13614) ; +#13619=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13617,#13618,$) ; +#13639=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13636,#13637,#13638) ; +#13643=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13641,#13642,$) ; +#13663=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13660,#13661,#13662) ; +#13667=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13665,#13666,$) ; +#13687=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13684,#13685,#13686) ; +#13711=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13708,#13709,#13710) ; +#13735=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13732,#13733,#13734) ; +#13739=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13737,#13738,$) ; +#13752=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13749,#13750,#13751) ; +#13771=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13769,#13770,$) ; +#13801=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13798,#13799,#13800) ; +#13884=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#13881,#13882,#13883) ; +#13896=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#13894,#13895,$) ; +#13926=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#13923,#13924,#13925) ; +#14009=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14006,#14007,#14008) ; +#14013=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14011,#14012,$) ; +#14051=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14048,#14049,#14050) ; +#14134=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14131,#14132,#14133) ; +#14146=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14144,#14145,$) ; +#14176=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14173,#14174,#14175) ; +#14252=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14249,#14250,#14251) ; +#14263=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14261,#14262,$) ; +#14283=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14280,#14281,#14282) ; +#14307=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14304,#14305,#14306) ; +#14331=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14328,#14329,#14330) ; +#14335=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14333,#14334,$) ; +#14355=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14352,#14353,#14354) ; +#14379=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14376,#14377,#14378) ; +#14403=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14400,#14401,#14402) ; +#14407=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14405,#14406,$) ; +#14427=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14424,#14425,#14426) ; +#14431=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14429,#14430,$) ; +#14451=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14448,#14449,#14450) ; +#14455=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14453,#14454,$) ; +#14468=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14465,#14466,#14467) ; +#14479=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14477,#14478,$) ; +#14499=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14496,#14497,#14498) ; +#14523=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14520,#14521,#14522) ; +#14547=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14544,#14545,#14546) ; +#14551=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14549,#14550,$) ; +#14571=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14568,#14569,#14570) ; +#14595=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14592,#14593,#14594) ; +#14619=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14616,#14617,#14618) ; +#14623=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14621,#14622,$) ; +#14643=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14640,#14641,#14642) ; +#14647=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14645,#14646,$) ; +#14667=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14664,#14665,#14666) ; +#14671=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#14669,#14670,$) ; +#14684=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14681,#14682,#14683) ; +#14701=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14698,#14699,#14700) ; +#14720=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14717,#14718,#14719) ; +#14737=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14734,#14735,#14736) ; +#14754=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14751,#14752,#14753) ; +#14771=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14768,#14769,#14770) ; +#14790=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14787,#14788,#14789) ; +#14802=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14799,#14800,#14801) ; +#14819=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14816,#14817,#14818) ; +#14838=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14835,#14836,#14837) ; +#14855=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14852,#14853,#14854) ; +#14872=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14869,#14870,#14871) ; +#14889=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#14886,#14887,#14888) ; +#14908=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14905,#14906,#14907) ; +#14920=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14917,#14918,#14919) ; +#14932=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#14929,#14930,#14931) ; +#15059=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#15056,#15057,#15058) ; +#15063=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15061,#15062,$) ; +#15187=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#15184,#15185,#15186) ; +#15199=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15197,#15198,$) ; +#15270=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#15267,#15268,#15269) ; +#15274=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15272,#15273,$) ; +#15398=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#15395,#15396,#15397) ; +#15402=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15400,#15401,$) ; +#15456=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#15453,#15454,#15455) ; +#15473=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#15470,#15471,#15472) ; +#15519=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#15516,#15517,#15518) ; +#15598=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#15595,#15596,#15597) ; +#15674=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#15671,#15672,#15673) ; +#15744=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#15741,#15742,#15743) ; +#15788=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#15785,#15786,#15787) ; +#15805=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#15802,#15803,#15804) ; +#15826=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#15823,#15824,#15825) ; +#15830=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15828,#15829,$) ; +#15846=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15844,#15845,$) ; +#15866=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#15863,#15864,#15865) ; +#15870=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15868,#15869,$) ; +#15881=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#15878,#15879,#15880) ; +#15885=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15883,#15884,$) ; +#15898=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#15895,#15896,#15897) ; +#15902=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15900,#15901,$) ; +#15911=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15909,#15910,$) ; +#15924=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15922,#15923,$) ; +#15933=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15931,#15932,$) ; +#15942=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15940,#15941,$) ; +#15951=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15949,#15950,$) ; +#15960=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15958,#15959,$) ; +#15969=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15967,#15968,$) ; +#15997=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#15995,#15996,$) ; +#16034=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16032,#16033,$) ; +#16041=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16039,#16040,$) ; +#16090=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16088,#16089,$) ; +#16127=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16125,#16126,$) ; +#16164=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16162,#16163,$) ; +#16201=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16199,#16200,$) ; +#16238=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16236,#16237,$) ; +#16275=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16273,#16274,$) ; +#16312=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16310,#16311,$) ; +#16349=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16347,#16348,$) ; +#16386=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16384,#16385,$) ; +#16423=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16421,#16422,$) ; +#16460=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16458,#16459,$) ; +#16507=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16505,#16506,$) ; +#16514=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16512,#16513,$) ; +#16536=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#16533,#16534,#16535) ; +#16554=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16552,#16553,$) ; +#16588=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16586,#16587,$) ; +#16622=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16620,#16621,$) ; +#16656=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16654,#16655,$) ; +#16690=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16688,#16689,$) ; +#16715=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#16712,#16713,#16714) ; +#16719=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16717,#16718,$) ; +#16753=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16751,#16752,$) ; +#16787=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16785,#16786,$) ; +#16821=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16819,#16820,$) ; +#16843=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#16840,#16841,#16842) ; +#16854=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16852,#16853,$) ; +#16874=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#16871,#16872,#16873) ; +#16878=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16876,#16877,$) ; +#16891=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#16888,#16889,#16890) ; +#16902=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16900,#16901,$) ; +#16922=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#16919,#16920,#16921) ; +#16926=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16924,#16925,$) ; +#16939=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#16936,#16937,#16938) ; +#16950=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16948,#16949,$) ; +#16970=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#16967,#16968,#16969) ; +#16974=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16972,#16973,$) ; +#16987=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#16984,#16985,#16986) ; +#16998=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#16996,#16997,$) ; +#17018=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17015,#17016,#17017) ; +#17042=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17039,#17040,#17041) ; +#17046=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17044,#17045,$) ; +#17066=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17063,#17064,#17065) ; +#17083=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17080,#17081,#17082) ; +#17094=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17092,#17093,$) ; +#17114=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17111,#17112,#17113) ; +#17138=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17135,#17136,#17137) ; 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Axis2P3D',#17351,#17352,#17353) ; +#17378=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17375,#17376,#17377) ; +#17382=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17380,#17381,$) ; +#17402=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17399,#17400,#17401) ; +#17419=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17416,#17417,#17418) ; +#17430=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17428,#17429,$) ; +#17450=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17447,#17448,#17449) ; +#17474=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17471,#17472,#17473) ; +#17478=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17476,#17477,$) ; +#17498=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17495,#17496,#17497) ; +#17515=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17512,#17513,#17514) ; +#17526=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17524,#17525,$) ; +#17546=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17543,#17544,#17545) ; +#17570=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17567,#17568,#17569) ; +#17574=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17572,#17573,$) ; 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Axis2P3D',#17812,#17813,$) ; +#17834=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17831,#17832,#17833) ; +#17858=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17855,#17856,#17857) ; +#17862=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17860,#17861,$) ; +#17882=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17879,#17880,#17881) ; +#17899=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17896,#17897,#17898) ; +#17910=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17908,#17909,$) ; +#17930=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17927,#17928,#17929) ; +#17954=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17951,#17952,#17953) ; +#17958=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#17956,#17957,$) ; +#17978=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#17975,#17976,#17977) ; +#17995=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#17992,#17993,#17994) ; +#18006=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#18004,#18005,$) ; +#18026=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#18023,#18024,#18025) ; +#18050=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#18047,#18048,#18049) ; 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+#32375=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32373,#32374,$) ; +#32391=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32389,#32390,$) ; +#32411=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32408,#32409,#32410) ; +#32424=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32422,#32423,$) ; +#32429=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32427,#32428,$) ; +#32442=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32439,#32440,#32441) ; +#32446=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32444,#32445,$) ; +#32453=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32451,#32452,$) ; +#32473=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32470,#32471,#32472) ; +#32477=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32475,#32476,$) ; +#32482=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32480,#32481,$) ; +#32495=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32492,#32493,#32494) ; +#32499=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32497,#32498,$) ; +#32515=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32513,#32514,$) ; +#32535=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32532,#32533,#32534) ; +#32548=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32546,#32547,$) ; +#32553=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32551,#32552,$) ; +#32566=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32563,#32564,#32565) ; +#32570=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32568,#32569,$) ; +#32577=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32575,#32576,$) ; +#32597=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32594,#32595,#32596) ; +#32601=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32599,#32600,$) ; +#32606=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32604,#32605,$) ; +#32619=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32616,#32617,#32618) ; +#32623=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32621,#32622,$) ; +#32639=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32637,#32638,$) ; +#32659=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32656,#32657,#32658) ; +#32672=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32670,#32671,$) ; +#32677=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32675,#32676,$) ; +#32690=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32687,#32688,#32689) ; +#32694=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32692,#32693,$) ; +#32701=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32699,#32700,$) ; +#32721=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32718,#32719,#32720) ; +#32725=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32723,#32724,$) ; +#32730=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32728,#32729,$) ; +#32743=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32740,#32741,#32742) ; +#32747=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32745,#32746,$) ; +#32763=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32761,#32762,$) ; +#32783=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32780,#32781,#32782) ; +#32796=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32794,#32795,$) ; +#32801=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32799,#32800,$) ; +#32814=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32811,#32812,#32813) ; +#32818=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32816,#32817,$) ; +#32825=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32823,#32824,$) ; +#32845=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32842,#32843,#32844) ; +#32849=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32847,#32848,$) ; +#32854=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32852,#32853,$) ; +#32867=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32864,#32865,#32866) ; +#32871=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32869,#32870,$) ; +#32887=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32885,#32886,$) ; +#32907=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32904,#32905,#32906) ; +#32920=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32918,#32919,$) ; +#32925=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32923,#32924,$) ; +#32938=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32935,#32936,#32937) ; +#32942=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32940,#32941,$) ; +#32949=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32947,#32948,$) ; +#32969=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#32966,#32967,#32968) ; +#32973=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32971,#32972,$) ; +#32978=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#32976,#32977,$) ; +#32991=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#32988,#32989,#32990) ; +#33022=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33019,#33020,#33021) ; +#33053=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33050,#33051,#33052) ; +#33106=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33103,#33104,#33105) ; +#33159=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33156,#33157,#33158) ; +#33163=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33161,#33162,$) ; +#33170=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33168,#33169,$) ; +#33190=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33187,#33188,#33189) ; +#33203=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33201,#33202,$) ; +#33208=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33206,#33207,$) ; +#33221=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33218,#33219,#33220) ; +#33238=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33235,#33236,#33237) ; +#33251=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33249,#33250,$) ; +#33265=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33263,#33264,$) ; +#33278=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33275,#33276,#33277) ; +#33282=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33280,#33281,$) ; +#33298=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33296,#33297,$) ; +#33318=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33315,#33316,#33317) ; +#33340=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33337,#33338,#33339) ; +#33357=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33354,#33355,#33356) ; +#33388=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33385,#33386,#33387) ; +#33392=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33390,#33391,$) ; +#33406=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33404,#33405,$) ; +#33419=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33416,#33417,#33418) ; +#33488=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33485,#33486,#33487) ; +#33492=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33490,#33491,$) ; +#33506=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33504,#33505,$) ; +#33574=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33571,#33572,#33573) ; +#33578=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33576,#33577,$) ; +#33594=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33592,#33593,$) ; +#33614=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33611,#33612,#33613) ; +#33645=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33642,#33643,#33644) ; +#33658=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33656,#33657,$) ; +#33663=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33661,#33662,$) ; +#33676=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33673,#33674,#33675) ; +#33698=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33695,#33696,#33697) ; +#33729=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33726,#33727,#33728) ; +#33782=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33779,#33780,#33781) ; +#33806=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33803,#33804,#33805) ; +#33828=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33826,#33827,$) ; +#33841=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33838,#33839,#33840) ; +#33858=AXIS2_PLACEMENT_3D(' ',#33861,#33865,#33864) ; +#33859=AXIS2_PLACEMENT_3D(' ',#33860,#33863,#33862) ; +#33880=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33877,#33878,#33879) ; +#33884=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33882,#33883,$) ; +#33900=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33898,#33899,$) ; +#33919=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33917,#33918,$) ; +#33924=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33922,#33923,$) ; +#33937=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33934,#33935,#33936) ; +#33945=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33943,#33944,$) ; +#33954=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33952,#33953,$) ; +#33965=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#33962,#33963,#33964) ; +#33973=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33971,#33972,$) ; +#33982=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33980,#33981,$) ; +#33993=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#33990,#33991,#33992) ; +#33997=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#33995,#33996,$) ; +#34013=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34011,#34012,$) ; +#34032=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34030,#34031,$) ; +#34037=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34035,#34036,$) ; +#34050=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#34047,#34048,#34049) ; +#34058=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34056,#34057,$) ; +#34067=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34065,#34066,$) ; +#34076=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34074,#34075,$) ; +#34085=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34083,#34084,$) ; +#34094=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34092,#34093,$) ; +#34103=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34101,#34102,$) ; +#34112=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34110,#34111,$) ; +#34121=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34119,#34120,$) ; +#34130=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34128,#34129,$) ; +#34139=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34137,#34138,$) ; +#34148=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34146,#34147,$) ; +#34157=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34155,#34156,$) ; +#34166=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34164,#34165,$) ; +#34175=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34173,#34174,$) ; +#34186=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#34183,#34184,#34185) ; +#34197=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34195,#34196,$) ; +#34216=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34214,#34215,$) ; +#34229=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#34226,#34227,#34228) ; +#34240=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34238,#34239,$) ; +#34259=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34257,#34258,$) ; +#34272=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#34269,#34270,#34271) ; +#34283=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34281,#34282,$) ; +#34302=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34300,#34301,$) ; +#34315=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#34312,#34313,#34314) ; +#34326=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34324,#34325,$) ; +#34345=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34343,#34344,$) ; +#34358=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#34355,#34356,#34357) ; +#34369=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34367,#34368,$) ; +#34388=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34386,#34387,$) ; +#34401=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#34398,#34399,#34400) ; +#34412=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34410,#34411,$) ; +#34431=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34429,#34430,$) ; +#34444=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#34441,#34442,#34443) ; +#34473=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#34470,#34471,#34472) ; +#34477=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34475,#34476,$) ; +#34486=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34484,#34485,$) ; +#34495=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34493,#34494,$) ; +#34504=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34502,#34503,$) ; +#34528=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34526,#34527,$) ; +#34549=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34547,#34548,$) ; +#34563=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34561,#34562,$) ; +#34575=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34573,#34574,$) ; +#34591=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34589,#34590,$) ; +#34619=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34617,#34618,$) ; +#34633=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34631,#34632,$) ; +#34654=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34652,#34653,$) ; +#34668=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34666,#34667,$) ; +#34689=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34687,#34688,$) ; +#34703=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34701,#34702,$) ; +#34724=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34722,#34723,$) ; +#34738=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34736,#34737,$) ; +#34750=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34748,#34749,$) ; +#34766=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34764,#34765,$) ; +#34794=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34792,#34793,$) ; +#34808=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34806,#34807,$) ; +#34829=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34827,#34828,$) ; +#34843=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34841,#34842,$) ; +#34855=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34853,#34854,$) ; +#34867=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34865,#34866,$) ; +#34872=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34870,#34871,$) ; +#34884=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34882,#34883,$) ; +#34889=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34887,#34888,$) ; +#34901=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34899,#34900,$) ; +#34906=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34904,#34905,$) ; +#34918=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34916,#34917,$) ; +#34923=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34921,#34922,$) ; +#34935=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34933,#34934,$) ; +#34940=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34938,#34939,$) ; +#34952=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34950,#34951,$) ; +#34957=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34955,#34956,$) ; +#34969=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34967,#34968,$) ; +#34974=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34972,#34973,$) ; +#34986=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34984,#34985,$) ; +#34991=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#34989,#34990,$) ; +#35003=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35001,#35002,$) ; +#35008=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35006,#35007,$) ; +#35020=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35018,#35019,$) ; +#35036=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35034,#35035,$) ; +#35055=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35053,#35054,$) ; +#35060=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35058,#35059,$) ; +#35073=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35070,#35071,#35072) ; +#35087=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35084,#35085,#35086) ; +#35100=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35098,#35099,$) ; +#35116=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35114,#35115,$) ; +#35135=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35133,#35134,$) ; +#35140=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35138,#35139,$) ; +#35153=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35150,#35151,#35152) ; +#35167=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35164,#35165,#35166) ; +#35180=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35178,#35179,$) ; +#35196=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35194,#35195,$) ; +#35215=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35213,#35214,$) ; +#35220=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35218,#35219,$) ; +#35233=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35230,#35231,#35232) ; +#35247=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35244,#35245,#35246) ; +#35260=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35258,#35259,$) ; +#35276=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35274,#35275,$) ; +#35295=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35293,#35294,$) ; +#35300=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35298,#35299,$) ; +#35313=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35310,#35311,#35312) ; +#35327=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35324,#35325,#35326) ; +#35340=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35338,#35339,$) ; +#35356=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35354,#35355,$) ; +#35375=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35373,#35374,$) ; +#35380=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35378,#35379,$) ; +#35393=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35390,#35391,#35392) ; +#35407=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35404,#35405,#35406) ; +#35420=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35418,#35419,$) ; +#35436=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35434,#35435,$) ; +#35455=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35453,#35454,$) ; +#35460=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35458,#35459,$) ; +#35473=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35470,#35471,#35472) ; +#35487=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35484,#35485,#35486) ; +#35500=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35498,#35499,$) ; +#35516=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35514,#35515,$) ; +#35535=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35533,#35534,$) ; +#35540=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35538,#35539,$) ; +#35553=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35550,#35551,#35552) ; +#35567=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35564,#35565,#35566) ; +#35580=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35578,#35579,$) ; +#35596=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35594,#35595,$) ; +#35615=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35613,#35614,$) ; +#35620=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35618,#35619,$) ; +#35633=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35630,#35631,#35632) ; +#35647=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35644,#35645,#35646) ; +#35660=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35658,#35659,$) ; +#35676=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35674,#35675,$) ; +#35695=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35693,#35694,$) ; +#35700=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35698,#35699,$) ; +#35713=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35710,#35711,#35712) ; +#35727=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35724,#35725,#35726) ; +#35747=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35745,#35746,$) ; +#35766=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35764,#35765,$) ; +#35779=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35776,#35777,#35778) ; +#35793=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#35790,#35791,#35792) ; +#35801=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35799,#35800,$) ; +#35810=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35808,#35809,$) ; +#35845=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#35842,#35843,#35844) ; +#35849=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35847,#35848,$) ; +#35875=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35873,#35874,$) ; +#35888=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#35885,#35886,#35887) ; +#35910=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#35907,#35908,#35909) ; +#35927=AXIS2_PLACEMENT_3D(' ',#35930,#35934,#35933) ; +#35928=AXIS2_PLACEMENT_3D(' ',#35929,#35932,#35931) ; +#35949=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#35946,#35947,#35948) ; +#35962=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35960,#35961,$) ; +#35976=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35974,#35975,$) ; +#35988=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35986,#35987,$) ; +#35993=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#35991,#35992,$) ; +#36006=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36003,#36004,#36005) ; +#36019=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36017,#36018,$) ; +#36033=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36031,#36032,$) ; +#36047=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36045,#36046,$) ; +#36061=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36059,#36060,$) ; +#36080=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36078,#36079,$) ; +#36089=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36087,#36088,$) ; +#36103=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36101,#36102,$) ; +#36131=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36129,#36130,$) ; +#36145=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36143,#36144,$) ; +#36152=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36150,#36151,$) ; +#36164=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36162,#36163,$) ; +#36173=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36171,#36172,$) ; +#36187=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36185,#36186,$) ; +#36206=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36204,#36205,$) ; +#36215=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36213,#36214,$) ; +#36229=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36227,#36228,$) ; +#36250=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36247,#36248,#36249) ; +#36261=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36259,#36260,$) ; +#36281=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36278,#36279,#36280) ; +#36285=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36283,#36284,$) ; +#36298=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36295,#36296,#36297) ; +#36316=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36314,#36315,$) ; +#36329=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36326,#36327,#36328) ; +#36353=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36350,#36351,#36352) ; +#36364=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36362,#36363,$) ; +#36377=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36374,#36375,#36376) ; +#36401=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36398,#36399,#36400) ; +#36412=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36410,#36411,$) ; +#36425=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36422,#36423,#36424) ; +#36449=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36446,#36447,#36448) ; +#36460=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36458,#36459,$) ; +#36473=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36470,#36471,#36472) ; +#36490=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36487,#36488,#36489) ; +#36498=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36496,#36497,$) ; +#36507=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36505,#36506,$) ; +#36518=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36515,#36516,#36517) ; +#36536=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36534,#36535,$) ; +#36549=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36546,#36547,#36548) ; +#36573=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36570,#36571,#36572) ; +#36584=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36582,#36583,$) ; +#36597=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36594,#36595,#36596) ; +#36621=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36618,#36619,#36620) ; +#36632=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36630,#36631,$) ; +#36645=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36642,#36643,#36644) ; +#36669=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36666,#36667,#36668) ; +#36680=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36678,#36679,$) ; +#36693=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36690,#36691,#36692) ; +#36710=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36707,#36708,#36709) ; +#36714=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36712,#36713,$) ; +#36740=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36738,#36739,$) ; +#36753=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36750,#36751,#36752) ; +#36764=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36762,#36763,$) ; +#36784=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#36781,#36782,#36783) ; +#36788=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36786,#36787,$) ; +#36801=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36798,#36799,#36800) ; +#36805=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36803,#36804,$) ; +#36833=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36830,#36831,#36832) ; +#36837=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36835,#36836,$) ; +#36865=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36862,#36863,#36864) ; +#36869=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36867,#36868,$) ; +#36897=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36894,#36895,#36896) ; +#36901=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36899,#36900,$) ; +#36929=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36926,#36927,#36928) ; +#36953=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#36950,#36951,#36952) ; +#36957=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#36955,#36956,$) ; +#36977=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36974,#36975,#36976) ; +#36994=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#36991,#36992,#36993) ; +#37018=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37015,#37016,#37017) ; +#37042=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37039,#37040,#37041) ; +#37046=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37044,#37045,$) ; +#37078=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37075,#37076,#37077) ; +#37082=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37080,#37081,$) ; +#37133=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37130,#37131,#37132) ; +#37137=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37135,#37136,$) ; +#37169=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37166,#37167,#37168) ; +#37187=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37185,#37186,$) ; +#37203=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37201,#37202,$) ; +#37230=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37228,#37229,$) ; +#37244=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37242,#37243,$) ; +#37264=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37262,#37263,$) ; +#37278=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37276,#37277,$) ; +#37289=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37287,#37288,$) ; +#37305=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37303,#37304,$) ; +#37325=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37322,#37323,#37324) ; +#37356=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37353,#37354,#37355) ; +#37367=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37365,#37366,$) ; +#37380=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37377,#37378,#37379) ; +#37391=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37389,#37390,$) ; +#37404=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37401,#37402,#37403) ; +#37427=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37424,#37425,#37426) ; +#37439=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37436,#37437,#37438) ; +#37457=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37455,#37456,$) ; +#37470=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37467,#37468,#37469) ; +#37494=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37491,#37492,#37493) ; +#37517=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37515,#37516,$) ; +#37536=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37533,#37534,#37535) ; +#37574=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37571,#37572,#37573) ; +#37585=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37583,#37584,$) ; +#37598=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37595,#37596,#37597) ; +#37609=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37607,#37608,$) ; +#37647=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37644,#37645,#37646) ; +#37665=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37663,#37664,$) ; +#37715=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37713,#37714,$) ; +#37734=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37731,#37732,#37733) ; +#37751=AXIS2_PLACEMENT_3D(' ',#37754,#37758,#37757) ; +#37752=AXIS2_PLACEMENT_3D(' ',#37753,#37756,#37755) ; +#37773=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37770,#37771,#37772) ; +#37786=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37784,#37785,$) ; +#37800=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37798,#37799,$) ; +#37812=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37810,#37811,$) ; +#37817=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37815,#37816,$) ; +#37830=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#37827,#37828,#37829) ; +#37834=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37832,#37833,$) ; +#37850=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37848,#37849,$) ; +#37869=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37867,#37868,$) ; +#37874=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37872,#37873,$) ; +#37887=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37884,#37885,#37886) ; +#37901=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#37898,#37899,#37900) ; +#37927=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37925,#37926,$) ; +#37941=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37939,#37940,$) ; +#37953=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37951,#37952,$) ; +#37958=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37956,#37957,$) ; +#37970=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37968,#37969,$) ; +#37986=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#37984,#37985,$) ; +#38005=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38003,#38004,$) ; +#38010=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38008,#38009,$) ; +#38023=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38020,#38021,#38022) ; +#38037=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38034,#38035,#38036) ; +#38061=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38059,#38060,$) ; +#38075=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38073,#38074,$) ; +#38087=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38085,#38086,$) ; +#38092=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38090,#38091,$) ; +#38104=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38102,#38103,$) ; +#38120=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38118,#38119,$) ; +#38139=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38137,#38138,$) ; +#38144=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38142,#38143,$) ; +#38157=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38154,#38155,#38156) ; +#38171=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38168,#38169,#38170) ; +#38188=AXIS2_PLACEMENT_3D(' ',#38191,#38195,#38194) ; +#38189=AXIS2_PLACEMENT_3D(' ',#38190,#38193,#38192) ; +#38210=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38207,#38208,#38209) ; +#38223=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38221,#38222,$) ; +#38237=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38235,#38236,$) ; +#38249=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38247,#38248,$) ; +#38254=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38252,#38253,$) ; +#38267=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#38264,#38265,#38266) ; +#38271=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38269,#38270,$) ; +#38280=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38278,#38279,$) ; +#38285=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38283,#38284,$) ; +#38298=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38295,#38296,#38297) ; +#38306=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38304,#38305,$) ; +#38315=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38313,#38314,$) ; +#38325=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38323,#38324,$) ; +#38338=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38335,#38336,#38337) ; +#38349=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38347,#38348,$) ; +#38369=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38366,#38367,#38368) ; +#38380=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38378,#38379,$) ; +#38400=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38397,#38398,#38399) ; +#38404=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38402,#38403,$) ; +#38416=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38414,#38415,$) ; +#38429=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38426,#38427,#38428) ; +#38514=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38511,#38512,#38513) ; +#38518=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38516,#38517,$) ; +#38572=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38569,#38570,#38571) ; +#38576=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38574,#38575,$) ; +#38612=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#38609,#38610,#38611) ; +#38616=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38614,#38615,$) ; +#38621=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38619,#38620,$) ; +#38634=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#38631,#38632,#38633) ; +#38646=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38643,#38644,#38645) ; +#38665=AXIS2_PLACEMENT_3D(' ',#38668,#38672,#38671) ; +#38666=AXIS2_PLACEMENT_3D(' ',#38667,#38670,#38669) ; +#38687=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38684,#38685,#38686) ; +#38700=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38698,#38699,$) ; +#38714=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38712,#38713,$) ; +#38726=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38724,#38725,$) ; +#38731=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38729,#38730,$) ; +#38744=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38741,#38742,#38743) ; +#38748=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38746,#38747,$) ; +#38764=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38762,#38763,$) ; +#38783=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38781,#38782,$) ; +#38788=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38786,#38787,$) ; +#38801=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38798,#38799,#38800) ; +#38815=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38812,#38813,#38814) ; +#38834=AXIS2_PLACEMENT_3D(' ',#38837,#38841,#38840) ; +#38835=AXIS2_PLACEMENT_3D(' ',#38836,#38839,#38838) ; +#38849=AXIS2_PLACEMENT_3D(' ',#38852,#38856,#38855) ; +#38850=AXIS2_PLACEMENT_3D(' ',#38851,#38854,#38853) ; +#38871=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38868,#38869,#38870) ; +#38875=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38873,#38874,$) ; +#38884=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38882,#38883,$) ; +#38893=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38891,#38892,$) ; +#38902=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38900,#38901,$) ; +#38913=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#38910,#38911,#38912) ; +#38924=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38922,#38923,$) ; +#38943=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38941,#38942,$) ; +#38956=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#38953,#38954,#38955) ; +#38969=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38967,#38968,$) ; +#38983=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38981,#38982,$) ; +#38997=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#38995,#38996,$) ; +#39011=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39009,#39010,$) ; +#39030=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39028,#39029,$) ; +#39046=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39044,#39045,$) ; +#39073=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39071,#39072,$) ; +#39087=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39085,#39086,$) ; +#39107=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39105,#39106,$) ; +#39121=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39119,#39120,$) ; +#39132=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39130,#39131,$) ; +#39148=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39146,#39147,$) ; +#39168=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39165,#39166,#39167) ; +#39199=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39196,#39197,#39198) ; +#39203=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39201,#39202,$) ; +#39223=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39220,#39221,#39222) ; +#39247=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39244,#39245,#39246) ; +#39251=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39249,#39250,$) ; +#39271=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39268,#39269,#39270) ; +#39295=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39292,#39293,#39294) ; +#39299=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39297,#39298,$) ; +#39319=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39316,#39317,#39318) ; +#39343=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39340,#39341,#39342) ; +#39347=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39345,#39346,$) ; +#39360=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39357,#39358,#39359) ; +#39364=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39362,#39363,$) ; +#39380=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39378,#39379,$) ; +#39400=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39397,#39398,#39399) ; +#39431=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39428,#39429,#39430) ; +#39435=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39433,#39434,$) ; +#39442=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39440,#39441,$) ; +#39462=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39459,#39460,#39461) ; +#39484=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39481,#39482,#39483) ; +#39488=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39486,#39487,$) ; +#39504=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39502,#39503,$) ; +#39524=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39521,#39522,#39523) ; +#39528=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39526,#39527,$) ; +#39544=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39542,#39543,$) ; +#39564=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39561,#39562,#39563) ; +#39568=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39566,#39567,$) ; +#39584=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39582,#39583,$) ; +#39630=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39627,#39628,#39629) ; +#39634=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39632,#39633,$) ; +#39641=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39639,#39640,$) ; +#39678=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39675,#39676,#39677) ; +#39682=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39680,#39681,$) ; +#39698=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39696,#39697,$) ; +#39718=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#39715,#39716,#39717) ; +#39722=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39720,#39721,$) ; +#39738=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39736,#39737,$) ; +#39758=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39755,#39756,#39757) ; +#39780=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39777,#39778,#39779) ; +#39836=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#39833,#39834,#39835) ; +#39840=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39838,#39839,$) ; +#39856=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39854,#39855,$) ; +#39890=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39888,#39889,$) ; +#39904=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39902,#39903,$) ; +#39931=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39929,#39930,$) ; +#39945=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39943,#39944,$) ; +#39963=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39961,#39962,$) ; +#39979=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#39977,#39978,$) ; +#40005=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40002,#40003,#40004) ; +#40019=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40017,#40018,$) ; +#40028=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40026,#40027,$) ; +#40063=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40060,#40061,#40062) ; +#40085=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40082,#40083,#40084) ; +#40102=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40099,#40100,#40101) ; +#40119=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40116,#40117,#40118) ; +#40131=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40128,#40129,#40130) ; +#40153=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40150,#40151,#40152) ; +#40170=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40167,#40168,#40169) ; +#40187=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40184,#40185,#40186) ; +#40199=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40196,#40197,#40198) ; +#40233=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40230,#40231,#40232) ; +#40274=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40271,#40272,#40273) ; +#40303=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40300,#40301,#40302) ; +#40315=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40312,#40313,#40314) ; +#40349=AXIS2_PLACEMENT_3D(' ',#40352,#40356,#40355) ; +#40350=AXIS2_PLACEMENT_3D(' ',#40351,#40354,#40353) ; +#40371=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40368,#40369,#40370) ; +#40384=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40382,#40383,$) ; +#40398=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40396,#40397,$) ; +#40410=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40408,#40409,$) ; +#40415=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40413,#40414,$) ; +#40428=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40425,#40426,#40427) ; +#40441=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40439,#40440,$) ; +#40455=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40453,#40454,$) ; +#40467=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40465,#40466,$) ; +#40472=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40470,#40471,$) ; +#40485=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40482,#40483,#40484) ; +#40498=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40496,#40497,$) ; +#40512=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40510,#40511,$) ; +#40524=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40522,#40523,$) ; +#40529=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40527,#40528,$) ; +#40542=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40539,#40540,#40541) ; +#40555=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40553,#40554,$) ; +#40569=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40567,#40568,$) ; +#40581=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40579,#40580,$) ; +#40586=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40584,#40585,$) ; +#40599=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40596,#40597,#40598) ; +#40612=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40610,#40611,$) ; +#40626=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40624,#40625,$) ; +#40638=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40636,#40637,$) ; +#40643=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40641,#40642,$) ; +#40656=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40653,#40654,#40655) ; +#40669=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40667,#40668,$) ; +#40683=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40681,#40682,$) ; +#40695=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40693,#40694,$) ; +#40700=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40698,#40699,$) ; +#40713=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40710,#40711,#40712) ; +#40717=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40715,#40716,$) ; +#40733=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40731,#40732,$) ; +#40753=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40750,#40751,#40752) ; +#40784=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40781,#40782,#40783) ; +#40788=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40786,#40787,$) ; +#40795=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40793,#40794,$) ; +#40815=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40812,#40813,#40814) ; +#40846=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#40843,#40844,#40845) ; +#40850=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40848,#40849,$) ; +#40857=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40855,#40856,$) ; +#40877=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40874,#40875,#40876) ; +#40908=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40905,#40906,#40907) ; +#40939=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40936,#40937,#40938) ; +#40943=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40941,#40942,$) ; +#40984=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#40981,#40982,#40983) ; +#40988=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#40986,#40987,$) ; +#41029=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41026,#41027,#41028) ; +#41046=AXIS2_PLACEMENT_3D(' ',#41049,#41053,#41052) ; +#41047=AXIS2_PLACEMENT_3D(' ',#41048,#41051,#41050) ; +#41068=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41065,#41066,#41067) ; +#41081=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41079,#41080,$) ; +#41095=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41093,#41094,$) ; +#41107=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41105,#41106,$) ; +#41112=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41110,#41111,$) ; +#41125=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#41122,#41123,#41124) ; +#41135=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#41132,#41133,#41134) ; +#41150=AXIS2_PLACEMENT_3D(' ',#41153,#41157,#41156) ; +#41151=AXIS2_PLACEMENT_3D(' ',#41152,#41155,#41154) ; +#41172=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41169,#41170,#41171) ; +#41185=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41183,#41184,$) ; +#41199=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41197,#41198,$) ; +#41211=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41209,#41210,$) ; +#41216=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41214,#41215,$) ; +#41229=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41226,#41227,#41228) ; +#41233=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41231,#41232,$) ; +#41249=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41247,#41248,$) ; +#41268=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41266,#41267,$) ; +#41273=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41271,#41272,$) ; +#41286=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#41283,#41284,#41285) ; +#41294=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41292,#41293,$) ; +#41303=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41301,#41302,$) ; +#41316=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41314,#41315,$) ; +#41325=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41323,#41324,$) ; +#41334=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41332,#41333,$) ; +#41343=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41341,#41342,$) ; +#41352=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41350,#41351,$) ; +#41361=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41359,#41360,$) ; +#41372=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#41369,#41370,#41371) ; +#41380=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41378,#41379,$) ; +#41389=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41387,#41388,$) ; +#41402=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41400,#41401,$) ; +#41411=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41409,#41410,$) ; +#41420=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41418,#41419,$) ; +#41429=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41427,#41428,$) ; +#41438=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41436,#41437,$) ; +#41447=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41445,#41446,$) ; +#41458=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41455,#41456,#41457) ; +#41487=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41484,#41485,#41486) ; +#41516=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41513,#41514,#41515) ; +#41545=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41542,#41543,#41544) ; +#41579=AXIS2_PLACEMENT_3D(' ',#41582,#41586,#41585) ; +#41580=AXIS2_PLACEMENT_3D(' ',#41581,#41584,#41583) ; +#41609=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#41606,#41607,#41608) ; +#41794=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41791,#41792,#41793) ; +#41798=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41796,#41797,$) ; +#41816=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41814,#41815,$) ; +#41835=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41833,#41834,$) ; +#41851=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41849,#41850,$) ; +#41864=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41861,#41862,#41863) ; +#41886=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41883,#41884,#41885) ; +#41908=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41905,#41906,#41907) ; +#41912=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41910,#41911,$) ; +#41930=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41928,#41929,$) ; +#41949=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41947,#41948,$) ; +#41965=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#41963,#41964,$) ; +#41978=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41975,#41976,#41977) ; +#42000=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#41997,#41998,#41999) ; +#42022=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42019,#42020,#42021) ; +#42026=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42024,#42025,$) ; +#42044=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42042,#42043,$) ; +#42063=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42061,#42062,$) ; +#42079=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42077,#42078,$) ; +#42092=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42089,#42090,#42091) ; +#42114=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42111,#42112,#42113) ; +#42136=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42133,#42134,#42135) ; +#42140=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42138,#42139,$) ; +#42158=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42156,#42157,$) ; +#42177=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42175,#42176,$) ; +#42193=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42191,#42192,$) ; +#42206=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42203,#42204,#42205) ; +#42228=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42225,#42226,#42227) ; +#42250=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#42247,#42248,#42249) ; +#42278=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#42275,#42276,#42277) ; +#42311=AXIS2_PLACEMENT_3D(' ',#42314,#42318,#42317) ; +#42312=AXIS2_PLACEMENT_3D(' ',#42313,#42316,#42315) ; +#42333=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42330,#42331,#42332) ; +#42346=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42344,#42345,$) ; +#42360=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42358,#42359,$) ; +#42414=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42412,#42413,$) ; +#42419=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42417,#42418,$) ; +#42432=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#42429,#42430,#42431) ; +#42465=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42463,#42464,$) ; +#42472=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42470,#42471,$) ; +#42506=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42504,#42505,$) ; +#42513=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42511,#42512,$) ; +#42536=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#42533,#42534,#42535) ; +#42575=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42572,#42573,#42574) ; +#42602=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42599,#42600,#42601) ; +#42613=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42611,#42612,$) ; +#42625=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42623,#42624,$) ; +#42651=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42649,#42650,$) ; +#42668=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42666,#42667,$) ; +#42693=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#42690,#42691,#42692) ; +#42732=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42729,#42730,#42731) ; +#42749=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#42746,#42747,#42748) ; +#42766=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#42763,#42764,#42765) ; +#42774=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42772,#42773,$) ; +#42783=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42781,#42782,$) ; +#42794=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42791,#42792,#42793) ; +#42807=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42805,#42806,$) ; +#42821=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42819,#42820,$) ; +#42828=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42826,#42827,$) ; +#42841=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42839,#42840,$) ; +#42846=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42844,#42845,$) ; +#42853=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42851,#42852,$) ; +#42903=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#42900,#42901,#42902) ; +#42914=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42912,#42913,$) ; +#42933=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42931,#42932,$) ; +#42946=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#42943,#42944,#42945) ; +#42950=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42948,#42949,$) ; +#42955=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#42953,#42954,$) ; +#42977=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#42974,#42975,#42976) ; +#42994=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#42991,#42992,#42993) ; +#43006=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43003,#43004,#43005) ; +#43018=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43015,#43016,#43017) ; +#43047=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#43044,#43045,#43046) ; +#43066=AXIS2_PLACEMENT_3D(' ',#43069,#43073,#43072) ; +#43067=AXIS2_PLACEMENT_3D(' ',#43068,#43071,#43070) ; +#43088=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43085,#43086,#43087) ; +#43101=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43099,#43100,$) ; +#43115=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43113,#43114,$) ; +#43127=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43125,#43126,$) ; +#43132=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43130,#43131,$) ; +#43187=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#43184,#43185,#43186) ; +#43220=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43218,#43219,$) ; +#43227=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43225,#43226,$) ; +#43261=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43259,#43260,$) ; +#43268=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43266,#43267,$) ; +#43291=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#43288,#43289,#43290) ; +#43330=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43327,#43328,#43329) ; +#43357=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43354,#43355,#43356) ; +#43368=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43366,#43367,$) ; +#43380=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43378,#43379,$) ; +#43406=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43404,#43405,$) ; +#43423=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43421,#43422,$) ; +#43448=AXIS2_PLACEMENT_3D('Sphere Axis2P3D',#43445,#43446,#43447) ; +#43487=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43484,#43485,#43486) ; +#43504=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#43501,#43502,#43503) ; +#43521=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#43518,#43519,#43520) ; +#43529=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43527,#43528,$) ; +#43538=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43536,#43537,$) ; +#43549=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43546,#43547,#43548) ; +#43562=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43560,#43561,$) ; +#43576=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43574,#43575,$) ; +#43583=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43581,#43582,$) ; +#43596=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43594,#43595,$) ; +#43601=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43599,#43600,$) ; +#43608=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43606,#43607,$) ; +#43658=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#43655,#43656,#43657) ; +#43669=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43667,#43668,$) ; +#43688=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43686,#43687,$) ; +#43701=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#43698,#43699,#43700) ; +#43705=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43703,#43704,$) ; +#43710=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43708,#43709,$) ; +#43732=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#43729,#43730,#43731) ; +#43749=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43746,#43747,#43748) ; +#43761=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43758,#43759,#43760) ; +#43773=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43770,#43771,#43772) ; +#43802=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#43799,#43800,#43801) ; +#43821=AXIS2_PLACEMENT_3D(' ',#43824,#43828,#43827) ; +#43822=AXIS2_PLACEMENT_3D(' ',#43823,#43826,#43825) ; +#43834=AXIS2_PLACEMENT_3D(' ',#43837,#43841,#43840) ; +#43835=AXIS2_PLACEMENT_3D(' ',#43836,#43839,#43838) ; +#43864=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43861,#43862,#43863) ; +#43877=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43875,#43876,$) ; +#43891=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43889,#43890,$) ; +#43905=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43903,#43904,$) ; +#43919=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43917,#43918,$) ; +#43936=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#43933,#43934,#43935) ; +#43940=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43938,#43939,$) ; +#43945=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#43943,#43944,$) ; +#43958=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#43955,#43956,#43957) ; +#44010=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44007,#44008,#44009) ; +#44083=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44080,#44081,#44082) ; +#44107=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44104,#44105,#44106) ; +#44137=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44134,#44135,#44136) ; +#44154=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#44151,#44152,#44153) ; +#44176=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#44173,#44174,#44175) ; +#44197=AXIS2_PLACEMENT_3D(' ',#44200,#44204,#44203) ; +#44198=AXIS2_PLACEMENT_3D(' ',#44199,#44202,#44201) ; +#44219=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#44216,#44217,#44218) ; +#44247=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44245,#44246,$) ; +#44260=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#44257,#44258,#44259) ; +#44264=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44262,#44263,$) ; +#44300=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#44297,#44298,#44299) ; +#44313=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44311,#44312,$) ; +#44327=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44325,#44326,$) ; +#44368=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44366,#44367,$) ; +#44380=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44378,#44379,$) ; +#44421=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44419,#44420,$) ; +#44462=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44460,#44461,$) ; +#44491=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44488,#44489,#44490) ; +#44548=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#44545,#44546,#44547) ; +#44552=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44550,#44551,$) ; +#44559=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44557,#44558,$) ; +#44566=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44564,#44565,$) ; +#44573=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44571,#44572,$) ; +#44589=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44586,#44587,#44588) ; +#44613=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#44610,#44611,#44612) ; +#44617=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44615,#44616,$) ; +#44658=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44656,#44657,$) ; +#44699=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44697,#44698,$) ; +#44737=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44735,#44736,$) ; +#44778=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44776,#44777,$) ; +#44783=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#44781,#44782,$) ; +#44812=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44809,#44810,#44811) ; +#44864=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#44861,#44862,#44863) ; +#45321=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45318,#45319,#45320) ; +#45343=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45340,#45341,#45342) ; +#45360=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45357,#45358,#45359) ; +#45372=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45369,#45370,#45371) ; +#45396=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45393,#45394,#45395) ; +#45407=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45405,#45406,$) ; +#45420=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45417,#45418,#45419) ; +#45424=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45422,#45423,$) ; +#45444=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45441,#45442,#45443) ; +#45501=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45498,#45499,#45500) ; +#45512=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45510,#45511,$) ; +#45525=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45522,#45523,#45524) ; +#45529=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45527,#45528,$) ; +#45549=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45546,#45547,#45548) ; +#45566=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45563,#45564,#45565) ; +#45588=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45585,#45586,#45587) ; +#45600=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45597,#45598,#45599) ; +#45617=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45614,#45615,#45616) ; +#45629=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45626,#45627,#45628) ; +#45653=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45650,#45651,#45652) ; +#45664=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45662,#45663,$) ; +#45677=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45674,#45675,#45676) ; +#45681=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45679,#45680,$) ; +#45701=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45698,#45699,#45700) ; +#45758=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45755,#45756,#45757) ; +#45769=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45767,#45768,$) ; +#45782=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45779,#45780,#45781) ; +#45786=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45784,#45785,$) ; +#45806=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45803,#45804,#45805) ; +#45823=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45820,#45821,#45822) ; +#45847=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45844,#45845,#45846) ; +#45858=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45856,#45857,$) ; +#45871=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45868,#45869,#45870) ; +#45875=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45873,#45874,$) ; +#45895=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45892,#45893,#45894) ; +#45952=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45949,#45950,#45951) ; +#45963=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45961,#45962,$) ; +#45976=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#45973,#45974,#45975) ; +#45980=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#45978,#45979,$) ; +#46000=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#45997,#45998,#45999) ; +#46017=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46014,#46015,#46016) ; +#46035=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46033,#46034,$) ; +#46048=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46045,#46046,#46047) ; +#46052=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46050,#46051,$) ; +#46065=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46062,#46063,#46064) ; +#46076=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46074,#46075,$) ; +#46089=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46086,#46087,#46088) ; +#46093=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46091,#46092,$) ; +#46106=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46103,#46104,#46105) ; +#46117=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46115,#46116,$) ; +#46130=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46127,#46128,#46129) ; +#46134=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46132,#46133,$) ; +#46147=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46144,#46145,#46146) ; +#46158=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46156,#46157,$) ; +#46171=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46168,#46169,#46170) ; +#46175=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46173,#46174,$) ; +#46188=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46185,#46186,#46187) ; +#46210=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46207,#46208,#46209) ; +#46222=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46219,#46220,#46221) ; +#46244=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46241,#46242,#46243) ; +#46256=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46253,#46254,#46255) ; +#46278=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46275,#46276,#46277) ; +#46290=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46287,#46288,#46289) ; +#46303=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46301,#46302,$) ; +#46323=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46321,#46322,$) ; +#46338=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46335,#46336,#46337) ; +#46342=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46340,#46341,$) ; +#46355=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46353,#46354,$) ; +#46370=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46367,#46368,#46369) ; +#46381=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46379,#46380,$) ; +#46394=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46391,#46392,#46393) ; +#46398=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46396,#46397,$) ; +#46419=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46416,#46417,#46418) ; +#46432=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46430,#46431,$) ; +#46444=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46442,#46443,$) ; +#46459=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46456,#46457,#46458) ; +#46463=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46461,#46462,$) ; +#46476=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46474,#46475,$) ; +#46491=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46488,#46489,#46490) ; +#46495=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46493,#46494,$) ; +#46516=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46513,#46514,#46515) ; +#46527=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46525,#46526,$) ; +#46541=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46539,#46540,$) ; +#46556=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46553,#46554,#46555) ; +#46560=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46558,#46559,$) ; +#46565=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46563,#46564,$) ; +#46588=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46585,#46586,#46587) ; +#46599=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46597,#46598,$) ; +#46612=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46609,#46610,#46611) ; +#46616=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46614,#46615,$) ; +#46637=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46634,#46635,#46636) ; +#46648=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46646,#46647,$) ; +#46662=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46660,#46661,$) ; +#46677=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#46674,#46675,#46676) ; +#46681=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46679,#46680,$) ; +#46686=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46684,#46685,$) ; +#46709=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46706,#46707,#46708) ; +#46713=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#46711,#46712,$) ; +#46726=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#46723,#46724,#46725) ; +#46741=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#46738,#46739,#46740) ; +#46756=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#46753,#46754,#46755) ; +#46771=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#46768,#46769,#46770) ; +#46937=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#46934,#46935,#46936) ; +#46959=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#46956,#46957,#46958) ; +#47011=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47008,#47009,#47010) ; +#47023=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47020,#47021,#47022) ; +#47045=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47042,#47043,#47044) ; +#47057=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47054,#47055,#47056) ; +#47079=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47076,#47077,#47078) ; +#47091=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47088,#47089,#47090) ; +#47113=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47110,#47111,#47112) ; +#47125=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47122,#47123,#47124) ; +#47143=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47141,#47142,$) ; +#47150=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47148,#47149,$) ; +#47164=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47161,#47162,#47163) ; +#47168=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47166,#47167,$) ; +#47175=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47173,#47174,$) ; +#47189=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#47186,#47187,#47188) ; +#47193=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47191,#47192,$) ; +#47198=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47196,#47197,$) ; +#47212=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#47209,#47210,#47211) ; +#47230=AXIS2_PLACEMENT_3D(' ',#47233,#47237,#47236) ; +#47231=AXIS2_PLACEMENT_3D(' ',#47232,#47235,#47234) ; +#47252=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#47249,#47250,#47251) ; +#47256=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47254,#47255,$) ; +#47265=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47263,#47264,$) ; +#47272=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47270,#47271,$) ; +#47279=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47277,#47278,$) ; +#47286=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47284,#47285,$) ; +#47300=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#47297,#47298,#47299) ; +#47304=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47302,#47303,$) ; +#47311=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47309,#47310,$) ; +#47316=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47314,#47315,$) ; +#47330=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#47327,#47328,#47329) ; +#47496=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47493,#47494,#47495) ; +#47514=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47512,#47513,$) ; +#47566=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47564,#47565,$) ; +#47584=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47581,#47582,#47583) ; +#47588=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47586,#47587,$) ; +#47602=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#47599,#47600,#47601) ; +#47606=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47604,#47605,$) ; +#47613=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47611,#47612,$) ; +#47620=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47618,#47619,$) ; +#47627=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47625,#47626,$) ; +#47641=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#47638,#47639,#47640) ; +#47645=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47643,#47644,$) ; +#47652=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47650,#47651,$) ; +#47666=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47663,#47664,#47665) ; +#47684=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47682,#47683,$) ; +#47697=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47694,#47695,#47696) ; +#47701=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47699,#47700,$) ; +#47714=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47711,#47712,#47713) ; +#47732=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47730,#47731,$) ; +#47745=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47742,#47743,#47744) ; +#47749=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47747,#47748,$) ; +#47762=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47759,#47760,#47761) ; +#47780=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47778,#47779,$) ; +#47793=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47790,#47791,#47792) ; +#47797=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47795,#47796,$) ; +#47810=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47807,#47808,#47809) ; +#47828=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47826,#47827,$) ; +#47841=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#47838,#47839,#47840) ; +#47845=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#47843,#47844,$) ; +#47858=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#47855,#47856,#47857) ; +#47931=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#47928,#47929,#47930) ; +#47955=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#47952,#47953,#47954) ; +#48003=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48000,#48001,#48002) ; +#48020=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48017,#48018,#48019) ; +#48031=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48029,#48030,$) ; +#48052=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48049,#48050,#48051) ; +#48056=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48054,#48055,$) ; +#48070=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48067,#48068,#48069) ; +#48088=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48086,#48087,$) ; +#48101=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48098,#48099,#48100) ; +#48105=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48103,#48104,$) ; +#48118=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48115,#48116,#48117) ; +#48136=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48134,#48135,$) ; +#48149=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48146,#48147,#48148) ; +#48153=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48151,#48152,$) ; +#48166=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48163,#48164,#48165) ; +#48184=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48182,#48183,$) ; +#48197=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48194,#48195,#48196) ; +#48201=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48199,#48200,$) ; +#48214=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48211,#48212,#48213) ; +#48232=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48230,#48231,$) ; +#48245=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48242,#48243,#48244) ; +#48249=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48247,#48248,$) ; +#48262=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48259,#48260,#48261) ; +#48273=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48271,#48272,$) ; +#48297=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48294,#48295,#48296) ; +#48301=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48299,#48300,$) ; +#48314=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48311,#48312,#48313) ; +#48349=AXIS2_PLACEMENT_3D(' ',#48352,#48356,#48355) ; +#48350=AXIS2_PLACEMENT_3D(' ',#48351,#48354,#48353) ; +#48371=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48368,#48369,#48370) ; +#48384=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48382,#48383,$) ; +#48398=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48396,#48397,$) ; +#48411=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48408,#48409,#48410) ; +#48415=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48413,#48414,$) ; +#48420=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48418,#48419,$) ; +#48433=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48430,#48431,#48432) ; +#48443=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48440,#48441,#48442) ; +#48454=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48452,#48453,$) ; +#48474=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48471,#48472,#48473) ; +#48478=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48476,#48477,$) ; +#48491=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48488,#48489,#48490) ; +#48509=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48507,#48508,$) ; +#48522=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48519,#48520,#48521) ; +#48526=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48524,#48525,$) ; +#48539=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48536,#48537,#48538) ; +#48554=AXIS2_PLACEMENT_3D(' ',#48557,#48561,#48560) ; +#48555=AXIS2_PLACEMENT_3D(' ',#48556,#48559,#48558) ; +#48576=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48573,#48574,#48575) ; +#48589=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48587,#48588,$) ; +#48603=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48601,#48602,$) ; +#48616=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48613,#48614,#48615) ; +#48620=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48618,#48619,$) ; +#48625=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48623,#48624,$) ; +#48638=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48635,#48636,#48637) ; +#48648=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48645,#48646,#48647) ; +#48659=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48657,#48658,$) ; +#48679=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48676,#48677,#48678) ; +#48683=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48681,#48682,$) ; +#48696=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48693,#48694,#48695) ; +#48714=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48712,#48713,$) ; +#48727=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#48724,#48725,#48726) ; +#48731=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48729,#48730,$) ; +#48744=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48741,#48742,#48743) ; +#48755=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48753,#48754,$) ; +#48775=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#48772,#48773,#48774) ; +#48779=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48777,#48778,$) ; +#48792=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#48789,#48790,#48791) ; +#48796=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48794,#48795,$) ; +#48803=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48801,#48802,$) ; +#48810=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48808,#48809,$) ; +#48823=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#48820,#48821,#48822) ; +#48827=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#48825,#48826,$) ; +#48840=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48837,#48838,#48839) ; +#48948=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48945,#48946,#48947) ; +#48979=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#48976,#48977,#48978) ; +#49003=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49000,#49001,#49002) ; +#49027=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49024,#49025,#49026) ; +#49051=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49048,#49049,#49050) ; +#49075=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49072,#49073,#49074) ; +#49099=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49096,#49097,#49098) ; +#49123=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49120,#49121,#49122) ; +#49147=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49144,#49145,#49146) ; +#49171=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49168,#49169,#49170) ; +#49195=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49192,#49193,#49194) ; +#49219=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49216,#49217,#49218) ; +#49236=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49233,#49234,#49235) ; +#49267=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49264,#49265,#49266) ; +#49299=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49296,#49297,#49298) ; +#49331=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49328,#49329,#49330) ; +#49355=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49352,#49353,#49354) ; +#49387=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49384,#49385,#49386) ; +#49419=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49416,#49417,#49418) ; +#49443=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49440,#49441,#49442) ; +#49475=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49472,#49473,#49474) ; +#49507=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49504,#49505,#49506) ; +#49531=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49528,#49529,#49530) ; +#49563=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49560,#49561,#49562) ; +#49588=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49585,#49586,#49587) ; +#49605=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49602,#49603,#49604) ; +#49640=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49637,#49638,#49639) ; +#49652=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49649,#49650,#49651) ; +#49664=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49661,#49662,#49663) ; +#49681=AXIS2_PLACEMENT_3D(' ',#49684,#49688,#49687) ; +#49682=AXIS2_PLACEMENT_3D(' ',#49683,#49686,#49685) ; +#49703=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#49700,#49701,#49702) ; +#49716=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49714,#49715,$) ; +#49730=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49728,#49729,$) ; +#49743=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#49740,#49741,#49742) ; +#49747=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49745,#49746,$) ; +#49752=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49750,#49751,$) ; +#49765=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49762,#49763,#49764) ; +#49775=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#49772,#49773,#49774) ; +#49786=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49784,#49785,$) ; +#49806=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#49803,#49804,#49805) ; +#49810=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49808,#49809,$) ; +#49823=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#49820,#49821,#49822) ; +#49841=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49839,#49840,$) ; +#49854=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#49851,#49852,#49853) ; +#49858=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49856,#49857,$) ; +#49871=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#49868,#49869,#49870) ; +#49882=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49880,#49881,$) ; +#49902=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#49899,#49900,#49901) ; +#49906=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49904,#49905,$) ; +#49919=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#49916,#49917,#49918) ; +#49923=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49921,#49922,$) ; +#49930=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49928,#49929,$) ; +#49937=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49935,#49936,$) ; +#49950=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#49947,#49948,#49949) ; +#49954=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#49952,#49953,$) ; +#49967=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#49964,#49965,#49966) ; +#50075=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50072,#50073,#50074) ; +#50106=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50103,#50104,#50105) ; +#50130=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50127,#50128,#50129) ; +#50154=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50151,#50152,#50153) ; +#50178=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50175,#50176,#50177) ; +#50202=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50199,#50200,#50201) ; +#50226=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50223,#50224,#50225) ; +#50250=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50247,#50248,#50249) ; +#50274=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50271,#50272,#50273) ; +#50298=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50295,#50296,#50297) ; +#50322=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50319,#50320,#50321) ; +#50346=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50343,#50344,#50345) ; +#50363=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50360,#50361,#50362) ; +#50394=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50391,#50392,#50393) ; +#50426=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50423,#50424,#50425) ; +#50458=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50455,#50456,#50457) ; +#50482=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50479,#50480,#50481) ; +#50514=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50511,#50512,#50513) ; +#50546=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50543,#50544,#50545) ; +#50570=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50567,#50568,#50569) ; +#50602=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50599,#50600,#50601) ; +#50634=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50631,#50632,#50633) ; +#50658=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#50655,#50656,#50657) ; 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+#50902=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#50899,#50900,#50901) ; +#50913=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#50911,#50912,$) ; +#50933=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#50930,#50931,#50932) ; +#50937=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#50935,#50936,$) ; +#50950=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#50947,#50948,#50949) ; +#50968=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#50966,#50967,$) ; +#50981=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#50978,#50979,#50980) ; +#50985=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#50983,#50984,$) ; +#50998=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#50995,#50996,#50997) ; +#51009=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51007,#51008,$) ; +#51029=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#51026,#51027,#51028) ; +#51033=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51031,#51032,$) ; +#51046=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#51043,#51044,#51045) ; +#51050=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51048,#51049,$) ; +#51057=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51055,#51056,$) ; +#51064=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51062,#51063,$) ; +#51077=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#51074,#51075,#51076) ; +#51081=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51079,#51080,$) ; +#51094=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51091,#51092,#51093) ; +#51202=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51199,#51200,#51201) ; +#51233=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51230,#51231,#51232) ; +#51257=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51254,#51255,#51256) ; +#51281=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51278,#51279,#51280) ; +#51305=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51302,#51303,#51304) ; +#51329=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51326,#51327,#51328) ; +#51353=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51350,#51351,#51352) ; +#51377=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51374,#51375,#51376) ; +#51401=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51398,#51399,#51400) ; +#51425=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51422,#51423,#51424) ; +#51449=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51446,#51447,#51448) ; +#51473=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51470,#51471,#51472) ; +#51490=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51487,#51488,#51489) ; +#51521=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51518,#51519,#51520) ; +#51553=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51550,#51551,#51552) ; +#51585=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51582,#51583,#51584) ; +#51609=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51606,#51607,#51608) ; +#51641=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51638,#51639,#51640) ; +#51673=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51670,#51671,#51672) ; +#51697=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51694,#51695,#51696) ; +#51729=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51726,#51727,#51728) ; +#51761=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51758,#51759,#51760) ; +#51785=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51782,#51783,#51784) ; +#51817=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51814,#51815,#51816) ; +#51842=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51839,#51840,#51841) ; +#51859=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51856,#51857,#51858) ; +#51894=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51891,#51892,#51893) ; +#51906=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51903,#51904,#51905) ; +#51918=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#51915,#51916,#51917) ; +#51935=AXIS2_PLACEMENT_3D(' ',#51938,#51942,#51941) ; +#51936=AXIS2_PLACEMENT_3D(' ',#51937,#51940,#51939) ; +#51957=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#51954,#51955,#51956) ; +#51970=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51968,#51969,$) ; +#51984=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51982,#51983,$) ; +#51997=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#51994,#51995,#51996) ; +#52001=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#51999,#52000,$) ; +#52006=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52004,#52005,$) ; +#52019=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52016,#52017,#52018) ; +#52029=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#52026,#52027,#52028) ; +#52040=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52038,#52039,$) ; +#52060=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#52057,#52058,#52059) ; +#52064=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52062,#52063,$) ; +#52077=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#52074,#52075,#52076) ; +#52095=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52093,#52094,$) ; +#52108=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#52105,#52106,#52107) ; +#52112=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52110,#52111,$) ; +#52125=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#52122,#52123,#52124) ; +#52136=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52134,#52135,$) ; +#52156=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#52153,#52154,#52155) ; +#52160=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52158,#52159,$) ; +#52173=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#52170,#52171,#52172) ; +#52177=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52175,#52176,$) ; +#52184=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52182,#52183,$) ; +#52191=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52189,#52190,$) ; +#52204=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#52201,#52202,#52203) ; +#52208=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#52206,#52207,$) ; +#52221=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52218,#52219,#52220) ; +#52329=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52326,#52327,#52328) ; +#52360=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52357,#52358,#52359) ; +#52384=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52381,#52382,#52383) ; +#52408=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52405,#52406,#52407) ; +#52432=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52429,#52430,#52431) ; +#52456=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52453,#52454,#52455) ; +#52480=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52477,#52478,#52479) ; +#52504=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52501,#52502,#52503) ; +#52528=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52525,#52526,#52527) ; +#52552=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52549,#52550,#52551) ; +#52576=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52573,#52574,#52575) ; +#52600=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52597,#52598,#52599) ; +#52617=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52614,#52615,#52616) ; +#52648=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52645,#52646,#52647) ; +#52680=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52677,#52678,#52679) ; +#52712=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52709,#52710,#52711) ; +#52736=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52733,#52734,#52735) ; +#52768=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52765,#52766,#52767) ; +#52800=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52797,#52798,#52799) ; +#52824=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52821,#52822,#52823) ; +#52856=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52853,#52854,#52855) ; +#52888=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52885,#52886,#52887) ; +#52912=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52909,#52910,#52911) ; +#52944=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52941,#52942,#52943) ; +#52969=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52966,#52967,#52968) ; +#52986=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#52983,#52984,#52985) ; +#53021=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53018,#53019,#53020) ; +#53033=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53030,#53031,#53032) ; +#53045=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53042,#53043,#53044) ; +#53062=AXIS2_PLACEMENT_3D(' ',#53065,#53069,#53068) ; +#53063=AXIS2_PLACEMENT_3D(' ',#53064,#53067,#53066) ; +#53084=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53081,#53082,#53083) ; +#53126=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53123,#53124,#53125) ; +#53159=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53156,#53157,#53158) ; +#53170=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53168,#53169,$) ; +#53190=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53187,#53188,#53189) ; +#53221=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53218,#53219,#53220) ; +#53239=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53237,#53238,$) ; +#53252=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53249,#53250,#53251) ; +#53256=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53254,#53255,$) ; +#53276=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53273,#53274,#53275) ; +#53344=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53341,#53342,#53343) ; +#53348=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53346,#53347,$) ; +#53361=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53358,#53359,#53360) ; +#53365=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53363,#53364,$) ; +#53372=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53370,#53371,$) ; +#53386=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53383,#53384,#53385) ; +#53410=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53407,#53408,#53409) ; +#53443=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53440,#53441,#53442) ; +#53467=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53464,#53465,#53466) ; +#53471=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53469,#53470,$) ; +#53485=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53482,#53483,#53484) ; +#53489=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53487,#53488,$) ; +#53496=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53494,#53495,$) ; +#53503=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53501,#53502,$) ; +#53516=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53513,#53514,#53515) ; +#53520=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53518,#53519,$) ; +#53533=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53530,#53531,#53532) ; +#53544=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53542,#53543,$) ; +#53557=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53554,#53555,#53556) ; +#53561=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53559,#53560,$) ; +#53590=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53587,#53588,#53589) ; +#53615=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53612,#53613,#53614) ; +#53626=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53624,#53625,$) ; +#53640=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53637,#53638,#53639) ; +#53644=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53642,#53643,$) ; +#53657=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53654,#53655,#53656) ; +#53668=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53666,#53667,$) ; +#53688=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53685,#53686,#53687) ; +#53692=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53690,#53691,$) ; +#53705=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53702,#53703,#53704) ; +#53709=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53707,#53708,$) ; +#53716=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53714,#53715,$) ; +#53729=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53726,#53727,#53728) ; +#53780=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53777,#53778,#53779) ; +#53792=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53789,#53790,#53791) ; +#53796=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53794,#53795,$) ; +#53801=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53799,#53800,$) ; +#53814=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#53811,#53812,#53813) ; +#53831=AXIS2_PLACEMENT_3D(' ',#53834,#53838,#53837) ; +#53832=AXIS2_PLACEMENT_3D(' ',#53833,#53836,#53835) ; +#53844=AXIS2_PLACEMENT_3D(' ',#53847,#53851,#53850) ; +#53845=AXIS2_PLACEMENT_3D(' ',#53846,#53849,#53848) ; +#53866=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53863,#53864,#53865) ; +#53870=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53868,#53869,$) ; +#53879=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53877,#53878,$) ; +#53890=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#53887,#53888,#53889) ; +#53894=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53892,#53893,$) ; +#53903=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53901,#53902,$) ; +#53914=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53911,#53912,#53913) ; +#53946=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53944,#53945,$) ; +#53955=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53953,#53954,$) ; +#53965=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53963,#53964,$) ; +#53974=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#53972,#53973,$) ; +#53985=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#53982,#53983,#53984) ; +#54015=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54013,#54014,$) ; +#54024=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54022,#54023,$) ; +#54034=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54032,#54033,$) ; +#54043=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54041,#54042,$) ; +#54054=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#54051,#54052,#54053) ; +#54084=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54082,#54083,$) ; +#54093=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54091,#54092,$) ; +#54103=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54101,#54102,$) ; +#54112=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54110,#54111,$) ; +#54123=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#54120,#54121,#54122) ; +#54155=AXIS2_PLACEMENT_3D(' ',#54158,#54162,#54161) ; +#54156=AXIS2_PLACEMENT_3D(' ',#54157,#54160,#54159) ; +#54660=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#54657,#54658,#54659) ; +#54671=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54669,#54670,$) ; +#54691=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#54688,#54689,#54690) ; +#54695=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54693,#54694,$) ; +#54715=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#54712,#54713,#54714) ; +#54719=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54717,#54718,$) ; +#54852=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#54849,#54850,#54851) ; +#54874=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#54871,#54872,#54873) ; +#54891=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#54888,#54889,#54890) ; +#54908=AXIS2_PLACEMENT_3D(' ',#54911,#54915,#54914) ; +#54909=AXIS2_PLACEMENT_3D(' ',#54910,#54913,#54912) ; +#54930=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#54927,#54928,#54929) ; +#54943=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54941,#54942,$) ; +#54957=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54955,#54956,$) ; +#54969=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54967,#54968,$) ; +#54974=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54972,#54973,$) ; +#54987=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#54984,#54985,#54986) ; +#54995=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#54993,#54994,$) ; +#55004=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55002,#55003,$) ; +#55015=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#55012,#55013,#55014) ; +#55033=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55031,#55032,$) ; +#55045=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55043,#55044,$) ; +#55058=AXIS2_PLACEMENT_3D('Cone Axis2P3D',#55055,#55056,#55057) ; +#55071=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55069,#55070,$) ; +#55085=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55083,#55084,$) ; +#55097=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55095,#55096,$) ; +#55102=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55100,#55101,$) ; +#55115=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#55112,#55113,#55114) ; +#55119=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55117,#55118,$) ; +#55124=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55122,#55123,$) ; +#55137=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#55134,#55135,#55136) ; +#55149=AXIS2_PLACEMENT_3D('Cylinder Axis2P3D',#55146,#55147,#55148) ; +#55153=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55151,#55152,$) ; +#55179=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55177,#55178,$) ; +#55192=AXIS2_PLACEMENT_3D('Plane Axis2P3D',#55189,#55190,#55191) ; +#55200=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55198,#55199,$) ; +#55209=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55207,#55208,$) ; +#55220=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#55217,#55218,#55219) ; +#55224=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55222,#55223,$) ; +#55229=AXIS2_PLACEMENT_3D('Circle Axis2P3D',#55227,#55228,$) ; +#55242=AXIS2_PLACEMENT_3D('Torus Axis2P3D',#55239,#55240,#55241) ; 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+#19809=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#19810,#19811,#19812,#19813,#19814,#19815,#19816,#19817,#19818,#19819,#19820,#19821,#19822,#19823,#19824,#19825,#19826,#19827,#19828,#19829,#19830,#19831,#19832,#19833,#19834,#19835),(#19836,#19837,#19838,#19839,#19840,#19841,#19842,#19843,#19844,#19845,#19846,#19847,#19848,#19849,#19850,#19851,#19852,#19853,#19854,#19855,#19856,#19857,#19858,#19859,#19860,#19861),(#19862,#19863,#19864,#19865,#19866,#19867,#19868,#19869,#19870,#19871,#19872,#19873,#19874,#19875,#19876,#19877,#19878,#19879,#19880,#19881,#19882,#19883,#19884,#19885,#19886,#19887),(#19888,#19889,#19890,#19891,#19892,#19893,#19894,#19895,#19896,#19897,#19898,#19899,#19900,#19901,#19902,#19903,#19904,#19905,#19906,#19907,#19908,#19909,#19910,#19911,#19912,#19913),(#19914,#19915,#19916,#19917,#19918,#19919,#19920,#19921,#19922,#19923,#19924,#19925,#19926,#19927,#19928,#19929,#19930,#19931,#19932,#19933,#19934,#19935,#19936,#19937,#19938,#19939),(#19940,#19941,#19942,#19943,#19944,#19945,#19946,#19947,#19948,#19949,#19950,#19951,#19952,#19953,#19954,#19955,#19956,#19957,#19958,#19959,#19960,#19961,#19962,#19963,#19964,#19965)),.UNSPECIFIED.,.F.,.F.,.U.,(4,1,1,4),(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(-1.04663400721E-016,9.63848300083,14.4577245012,19.2769660017),(0.311744098918,3.46566689327,5.04262829045,6.61958968763,9.77351248198,12.9274352763,16.0813580707,16.8698387693,17.6583194679,18.4468001665,19.235280865,20.0237615636,20.8122422622,21.2064826115,21.3050426988,21.4036027862,21.6007229608,21.7978431355,21.9949633101,22.3892036594,23.177684358,23.9661650566,24.7546457552,25.5431264537),.UNSPECIFIED.) ; 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; +#21138=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#21139,#21140,#21141,#21142,#21143,#21144,#21145,#21146,#21147,#21148,#21149,#21150,#21151,#21152,#21153,#21154,#21155,#21156,#21157,#21158,#21159,#21160,#21161,#21162,#21163,#21164),(#21165,#21166,#21167,#21168,#21169,#21170,#21171,#21172,#21173,#21174,#21175,#21176,#21177,#21178,#21179,#21180,#21181,#21182,#21183,#21184,#21185,#21186,#21187,#21188,#21189,#21190),(#21191,#21192,#21193,#21194,#21195,#21196,#21197,#21198,#21199,#21200,#21201,#21202,#21203,#21204,#21205,#21206,#21207,#21208,#21209,#21210,#21211,#21212,#21213,#21214,#21215,#21216),(#21217,#21218,#21219,#21220,#21221,#21222,#21223,#21224,#21225,#21226,#21227,#21228,#21229,#21230,#21231,#21232,#21233,#21234,#21235,#21236,#21237,#21238,#21239,#21240,#21241,#21242),(#21243,#21244,#21245,#21246,#21247,#21248,#21249,#21250,#21251,#21252,#21253,#21254,#21255,#21256,#21257,#21258,#21259,#21260,#21261,#21262,#21263,#21264,#21265,#21266,#21267,#21268),(#21269,#21270,#21271,#21272,#21273,#21274,#21275,#21276,#21277,#21278,#21279,#21280,#21281,#21282,#21283,#21284,#21285,#21286,#21287,#21288,#21289,#21290,#21291,#21292,#21293,#21294)),.UNSPECIFIED.,.F.,.F.,.U.,(4,1,1,4),(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(-1.04663400721E-016,9.63848300083,14.4577245012,19.2769660017),(0.311744098918,3.46566689327,5.04262829045,6.61958968763,9.77351248198,12.9274352763,16.0813580707,16.8698387693,17.6583194679,18.4468001665,19.235280865,20.0237615636,20.8122422622,21.2064826115,21.3050426988,21.4036027862,21.6007229608,21.7978431355,21.9949633101,22.3892036594,23.177684358,23.9661650566,24.7546457552,25.5431264537),.UNSPECIFIED.) ; +#21799=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#21800,#21801,#21802,#21803,#21804,#21805,#21806,#21807,#21808,#21809,#21810,#21811,#21812,#21813,#21814,#21815,#21816,#21817,#21818,#21819,#21820,#21821,#21822,#21823,#21824,#21825),(#21826,#21827,#21828,#21829,#21830,#21831,#21832,#21833,#21834,#21835,#21836,#21837,#21838,#21839,#21840,#21841,#21842,#21843,#21844,#21845,#21846,#21847,#21848,#21849,#21850,#21851),(#21852,#21853,#21854,#21855,#21856,#21857,#21858,#21859,#21860,#21861,#21862,#21863,#21864,#21865,#21866,#21867,#21868,#21869,#21870,#21871,#21872,#21873,#21874,#21875,#21876,#21877),(#21878,#21879,#21880,#21881,#21882,#21883,#21884,#21885,#21886,#21887,#21888,#21889,#21890,#21891,#21892,#21893,#21894,#21895,#21896,#21897,#21898,#21899,#21900,#21901,#21902,#21903),(#21904,#21905,#21906,#21907,#21908,#21909,#21910,#21911,#21912,#21913,#21914,#21915,#21916,#21917,#21918,#21919,#21920,#21921,#21922,#21923,#21924,#21925,#21926,#21927,#21928,#21929),(#21930,#21931,#21932,#21933,#21934,#21935,#21936,#21937,#21938,#21939,#21940,#21941,#21942,#21943,#21944,#21945,#21946,#21947,#21948,#21949,#21950,#21951,#21952,#21953,#21954,#21955)),.UNSPECIFIED.,.F.,.F.,.U.,(4,1,1,4),(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(-1.04663400721E-016,9.63848300083,14.4577245012,19.2769660017),(0.311744098918,3.46566689327,5.04262829045,6.61958968763,9.77351248198,12.9274352763,16.0813580707,16.8698387693,17.6583194679,18.4468001665,19.235280865,20.0237615636,20.8122422622,21.2064826115,21.3050426988,21.4036027862,21.6007229608,21.7978431355,21.9949633101,22.3892036594,23.177684358,23.9661650566,24.7546457552,25.5431264537),.UNSPECIFIED.) ; +#22451=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#22452,#22453,#22454,#22455,#22456,#22457,#22458,#22459,#22460,#22461,#22462,#22463,#22464,#22465,#22466,#22467,#22468,#22469,#22470,#22471,#22472,#22473,#22474,#22475,#22476,#22477),(#22478,#22479,#22480,#22481,#22482,#22483,#22484,#22485,#22486,#22487,#22488,#22489,#22490,#22491,#22492,#22493,#22494,#22495,#22496,#22497,#22498,#22499,#22500,#22501,#22502,#22503),(#22504,#22505,#22506,#22507,#22508,#22509,#22510,#22511,#22512,#22513,#22514,#22515,#22516,#22517,#22518,#22519,#22520,#22521,#22522,#22523,#22524,#22525,#22526,#22527,#22528,#22529),(#22530,#22531,#22532,#22533,#22534,#22535,#22536,#22537,#22538,#22539,#22540,#22541,#22542,#22543,#22544,#22545,#22546,#22547,#22548,#22549,#22550,#22551,#22552,#22553,#22554,#22555),(#22556,#22557,#22558,#22559,#22560,#22561,#22562,#22563,#22564,#22565,#22566,#22567,#22568,#22569,#22570,#22571,#22572,#22573,#22574,#22575,#22576,#22577,#22578,#22579,#22580,#22581),(#22582,#22583,#22584,#22585,#22586,#22587,#22588,#22589,#22590,#22591,#22592,#22593,#22594,#22595,#22596,#22597,#22598,#22599,#22600,#22601,#22602,#22603,#22604,#22605,#22606,#22607)),.UNSPECIFIED.,.F.,.F.,.U.,(4,1,1,4),(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(-1.04663400721E-016,9.63848300083,14.4577245012,19.2769660017),(0.311744098918,3.46566689327,5.04262829045,6.61958968763,9.77351248198,12.9274352763,16.0813580707,16.8698387693,17.6583194679,18.4468001665,19.235280865,20.0237615636,20.8122422622,21.2064826115,21.3050426988,21.4036027862,21.6007229608,21.7978431355,21.9949633101,22.3892036594,23.177684358,23.9661650566,24.7546457552,25.5431264537),.UNSPECIFIED.) ; +#23248=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#23249,#23250,#23251,#23252,#23253,#23254,#23255,#23256,#23257,#23258,#23259,#23260,#23261,#23262,#23263,#23264,#23265,#23266,#23267,#23268,#23269,#23270,#23271,#23272,#23273,#23274,#23275,#23276,#23277,#23278,#23279),(#23280,#23281,#23282,#23283,#23284,#23285,#23286,#23287,#23288,#23289,#23290,#23291,#23292,#23293,#23294,#23295,#23296,#23297,#23298,#23299,#23300,#23301,#23302,#23303,#23304,#23305,#23306,#23307,#23308,#23309,#23310),(#23311,#23312,#23313,#23314,#23315,#23316,#23317,#23318,#23319,#23320,#23321,#23322,#23323,#23324,#23325,#23326,#23327,#23328,#23329,#23330,#23331,#23332,#23333,#23334,#23335,#23336,#23337,#23338,#23339,#23340,#23341),(#23342,#23343,#23344,#23345,#23346,#23347,#23348,#23349,#23350,#23351,#23352,#23353,#23354,#23355,#23356,#23357,#23358,#23359,#23360,#23361,#23362,#23363,#23364,#23365,#23366,#23367,#23368,#23369,#23370,#23371,#23372),(#23373,#23374,#23375,#23376,#23377,#23378,#23379,#23380,#23381,#23382,#23383,#23384,#23385,#23386,#23387,#23388,#23389,#23390,#23391,#23392,#23393,#23394,#23395,#23396,#23397,#23398,#23399,#23400,#23401,#23402,#23403),(#23404,#23405,#23406,#23407,#23408,#23409,#23410,#23411,#23412,#23413,#23414,#23415,#23416,#23417,#23418,#23419,#23420,#23421,#23422,#23423,#23424,#23425,#23426,#23427,#23428,#23429,#23430,#23431,#23432,#23433,#23434),(#23435,#23436,#23437,#23438,#23439,#23440,#23441,#23442,#23443,#23444,#23445,#23446,#23447,#23448,#23449,#23450,#23451,#23452,#23453,#23454,#23455,#23456,#23457,#23458,#23459,#23460,#23461,#23462,#23463,#23464,#23465)),.UNSPECIFIED.,.F.,.F.,.U.,(4,1,1,1,4),(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(0.,5.37902278409,10.7580455682,16.1370683523,21.5160911364),(0.,5.20735284126,7.81102926189,10.4147056825,13.0183821032,15.6220585238,17.0341294037,18.2257349444,20.1831809829,22.1312495754,23.4330877857,24.734925996,27.3386024166,30.234145258,31.9305737445,33.5223339156,34.1732530208,34.4987125734,34.6614423496,34.9869019022,35.1496316785,35.4750912311,36.467868055,37.7533080991,38.4042272043,39.0551463095,39.7060654146,40.3569845198,41.6588227301),.UNSPECIFIED.) ; +#24395=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#24396,#24397,#24398,#24399,#24400,#24401,#24402,#24403,#24404,#24405,#24406,#24407,#24408,#24409,#24410,#24411,#24412,#24413,#24414,#24415,#24416,#24417,#24418,#24419,#24420,#24421,#24422,#24423,#24424,#24425,#24426),(#24427,#24428,#24429,#24430,#24431,#24432,#24433,#24434,#24435,#24436,#24437,#24438,#24439,#24440,#24441,#24442,#24443,#24444,#24445,#24446,#24447,#24448,#24449,#24450,#24451,#24452,#24453,#24454,#24455,#24456,#24457),(#24458,#24459,#24460,#24461,#24462,#24463,#24464,#24465,#24466,#24467,#24468,#24469,#24470,#24471,#24472,#24473,#24474,#24475,#24476,#24477,#24478,#24479,#24480,#24481,#24482,#24483,#24484,#24485,#24486,#24487,#24488),(#24489,#24490,#24491,#24492,#24493,#24494,#24495,#24496,#24497,#24498,#24499,#24500,#24501,#24502,#24503,#24504,#24505,#24506,#24507,#24508,#24509,#24510,#24511,#24512,#24513,#24514,#24515,#24516,#24517,#24518,#24519),(#24520,#24521,#24522,#24523,#24524,#24525,#24526,#24527,#24528,#24529,#24530,#24531,#24532,#24533,#24534,#24535,#24536,#24537,#24538,#24539,#24540,#24541,#24542,#24543,#24544,#24545,#24546,#24547,#24548,#24549,#24550),(#24551,#24552,#24553,#24554,#24555,#24556,#24557,#24558,#24559,#24560,#24561,#24562,#24563,#24564,#24565,#24566,#24567,#24568,#24569,#24570,#24571,#24572,#24573,#24574,#24575,#24576,#24577,#24578,#24579,#24580,#24581),(#24582,#24583,#24584,#24585,#24586,#24587,#24588,#24589,#24590,#24591,#24592,#24593,#24594,#24595,#24596,#24597,#24598,#24599,#24600,#24601,#24602,#24603,#24604,#24605,#24606,#24607,#24608,#24609,#24610,#24611,#24612)),.UNSPECIFIED.,.F.,.F.,.U.,(4,1,1,1,4),(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(0.,5.37902278409,10.7580455682,16.1370683523,21.5160911364),(0.,5.20735284126,7.81102926189,10.4147056825,13.0183821032,15.6220585238,17.0341294037,18.2257349444,20.1831809829,22.1312495754,23.4330877857,24.734925996,27.3386024166,30.234145258,31.9305737445,33.5223339156,34.1732530208,34.4987125734,34.6614423496,34.9869019022,35.1496316785,35.4750912311,36.467868055,37.7533080991,38.4042272043,39.0551463095,39.7060654146,40.3569845198,41.6588227301),.UNSPECIFIED.) ; 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; 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',' ',#1224,#3145) ; +#3571=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#3170,#3570) ; +#3993=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#3587,#3992) ; +#4489=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#4009,#4488) ; +#4985=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#4505,#4984) ; +#5736=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#5014,#5735) ; +#7438=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#5752,#7437) ; +#15821=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#7454,#15820) ; +#33852=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#31456,#33851) ; +#35921=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#33868,#35920) ; +#37745=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#35937,#37744) ; +#37914=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#37761,#37913) ; +#38659=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#38198,#38658) ; +#38828=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#38675,#38827) ; +#40343=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#38859,#40342) ; +#41040=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#40359,#41039) ; +#41144=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#41056,#41143) ; +#41573=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#41160,#41572) ; +#42305=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#41597,#42304) ; +#43060=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#42321,#43059) ; +#43815=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#43076,#43814) ; +#44191=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#43852,#44190) ; +#47224=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#44207,#47223) ; +#48343=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#47240,#48342) ; +#48548=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#48359,#48547) ; +#49675=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#48564,#49674) ; +#50802=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#49691,#50801) ; +#51929=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#50818,#51928) ; +#53056=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#51945,#53055) ; +#53825=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#53072,#53824) ; +#53942=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#53854,#53941) ; +#54902=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#54165,#54901) ; +#55253=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#54918,#55252) ; +#55778=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#55269,#55777) ; +#73121=SHAPE_REPRESENTATION_RELATIONSHIP(' ',' ',#55794,#73120) ; +#149=CYLINDRICAL_SURFACE('generated cylinder',#148,20.) ; +#326=CYLINDRICAL_SURFACE('generated cylinder',#325,18.) ; +#397=CYLINDRICAL_SURFACE('generated cylinder',#396,50.) ; +#454=CYLINDRICAL_SURFACE('generated cylinder',#453,2.5) ; +#511=CYLINDRICAL_SURFACE('generated cylinder',#510,2.5) ; +#568=CYLINDRICAL_SURFACE('generated cylinder',#567,2.5) ; +#625=CYLINDRICAL_SURFACE('generated cylinder',#624,2.5) ; +#682=CYLINDRICAL_SURFACE('generated cylinder',#681,2.5) ; +#739=CYLINDRICAL_SURFACE('generated cylinder',#738,2.5) ; +#956=CYLINDRICAL_SURFACE('generated cylinder',#955,1.621) ; +#1004=CYLINDRICAL_SURFACE('generated cylinder',#1003,1.621) ; +#1052=CYLINDRICAL_SURFACE('generated cylinder',#1051,1.621) ; +#1081=CYLINDRICAL_SURFACE('generated cylinder',#1080,15.5) ; +#1237=CYLINDRICAL_SURFACE('generated cylinder',#1236,2.5) ; +#1566=CYLINDRICAL_SURFACE('generated cylinder',#1565,50.) ; +#1595=CYLINDRICAL_SURFACE('generated cylinder',#1594,2.5) ; +#1624=CYLINDRICAL_SURFACE('generated cylinder',#1623,2.5) ; +#1653=CYLINDRICAL_SURFACE('generated cylinder',#1652,40.) ; +#1756=CYLINDRICAL_SURFACE('generated cylinder',#1755,2.5) ; +#1785=CYLINDRICAL_SURFACE('generated cylinder',#1784,2.5) ; +#1814=CYLINDRICAL_SURFACE('generated cylinder',#1813,2.5) ; +#1843=CYLINDRICAL_SURFACE('generated cylinder',#1842,35.) ; +#2184=CYLINDRICAL_SURFACE('generated cylinder',#2183,13.5) ; +#2241=CYLINDRICAL_SURFACE('generated cylinder',#2240,35.) ; +#2317=CYLINDRICAL_SURFACE('generated cylinder',#2316,4.5) ; +#2365=CYLINDRICAL_SURFACE('generated cylinder',#2364,4.5) ; +#2413=CYLINDRICAL_SURFACE('generated cylinder',#2412,4.5) ; +#2461=CYLINDRICAL_SURFACE('generated cylinder',#2460,4.5) ; +#2708=CYLINDRICAL_SURFACE('generated cylinder',#2707,23.1954185358) ; +#2759=CYLINDRICAL_SURFACE('generated cylinder',#2758,17.5) ; +#2859=CYLINDRICAL_SURFACE('generated cylinder',#2858,15.75) ; +#2888=CYLINDRICAL_SURFACE('generated cylinder',#2887,3.5) ; +#2966=CYLINDRICAL_SURFACE('generated cylinder',#2965,3.5) ; +#3017=CYLINDRICAL_SURFACE('generated cylinder',#3016,3.5) ; +#3046=CYLINDRICAL_SURFACE('generated cylinder',#3045,3.5) ; +#3092=CYLINDRICAL_SURFACE('generated cylinder',#3091,3.5) ; +#3106=CYLINDRICAL_SURFACE('generated cylinder',#3105,3.5) ; +#3120=CYLINDRICAL_SURFACE('generated cylinder',#3119,3.5) ; +#3134=CYLINDRICAL_SURFACE('generated cylinder',#3133,3.5) ; +#3240=CYLINDRICAL_SURFACE('generated cylinder',#3239,17.5) ; +#3326=CYLINDRICAL_SURFACE('generated cylinder',#3325,14.3) ; +#3600=CYLINDRICAL_SURFACE('generated cylinder',#3599,7.5) ; +#3700=CYLINDRICAL_SURFACE('generated cylinder',#3699,11.6) ; +#3800=CYLINDRICAL_SURFACE('generated cylinder',#3799,9.5) ; 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+#6496=CYLINDRICAL_SURFACE('generated cylinder',#6495,1.) ; +#6513=CYLINDRICAL_SURFACE('generated cylinder',#6512,41.9999999954) ; +#6584=CYLINDRICAL_SURFACE('generated cylinder',#6583,41.9999999954) ; +#6646=CYLINDRICAL_SURFACE('generated cylinder',#6645,41.9999999954) ; +#6708=CYLINDRICAL_SURFACE('generated cylinder',#6707,41.9999999954) ; +#6761=CYLINDRICAL_SURFACE('generated cylinder',#6760,2.) ; +#6801=CYLINDRICAL_SURFACE('generated cylinder',#6800,2.) ; +#6832=CYLINDRICAL_SURFACE('generated cylinder',#6831,2.) ; +#6863=CYLINDRICAL_SURFACE('generated cylinder',#6862,2.) ; +#6885=CYLINDRICAL_SURFACE('generated cylinder',#6884,2.) ; +#6925=CYLINDRICAL_SURFACE('generated cylinder',#6924,2.) ; +#6956=CYLINDRICAL_SURFACE('generated cylinder',#6955,2.) ; +#6987=CYLINDRICAL_SURFACE('generated cylinder',#6986,2.) ; +#7009=CYLINDRICAL_SURFACE('generated cylinder',#7008,2.) ; +#7049=CYLINDRICAL_SURFACE('generated cylinder',#7048,2.) ; +#7080=CYLINDRICAL_SURFACE('generated cylinder',#7079,2.) ; +#7111=CYLINDRICAL_SURFACE('generated cylinder',#7110,2.) ; +#7133=CYLINDRICAL_SURFACE('generated cylinder',#7132,2.) ; +#7173=CYLINDRICAL_SURFACE('generated cylinder',#7172,2.) ; +#7204=CYLINDRICAL_SURFACE('generated cylinder',#7203,2.) ; +#7235=CYLINDRICAL_SURFACE('generated cylinder',#7234,2.) ; +#7428=CYLINDRICAL_SURFACE('generated cylinder',#7427,5.) ; +#7467=CYLINDRICAL_SURFACE('generated cylinder',#7466,15.) ; +#7522=CYLINDRICAL_SURFACE('generated cylinder',#7521,15.) ; +#7749=CYLINDRICAL_SURFACE('generated cylinder',#7748,17.5) ; +#7786=CYLINDRICAL_SURFACE('generated cylinder',#7785,17.5) ; +#7819=CYLINDRICAL_SURFACE('generated cylinder',#7818,7.75) ; +#7950=CYLINDRICAL_SURFACE('generated cylinder',#7949,8.25) ; +#7980=CYLINDRICAL_SURFACE('generated cylinder',#7979,17.5) ; +#8013=CYLINDRICAL_SURFACE('generated cylinder',#8012,7.75) ; +#8144=CYLINDRICAL_SURFACE('generated cylinder',#8143,8.25) ; +#8179=CYLINDRICAL_SURFACE('generated cylinder',#8178,17.5) ; +#8204=CYLINDRICAL_SURFACE('generated cylinder',#8203,17.5) ; +#8237=CYLINDRICAL_SURFACE('generated cylinder',#8236,7.75) ; +#8368=CYLINDRICAL_SURFACE('generated cylinder',#8367,8.25) ; +#8398=CYLINDRICAL_SURFACE('generated cylinder',#8397,17.5) ; +#8431=CYLINDRICAL_SURFACE('generated cylinder',#8430,7.75) ; +#8562=CYLINDRICAL_SURFACE('generated cylinder',#8561,8.25) ; +#8813=CYLINDRICAL_SURFACE('generated cylinder',#8812,42.) ; +#8999=CYLINDRICAL_SURFACE('generated cylinder',#8998,42.) ; +#9168=CYLINDRICAL_SURFACE('generated cylinder',#9167,42.) ; +#9358=CYLINDRICAL_SURFACE('generated cylinder',#9357,42.) ; +#9696=CYLINDRICAL_SURFACE('generated cylinder',#9695,5.) ; +#9878=CYLINDRICAL_SURFACE('generated cylinder',#9877,5.) ; +#10063=CYLINDRICAL_SURFACE('generated cylinder',#10062,5.) ; +#10248=CYLINDRICAL_SURFACE('generated cylinder',#10247,5.) ; +#10265=CYLINDRICAL_SURFACE('generated cylinder',#10264,2.) ; +#10296=CYLINDRICAL_SURFACE('generated cylinder',#10295,2.) ; +#10313=CYLINDRICAL_SURFACE('generated cylinder',#10312,2.) ; +#10344=CYLINDRICAL_SURFACE('generated cylinder',#10343,2.) ; +#10361=CYLINDRICAL_SURFACE('generated cylinder',#10360,2.) ; +#10392=CYLINDRICAL_SURFACE('generated cylinder',#10391,2.) ; +#10409=CYLINDRICAL_SURFACE('generated cylinder',#10408,2.) ; +#10440=CYLINDRICAL_SURFACE('generated cylinder',#10439,2.) ; +#10491=CYLINDRICAL_SURFACE('generated cylinder',#10490,38.25) ; +#10599=CYLINDRICAL_SURFACE('generated cylinder',#10598,38.25) ; +#11251=CYLINDRICAL_SURFACE('generated cylinder',#11250,5.) ; +#11725=CYLINDRICAL_SURFACE('generated cylinder',#11724,5.) ; +#12083=CYLINDRICAL_SURFACE('generated cylinder',#12082,5.) ; +#12441=CYLINDRICAL_SURFACE('generated cylinder',#12440,5.) ; +#13109=CYLINDRICAL_SURFACE('generated cylinder',#13108,40.) ; +#13145=CYLINDRICAL_SURFACE('generated cylinder',#13144,3.25) ; +#13162=CYLINDRICAL_SURFACE('generated cylinder',#13161,3.25) ; +#13179=CYLINDRICAL_SURFACE('generated cylinder',#13178,3.25) ; +#13239=CYLINDRICAL_SURFACE('generated cylinder',#13238,3.25) ; +#13256=CYLINDRICAL_SURFACE('generated cylinder',#13255,3.25) ; +#13273=CYLINDRICAL_SURFACE('generated cylinder',#13272,3.25) ; +#13309=CYLINDRICAL_SURFACE('generated cylinder',#13308,40.) ; +#13321=CYLINDRICAL_SURFACE('generated cylinder',#13320,0.25) ; +#13352=CYLINDRICAL_SURFACE('generated cylinder',#13351,44.) ; +#13376=CYLINDRICAL_SURFACE('generated cylinder',#13375,0.25) ; +#13400=CYLINDRICAL_SURFACE('generated cylinder',#13399,0.25) ; +#13472=CYLINDRICAL_SURFACE('generated cylinder',#13471,3.5) ; +#13592=CYLINDRICAL_SURFACE('generated cylinder',#13591,0.25) ; +#13616=CYLINDRICAL_SURFACE('generated cylinder',#13615,44.) ; +#13640=CYLINDRICAL_SURFACE('generated cylinder',#13639,0.25) ; +#13664=CYLINDRICAL_SURFACE('generated cylinder',#13663,0.25) ; +#13736=CYLINDRICAL_SURFACE('generated cylinder',#13735,3.5) ; +#13753=CYLINDRICAL_SURFACE('generated cylinder',#13752,42.) ; +#13885=CYLINDRICAL_SURFACE('generated cylinder',#13884,42.) ; +#14010=CYLINDRICAL_SURFACE('generated cylinder',#14009,42.) ; +#14135=CYLINDRICAL_SURFACE('generated cylinder',#14134,42.) ; +#14253=CYLINDRICAL_SURFACE('generated cylinder',#14252,0.25) ; +#14332=CYLINDRICAL_SURFACE('generated cylinder',#14331,3.5) ; +#14404=CYLINDRICAL_SURFACE('generated cylinder',#14403,0.25) ; +#14428=CYLINDRICAL_SURFACE('generated cylinder',#14427,0.25) ; +#14452=CYLINDRICAL_SURFACE('generated cylinder',#14451,44.) ; +#14469=CYLINDRICAL_SURFACE('generated cylinder',#14468,0.25) ; +#14548=CYLINDRICAL_SURFACE('generated cylinder',#14547,3.5) ; +#14620=CYLINDRICAL_SURFACE('generated cylinder',#14619,0.25) ; +#14644=CYLINDRICAL_SURFACE('generated cylinder',#14643,0.25) ; +#14668=CYLINDRICAL_SURFACE('generated cylinder',#14667,44.) ; +#14685=CYLINDRICAL_SURFACE('generated cylinder',#14684,40.) ; +#14721=CYLINDRICAL_SURFACE('generated cylinder',#14720,3.25) ; +#14738=CYLINDRICAL_SURFACE('generated cylinder',#14737,3.25) ; +#14755=CYLINDRICAL_SURFACE('generated cylinder',#14754,3.25) ; +#14791=CYLINDRICAL_SURFACE('generated cylinder',#14790,40.) ; +#14803=CYLINDRICAL_SURFACE('generated cylinder',#14802,40.) ; +#14839=CYLINDRICAL_SURFACE('generated cylinder',#14838,3.25) ; +#14856=CYLINDRICAL_SURFACE('generated cylinder',#14855,3.25) ; +#14873=CYLINDRICAL_SURFACE('generated cylinder',#14872,3.25) ; +#14909=CYLINDRICAL_SURFACE('generated cylinder',#14908,40.) ; +#14921=CYLINDRICAL_SURFACE('generated cylinder',#14920,40.) ; +#14933=CYLINDRICAL_SURFACE('generated cylinder',#14932,40.) ; +#15827=CYLINDRICAL_SURFACE('generated cylinder',#15826,1.25) ; +#15882=CYLINDRICAL_SURFACE('generated cylinder',#15881,1.25) ; +#16844=CYLINDRICAL_SURFACE('generated cylinder',#16843,1.) ; +#16875=CYLINDRICAL_SURFACE('generated cylinder',#16874,1.) ; +#16892=CYLINDRICAL_SURFACE('generated cylinder',#16891,1.25) ; +#16923=CYLINDRICAL_SURFACE('generated cylinder',#16922,1.25) ; +#16940=CYLINDRICAL_SURFACE('generated cylinder',#16939,1.25) ; +#16971=CYLINDRICAL_SURFACE('generated cylinder',#16970,1.25) ; +#16988=CYLINDRICAL_SURFACE('generated cylinder',#16987,10.5) ; +#17043=CYLINDRICAL_SURFACE('generated cylinder',#17042,12.5) ; +#17084=CYLINDRICAL_SURFACE('generated cylinder',#17083,10.5) ; +#17139=CYLINDRICAL_SURFACE('generated cylinder',#17138,12.5) ; +#17163=CYLINDRICAL_SURFACE('generated cylinder',#17162,12.5) ; +#17211=CYLINDRICAL_SURFACE('generated cylinder',#17210,10.5) ; +#17228=CYLINDRICAL_SURFACE('generated cylinder',#17227,10.5) ; +#17283=CYLINDRICAL_SURFACE('generated cylinder',#17282,12.5) ; +#17324=CYLINDRICAL_SURFACE('generated cylinder',#17323,10.5) ; +#17379=CYLINDRICAL_SURFACE('generated cylinder',#17378,12.5) ; +#17420=CYLINDRICAL_SURFACE('generated cylinder',#17419,10.5) ; +#17475=CYLINDRICAL_SURFACE('generated cylinder',#17474,12.5) ; +#17516=CYLINDRICAL_SURFACE('generated cylinder',#17515,10.5) ; +#17571=CYLINDRICAL_SURFACE('generated cylinder',#17570,12.5) ; +#17612=CYLINDRICAL_SURFACE('generated cylinder',#17611,10.5) ; +#17667=CYLINDRICAL_SURFACE('generated cylinder',#17666,12.5) ; +#17708=CYLINDRICAL_SURFACE('generated cylinder',#17707,10.5) ; +#17763=CYLINDRICAL_SURFACE('generated cylinder',#17762,12.5) ; +#17804=CYLINDRICAL_SURFACE('generated cylinder',#17803,10.5) ; +#17859=CYLINDRICAL_SURFACE('generated cylinder',#17858,12.5) ; +#17900=CYLINDRICAL_SURFACE('generated cylinder',#17899,10.5) ; +#17955=CYLINDRICAL_SURFACE('generated cylinder',#17954,12.5) ; +#17996=CYLINDRICAL_SURFACE('generated cylinder',#17995,10.5) ; +#18051=CYLINDRICAL_SURFACE('generated cylinder',#18050,12.5) ; +#18092=CYLINDRICAL_SURFACE('generated cylinder',#18091,10.5) ; +#18147=CYLINDRICAL_SURFACE('generated cylinder',#18146,12.5) ; +#18188=CYLINDRICAL_SURFACE('generated cylinder',#18187,10.5) ; +#18243=CYLINDRICAL_SURFACE('generated cylinder',#18242,12.5) ; +#18284=CYLINDRICAL_SURFACE('generated cylinder',#18283,10.5) ; +#18315=CYLINDRICAL_SURFACE('generated cylinder',#18314,10.5) ; +#18363=CYLINDRICAL_SURFACE('generated cylinder',#18362,12.5) ; +#18387=CYLINDRICAL_SURFACE('generated cylinder',#18386,12.5) ; +#18428=CYLINDRICAL_SURFACE('generated cylinder',#18427,17.5) ; +#19062=CYLINDRICAL_SURFACE('generated cylinder',#19061,17.5) ; +#19704=CYLINDRICAL_SURFACE('generated cylinder',#19703,17.5) ; +#20356=CYLINDRICAL_SURFACE('generated cylinder',#20355,17.5) ; +#21008=CYLINDRICAL_SURFACE('generated cylinder',#21007,17.5) ; +#21059=CYLINDRICAL_SURFACE('generated cylinder',#21058,17.5) ; +#21685=CYLINDRICAL_SURFACE('generated cylinder',#21684,17.5) ; +#22346=CYLINDRICAL_SURFACE('generated cylinder',#22345,17.5) ; +#22998=CYLINDRICAL_SURFACE('generated cylinder',#22997,17.5) ; +#24040=CYLINDRICAL_SURFACE('generated cylinder',#24039,17.5) ; +#24322=CYLINDRICAL_SURFACE('generated cylinder',#24321,37.5) ; +#25437=CYLINDRICAL_SURFACE('generated cylinder',#25436,37.5) ; +#26530=CYLINDRICAL_SURFACE('generated cylinder',#26529,37.5) ; +#27623=CYLINDRICAL_SURFACE('generated cylinder',#27622,37.5) ; +#28724=CYLINDRICAL_SURFACE('generated cylinder',#28723,37.5) ; +#28779=CYLINDRICAL_SURFACE('generated cylinder',#28778,17.5) ; +#29828=CYLINDRICAL_SURFACE('generated cylinder',#29827,37.5) ; +#30921=CYLINDRICAL_SURFACE('generated cylinder',#30920,37.5) ; +#31356=CYLINDRICAL_SURFACE('generated cylinder',#31355,1.) ; +#31411=CYLINDRICAL_SURFACE('generated cylinder',#31410,1.) ; +#31469=CYLINDRICAL_SURFACE('generated cylinder',#31468,88.4999791951) ; +#31540=CYLINDRICAL_SURFACE('generated cylinder',#31539,2.) ; +#31795=CYLINDRICAL_SURFACE('generated cylinder',#31794,2.5) ; +#31826=CYLINDRICAL_SURFACE('generated cylinder',#31825,2.5) ; +#31965=CYLINDRICAL_SURFACE('generated cylinder',#31964,2.5) ; +#31987=CYLINDRICAL_SURFACE('generated cylinder',#31986,2.5) ; +#31999=CYLINDRICAL_SURFACE('generated cylinder',#31998,2.5) ; +#32021=CYLINDRICAL_SURFACE('generated cylinder',#32020,40.) ; +#32038=CYLINDRICAL_SURFACE('generated cylinder',#32037,2.) ; +#32060=CYLINDRICAL_SURFACE('generated cylinder',#32059,88.4999791951) ; +#32089=CYLINDRICAL_SURFACE('generated cylinder',#32088,2.5) ; +#32128=CYLINDRICAL_SURFACE('generated cylinder',#32127,2.5) ; +#32140=CYLINDRICAL_SURFACE('generated cylinder',#32139,2.5) ; +#32214=CYLINDRICAL_SURFACE('generated cylinder',#32213,4.) ; +#32231=CYLINDRICAL_SURFACE('generated cylinder',#32230,8.) ; +#32248=CYLINDRICAL_SURFACE('generated cylinder',#32247,3.025) ; +#32288=CYLINDRICAL_SURFACE('generated cylinder',#32287,3.025) ; +#32319=CYLINDRICAL_SURFACE('generated cylinder',#32318,3.025) ; +#32350=CYLINDRICAL_SURFACE('generated cylinder',#32349,3.025) ; +#32372=CYLINDRICAL_SURFACE('generated cylinder',#32371,3.025) ; +#32412=CYLINDRICAL_SURFACE('generated cylinder',#32411,3.025) ; +#32443=CYLINDRICAL_SURFACE('generated cylinder',#32442,3.025) ; +#32474=CYLINDRICAL_SURFACE('generated cylinder',#32473,3.025) ; +#32496=CYLINDRICAL_SURFACE('generated cylinder',#32495,3.025) ; +#32536=CYLINDRICAL_SURFACE('generated cylinder',#32535,3.025) ; +#32567=CYLINDRICAL_SURFACE('generated cylinder',#32566,3.025) ; +#32598=CYLINDRICAL_SURFACE('generated cylinder',#32597,3.025) ; +#32620=CYLINDRICAL_SURFACE('generated cylinder',#32619,3.025) ; +#32660=CYLINDRICAL_SURFACE('generated cylinder',#32659,3.025) ; +#32691=CYLINDRICAL_SURFACE('generated cylinder',#32690,3.025) ; +#32722=CYLINDRICAL_SURFACE('generated cylinder',#32721,3.025) ; +#32744=CYLINDRICAL_SURFACE('generated cylinder',#32743,3.025) ; +#32784=CYLINDRICAL_SURFACE('generated cylinder',#32783,3.025) ; +#32815=CYLINDRICAL_SURFACE('generated cylinder',#32814,3.025) ; +#32846=CYLINDRICAL_SURFACE('generated cylinder',#32845,3.025) ; +#32868=CYLINDRICAL_SURFACE('generated cylinder',#32867,3.025) ; +#32908=CYLINDRICAL_SURFACE('generated cylinder',#32907,3.025) ; +#32939=CYLINDRICAL_SURFACE('generated cylinder',#32938,3.025) ; +#32970=CYLINDRICAL_SURFACE('generated cylinder',#32969,3.025) ; +#33222=CYLINDRICAL_SURFACE('generated cylinder',#33221,4.) ; +#33239=CYLINDRICAL_SURFACE('generated cylinder',#33238,3.5) ; +#33279=CYLINDRICAL_SURFACE('generated cylinder',#33278,3.) ; +#33341=CYLINDRICAL_SURFACE('generated cylinder',#33340,8.) ; +#33389=CYLINDRICAL_SURFACE('generated cylinder',#33388,3.) ; +#33489=CYLINDRICAL_SURFACE('generated cylinder',#33488,40.) ; +#33575=CYLINDRICAL_SURFACE('generated cylinder',#33574,3.5) ; +#33646=CYLINDRICAL_SURFACE('generated cylinder',#33645,3.5) ; +#33842=CYLINDRICAL_SURFACE('generated cylinder',#33841,3.5) ; +#33881=CYLINDRICAL_SURFACE('generated cylinder',#33880,42.5) ; +#33994=CYLINDRICAL_SURFACE('generated cylinder',#33993,50.) ; +#34187=CYLINDRICAL_SURFACE('generated cylinder',#34186,2.5) ; +#34230=CYLINDRICAL_SURFACE('generated cylinder',#34229,2.5) ; +#34273=CYLINDRICAL_SURFACE('generated cylinder',#34272,2.5) ; +#34316=CYLINDRICAL_SURFACE('generated cylinder',#34315,2.5) ; +#34359=CYLINDRICAL_SURFACE('generated cylinder',#34358,2.5) ; +#34402=CYLINDRICAL_SURFACE('generated cylinder',#34401,2.5) ; +#34445=CYLINDRICAL_SURFACE('generated cylinder',#34444,23.) ; +#35846=CYLINDRICAL_SURFACE('generated cylinder',#35845,20.) ; +#35950=CYLINDRICAL_SURFACE('generated cylinder',#35949,17.45) ; +#36299=CYLINDRICAL_SURFACE('generated cylinder',#36298,4.5) ; +#36354=CYLINDRICAL_SURFACE('generated cylinder',#36353,4.5) ; +#36402=CYLINDRICAL_SURFACE('generated cylinder',#36401,4.5) ; +#36450=CYLINDRICAL_SURFACE('generated cylinder',#36449,4.5) ; +#36711=CYLINDRICAL_SURFACE('generated cylinder',#36710,14.45) ; +#36802=CYLINDRICAL_SURFACE('generated cylinder',#36801,3.5) ; +#36834=CYLINDRICAL_SURFACE('generated cylinder',#36833,3.5) ; +#36866=CYLINDRICAL_SURFACE('generated cylinder',#36865,3.5) ; +#36898=CYLINDRICAL_SURFACE('generated cylinder',#36897,3.5) ; +#36954=CYLINDRICAL_SURFACE('generated cylinder',#36953,3.5) ; +#37043=CYLINDRICAL_SURFACE('generated cylinder',#37042,3.5) ; +#37079=CYLINDRICAL_SURFACE('generated cylinder',#37078,3.5) ; +#37134=CYLINDRICAL_SURFACE('generated cylinder',#37133,3.5) ; +#37357=CYLINDRICAL_SURFACE('generated cylinder',#37356,5.) ; +#37381=CYLINDRICAL_SURFACE('generated cylinder',#37380,5.) ; +#37440=CYLINDRICAL_SURFACE('generated cylinder',#37439,5.) ; +#37537=CYLINDRICAL_SURFACE('generated cylinder',#37536,5.) ; +#37575=CYLINDRICAL_SURFACE('generated cylinder',#37574,5.) ; +#37599=CYLINDRICAL_SURFACE('generated cylinder',#37598,5.) ; +#37648=CYLINDRICAL_SURFACE('generated cylinder',#37647,5.) ; +#37735=CYLINDRICAL_SURFACE('generated cylinder',#37734,5.) ; +#37774=CYLINDRICAL_SURFACE('generated cylinder',#37773,22.5) ; +#37831=CYLINDRICAL_SURFACE('generated cylinder',#37830,20.) ; +#38211=CYLINDRICAL_SURFACE('generated cylinder',#38210,13.4999974906) ; +#38339=CYLINDRICAL_SURFACE('generated cylinder',#38338,13.4999974906) ; +#38370=CYLINDRICAL_SURFACE('generated cylinder',#38369,11.4999974906) ; +#38401=CYLINDRICAL_SURFACE('generated cylinder',#38400,11.4999974906) ; +#38430=CYLINDRICAL_SURFACE('generated cylinder',#38429,13.4999974906) ; +#38515=CYLINDRICAL_SURFACE('generated cylinder',#38514,11.4999974906) ; +#38573=CYLINDRICAL_SURFACE('generated cylinder',#38572,11.4999974906) ; +#38688=CYLINDRICAL_SURFACE('generated cylinder',#38687,11.5) ; +#38745=CYLINDRICAL_SURFACE('generated cylinder',#38744,7.5) ; +#38914=CYLINDRICAL_SURFACE('generated cylinder',#38913,17.5) ; +#39200=CYLINDRICAL_SURFACE('generated cylinder',#39199,4.5) ; +#39248=CYLINDRICAL_SURFACE('generated cylinder',#39247,4.5) ; +#39296=CYLINDRICAL_SURFACE('generated cylinder',#39295,4.5) ; +#39344=CYLINDRICAL_SURFACE('generated cylinder',#39343,4.5) ; +#39361=CYLINDRICAL_SURFACE('generated cylinder',#39360,3.5) ; +#39432=CYLINDRICAL_SURFACE('generated cylinder',#39431,3.5) ; +#39485=CYLINDRICAL_SURFACE('generated cylinder',#39484,3.5) ; +#39525=CYLINDRICAL_SURFACE('generated cylinder',#39524,3.5) ; +#39565=CYLINDRICAL_SURFACE('generated cylinder',#39564,3.5) ; +#39631=CYLINDRICAL_SURFACE('generated cylinder',#39630,3.5) ; +#39679=CYLINDRICAL_SURFACE('generated cylinder',#39678,3.5) ; +#39719=CYLINDRICAL_SURFACE('generated cylinder',#39718,3.5) ; +#40086=CYLINDRICAL_SURFACE('generated cylinder',#40085,5.) ; +#40120=CYLINDRICAL_SURFACE('generated cylinder',#40119,5.) ; +#40132=CYLINDRICAL_SURFACE('generated cylinder',#40131,5.) ; +#40171=CYLINDRICAL_SURFACE('generated cylinder',#40170,5.) ; +#40200=CYLINDRICAL_SURFACE('generated cylinder',#40199,5.) ; +#40234=CYLINDRICAL_SURFACE('generated cylinder',#40233,5.) ; +#40275=CYLINDRICAL_SURFACE('generated cylinder',#40274,5.) ; +#40304=CYLINDRICAL_SURFACE('generated cylinder',#40303,5.) ; +#40316=CYLINDRICAL_SURFACE('generated cylinder',#40315,36.5) ; +#40372=CYLINDRICAL_SURFACE('generated cylinder',#40371,3.025) ; +#40429=CYLINDRICAL_SURFACE('generated cylinder',#40428,3.025) ; +#40486=CYLINDRICAL_SURFACE('generated cylinder',#40485,3.025) ; +#40543=CYLINDRICAL_SURFACE('generated cylinder',#40542,3.025) ; +#40600=CYLINDRICAL_SURFACE('generated cylinder',#40599,3.025) ; +#40657=CYLINDRICAL_SURFACE('generated cylinder',#40656,3.025) ; +#40714=CYLINDRICAL_SURFACE('generated cylinder',#40713,5.) ; +#40785=CYLINDRICAL_SURFACE('generated cylinder',#40784,5.) ; +#40847=CYLINDRICAL_SURFACE('generated cylinder',#40846,5.) ; +#41030=CYLINDRICAL_SURFACE('generated cylinder',#41029,5.) ; +#41069=CYLINDRICAL_SURFACE('generated cylinder',#41068,10.) ; +#41173=CYLINDRICAL_SURFACE('generated cylinder',#41172,25.) ; +#41230=CYLINDRICAL_SURFACE('generated cylinder',#41229,3.5) ; +#41459=CYLINDRICAL_SURFACE('generated cylinder',#41458,3.5) ; +#41488=CYLINDRICAL_SURFACE('generated cylinder',#41487,3.5) ; +#41517=CYLINDRICAL_SURFACE('generated cylinder',#41516,3.5) ; +#41546=CYLINDRICAL_SURFACE('generated cylinder',#41545,3.5) ; +#41795=CYLINDRICAL_SURFACE('generated cylinder',#41794,20.) ; +#41865=CYLINDRICAL_SURFACE('generated cylinder',#41864,20.) ; +#41887=CYLINDRICAL_SURFACE('generated cylinder',#41886,20.) ; +#41909=CYLINDRICAL_SURFACE('generated cylinder',#41908,20.) ; +#41979=CYLINDRICAL_SURFACE('generated cylinder',#41978,20.) ; +#42001=CYLINDRICAL_SURFACE('generated cylinder',#42000,20.) ; +#42023=CYLINDRICAL_SURFACE('generated cylinder',#42022,20.) ; +#42093=CYLINDRICAL_SURFACE('generated cylinder',#42092,20.) ; +#42115=CYLINDRICAL_SURFACE('generated cylinder',#42114,20.) ; +#42137=CYLINDRICAL_SURFACE('generated cylinder',#42136,20.) ; +#42207=CYLINDRICAL_SURFACE('generated cylinder',#42206,20.) ; +#42229=CYLINDRICAL_SURFACE('generated cylinder',#42228,20.) ; +#42334=CYLINDRICAL_SURFACE('generated cylinder',#42333,6.) ; +#42576=CYLINDRICAL_SURFACE('generated cylinder',#42575,20.) ; +#42603=CYLINDRICAL_SURFACE('generated cylinder',#42602,20.) ; +#42733=CYLINDRICAL_SURFACE('generated cylinder',#42732,20.) ; 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b/systems/flexibot/cad/storch-150/cad/components/cam/operation3.hsmworks-job @@ -0,0 +1,142 @@ +#! hsmkernel +# This is a generated file - do NOT edit +# +# Generator: HSMWorks 2023 R0.44039 +# Date: 18-7-2023 11:43:14 +# Host: DESKTOP-AHHEV4G +# Document: table-y-support-plate.SLDASM +# Operation: 2D Pocket1 + +import hsmkernel as kernel +from hsmkernel import Arc + +class Job(kernel.Operation): + + def onRun(self): + + contourClearing2D1 = kernel.ContourClearing2DOp(self, "contourClearing2D1") + # tool definition + contourClearing2D1.setParameter("cutterDiameter", 10.0) + contourClearing2D1.setParameter("cornerRadius", 0.0) + contourClearing2D1.setParameter("taperAngle", 0.0) + contourClearing2D1.setParameter("fluteLength", 25.0) + contourClearing2D1.setParameter("shoulderLength", 25.0) + contourClearing2D1.setParameter("bodyLength", 27.5) + contourClearing2D1.setParameter("shaftDiameter", 10.0) + contourClearing2D1.setParameter("shaft", '[[0, 5], [2.5, 5]]') + contourClearing2D1.setParameter("holder", '[[0, 19.05], [3.7592, 25.019], [24.9936, 25.019], [24.9936, 19.939], [29.464, 19.939], [31.75, 22.225], [42.545, 22.225], [43.815, 23.495], [43.815, 31.0134], [44.577, 31.7754], [48.26, 31.7754], [50.2666, 28.1305], [53.2638, 28.1305], [55.2704, 31.7754], [58.9026, 31.7754], [59.6646, 31.0134], [59.6646, 22.225], [62.8396, 22.225]]') + # general + contourClearing2D1.setParameter("tolerance", 0.1) + contourClearing2D1.setParameter("smoothTransitions", True) + contourClearing2D1.setParameter("machiningBoundaryOffset", 0.0) + contourClearing2D1.setParameter("contourZ", -30.0) + # contour offset + contourClearing2D1.setParameter("applyFinalSmoothingDeviation", False) + contourClearing2D1.setParameter("maximumFinishingSteps", 0) + contourClearing2D1.setParameter("finishingSmoothingDeviation", 0.0) + contourClearing2D1.setParameter("maximumFinishingStepover", 1.0) + contourClearing2D1.setParameter("minimumFinishingStepover", 0.25) + contourClearing2D1.setParameter("roughingSmoothingDeviation", 0.1) + contourClearing2D1.setParameter("maximumRoughingStepover", 3.0) + contourClearing2D1.setParameter("minimumRoughingStepover", 0.3) + contourClearing2D1.setParameter("ensureCutRadius", 4.875) + # roughing passes + contourClearing2D1.setParameter("spiralCircularPockets", True) + # finishing passes + contourClearing2D1.setParameter("repeatPass", False) + contourClearing2D1.setParameter("finishingOverlap", 0.0) + # compensation + contourClearing2D1.setParameter("rightCompensation", False) + contourClearing2D1.setParameter("bothWays", True) + contourClearing2D1.setParameter("finishingCompensationType", 0) + contourClearing2D1.setParameter("compensationDeltaRadius", 0.0) + contourClearing2D1.setParameter("stockHeightAbsolute", True) + contourClearing2D1.setParameter("stockHeight", 0.0) + contourClearing2D1.setParameter("depthAbsolute", False) + contourClearing2D1.setParameter("depth", 0.0) + # multiple depths + contourClearing2D1.setParameter("maximumStepdown", 10.0) + contourClearing2D1.setParameter("finishLevels", 0) + contourClearing2D1.setParameter("finishZStepdown", 0.2) + contourClearing2D1.setParameter("onlyFinishFinal", False) + contourClearing2D1.setParameter("evenZSteps", False) + contourClearing2D1.setParameter("wallTaperAngle", 0.0) + contourClearing2D1.setParameter("orderByStep", False) + contourClearing2D1.setParameter("preserveOrder", False) + # global stock to leave + contourClearing2D1.setParameter("radialStockToLeave", 0.0) + contourClearing2D1.setParameter("axialStockToLeave", 0.0) + # fragments + contourClearing2D1.setParameter("minimumFragmentLength", 0.0) + contourClearing2D1.setParameter("fragmentExtensionDistance", 0.0) + # ordering + contourClearing2D1.setParameter("linkByZLevel", False) + contourClearing2D1.setParameter("linkDirection", 0) + contourClearing2D1.setParameter("orderByIslands", False) + # linking + contourClearing2D1.setParameter("zClearance", 45.0) + contourClearing2D1.setParameter("zClearanceAbsolute", True) + contourClearing2D1.setParameter("zRetract", 35.0) + contourClearing2D1.setParameter("zRetractAbsolute", True) + contourClearing2D1.setParameter("useZFeed", True) + contourClearing2D1.setParameter("zFeed", 5.0) + contourClearing2D1.setParameter("zFeedAbsolute", True) + contourClearing2D1.setParameter("retractStrategy", 0) + contourClearing2D1.setParameter("allowRapidRetract", True) + contourClearing2D1.setParameter("safeDistance", 2.0) + contourClearing2D1.setParameter("stayDownDistance", 50.0) + contourClearing2D1.setParameter("liftHeight", 0.0) + contourClearing2D1.setParameter("thinningTolerance", 0.001) + # ramping + contourClearing2D1.setParameter("rampZClearance", 2.5) + contourClearing2D1.setParameter("maximumRampZStepdown", 25.0) + contourClearing2D1.setParameter("helicalRampDiameter", 0.0) + contourClearing2D1.setParameter("maximumRampAngle", 2.0) + contourClearing2D1.setParameter("minimumRampDiameter", 0.0) + contourClearing2D1.setParameter("allowPlunging", True) + contourClearing2D1.setParameter("allowHelicalRamps", False) + contourClearing2D1.setParameter("allowNonSmoothContourRamps", False) + contourClearing2D1.setParameter("allowContourRamps", False) + contourClearing2D1.setParameter("allowZigZagRamps", False) + contourClearing2D1.setParameter("smoothRamp", False) + # leads + contourClearing2D1.setParameter("leadInRadius", 1.0) + contourClearing2D1.setParameter("leadOutRadius", 1.0) + contourClearing2D1.setParameter("leadInVerticalRadius", 1.0) + contourClearing2D1.setParameter("leadOutVerticalRadius", 1.0) + contourClearing2D1.setParameter("leadInSweep", 90.0) + contourClearing2D1.setParameter("leadOutSweep", 90.0) + contourClearing2D1.setParameter("leadInDistance", 1.0) + contourClearing2D1.setParameter("leadOutDistance", 1.0) + contourClearing2D1.setParameter("leadInPerpendicular", False) + contourClearing2D1.setParameter("leadOutPerpendicular", False) + + contour2 = [ + (16.299999999999898, -395.80000000004316), + Arc(16.299999999999898, -395.80000000004316, 22.799999999999898, -395.80000000004316, False), + ] + contourClearing2D1.addContour(contour2) + + contour3 = [ + (572.30000000000007, -395.80000000004316), + Arc(572.30000000000007, -395.80000000004316, 578.79999999999995, -395.80000000004316, False), + ] + contourClearing2D1.addContour(contour3) + + contour4 = [ + (572.29999999999984, -95.800000000047248), + Arc(572.29999999999984, -95.800000000047248, 578.79999999999973, -95.800000000047248, False), + ] + contourClearing2D1.addContour(contour4) + + contour5 = [ + (16.299999999999898, -95.800000000047248), + Arc(16.299999999999898, -95.800000000047248, 22.799999999999898, -95.800000000047248, False), + ] + contourClearing2D1.addContour(contour5) + contourClearing2D1.setParameter("passesGUID", "'{5a675d4e-05e4-4b1a-ab53-e0b81400838b}'") + contourClearing2D1.run() + +if __name__ == '__main__': + job = Job() + job.run() diff --git a/systems/flexibot/cad/storch-150/cad/components/cam/operation4.hsmworks-job b/systems/flexibot/cad/storch-150/cad/components/cam/operation4.hsmworks-job new file mode 100644 index 000000000..9f561a9e7 --- /dev/null +++ b/systems/flexibot/cad/storch-150/cad/components/cam/operation4.hsmworks-job @@ -0,0 +1,132 @@ +#! hsmkernel +# This is a generated file - do NOT edit +# +# Generator: HSMWorks 2023 R0.44039 +# Date: 18-7-2023 12:30:14 +# Host: DESKTOP-AHHEV4G +# Document: table-y-support-plate.SLDASM +# Operation: 2D Contour1 + +import hsmkernel as kernel +from hsmkernel import Arc + +class Job(kernel.Operation): + + def onRun(self): + + contour2D1 = kernel.Contour2DOp(self, "contour2D1") + # tool definition + contour2D1.setParameter("cutterDiameter", 20.0) + contour2D1.setParameter("cornerRadius", 0.0) + contour2D1.setParameter("taperAngle", 0.0) + contour2D1.setParameter("fluteLength", 25.0) + contour2D1.setParameter("shoulderLength", 25.0) + contour2D1.setParameter("bodyLength", 27.5) + contour2D1.setParameter("shaftDiameter", 20.0) + contour2D1.setParameter("shaft", '[[0, 10], [2.5, 10]]') + contour2D1.setParameter("holder", '[[0, 19.05], [3.7592, 25.019], [24.9936, 25.019], [24.9936, 19.939], [29.464, 19.939], [31.75, 22.225], [42.545, 22.225], [43.815, 23.495], [43.815, 31.0134], [44.577, 31.7754], [48.26, 31.7754], [50.2666, 28.1305], [53.2638, 28.1305], [55.2704, 31.7754], [58.9026, 31.7754], [59.6646, 31.0134], [59.6646, 22.225], [62.8396, 22.225]]') + # general + contour2D1.setParameter("tolerance", 0.01) + contour2D1.setParameter("smoothTransitions", True) + contour2D1.setParameter("machiningBoundaryOffset", 0.0) + contour2D1.setParameter("contourZ", -30.0) + # contour offset + contour2D1.setParameter("applyFinalSmoothingDeviation", False) + contour2D1.setParameter("maximumFinishingSteps", 1) + contour2D1.setParameter("finishingSmoothingDeviation", 0.0) + contour2D1.setParameter("maximumFinishingStepover", 2.0) + contour2D1.setParameter("minimumFinishingStepover", 0.5) + contour2D1.setParameter("roughingSmoothingDeviation", 0.1) + contour2D1.setParameter("maximumRoughingSteps", 0) + contour2D1.setParameter("maximumRoughingStepover", 19.0) + contour2D1.setParameter("minimumRoughingStepover", 1.9) + contour2D1.setParameter("ensureCutRadius", 9.75) + contour2D1.setParameter("approachMode", 0) + contour2D1.setParameter("spiralCircularPockets", True) + # finishing passes + contour2D1.setParameter("repeatPass", False) + contour2D1.setParameter("finishingOverlap", 0.0) + # compensation + contour2D1.setParameter("rightCompensation", False) + contour2D1.setParameter("bothWays", False) + contour2D1.setParameter("finishingCompensationType", 0) + contour2D1.setParameter("compensationDeltaRadius", 0.0) + contour2D1.setParameter("stockHeightAbsolute", True) + contour2D1.setParameter("stockHeight", 0.0) + contour2D1.setParameter("depthAbsolute", True) + contour2D1.setParameter("depth", -31.0) + # multiple depths + contour2D1.setParameter("maximumStepdown", 0.0) + contour2D1.setParameter("finishLevels", 0) + contour2D1.setParameter("finishZStepdown", 0.0) + contour2D1.setParameter("onlyFinishFinal", False) + contour2D1.setParameter("evenZSteps", False) + contour2D1.setParameter("wallTaperAngle", 0.0) + contour2D1.setParameter("orderByStep", False) + contour2D1.setParameter("preserveOrder", False) + contour2D1.setParameter("backoffDistance", 0.0) + contour2D1.setParameter("cornerMode", 0) + # leads + contour2D1.setParameter("leadInRadius", 2.0) + contour2D1.setParameter("leadOutRadius", 2.0) + contour2D1.setParameter("leadInVerticalRadius", 2.0) + contour2D1.setParameter("leadOutVerticalRadius", 2.0) + contour2D1.setParameter("leadInSweep", 90.0) + contour2D1.setParameter("leadOutSweep", 90.0) + contour2D1.setParameter("leadInDistance", 2.0) + contour2D1.setParameter("leadOutDistance", 2.0) + contour2D1.setParameter("leadInPerpendicular", False) + contour2D1.setParameter("leadOutPerpendicular", False) + # global stock to leave + contour2D1.setParameter("radialStockToLeave", 0.0) + contour2D1.setParameter("axialStockToLeave", 0.0) + # fragments + contour2D1.setParameter("minimumFragmentLength", 0.0) + contour2D1.setParameter("fragmentExtensionDistance", 0.0) + # ordering + contour2D1.setParameter("linkByZLevel", False) + contour2D1.setParameter("linkDirection", 0) + contour2D1.setParameter("orderByIslands", True) + # linking + contour2D1.setParameter("zClearance", 60.0) + contour2D1.setParameter("zClearanceAbsolute", True) + contour2D1.setParameter("zRetract", 50.0) + contour2D1.setParameter("zRetractAbsolute", True) + contour2D1.setParameter("useZFeed", True) + contour2D1.setParameter("zFeed", 5.0) + contour2D1.setParameter("zFeedAbsolute", True) + contour2D1.setParameter("retractStrategy", 0) + contour2D1.setParameter("allowRapidRetract", True) + contour2D1.setParameter("safeDistance", 2.0) + contour2D1.setParameter("stayDownDistance", 50.0) + contour2D1.setParameter("liftHeight", 0.0) + contour2D1.setParameter("thinningTolerance", 0.0001) + # ramping + contour2D1.setParameter("rampZClearance", 0.0) + contour2D1.setParameter("maximumRampZStepdown", 25.0) + contour2D1.setParameter("helicalRampDiameter", 0.0) + contour2D1.setParameter("maximumRampAngle", 2.0) + contour2D1.setParameter("minimumRampDiameter", 0.0) + contour2D1.setParameter("allowPlunging", True) + contour2D1.setParameter("allowHelicalRamps", False) + contour2D1.setParameter("allowNonSmoothContourRamps", False) + contour2D1.setParameter("allowContourRamps", False) + contour2D1.setParameter("allowZigZagRamps", False) + contour2D1.setParameter("smoothRamp", False) + contour2D1.setParameter("leadEndDistance", 0.0) + contour2D1.setParameter("alwaysMakeContourRamp", False) + + contour2 = [ + (0.80000000000006821, -500.79999999999995), + (0.80000000000006821, -0.79999999999995453), + (600.80000000000007, 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b/systems/flexibot/cad/storch-150/cad/components/turning/chucks/155/9.jpg new file mode 100644 index 000000000..2131c102d --- /dev/null +++ b/systems/flexibot/cad/storch-150/cad/components/turning/chucks/155/9.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d83bc46ecefff35e7223b1f08060eb9f167b90dda386612d78db3cb9348407c3 +size 417347 diff --git a/systems/flexibot/cad/storch-150/cad/components/z-axis/components/SKF_30302/readme-and-terms-of-use-3d-cad-models.txt b/systems/flexibot/cad/storch-150/cad/components/z-axis/components/SKF_30302/readme-and-terms-of-use-3d-cad-models.txt new file mode 100644 index 000000000..0d52699d4 --- /dev/null +++ b/systems/flexibot/cad/storch-150/cad/components/z-axis/components/SKF_30302/readme-and-terms-of-use-3d-cad-models.txt @@ -0,0 +1,80 @@ + +EN Your download at 06/16/2023 on PARTcommunity/PARTserver/3Dfindit.com: + + Dear user, + + attached please find the following file of our 3D CAD download portal PARTcommunity/PARTserver/3Dfindit.com powered by CADENAS: + + + + SOLIDWORKS, SKF_30302, 30302_cage.sldprt + SOLIDWORKS, SKF_30302, 30302_ir.sldprt + SOLIDWORKS, SKF_30302, 30302_or.sldprt + SOLIDWORKS, SKF_30302, 30302_r.sldprt + SOLIDWORKS, SKF_30302, SKF_30302.sldasm + + Information for use: + + + The attached file was compressed ("ZIP"), in order to ensure a faster download. + In order to unpack the file you need a special decompressing software. + + If you do not have a decompressing software installed, you can download it using one of the following links: + 7Zip® (https://7-zip.de) or WinZip® (https://www.winzip.com) + + + + Please also check terms of use at https://www.cadenas.de/terms-of-use-3d-cad-models + + This is an automatically generated email from a system email address – please do not respond to it. If you have any questions, please feel free to contact the support directly. + + Best regards + + Your CADENAS GmbH + support@cadenas.de + + + + + >> 3DfindIT << + + 3DfindIT.com is the next dimension visual search engine that crawls billions + of 3D CAD & BIM models in hundreds of manufacturer catalogs available worldwide. + With intelligent search functions such as 3D shape search, 2D sketch & photo search + and parametric text & value input, 3DfindIT.com is the indispensable platform + for architects, planners, engineers and designers. + + + >> Free APP for 3D CAD models << + + Mobile access to 3D CAD models with your Smartphone or Tablet PC. + + Download now at http://www.cadenas.de/en/app-store + + + + >> PARTcommunity - The network and information platform for engineers << + + ■ Examples of use and ideas for components + ■ Information and experience exchange with other engineers + + Join the discussion now at http://www.partcommunity.com + + + + >> PARTsolutions - Find & manage standard, purchased, and own parts << + + Reduce total product costs up to 70% in the development phase? + + In many companies PARTsolutions is one of the leading software systems helping + engineers and purchasers to manage and find company-, supplier- and standard parts: + + ■ PURCHINEERING: Optimize cooperation of Purchasing and Engineering + ■ Semiautomatic classification and intelligent search methods + ■ Open for all systems such as PLM and ERP + + More information at http://www.cadenas.de/strategic-partsmanagement + + + + diff --git a/systems/flexibot/cad/storch-150/cad/components/z-axis/sfu2005/ScrewBracket-SFU2005-Custom.step b/systems/flexibot/cad/storch-150/cad/components/z-axis/sfu2005/ScrewBracket-SFU2005-Custom.step new file mode 100644 index 000000000..167ffe4f4 --- /dev/null +++ b/systems/flexibot/cad/storch-150/cad/components/z-axis/sfu2005/ScrewBracket-SFU2005-Custom.step @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e939c143316380775752501bec97ce32162dec5f518b7210edf4cbc024a9b84c +size 149942 diff --git a/systems/flexibot/cad/storch-150/cad/references/welding/abb-robot-irb2600id-8kg-2m/IRB2600ID.jpg b/systems/flexibot/cad/storch-150/cad/references/welding/abb-robot-irb2600id-8kg-2m/IRB2600ID.jpg new file mode 100644 index 000000000..3fca2a73d --- /dev/null +++ b/systems/flexibot/cad/storch-150/cad/references/welding/abb-robot-irb2600id-8kg-2m/IRB2600ID.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:478b0458cbbcc853ae5fad84547b6bf4d0a861deb75a214fce8cd23249869d74 +size 13320 diff --git a/systems/flexibot/config.yaml b/systems/flexibot/config.yaml new file mode 100644 index 000000000..f2fdcdb3c --- /dev/null +++ b/systems/flexibot/config.yaml @@ -0,0 +1,12 @@ +product_id: lydia-print-head +tags: + - lydia-v4 + - v4 + - extrusion +has_spec: true +preview: ${product_preview} +buy: "mailto:sales@plastic-hub.com?subject=Inquiry%20-%20${slug}" +overview_drawing: true +teaser: "Powerful extruder for semi profesionall production. Comes with lots of extra safety electronics." +products: true +features: true \ No newline at end of file diff --git a/systems/flexibot/config/machines.json b/systems/flexibot/config/machines.json new file mode 100644 index 000000000..fbea8dc31 --- /dev/null +++ b/systems/flexibot/config/machines.json @@ -0,0 +1,11 @@ +{ + "current2":[ + ], + "extruders":[ + "cad/components/extruder/sm-25" + ], + "current":[ + "cad/components/extruder/sm-25", + "cad/storch-150" + ] +} \ No newline at end of file diff --git a/systems/flexibot/constants.js b/systems/flexibot/constants.js new file mode 100644 index 000000000..c89e2a4bd --- /dev/null +++ b/systems/flexibot/constants.js @@ -0,0 +1,5 @@ +"use strict"; +Object.defineProperty(exports, "__esModule", { value: true }); +exports.MODULE_NAME = void 0; +exports.MODULE_NAME = `OSR-Flexibot`; +//# 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100644 index 000000000..66f16c709 --- /dev/null +++ b/systems/flexibot/docs/flexibot/modes.md @@ -0,0 +1,36 @@ +# Manufacturing aids & modes + +## Carving / Engraving / Laser marking + +## CNC Machining + +- [ ] Milling +- [ ] Drilling +- [ ] Turning +- [ ] Tapping + +## 3D Print + +- [ ] Multi-head +- [ ] Multi-head mixing +- [ ] 4-5 axis print + +## Casting / Extrusion + +- [ ] pouring/extruding into open moulds, eg: curved beams +- [ ] extrude into multiple closed moulds + +## Sheet metal forming + +- [ ] roller forming + +## Arc welding + +- [ ] 3DOF +- [ ] 5DOF +- [ ] 6DOF + +## Assembly + +- [ ] Pick and place + diff --git a/systems/flexibot/docs/flexibot/readme.md b/systems/flexibot/docs/flexibot/readme.md new file mode 100644 index 000000000..5d05e65b6 --- /dev/null +++ b/systems/flexibot/docs/flexibot/readme.md @@ -0,0 +1,27 @@ +## Design considerations + +### Kinematics + +- [ ] 3-Axis +- [ ] 3-Axis cascaded +- [ ] 3-Axis + internal rotary axes +- [ ] 3-Axis + external axes + +### Operation modes + +- [ ] 3D-Print: Marlin | Klipper +- [ ] CNC: GBRL | Mach3 | Mach4-Pro | Linux-CNC +- [ ] Direct: Arduino | Raspberry Pi | Custom/External (PCB) | PLC | Follow (training) +- [ ] OpenROS ? +- [ ] Jogging/Pendant + +### Motion & Control formats + +- [ ] GCode +- [ ] SVG -> step/dir (custom) +- [ ] PLC ? + +## References + +- [Shapes to GCode - 'LaserWeb'](https://github.com/LaserWeb/LaserWeb4-Binaries/releases) +- [SVG to GCode - all3dp](https://all3dp.com/2/svg-to-gcode-convert-files/) diff --git a/systems/flexibot/docs/marlin/.gitignore b/systems/flexibot/docs/marlin/.gitignore new file mode 100644 index 000000000..aba17b248 --- /dev/null +++ b/systems/flexibot/docs/marlin/.gitignore @@ -0,0 +1,11 @@ +_site/ +build/ +.sass-cache +.jekyll-metadata +Gemfile.lock +vendor +.bundle +*.sublime-* +applet/ +*.DS_Store +Thumbs.db diff --git a/systems/flexibot/docs/marlin/LICENSE b/systems/flexibot/docs/marlin/LICENSE new file mode 100644 index 000000000..9d742475f --- /dev/null +++ b/systems/flexibot/docs/marlin/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + {project} Copyright (C) {year} {fullname} + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/systems/flexibot/docs/marlin/README.md b/systems/flexibot/docs/marlin/README.md new file mode 100644 index 000000000..378a2d92d --- /dev/null +++ b/systems/flexibot/docs/marlin/README.md @@ -0,0 +1,114 @@ +# Marlin Documentation Project + +This repository contains the raw documentation for [Marlin 3D printer firmware](//github.com/MarlinFirmware/Marlin) which is regularly deployed to [marlinfw.org](//marlinfw.org/). This documentation is open and available on Github so anyone may contribute by completing, correcting, or creating articles. + +
+ +## Technical details + +The Marlin Documentation Project is built using the following technologies: +- [Ruby](//www.ruby-lang.org/en/downloads/) +- [RubyGems](//rubygems.org/pages/download) +- [Jekyll](//jekyllrb.com/) +- [Github pages](//pages.github.com/) + +## How to contribute + +To work with the documentation, first make a Fork of this repository in your own Github account, then locally clone **your MarlinDocumentation fork**. You should do all work within your own fork before submitting it as a Pull Request to the `master` branch. You can download the [GitHub Desktop app](//desktop.github.com/) and use Github's "Open in Desktop" option, or from your own desktop open a terminal/cmd window and do: + - `cd C:\` (for example) + - `git clone https://github.com/MarlinFirmware/MarlinDocumentation.git` + +This will create a local `C:\MarlinDocumentation` folder linked to your fork. + +To add new documentation or edit existing documentation, start by creating a new branch as a copy of the 'master' branch. You can do this using the Github web interface, from within Github Desktop, or from the command line. + +If your new document is about "mashed potatoes" then name the new branch accordingly: +``` +git checkout master -b doc-mashed_potatoes +``` +Inside the `_docs` folder add the new file `mashed-potatoes.md` and let flow all your creativity into it. When you feel your masterpiece is ready to be shared with the world, commit the changes and push them up to your fork of **MarlinDocumentation**, then start a new Pull Request to the upstream repository (MarlinFirmware/MarlinDocumentation). This is done most easily from within the Github Desktop app. Please read Github's documentation on managing branches and creating Pull Requests if you're not sure how to proceed. +``` +git add mashed-potatoes.md +git commit -m "Added a new document about potatoes" +git push +``` + +## Coding style + +This Jekyll-based site is based on the Markdown language in delicious YAML wrapper. Be careful with this format because even small typos can cause Jekyll to reject the page. If you've installed Jekyll as described below, you can use it to build and preview the documentation and this will tell you where your errors are. + +## Editorial style + +Try to be neutral, concise, and straightforward. Avoid use of personal pronouns, unless avoiding them proves awkward. Provide images and give examples where needed. Check your spelling, grammar, and punctuation. + +### Work in progress + +You can use the `_tmp` folder for work-in-progress, and they will not be included in the site deployment. + +## Local Jekyll Preview + +If you'd like to be able to preview your contributions before submitting them, you'll need to install Jekyll on your system. Instructions are given below. As this is a non-trivial process, we recommend reading one of the following tutorials for a quick start with Jekyll: +- [Jekyll running on Windows](//jekyll-windows.juthilo.com/) +- [Jekyll running on Linux, Unix, or Mac OS X](//jekyllrb.com/docs/installation/) + +### Installing buildroot on Windows + + 1. Get Ruby for Windows ([32 bit](//dl.bintray.com/oneclick/rubyinstaller/rubyinstaller-2.3.3.exe), [64bit](//dl.bintray.com/oneclick/rubyinstaller/rubyinstaller-2.3.3-x64.exe)), execute the installer and go through the steps of the installation, make sure to check the “Add Ruby executables to your PATH” box. + 2. Get Ruby Devkit ([32 bit](//dl.bintray.com/oneclick/rubyinstaller/DevKit-mingw64-32-4.7.2-20130224-1151-sfx.exe), [64bit](//dl.bintray.com/oneclick/rubyinstaller/DevKit-mingw64-64-4.7.2-20130224-1432-sfx.exe)), the download is a self-extracting archive. When you execute the file, it’ll ask you for a destination for the files. Enter a path that has no spaces in it. We recommend something simple, like ` C:\RubyDevKit\` . Click Extract and wait until the process is finished. + 3. Open your favorite command line tool and do: + - `cd C:\RubyDevKit` + - `ruby dk.rb init` + - `ruby dk.rb install` + - `gem install bundler` + +### Installing buildroot on macOS + +Ruby 2.3 or newer is required to use Jekyll, but macOS 10.12 only includes Ruby 2.2. For macOS 10.12 and earlier the custom `rbenv` install described below is required. Even when the OS comes with Ruby 2.3, we still find it easier to use `rbenv` and `ruby-build` to make a self-managed Ruby install. + +To install [rbenv](//github.com/rbenv/rbenv) and [ruby-build](//github.com/rbenv/ruby-build#readme) we recommend using one of the popular package managers, [Homebrew](//brew.sh) or [MacPorts](//www.macports.org). (You can also download and install these tools manually.) + +**Important:** Don't install Ruby 2.3 itself using Homebrew/MacPorts/etc., as this leads down a twisty rabbit hole. Either trust the built-in Ruby 2.3 or newer installation or use `rbenv` to do everything. Note that `rbenv` is incompatible with `rvm`, so if you ever installed `rvm` before you'll need to remove it before proceeding. + +Once you have `rbenv` and `ruby-build` installed, follow the instructions on the [rbenv](//github.com/rbenv/rbenv) project page to: + +- install a local version of Ruby (2.3 or newer), +- modify your `.bash_profile` with code to set your Ruby environment, and +- create a local `shims` folder with `$PATH` pointing to your Ruby. + +It sounds ugly, but hopefully the instructions on the [rbenv](//github.com/rbenv/rbenv) project page are clear enough to get you that far. You'll be using `rbenv` from now on to install and manage local Ruby environments. + +With your Ruby environment set up and ready to go, you can now install the `bundler` Ruby gem with: +- `gem install bundler` + +## Jekyll Primer + +Under Jekyll we use YAML, Markdown, Liquid, and HTML to fill out the site content and layout. A `_config.yml` file defines the site structure using "collections" that correspond to site sub-folders. The site is "compiled" to produce a static HTML and Javascript file structure. The most important folders are: + +- `_layouts` contains the general layouts (aka page templates). +- `_includes` has partial layouts included by others. +- `_meta` is where we keep top-level page descriptions. +- Site sub-pages: `_basics`, `_configuration`, `_development`, `_features`, `_gcode`, `_hardware`. + +### Previewing content + +Now that you have Ruby installed, you'll be able to use Jekyll to preview your changes exactly as they will appear on the final site. Just open a terminal/cmd window, use `chdir` or `cd` to change the working path to your local copy of the repository, and execute the following commands: + +``` +bundle config set path 'vendor/bundle' +bundle install +bundle exec jekyll serve --watch --incremental +``` + +You'll only need to execute the `bundle install` command once to install all the required Ruby gems, including Jekyll itself. If you get errors at this stage, you may need to update your Ruby installation, fix your Ruby environment, or resolve dependencies between the Ruby gems. + +With the `serve` option, Jekyll watches the local files and on every save triggers an automatic build of the site. It also runs a mini-webserver at [http://localhost:4000/](//localhost:4000/) so the documentation can be previewed in the browser right on [your own computer](//localhost:4000/). + +The main Marlin repository comes with the `mfdoc` script containing the commands above as a shortcut to preview the documentation. + +## Publishing changes + +We've set up GitHub Actions to run Jekyll and publish to the `gh-pages` branch whenever the `deploy` branch is updated. The `deploy` branch is synchronized from the `master` branch by the project administrator on a semi-regular basis, often just after merging one or more PRs from contributors. + +## License + +This documentation is licensed under the [Creative Commons Attribution 4.0 International license](//creativecommons.org/licenses/by/4.0/). diff --git a/systems/flexibot/docs/marlin/_basics/auto_build_marlin.md b/systems/flexibot/docs/marlin/_basics/auto_build_marlin.md new file mode 100644 index 000000000..715c23fdf --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/auto_build_marlin.md @@ -0,0 +1,43 @@ +--- +title: Auto Build Marlin +description: How to install and use "Auto Build Marlin" + +author: thinkyhead +contrib: shitcreek +category: [ articles, getting-started ] +--- + +"*Auto Build Marlin*" is a *Visual Studio Code* extension that provides a one-button interface to build and upload Marlin Firmware to your selected `MOTHERBOARD`. This removes the need to edit your `platformio.ini` file or scroll through a long list of Marlin environments. + +## Installation + +- Click the "Extensions" button on the left of the *VSCode* window to show the **Extensions: Marketplace** panel. +- Type "Marlin" into the search box at the top. +- Locate **Auto Build Marlin** in the list and click **Install**. ([PlatformIO](/docs/basics/install_platformio_vscode.html) will also be installed automatically.) + ![Auto Build Marlin extension](/assets/images/basics/abm/install.png) + +## Usage + +- Launch *Visual Studio Code* and open up your downloaded *Marlin Firmware* project folder (***not the "Marlin" folder within it***). If you have the "PlaformIO Home" home tab open, you can use the **Import Project…** button instead of the **Open** command. + +- With Marlin open in *VSCode*, the "File Explorer" should be firmly rooted in your Marlin Firmware folder: + ![AutoBuild Icon](/assets/images/basics/abm/explorer.png) + +- Click the *Auto Build Marlin* icon ![AutoBuild Icon](/assets/images/basics/abm/icon.png){: .inline} in the Activities Bar to bring up the *Auto Build Marlin* options bar. + ![AutoBuild Menu](/assets/images/basics/abm/menu.png) + +- Click the "Show ABM Panel" button or one of the tool icons to open the *Auto Build Marlin* panel and initiate a build, upload, etc. If there are multiple environments for your `MOTHERBOARD` you will need to choose one first. + + Icon|Action + ----|------ + ![Build](/assets/images/basics/abm/B_small.png)|Start **Build** to test your Marlin build + ![Upload](/assets/images/basics/abm/U_small.png)|Start **Upload** to install Marlin on your board + ![Debug](/assets/images/basics/abm/T_small.png)|Start **Upload (traceback)** to install Marlin with debugging + ![Clean](/assets/images/basics/abm/C_small.png)|Start **Clean** to delete old build files + ![Config](/assets/images/basics/abm/K_small.png)|Open the **Configure** panel + +- The *Auto Build Marlin* panel displays information about your selected `MOTHERBOARD` and basic machine settings. Available build environments are listed at the bottom along with the date and time of your last build. + ![AutoBuild Popup](/assets/images/basics/abm/panel.png) + - Click the "Build" button to test your Marlin build. + - Click the "Upload" or "Debug" button to install Marlin onto your board. + - Click the "Clean" button to delete old build files. diff --git a/systems/flexibot/docs/marlin/_basics/install.md b/systems/flexibot/docs/marlin/_basics/install.md new file mode 100644 index 000000000..ea75f0a40 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/install.md @@ -0,0 +1,48 @@ +--- +title: Installing Marlin +description: Marlin Install Quick Start Guide + +author: thinkyhead +contrib: bob-the-kuhn +category: [ articles, getting-started ] +--- + +To install Marlin on your printer you'll first need to Download Marlin, then edit your Configuration files, and finally use an IDE to [Compile](//en.wikipedia.org/wiki/Compiler){:target="_blank"} the Marlin project into a binary form and [Upload](//www.arduino.cc/en/Guide/Environment#toc9){:target="_blank"} it to your board. The build process can seem daunting at first, but after you do it a few times you'll be a pro. + +{% alert info %} +Marlin only needs to be re-flashed when fixed settings are changed in the configuration files. Many settings are only defaults and can be changed (and saved to EEPROM) with G-codes. See each option's description in the configuration files to find out which G-codes apply. +{% endalert %} + +### Download + +Links for current and previous versions can be found on the [Download Marlin](/meta/download) page. If you need an older or specific version go to the [Marlin Releases](//github.com/MarlinFirmware/Marlin/releases){:target="_blank"} page on GitHub. + +### Configure + +To configure Marlin you can use the Arduino IDE or your [favorite text editor](//www.sublimetext.com/){:target="_blank"} to edit the `Configuration.h` and `Configuration_adv.h` files. See [Configuring Marlin](/docs/configuration/configuration.html) for full details. + +### Build and Install + +Marlin installation can vary depending on which version of Marlin you want to install and which board you're installing onto. Once your Marlin build environment is set up installing updates can be a one-click operation. + +Marlin Version|Platform(s)|Instructions +--------------|-----------|---- +1.1.9 or 2.x|8-bit AVR, 32-bit ARM|[Install Marlin with PlatformIO](install_platformio.html) +2.1.x|8-bit AVR, 32-bit ARM|[Install Marlin with PlatformIO in a DevContainer](install_devcontainer_vscode.html) +1.1.x or 2.x|8-bit AVR|[Install Marlin with Arduino IDE](install_arduino.html) + +{% alert warning %} +- Marlin 1.0 **does not support PlatformIO**. For older versions of Marlin use Arduino IDE. +- Marlin 1.1 **fully supports PlatformIO**, and Marlin 1.1.9 even provides an automated build process. +- Marlin 2.0 and up include 32-bit ARM support. **PlatformIO is not required for AVR boards.** +{% endalert %} + +{% alert info %} +Looking for Example Configurations for your machine? +- Marlin 1.1.x : Included in the '`example_configurations`' folder. +- Marlin 2.x.x : [Hosted separately](//github.com/MarlinFirmware/Configurations){:target="_blank"}. Links on the [Downloads](/meta/download/) page. +{% endalert %} + +### Troubleshooting + +Troubleshooting a complex piece of software with a minimal interface can sometimes be challenging, even for the most experienced 3D printing enthusiast. Please use our [Troubleshooting Guide](troubleshooting.html) for tips on some common problems. diff --git a/systems/flexibot/docs/marlin/_basics/install_arduino.md b/systems/flexibot/docs/marlin/_basics/install_arduino.md new file mode 100644 index 000000000..b46cf5064 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/install_arduino.md @@ -0,0 +1,72 @@ +--- +title: Installing Marlin (Arduino) +description: Marlin Install Quick Start Guide + +author: jbrazio +contrib: thinkyhead, shitcreek +category: [ articles, getting-started ] +--- + +Before proceeding be sure to read [Installing Marlin](install.html) first and download the Marlin source code. If you haven't done these steps yet, take [one step back](install.html), then follow the link back to this page to continue with the install process. + +### Get Arduino IDE + +The first thing you'll need to do is [download Arduino IDE](//www.arduino.cc/en/Main/Software) and install it following the usual procedure for your OS. Arduino IDE is available for Linux, Windows, macOS, and Unix. + +{% alert warning %} +- Your printer may require you to install [additional libraries](//www.arduino.cc/en/Guide/Libraries) or a [non-standard Arduino core](//www.arduino.cc/en/Guide/Cores) (_e.g.,_ *Sanguino*, *Teensy++*). See [Configuring Marlin](/docs/configuration/configuration.html) and comments in `Configuration.h`, `Configuration_adv.h`, and `pins_YOUR_BOARD.h` pertaining to your hardware and add-ons. In many cases, instructions and links to resources are included. + +- Arduino IDE can only build Marlin for AVR, Due, and Teensy++ 2.0. If you need to install Marlin 2.0 on another board, see [Installing Marlin (PlatformIO)](install_platformio.html) for instructions on building Marlin with PlatformIO. +{% endalert %} + +### Preparation + +. Double-click the `Marlin.ino` file to open it in Arduino IDE. + +![Launch 'Marlin.ino'](/assets/images/basics/install_arduino/marlin_ino.png) + +![Arduino starting](/assets/images/basics/install_arduino/arduino.png) + +1. In Arduino IDE, select your board from the **Tools > Board** menu.
(Note: You may need to [add support](//www.arduino.cc/en/Guide/Cores) for your board to Arduino.) + +![Select board](/assets/images/basics/install_arduino/select_board.png) + + +1. Select the serial (USB) port your board is connected to in the **Tools > Port** menu. + +![Select board](/assets/images/basics/install_arduino/select_usb_port.png) + +### Verify / Compile + +- Click the **Verify** button at the top of the window to test for configuration errors. + (Marlin includes several tests for common errors and outdated settings.) + +{% alert warning %} +If you get a warning that Marlin requires too much Program Memory or SRAM to fit on your board, you can disable features or use less expensive features to bring Marlin down to a smaller size. The `SLIM_LCD_MENUS` option is included as a way to save space by leaving extraneous menus out of the LCD interface. +{% endalert %} + +### Upload + +![Compile and upload](/assets/images/basics/install_arduino/compile_upload.png) + +- Put your board into *Program Mode* if required. _(Most boards don't require it.)_ +- Click **Upload** to flash your board. A blue or green LED on the board will blink rapidly during the upload. + +That’s it! With Marlin installed you can now enjoy silky smooth printing! + +#### Generate 'firmware.bin' file + +For platforms that require a `firmware.bin` file such as the LPC1768 + +![Generate bin file](/assets/images/basics/install_arduino/firmware_bin.png) + +- After successfully compiling, select **Export compiled Binary** under **Sketch** +- Then transfer the bin file over to the SD card to be used + +### Troubleshooting + +- If you get "timeout" errors while attempting to flash the board, make sure that no other software is connected with the board. Disconnect or quit any host or slicer software (_e.g.,_ **PrintRun**, **Repetier Host**, **Simplify3D**, **Cura**, etc.) to release the serial port. + +- If nothing seems to work, your board may not have a **bootloader** installed. A bootloader is required to allow the board to be programmed from the USB port. Arduino IDE includes a "Burn Bootloader" function, but a programmer device or spare Arduino is required. For more information read the article [Installing an Arduino Bootloader](//learn.sparkfun.com/tutorials/installing-an-arduino-bootloader/all). + +Once you have a programmer you can use it to install Marlin directly, but we recommend installing a bootloader first, then following the easy instructions above. diff --git a/systems/flexibot/docs/marlin/_basics/install_devcontainer_vscode.md b/systems/flexibot/docs/marlin/_basics/install_devcontainer_vscode.md new file mode 100644 index 000000000..fb3bd16e9 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/install_devcontainer_vscode.md @@ -0,0 +1,41 @@ +--- +title: Installing Marlin (VSCode devcontainer) +description: Marlin Install Quick Start Guide + +author: willis7 +contrib: thinkyhead +category: [ articles, getting-started ] +--- + +## Introduction + +A dev container is a pre-built Docker environment that is preinstalled with all the dependencies needed to build Marlin with VSCode. The devcontainer not only creates the code compilation environment but it also configures your VSCode with all the extensions needed. The end result is a completely configured VSCode ready to compile and upload Marlin. + +The dev container official documentation can be found [here](https://code.visualstudio.com/docs/remote/containers). + +## System requirements + +**Local:** + +- **Windows:** [Docker Desktop](https://www.docker.com/products/docker-desktop) 2.0+ on Windows 10 Pro/Enterprise. Windows 10 Home (2004+) requires Docker Desktop 2.3+ and the [WSL 2 back-end](https://aka.ms/vscode-remote/containers/docker-wsl2). (Docker Toolbox is not supported. Windows container images are not supported.) +- **macOS**: [Docker Desktop](https://www.docker.com/products/docker-desktop) 2.0+. +- **Linux**: [Docker CE/EE](https://docs.docker.com/install/#supported-platforms) 18.06+ and [Docker Compose](https://docs.docker.com/compose/install) 1.21+. (The Ubuntu snap package is not supported.) +- [VSCode](https://code.visualstudio.com/docs/setup/setup-overview) + +## Getting started... + +This quick-start covers how to set up a dev container for an existing project to use as your full-time development environment using existing source code on your filesystem. Follow these steps: + +1. Start VSCode, run the **Remote-Containers: Open Folder in Container...** command from the Command Palette (F1) or quick actions Status bar item, and select the Marlin project folder. + + ![Quick actions Status bar item](/assets/images/basics/install_platformio_vscode/remote-dev-status-bar.png) + +2. The VSCode window will reload and start building the dev container. A progress notification provides status updates. You only have to build a dev container the first time you open it; opening the folder after the first successful build will be much quicker. + + ![Dev Container Progress Notification](/assets/images/basics/install_platformio_vscode/dev-container-progress.png) + +3. After the build completes, VSCode will automatically connect to the container. + +You can now interact with your project in VSCode just as you could when opening the project locally. From now on, when you open the project folder, VSCode will automatically pick up and reuse your dev container configuration. + +While using this approach to [bind mount](https://docs.docker.com/storage/bind-mounts/) the local filesystem into a container is convenient, it does have some performance overhead on Windows and macOS. There are [some techniques](https://code.visualstudio.com/docs/remote/containers-advanced#_improving-container-disk-performance) that you can apply to improve disk performance, or you can [open a repository in a container using a isolated container volume](https://code.visualstudio.com/docs/remote/containers#_quick-start-open-a-git-repository-or-github-pr-in-an-isolated-container-volume) instead. diff --git a/systems/flexibot/docs/marlin/_basics/install_platformio.md b/systems/flexibot/docs/marlin/_basics/install_platformio.md new file mode 100644 index 000000000..dd82c6f34 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/install_platformio.md @@ -0,0 +1,23 @@ +--- +title: Installing Marlin (PlatformIO) +description: Marlin Installation Quick Start Guide + +author: ModMike +contrib: thinkyhead +category: [ articles, getting-started ] +--- + +Before reading this article, you should have already read [Installing Marlin](install.html) and downloaded the Marlin source code. If you haven't done these steps yet, go [read that article](install.html), then follow the link back to this page to continue the process. + +## PlatformIO + +For the best build experience download *Visual Studio Code* and install the *PlatformIO IDE* extension. PlatformIO can also be installed as a stand alone CLI, which may be the best choice if you want to control the build process from a script on a server. + +- [PlatformIO in VSCode](install_platformio_vscode.html) +- [PlatformIO Command-Line](install_platformio_cli.html) + +## Auto Build Marlin + +The ([Auto Build Marlin](//marketplace.visualstudio.com/items?itemName=MarlinFirmware.auto-build)) extension provides a simplified interface to build and upload Marlin so that you don't ever need to know the name of the build environment for your board. See the [Auto Build Marlin](/docs/basics/auto_build_marlin.html) page for more details. + +![AutoBuild Menu](/assets/images/basics/abm/panel.png) diff --git a/systems/flexibot/docs/marlin/_basics/install_platformio_cli.md b/systems/flexibot/docs/marlin/_basics/install_platformio_cli.md new file mode 100644 index 000000000..7683cfd26 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/install_platformio_cli.md @@ -0,0 +1,87 @@ +--- +title: Installing Marlin (CLI) +description: Install Marlin using PlatformIO CLI + +author: Bob-the-Kuhn +contrib: ChrisBountalis +category: [ articles, getting-started ] +--- + +Before reading this article, you should have already read [Installing Marlin with PlatformIO](install_platformio.html). + +This article documents: + * Invoking **PlatformIO** from the command line + * Invoking **Auto Build** from the command line + +This article is for advanced users only. Familiarity with the OS's terminal/shell commands is assumed. + +Python 2.7 is required for both **Auto Build** and **PlatformIO**. It is automatically installed when **PlatformIO** is installed. If your terminal/shell defaults to Python 3.x then the terminal/shell environment will have to be modified. + +## Install PlatformIO Core + +Follow [these instructions](//docs.platformio.org/en/latest/installation.html) to install **PlatformIO Core** and it's dependencies. + +NOTE: If a **PlatformIO** plugin/extension has previously been installed then **PlatformIO Core** is already installed. You may still need to follow the [Install PlatformIO Core Shell Commands](//docs.platformio.org/en/latest/faq.html#faq-install-shell-commands) section in the above link. + +## Find the environment for your board + +This step is the same as in [Installing Marlin with PlatformIO](install_platformio.html). + +The PlatformIO environment needed for a motherboard is in the comments for the board in the **pins.h** file. In Marlin 2.0 it's located in a subdirectory **Marlin/src/pins/pins.h**. + +**Example:** + + In `Configuration.h` the board is defined by the line `#define MOTHERBOARD BOARD_RAMPS_14_EFB` + + Search the **pins.h** file for **RAMPS_14_EFB** until you come to the following: + + ```cpp + #elif MB(RAMPS_14_EEB) + #include "pins_RAMPS.h" // ATmega1280, ATmega2560 env:megaatmega1280 env:megaatmega2560 + ``` + + The first part of the comment lists the CPU(s) used in the board. + + The env:xxxx section(s) are the PlatformIO environment(s) that are used for this board. + + In this case **megaatmega2560** is the one used 99.9% of the time. + +## Run PlatformIO from the command line + +1. Open a terminal/shell window. + +2. Set the current working directory (CWD) to the folder that has the **Marlin** directory and the **platformio.ini** file in it. + +3. Issue one of these commands (replace target_env with the environment selected above): + + | **FUNCTION** | **COMMAND** | + |:-----------------|:--------------------------------------------------------| + | **PIO Build**| platformio run -e target_env + | **PIO Clean**| platformio run -\-target clean -e target_env + | **PIO Upload**| platformio run -\-target upload -e target_env + | **PIO Traceback**| platformio run -\-target upload -e target_env + | **PIO Program**| platformio run -\-target program -e target_env + | **PIO Test**| platformio test upload -e target_env + | **PIO Remote**| platformio remote run -\-target upload -e target_env + | **PIO Debug**| platformio debug -e target_env + +## Run Auto Build from the command line + +The **Get the correct environment for the selected board** step is not needed. **Auto Build** will automatically do this. + +1. Open a terminal/shell window. + +2. Set the current working directory (CWD) to the folder that has the **Marlin** directory and the **platformio.ini** file in it. + +3. Issue one of these commands + + | **FUNCTION** | **COMMAND** | + |:-----------------|:--------------------------------------------------------| + | **PIO Build**| python buildroot/share/atom/auto_build.py build + | **PIO Clean**| python buildroot/share/atom/auto_build.py clean + | **PIO Upload**| python buildroot/share/atom/auto_build.py upload + | **PIO Traceback**| python buildroot/share/atom/auto_build.py traceback + | **PIO Program**| python buildroot/share/atom/auto_build.py program + | **PIO Test**| python buildroot/share/atom/auto_build.py test + | **PIO Remote**| python buildroot/share/atom/auto_build.py remote + | **PIO Debug**| python buildroot/share/atom/auto_build.py debug diff --git a/systems/flexibot/docs/marlin/_basics/install_platformio_vscode.md b/systems/flexibot/docs/marlin/_basics/install_platformio_vscode.md new file mode 100644 index 000000000..c7fbdeb70 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/install_platformio_vscode.md @@ -0,0 +1,115 @@ +--- +title: Installing Marlin (PlatformIO with VSCode) +description: How to install Marlin using PlatformIO in VSCode + +author: Bob-the-Kuhn +contrib: shitcreek, ivankravets, thinkyhead, EvilGremlin +category: [ articles, getting-started ] +--- + +[PlatformIO](//platformio.org/install/ide?install=vscode) turns VSCode into a complete IDE for compiling and developing Marlin. + +![PlatformIO with VSCode](/assets/images/basics/install_platformio_vscode/platformio_vscode_screenshot.png) + +### 1. Install VSCode + +Visit the [Setting up Visual Studio Code](//code.visualstudio.com/docs/setup/setup-overview) page to download and install the latest VSCode for your particular platform. + +### 2. Download Marlin Source Code + +You can download the latest Marlin source code from the [Downloads](/meta/download/) page. Older versions and detailed Release Notes can be downloaded from the [Marlin Releases](//github.com/MarlinFirmware/Marlin/releases) page on GitHub. + +The 'latest' version might not always be the 'greatest' version for your setup. Be sure to ask around in our [Discord community](//discord.gg/n5NJ59y) if you need assistance with any version of Marlin Firmware. + +### 3. Install PlatformIO IDE + +The first time you open the Marlin project in VSCode it will recommend you install the **Auto Build Marlin** extension, which will also install **PlatformIO IDE**. Simply answer "Yes" to install the extensions, or follow the instructions below. + +![Install PlatformIO IDE](/assets/images/basics/install_platformio_vscode/install_platformio_vscode.png) + +### 4. Open Marlin in VSCode / PlatformIO + +Unzip the downloaded archive to your preferred location. (Although modern systems can handle very long paths, it may still help with the build process if the filepath is short without any special characters.) + +You can open Marlin in *Visual Studio Code* in one of several ways: +- Drag your downloaded Marlin Firmware folder onto the *Visual Studio Code* application icon. +- Use the **Open…** command in the *VSCode* **File** menu. +- Open the PIO Home tab and click the "**Open Project**" button. + +### 5. Example Configurations + +Go to the [Marlin Configurations](//github.com/MarlinFirmware/Configurations/) repository and use the drop-down menu to select the branch corresponding to your downloaded Marlin version. Make sure the Configuration version number exactly matches your Marlin version. For example, if you downloaded Marlin version 2.1.1 you should use the `Configurations` branch named "`release-2.1.1`" (or tag "`2.1.1`"). For the HEAD of `2.1.x` use the latest "release" configurations. Convenient links for current versions are posted on the [Downloads](/meta/download/) page. + +![Download configs](/assets/images/basics/install_platformio_vscode/download_configs.png) + +Unzip the archive, find the configuration files for your printer (or the closest match) and copy them to the `Marlin/` folder. Don't forget `_Bootscreen.h` and `_Statusscreen.h`, if present. + +If a "README" file is included with the configurations be sure to review it for helpful notes and instructions. + +If you find any errors or outdated descriptions in any configurations please submit a [bug report or patch](//github.com/MarlinFirmware/MarlinDocumentation/issues) to fix the issue. + +#### Optional: Change your board + +Edit `Marlin/Configuration.h` and set your board using `#define MOTHERBOARD BOARD_MYBOARDNAME`. All available board names are listed in `Marlin/src/core/boards.h`. All board identifiers begin with `BOARD_` so don't forget to include "`BOARD_`" in the name. + +You may need to change the stepper drivers (`_DRIVER_TYPE`) and serial ports (`SERIAL_PORT`). The easiest way to find correct serial port values is to look at other example configurations that use an identical or similar board. + +### 6. Find and Set Build Environment + +To set the build environment for your board, open the file `platformio.ini` and change `default_envs` to the environment that your board uses. + +![Multi Environments](/assets/images/basics/install_platformio_vscode/platformio_ini.png) + +For each `MOTHERBOARD` there are one or more PlatformIO environments that tell PlatformIO how to build the firmware for it. In Marlin we keep track of these environments using comments in the file `pins.h` (located at `Marlin/src/pins/pins.h` since Marlin 2.0). + +**Example:** + + - The `Configuration.h` file says `#define MOTHERBOARD BOARD_RAMPS_14_EFB`. + + - Search the `pins.h` file for `RAMPS_14_EFB` until you find a block to include the correct pins file: + ```cpp + #elif MB(RAMPS_14_EFB, RAMPS_14_EEB, RAMPS_14_EFF, RAMPS_14_EEF, RAMPS_14_SF) + #include "ramps/pins_RAMPS.h" // ATmega2560, ATmega1280 env:mega2560 env:mega1280 + ``` + + - The first part of the comment lists possible MCUs for the board (as plain text for display). + + - The next part lists all the "`env:xxxx`" entries (found in the PlatformIO `.ini` files) that apply to this board. + +Some boards have more than one build environment (such as one for a 512K MCU or another for Native USB). Refer to the `.ini` files in the `ini` folder for the complete build details. + - `_maple` environments use old LibMaple framework, recommended to use only if regular environment produce bugged builds. + - `_bft` (former `_xfer`) environments do upload using Marlin's `BINARY_FILE_TRANSFER` feature. + +### 7. Build, Clean, and Upload + +A PlatformIO task can be initiated via the PlatformIO IDE **Project Tasks**, the PlatformIO IDE **Status Bar** icons at the bottom of the window, the VSCode Command Palette, or the Build/Upload/Clean buttons in **Auto Build Marlin**. + +Sometimes a first build will fail due to random cryptic errors, possibly due to a "race condition" in the compiler. Just wait a moment and hit **Build** again. + +![PIO Command Icons](/assets/images/basics/install_platformio_vscode/pio_command_icons_call_outs.png) + +![Terminal Window](/assets/images/basics/install_platformio_vscode/terminal_window.png) + +The Terminal tab provides a build log with errors (red) and informational warnings (yellow). +- The panel can be re-sized. +- The console can be scrolled via the mouse scroll wheel or with the scroll bar. +- Text can be highlighted and copied to the clipboard. + +Errors emitted in a Marlin build will usually explain exactly what's wrong in configuration and provide instructions on how to fix them and how to update older settings. The first error reported is the most relevant; others might just be the result of the first, and are less useful. When asking for support it will help to provide a full build log or a screenshot that includes the first error. + +The `Warnings.cpp` file will emit any important warnings about the build. Warnings about code can usually be ignored. + +- If the build fails or you encounter strange errors, first do a 'Clean' task to delete all intermediate build files. The next build will compile everything anew. +- Sometimes a change to the configuration is not noticed by the PlatformIO compiler. For best results, always do a Save All before starting the Build. + +### 8. The 'firmware.bin' File + +*This section pertains only to 32-bit ARM builds. An AVR build produces a HEX file that must be uploaded to the board over USB.* + +With some exceptions, boards with an onboard SD card require the `firmware.bin` file to be copied onto the onboard SD card, and then you must reboot the printer to complete the install. PlatformIO will try to copy the file automatically if the board is connected and your PC can see the SD card, but this may not always work. + +![Bin file location](/assets/images/basics/install_platformio_vscode/firmware_bin.png) + +In these cases, locate the `firmware.bin` file and copy it to the SD card manually. Most bootloaders require a specific filename (i.e., `firmware.bin`, `elegoo.bin`, etc.). Some Creality boards require the `.bin` file to have a name different from the previously installed one. + +Once a firmware file has been installed, it may be renamed to `FIRMWARE.CUR` on the SD card. This file can be deleted. diff --git a/systems/flexibot/docs/marlin/_basics/introduction.md b/systems/flexibot/docs/marlin/_basics/introduction.md new file mode 100644 index 000000000..5180ea57f --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/introduction.md @@ -0,0 +1,84 @@ +--- +title: What is Marlin? +description: A brief introduction to Marlin + +author: jbrazio +contrib: shitcreek +category: [ articles, getting-started ] +--- + + + +![What is Marlin?](/assets/images/basics/what_is_marlin.png) + +Marlin is an open source [firmware](//en.wikipedia.org/wiki/Firmware) for the [RepRap](//en.wikipedia.org/wiki/RepRap_project) family of replicating rapid prototypers — popularly known as "3D printers." It was derived from [Sprinter](//reprap.org/wiki/List_of_Firmware#Sprinter) and [grbl](//reprap.org/wiki/Grbl#Grbl), and became a standalone [open source](//en.wikipedia.org/wiki/Open-source_software) project on August 12, 2011 with its [Github release](//github.com/MarlinFirmware/Marlin/commit/f850af5c1ca343ed65b94c4b9da5dd1ab4c4a53c). Marlin is licensed under the GPLv3 and is free for all applications. + +From the start Marlin was built by and for [RepRap](//reprap.org/wiki/) enthusiasts to be a straightforward, reliable, and adaptable printer driver that "just works." As a testament to its quality, Marlin is used by several respected commercial 3D printers. [LulzBot](https://www.lulzbot.com/), [Průša Research](https://www.prusa3d.com/), [Creality3D](https://creality3d.shop/), [BIQU](https://www.biqu.equipment/), [Geeetech](https://www.geeetech.com/), and [Ultimaker](https://ultimaker.com/) are just a few of the vendors who ship a variant of Marlin. Marlin is also capable of driving CNC machines and laser engravers. + +One key to Marlin's popularity is that it runs on inexpensive 8-bit [Atmel AVR](//www.atmel.com/products/microcontrollers/avr/) [micro-controllers](//en.wikipedia.org/wiki/Microcontroller) - Marlin 2.x has added support for 32-bit boards. These chips are at the center of the popular [open source](//en.wikipedia.org/wiki/Open-source_hardware) [Arduino/Genuino](//arduino.cc) platform. The reference platforms for Marlin is an Arduino Mega2560 with RAMPS 1.4 and Re-Arm with Ramps 1.4. + +As a community product, Marlin aims to be adaptable to as many boards and configurations as possible. We want it to be configurable, customizable, extensible, and economical for hobbyists and vendors alike. A Marlin build can be very small, for use on a headless printer with only modest hardware. Features are enabled as-needed to adapt Marlin to added components. + +## Main features + + - Full-featured [G-code](/meta/gcode/) with over 150 commands + - Complete G-code movement suite, including lines, arcs, and Bézier curves + - Smart motion system with lookahead, interrupt-based movement, linear acceleration + - Support for Cartesian, Delta, SCARA, and Core/H-Bot kinematics + - Closed-loop PID heater control with auto-tuning, thermal protection, safety cutoff + - Support for up to 5 extruders plus a heated printbed + - LCD Controller UI with [more than 30 language translations](/docs/development/lcd_language.html) + - Host-based and SD Card printing with autostart + - Bed Leveling Compensation — with or without a bed probe + - [Linear Advance](/docs/features/lin_advance.html) for pressure-based extrusion + - Support for Volumetric extrusion + - Support for mixing and multi-extruders (Cyclops, Chimera, Diamond) + - Support for Filament Runout/Width Sensors + - Print Job Timer and Print Counter + +## How Marlin Works + +Marlin Firmware runs on the 3D printer's main board, managing all the real-time activities of the machine. It coordinates the heaters, steppers, sensors, lights, LCD display, buttons, and everything else involved in the 3D printing process. + +Marlin implements an additive manufacturing process called [Fused Deposition Modeling (FDM)](//en.wikipedia.org/wiki/Fused_deposition_modeling) — aka [Fused Filament Fabrication (FFF)](//en.wikipedia.org/wiki/Fused_filament_fabrication). In this process a motor pushes plastic filament through a hot nozzle that melts and extrudes the material while the nozzle is moved under computer control. After several minutes (or many hours) of laying down thin layers of plastic, the result is a physical object. + +The control-language for Marlin is a derivative of [G-code](//en.wikipedia.org/wiki/G-code). G-code commands tell a machine to do simple things like "set heater 1 to 180°," or "move to XY at speed F." To print a model with Marlin, it must be converted to G-code using a program called a "slicer." Since every printer is different, you won't find G-code files for download; you'll need to slice them yourself. + +As Marlin receives movement commands it adds them to a movement queue to be executed in the order received. The "stepper interrupt" processes the queue, converting linear movements into precisely-timed electronic pulses to the stepper motors. Even at modest speeds Marlin needs to generate thousands of stepper pulses every second. (_e.g.,_ 80 steps-per-mm * 50mm/s = 4000 steps-per-second!) Since CPU speed limits how fast the machine can move, we're always looking for new ways to optimize the stepper interrupt! + +Heaters and sensors are managed in a second interrupt that executes at much slower speed, while the main loop handles command processing, updating the display, and controller events. For safety reasons, Marlin will actually reboot if the CPU gets too overloaded to read the sensors. + +## Printing Things + +### Modeling + +While Marlin only prints G-code, most slicers only slice STL files. + +Whatever you use for your [CAD](//en.wikipedia.org/wiki/Computer-aided_design) toolchain, as long as you can export a solid model, a slicer can "slice" it into G-code, and Marlin firmware will do its best to print the final result. + +Before Marlin can dream of printing, first you'll need a [3D model](//www.thingiverse.com/thing:7900). You can either [download](//www.thingiverse.com/thing:7900/zip) models or make your own with one of many free CAD programs, such as [FreeCAD](//www.freecadweb.org/), [OpenSCAD](//www.openscad.org/), [Tinkercad](//www.tinkercad.com/), [Autodesk Fusion 360](//www.autodesk.com/products/fusion-360/overview), [SketchUp](//www.sketchup.com/), etc. + +A high degree of knowledge is needed to model complex objects like a [T-Rex Skull](//www.thingiverse.com/thing:308335), but other objects can be quite [simple to model](//www.thingiverse.com/thing:172175). To get ideas and test things out, explore sites like [Thingiverse](//www.thingiverse.com/explore/popular), [YouMagine](//www.youmagine.com/) and [Printables](//www.printables.com/) and print things for fun. + +### Slicing + +Slicers prepare a solid 3D model by dividing it up into thin slices (layers). In the process it generates the [G-code](//en.wikipedia.org/wiki/G-code) that tells the printer in minute detail how to reproduce the model. There are many slicers to choose from, including: + +- [Cura](//ultimaker.com/en/products/cura-software). +- [Slic3r](//slic3r.org/). +- [PrůšaSlicer](//www.prusa3d.com/prusaslicer/) (_formerly Slic3r Průša Edition_) The new Kid on the block based on Slic3r. +- [Simplify3D](//www.simplify3d.com/) is a commercial offering. + +### Printing + +Marlin can be controlled entirely from a host or in standalone mode from an SD Card. Even without an LCD controller, a standalone SD print can still be initiated from a host, so your computer can be untethered from the printer. + +Host software is available for several platforms, including desktop systems, Raspberry Pi, and Android tablets. Any device with a USB port and serial terminal can technically act as a host, but you'll have a better printing experience using host software specifically designed for 3D printers. Current selections include: + +- [Pronterface](//www.pronterface.com/) is an open source host by Kliment. +- [Repetier Host](//www.repetier.com/) is a closed-source host by Repetier Software. +- [OctoPrint](//octoprint.org/) is an open source host for Raspberry Pi by [Gina Häußge](//www.patreon.com/foosel). +- [Cura](//ultimaker.com/en/products/cura-software) is an open source host by Ultimaker. (WARNING: You can no longer manual select com port and speed, your printer needs to be auto detected by Cura) +- [Simplify3D](//www.simplify3d.com/) includes both a host and slicer. + +Many 3D printers ship with a customized version of Repetier or Cura. While this helps to associate the printer brand with a companion piece of software, these versions are usually obsolete and receive few upgrades. We recommend you download the latest generic version of your preferred host software instead. diff --git a/systems/flexibot/docs/marlin/_basics/reporting_bugs.md b/systems/flexibot/docs/marlin/_basics/reporting_bugs.md new file mode 100644 index 000000000..6594956f8 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/reporting_bugs.md @@ -0,0 +1,73 @@ +--- +title: 'Reporting Bugs' +description: 'Detailed guide about bugs and how to report them' + +category: [ getting-started, development ] +--- + +Please submit bug reports to the [Marlin Issue Queue] so that we can try to resolve them. Use the [New Issue] button and follow the guidelines below. Before submitting an issue, please *search first to make sure the issue is new*. You can always add comments to an existing issue, even if it is closed, then we can re-open and continue to explore it. + +## Bug Reporting Guidelines + +Based on Mozilla and Simon Tatham bug writing guidelines, a good bug report always... + +### Is reproducible + +If the developers cannot reproduce the bug or conclusively prove that it exists, they probably will not be able to fix it, and will move on to the next bug. + + - Provide step-by-step instructions for reproducing the bug for a quicker resolution. + - Attached or linked videos and screenshots are welcome. + +### Is specific + +Try and figure out exactly what causes the problem. + - Don't report more than one issue in the same report. You should report each issue in a different bug report. + +### Describes your environment + +Include information about: + + - The Marlin version (please test [the Development branch] before submitting reports) + - Machine model and manufacturer + - Electronics board + - Machine components (Hotends, thermistors, thermocouples, relays, etc.) + - Host software (if any) + - Slicer (if relevant) + - Printing method (SD or host) + - `Configuration.h` and `Configuration_adv.h` files (in a ZIP file) + +In most browsers, you can attach a file to a GitHub issue by dragging and dropping the file into the comment box. It will automatically be uploaded to GitHub storage. + +### Provides a good summary + +You should be as precise and clear as possible when you give a summary (Title) to the bug report. Summaries like “Program hangs” or “It doesn't work” are examples of bad titles because they don't provide any indication of where or how Marlin fails. + +### Includes all the bug description fields + +It helps a lot when managing the bug reports that users include: + + 1. Configuration details, as above + 2. Expected behavior + 3. Observed behavior + 4. Steps to reproduce + 5. Attempted resolution (if any) + 6. Steps to work around (if any) + +### Is not anonymous + +You will need to create a free Github account to report bugs. Please pay attention to the bugs you report and follow up on your initial report. If we can't get feedback then we may not be able to resolve the problem. + +## Before Submitting a Bug + +In addition to following the guidelines above, we ask that you follow a thorough process of troubleshooting and research before submitting your issue. + + - Use a process of elimination to narrow down the root cause as far as possible. + - Try changing settings related to the issue to see how they affect behavior. + - Search the [RepRap forums] for others who may have similar issues. + +## Links + + - [Issue Queue](//github.com/MarlinFirmware/Marlin/issues) + - [Post a New Issue](//github.com/MarlinFirmware/Marlin/issues/new) + - [Bug Fix branch](//github.com/MarlinFirmware/Marlin/tree/bugfix-1.1.x) + - [RepRap forums](//forums.reprap.org/) diff --git a/systems/flexibot/docs/marlin/_basics/troubleshooting.md b/systems/flexibot/docs/marlin/_basics/troubleshooting.md new file mode 100644 index 000000000..806edc659 --- /dev/null +++ b/systems/flexibot/docs/marlin/_basics/troubleshooting.md @@ -0,0 +1,128 @@ +--- +title: Troubleshooting Tips +description: Getting past common configuration problems + +author: thinkyhead +contrib: LVD-AC, shitcreek +category: [ articles, getting-started ] +--- + +{% alert warning %} + This page needs more content for completeness. Please contribute! +{% endalert %} + +### Graphical LCD Artifacts + +![LCD Glitches](/assets/images/docs/troubleshoot/glitch.jpg){: .floater} After a new install of Marlin your graphical LCD shows glitches or is blank. This is caused by bad timing in the LCD data transmission. + +**Solution**: Define custom delays. Add the following lines to `Configuration.h` as your starting-point and adjust values upward until the display works reliably. You should keep testing to find the lowest values that produce a reliable display because the LCD update steals time from the main loop. + +```cpp +#define ST7920_DELAY_1 DELAY_NS(200) // After CLK LOW +#define ST7920_DELAY_2 DELAY_NS(400) // After DAT +#define ST7920_DELAY_3 DELAY_NS(200) // After CLK HIGH +``` + +##### Alternative Solutions +- For AVR boards open `ultralcd_st7920_u8glib_rrd_AVR.h` and remove `#pragma GCC optimize (3)` to reduce code optimization. +- Add 4.7k pullup resistors to the SPI lines if they are not commonly used for SPI. + +### Hanging LCD? +Try doubling `BLOCK_BUFFER_SIZE` to see if the problem goes away. + +### No LCD / SD on ReARM? +As seen in this [Chris's Basement video](//youtu.be/H-c8UTg-EMU), the RRD display doesn't always work on first install. It didn't even light up. A custom adapter is needed with the ReARM. See [this issue](//github.com/MarlinFirmware/Marlin/pull/7390#issuecomment-320371735), and [this issue](//github.com/MarlinFirmware/Marlin/issues/11927#issuecomment-441435170), and [this page](//github.com/wolfmanjm/universal-panel-adapter). + +### G29 Probing Failed! +- Marlin uses the `Z_PROBE_LOW_POINT` value to prevent the probe from pressing too hard against the bed and getting damaged. A value of -2 works well for a flat and level bed, but if the bed isn't trammed yet, the probe may exceed the low point and trigger a "Probing Failed" error. To prevent this from happening, change the setting to something like -10 during initial setup, and then you can change it back after the bed is perfectly trammed. +- If the probe offset (`M851 Z`) is incorrect –especially if you are homing with endstops rather than the probe– then the probe may trigger earlier than expected during `G29`. Make sure that your Z Probe Offset is properly set using the Probe Offset Wizard or by moving the nozzle down until it touches the bed, then adding the reported Z height to your current Z Probe Offset. + +### Printing Starts Too High +- **Problem**: After probing the bed with `G29` the print job starts "up in the air" with the nozzle too far from the bed. The mesh reported by `M420 V` may also contain unusually large or inconsistent values. +- **Solution**: Make sure your Z Acceleration (and Jerk, if using `CLASSIC_JERK`) are not set too high and that the `Z_PROBE_SPEED_FAST` is not too fast. Many printers have a heavy or cantilevered Z axis that requires a lot of torque, so a low Z acceleration is required. It may also help to mechanically adjust the gantry so that it moves more freely without twerking or binding. + +### One Side High, One Side Low +- **Problem**: Bed probe done, leveling compensation enabled, and the first layer comes out out too squished on the right side, or too high on the left side, or *vice-versa*. +- **Solution**: Make sure the probe is always perpendicular to the bed as the carriage moves. If the wires or Bowden tube are pulling on the carriage, or if the X gantry is even slightly twisted, the probe will not remain perpendicular and its readings will be garbaggio. There is a feature called `MECHANICAL_GANTRY_CALIBRATION` that can be used to compensate, but it is always best to tackle any mechanical issues first. + +### Heating Failed! +Thermal Runaway is a constant concern with heaters, so Marlin watches heaters for some common runaway conditions: + +- Thermistor shorted or broken (MINTEMP/MAXTEMP). +- Heating Failed: Temperature is rising too slowly (while below target). +- Thermal Runaway: Temperature is too far from target range for too long (after settling). + NOTE: Thermal Runaway can be caused by a fan blowing too close to the hotend. + +During a first-time setup or firmware upgrade, we recommend leaving Thermal Protection enabled but relaxing the settings. To do this, set `WATCH_TEMP_PERIOD` and `WATCH_BED_TEMP_PERIOD` to longer intervals, such as 40 or 60 seconds. You can increase the `HYSTERESIS` settings to makes thermal protection more tolerant of an untuned PID. You should run `M303` on the hotend and bed as soon as possible, and it will help to loosen up thermal protection until all the PID is well tuned. + +Depending on your setup, you may get more stable heating using `MPCTEMP` instead of `PIDTEMP`. + +### FTDI USB Bandwidth +At 115K baud use 167 latency, 192 USB block request. As one goes up the other goes down. + +### Long Beep on Boot +This is a hardware issue due to the connected beeper pin being HIGH when the board is first powered. Marlin turns off the BEEPER pin as soon as it possibly can. A new bootloader for your board might fix the issue in the future. + +### Random Halting +An under-powered PSU combined with heaters and high speed moves can lead to a frozen board. No kill, no watchdog, heaters stuck on. See [#17202](//github.com/MarlinFirmware/Marlin/issues/17202). To test for this: +- To test for this, enable the bed and extruder heaters and print at high speed to see if a hard freeze occurs. Try disabling heaters and/or slower printing to see if the problem goes away. +- Read the input voltage from PSU with a meter during fast moves. If you see a drop too far below your expected voltage (_e.g.,_ 12V or 24V) this indicates a problem. + +### EEPROM Errors + +After flashing a new version of Marlin, the existing EEPROM contents may no longer conform to the updated EEPROM layout. As a result, you may see an error like one of these: + +``` +Error:EEPROM datasize error. +``` +``` +EEPROM CRC mismatch - (stored) 4235 != 6244 (calculated)! +``` + +**Troubleshooting Procedure** + +- If using Octoprint, turn off the option to disconnect on "Error" messages before proceeding. + +- Do [`M502`](/docs/gcode/M502.html) and [`M500`](/docs/gcode/M500.html) and then reboot the machine. This procedure will initialize the EEPROM to your configured "factory" settings. + +- If you continue to get error messages, use `DEBUG_EEPROM_READWRITE` to run a check for mismatched fields during [`M501`](/docs/gcode/M501.html) (read) and [`M500`](/docs/gcode/M500.html) (write). A mismatched field is a bug, so please report these errors to the Marlin project. To do this check, add the following option to your `Configuration.h`, flash, and reboot: + ```cpp + #define DEBUG_EEPROM_READWRITE + ``` + +- You can also enable the `EEPROM_AUTO_INIT` option to automatically reset the EEPROM when the data structure changes or the data gets corrupted. + +### Sanity Check Errors + +Marlin's `SanityCheck.h` files exist to check the validity of settings and make sure obsolete settings get updated for the newest Marlin. Be sure to read and follow all directions provided by these checks. + +### Build Too Large + +A Marlin build can range in size from under 60K to over 200K with a generous complement of features enabled. All features try to use as little SRAM as possible, but some have a higher SRAM cost. As a guide and starting-point, be sure to use the example configuration included with Marlin that best matches your specific machine model. + +### Delta Height, Z Probe Offset, and G33 + +Since Marlin 1.1 "Delta Height" is defined as the distance between Z Home Position and the Z-MIN trigger point (so it remains constant). The Z Probe Offset is added to that distance in order to go to the height of the first printed layer and as such is independent from Delta Height. (Printers without a probe have no Z Probe Offset. Instead, the Z-MIN trigger-point comes from the paper test height, aka Z0.) + +### Trinamic Stepper Drivers + +These tips are collected from various reports we have received. See [Trinamic troubleshooting](/docs/hardware/tmc_drivers.html#troubleshooting) for additional guidance. + +- Some SilentStepSticks with variable 3-5V logic voltage (VIO) [might get damaged](//github.com/MarlinFirmware/Marlin/issues/10162#issuecomment-397844847) if only powered over USB. +- **SPI conflict with the SD card?** Solutions vary. +- **E Stepper won't move when using Linear Advance with TMC drivers?** + - "I ended up using the drivers in legacy mode and setting them to SpreadCycle using the OTP (One Time Programmer). Unfortunately trying to set individual drivers to SpreadCycle via UART by enabling HybridThreshhold and setting the threshold to 0 for the respective axes did not work." See [#11825](//github.com/MarlinFirmware/Marlin/issues/11825). +- **Loud / grinding TMC2208?** Increase the current to \~1500mA and lower the Hybrid Threshold. +- **Unreliable printing, shifting layers?** Make sure the 'rsense' value is configured according to recommendations. See [#9368](//github.com/MarlinFirmware/Marlin/issues/9368). +- **TMC2208** uses **SoftwareSerial**, and this conflicts with **Endstop Interrupts**. Disable Endstop Interrupts to proceed. +- **Should I use `SOFTWARE_DRIVER_ENABLE`?** Not unless required by the hardware. See [#13326](//github.com/MarlinFirmware/Marlin/issues/13326). + +### Babystep Double-click ignored +- Increase the `DOUBLECLICK_MAX_INTERVAL` value + +### False Endstop Triggering +- Enable and set `ENDSTOP_NOISE_THRESHOLD` to filter the endstop signals. + +### BLTouch Pin Drop / Blinking +- Servo voltage / signals may be unstable due to heater signal lines being too close to servo traces. +- **Solution**: Disconnect the servo signal line after the print starts. diff --git a/systems/flexibot/docs/marlin/_configuration/1.1/laser_spindle.md b/systems/flexibot/docs/marlin/_configuration/1.1/laser_spindle.md new file mode 100644 index 000000000..58639da35 --- /dev/null +++ b/systems/flexibot/docs/marlin/_configuration/1.1/laser_spindle.md @@ -0,0 +1,89 @@ +--- +title: Laser/Spindle Configuration (1.1.x) +description: Configuring a laser or spindle tool in Marlin. + +author: thinkyhead +category: [ configuration, hardware ] +--- + +{% alert info %}This document is based on Marlin 1.1.9{% endalert %} + +--- +Note: For best results with Marlin 1.1.9, we recommend ([#11576](//github.com/MarlinFirmware/Marlin/issues/11576)) using a fan PWM pin and the [`M106`](/docs/gcode/M106.html) command instead of [`M3`](/docs/gcode/M003.html)-[`M5`](/docs/gcode/M005.html). The simplest way to do this is to define `FAN1_PIN` as one of the available PWM pins on your board. Ignore this recommendation for **Marlin 2.x**. + +For example, to define pin 6 as the second fan just add this line to `Configuration.h`: +```cpp +#define FAN1_PIN 6 // 2nd fan output attached to laser TTL input +``` +You can then control the laser from your G-code using `M106 P1`, like so... +```gcode +M106 P1 S0 ; Laser off (P1 = 2nd fan output) +M106 P1 S128 ; Laser at 50% +M106 P1 S255 ; Laser at 100% +``` + +**NOTE**: You can use FAN0 if it is available, in which case you will not need to define the above. As of this edit, Marlin can control up to 3 fans via [`M106`](/docs/gcode/M106.html)/[`M107`](/docs/gcode/M107.html). To use more pins you may need to modify Marlin as described in [Issue #12961](//github.com/MarlinFirmware/Marlin/issues/12961). + +--- + +### Pins +Alternatively, you could configure the following to use `M3`, `M4` and `M5`. + +In the `pins_MYBOARD.h` file for your board make sure the following pins are defined: +```cpp +#define SPINDLE_LASER_ENABLE_PIN xx // digital pin +#define SPINDLE_LASER_PWM_PIN yy // digital pin - MUST BE HARDWARE PWM +#define SPINDLE_DIR_PIN zz // digital pin +``` +Selecting the pin for `SPINDLE_LASER_ENABLE_PIN` is fairly easy. Just select any free digital pin with a 0 to 3.3V-5V logic level. + +It is _highly recommended_ that an external 1k-10k pullup resistor be connected to the `SPINDLE_LASER_ENABLE_PIN`. This will prevent the spindle/laser from powering on briefly during power up or when the controller is reset (which happens whenever you connect or disconnect from most controllers). + +Picking the PWM pin can be tricky. There are only 15 hardware PWM pins on an ATMEGA2560. Some are used by the system interrupts so are unavailable. Others are usually hardwired in the controller to functions you can't do without. Fans, servos and some specialized functions all want to have a PWM pin. Usually you'll end up picking a function you can do without, commenting that function out (or not enabling it) and assigning its pin number to the speed pin. + +For all CPUs the hardware PWMs on `TIMER1` are not available. Marlin uses `TIMER1` to generate interrupts and sets it up in such a way that the none of its PWMs can be used. + +Servos also make hardware PWM(s) unavailable. In this case it's only the "A" PWM that's unavailable. The other hardware PWM(s) on that timer are available for general use. + +#### ATmega2560 PWM Assignments and Clients + +Below is a table that can be used when selecting the speed pin on a 2560. (Other CPUs include a subset of the 2560 pins.) + +There are 16 PWM ports assigned to 15 physical pins. + +Pin 13 has two ports assigned to it. (`0A` and `1C`) + +Timer + Port|Digital Pin|Normal Assignment|System Use|Optional Clients +TIMER3B|2|X_MAX|| +TIMER3C|3|X_MIN|| +TIMER0B|4|HEATER_4|| +TIMER3A|5|HEATER_5||*servo 0-11 ISR +TIMER4A|6|HEATER_6||*servo 12-23 ISR +TIMER4B|7|LCD|| +TIMER4C|8|HOTBED|| +TIMER2B|9|HEATER_1|| +TIMER2A|10|HEATER_0|| +TIMER1A|11|HEATER_7|*stepper ISR| +TIMER1B|12|PS_ON_PIN|*stepper ISR| +TIMER0A|13|LED|LED PWM| +TIMER1C|13||*stepper ISR| +TIMER5C|44|LCD||stepper motor current XY PWM +TIMER5B|45|LCD||stepper motor current Z PWM +TIMER5A|46|Z_STEP||stepper motor current E PWM or *servo 24-35 ISR + +``` +* These hardware PWMs are not available. The pin can still be used for general purpose digital I/O. +``` +In addition to the above, fans can be assigned to PWM pins. If you pick a pin that's already assigned to a fan then you'll need to delete the fan or change its pin assignment. This is needed even if `FAN_FAST_PWM` is disabled. + +**NOTE**: Most pins hardwired to a heater or fan are usually driven by a MOSFET with a pullup on its output through an LED to +12V/+24V. This will probably damage your spindle controller unless you add a protection circuit. If there isn't a +12V/+24V pullup you'll need an external 1k-10k pullup resistor to the pin. + +### AT90USB646, 647, 1286 & 1287 PWM assignments + + - As with the atmega2560, the PWMs on Timer1 are not available. + - These chips have 10 PWMs assigned to 9 pins. `TIMER0A` and `TIMER1C` are tied to the same pin. Most Arduino IDE extensions only make `TIMER1C` available (Teensyduino included). + +### ATmega644 & 1284 PWM assignments + + - As with the 2560, the PWMs on Timer1 are not available. + - All PWMs have their own pins. diff --git a/systems/flexibot/docs/marlin/_configuration/2.0.9/laser_spindle.md b/systems/flexibot/docs/marlin/_configuration/2.0.9/laser_spindle.md new file mode 100644 index 000000000..715c614df --- /dev/null +++ b/systems/flexibot/docs/marlin/_configuration/2.0.9/laser_spindle.md @@ -0,0 +1,213 @@ +--- +title: Laser/Spindle Configuration (2.0.9.x) +description: Configuring a laser or spindle in Marlin. + +author: descipher +category: [ configuration, hardware ] +--- + +{% alert info %}This document is based on Marlin 2.0.9.x{% endalert %} + +--- +Laser features and other related options are enabled when `LASER_FEATURE` is defined in `Configuration_adv.h`. + +If your spindle / laser accepts PWM signals for variable power levels enable the `SPINDLE_LASER_USE_PWM` option and define a `SPINDLE_LASER_PWM_PIN`. A hardware-enabled PWM pin will provide the best results. Otherwise the cutter will simply be turned on full for any non-zero value and off for zero. + +### Power Modes +The default operating state for `LASER_FEATURE` is **Standard Mode**. In Standard Mode the `M3`/`M4`/`M5` commands wait synchronize the planner (causing a momentary stop) before changing the power. This mode is good enough for a spindle and is provided for backward compatibility. Standard Mode can be used in combination with `LASER_SYNCHRONOUS_M106_M107` (described below), and can be used to cut or to provide Spindle Feature operations when it is active. + +There are two inline modes, selected using `M3`/`M4` with the `I` parameter. `M3 I` enables **Continuous Inline Mode** and `M4 I` selects **Dynamic Inline Mode**. These modes remain set `M5 I` returns to Standard Mode. In these modes, power set with the `S` parameter doesn't take effect right away, but applies on the next `G1`/`G2`/`G3`/`G5` move. + +### Dynamic Inline Mode +Since Dynamic Inline Mode is new to Marlin (Oct 2021) it should still be considered under development and experimental. Dynamic Inline Mode scales laser power to the stepper feedrate so that a consistent amount of laser energy is applied to the workpiece throughout moves, even as they accelerate and decelerate. (It is similar to GRBL 1.1f in `M4` dynamic mode.) Stay tuned. + +### Inline Mode +Since Marlin 2.0.9.x you'll get the best results using **Inline Mode** power control. Inline Mode applies power to a selected laser output pin defined by `SPINDLE_LASER_PWM_PIN`. This pin should be a hardware-enabled PWM output for optimal performance. If PWM hardware is available it is activated by defining `SPINDLE_LASER_USE_PWM`, providing a range of power levels. Without a PWM pin the cutter is simply turned on full for any non-zero value and off for zero. Power values are set when movement G-codes `G1`/`G2`/`G3`/`G5` are processed with an S-Value parameter such as `G1 X10 Y10 S100`. The inline power value is stored in the planner blocks so that laser power can be perfectly synchronized with every move. + +### Motion Mode +The `GCODE_MOTION_MODES` option must be enabled for full compatibility with G-code generated by LaserGRBL and other laser / CNC software. This feature allows Marlin to process shorthand G-code moves that don't start with a `G#` command. + +### Non-Inline Moves +While inline mode is active the `M3`/`M4`/`M5` G-codes are still processed and will wait for planner synchronization; they are then queued for the next move unless `LASER_POWER_SYNC` is enabled. The `LASER_POWER_SYNC` option allows any `M3`/`M4` G-code `S`-values to be enqueued, synced, and processed by the stepper ISR without pausing. Thus if no move is in progress the power is applied immediately. + +### Trapizoid Power +While inline mode is active the trapizoid feature `LASER_POWER_TRAP` can be enabled. The `LASER_POWER_TRAP` option allows the laser power to be compensate during acceleration or deceleration of a move. It helps to reduce laser burning hot spots. It is important to note that if this feature is enabled on CO2 based lasers it may require that the `SPEED_POWER_MIN` option value is set. CO2 Lasers typically do not activate at very low PWM values. This feature will use the `SPEED_POWER_MIN` to ensure the laser power will not be below the minimum power activation value. The value is determined by testing incremental power values until the CO2 Laser fires. + +### Laser on Fan Pin +In addition to inline mode we support laser synchronous fan mode set by defining `LASER_SYNCHRONOUS_M106_M107`. Laser synchronous fan mode uses G-codes `M106`/`M107` to set laser power on a fan output pin. This feature sets the laser power using planner "sync" blocks, which allow power to be set in perfect sync with movement. This mode works well, however inline mode is faster when performing raster image-based laser burns. + +### Pins + +#### Fan pin example + +Define pin 5 as the second fan just add this line to `Configuration.h`: +```cpp +#define FAN1_PIN 5 // 2nd fan output attached to laser TTL input +``` +Example of G-code using `M106 P1` +```gcode +M106 P1 S0 ; Laser off (P1 = 2nd fan output) +M106 P1 S128 ; Laser at 50% +M106 P1 S255 ; Laser at 100% +``` + +#### Inline pin example +Define pin 6 as the PWM pin and pin 4 as the ENABLE pin `Configuration_adv.h`. + +These are the defaults for any RAMPS board and are already defined in `pins_RAMPS.h`. Override the default values by defining the desired values in `Configuration_adv.h`. +```cpp +#define SPINDLE_LASER_PWM_PIN 6 // Hardware PWM laser TTL input +#define SPINDLE_LASER_ENA_PIN 4 // CO2 PSU enable input +``` + +#### Example of G-code using `M3I`: +```gcode +M3 I S20 ; Enter Continuous Inline Mode and preload the next move power with S20 +G1 X10 Y10 ; Move to X10 Y10 with S20 power +G1 X20 S50 ; Move to X20 with S50 power +M5 ; Kill the power and remain in Continous Inline Mode (M5 or M5I always waits for last move to complete) +``` +It's fairly easy to select a pin for `SPINDLE_LASER_ENA_PIN`. Any unused digital pin with a 0 to 3.3V-5V logic level is sufficient. + +It is _highly recommended_ to connect an external 1k-10k pullup resistor to the `SPINDLE_LASER_ENA_PIN`. This prevents the spindle/laser from powering on briefly during power-up or when the controller is reset (which happens whenever you connect or disconnect from most controllers). + +Picking the PWM pin can be tricky. There are only 15 hardware PWM pins on an ATmega2560. Some are used by the system interrupts so are unavailable. Others are usually hardwired in the controller to functions you can't do without. Fans, servos, and some specialized functions all want to have a PWM pin. Usually you'll end up picking a function you can do without, commenting that function out (or not enabling it) and assigning its pin number to the speed pin. `PINS_DEBUGGING` and `M43` can be helpful to locate the best candidates. + +For all CPUs the hardware PWMs on `TIMER1` are not available. Marlin uses `TIMER1` to generate interrupts and sets it up in such a way that the none of its PWMs can be used. + +Servos also make hardware PWM(s) unavailable. In this case it's only the "A" PWM that's unavailable. The other hardware PWM(s) on that timer are available for general use. + +#### ATmega2560 PWM Assignments and Clients +Below is a table that can be used when selecting the speed pin on a 2560. (Other CPUs include a subset of the 2560 pins.) + +There are 16 PWM ports assigned to 15 physical pins. + +Pin 13 has two ports assigned to it. (`0A` and `1C`) + +Timer + Port|Digital Pin|Normal Assignment|System Use|Optional Clients +TIMER3B|2|X_MAX|| +TIMER3C|3|X_MIN|| +TIMER0B|4|HEATER_4|| +TIMER3A|5|HEATER_5||servo 0-11 ISR +TIMER4A|6|HEATER_6||servo 12-23 ISR +TIMER4B|7|LCD|| +TIMER4C|8|HOTBED|| +TIMER2B|9|HEATER_1|| +TIMER2A|10|HEATER_0|| +TIMER1A|11|HEATER_7|*stepper ISR| +TIMER1B|12|PS_ON_PIN|*stepper ISR| +TIMER0A|13|LED|LED PWM| +TIMER1C|13||*stepper ISR| +TIMER5C|44|LCD||stepper motor current XY PWM +TIMER5B|45|LCD||stepper motor current Z PWM +TIMER5A|46|Z_STEP||stepper motor current E PWM or servo 24-35 ISR + +``` +* These hardware PWMs are not available. The pin can still be used for general purpose digital I/O. +``` +In addition to the above, fans can be assigned to PWM pins. If you pick a pin that's already assigned to a fan then you'll need to delete the fan or change its pin assignment. This is needed even if `FAN_FAST_PWM` is disabled. + +**NOTE**: Most pins hardwired to a heater or fan are usually driven by a MOSFET with a pullup on its output through an LED to +12V/+24V. This will probably damage your spindle controller unless you add a protection circuit. If there isn't a +12V/+24V pullup you'll need an external 1k-10k pullup resistor to the pin. + +#### AT90USB646, 647, 1286 & 1287 PWM assignments + - As with the atmega2560, the PWMs on Timer1 are not available. + - These chips have 10 PWMs assigned to 9 pins. `TIMER0A` and `TIMER1C` are tied to the same pin. Most Arduino IDE extensions only make `TIMER1C` available (Teensyduino included). + +#### ATmega644 & 1284 PWM assignments + - As with the 2560, the PWMs on Timer1 are not available. + - All PWMs have their own pins. + +### Other features +Serveral useful features are currently available for Lasers with 12864 LCDs and even 2004 LCDs: + +![Features](/assets/images/config/12864-All.jpg){: width="300" height="150"} + +#### Air Assist +Air Assist pump relay output, enables Menu item and G-code `M8/M9` control. + +```cpp + #define AIR_ASSIST // Air Assist control with G-codes M8-M9 + #if ENABLED(AIR_ASSIST) + #define AIR_ASSIST_ACTIVE LOW // Active state on air assist pin + #define AIR_ASSIST_PIN 44 // Override the default Air Assist pin + #endif +``` + +#### Air Evacuation +Air Evacuation motor relay output, enables Menu item and G-code `M10/M11` control. +```cpp + #define AIR_EVACUATION // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11 + #if ENABLED(AIR_EVACUATION) + #define AIR_EVACUATION_ACTIVE LOW // Set to "HIGH" if the on/off function is active HIGH + #define AIR_EVACUATION_PIN 42 // Override the default Cutter Vacuum or Laser Blower pin + #endif +``` + +#### Ammeter +Ammeter support, enables laser current monitoring on both 12864 & 2004 LCDs. +This is a low side configuration (Ground) current IC that can be used for both CO2 and Diode based lasers. +It's ideal with High Voltage CO2 laser tubes, it connects between chassis ground and the tube ground. +The current can be calibrated by measuring the current with an multimeter then adjusting +the `I2C_AMMETER_SHUNT_RESISTOR` slightly up or down to match the measured value. + +![INA226 Board](/assets/images/config/INA226Board.jpg){: width="320" height="160"} +![INA226 Wiring](/assets/images/config/INA226.png){: width="320" height="160"} + +```cpp +// Laser I2C Ammeter (High precision INA226 low/high side module) +#define I2C_AMMETER +#if ENABLED(I2C_AMMETER) + #define I2C_AMMETER_IMAX 0.1 // (Amps) Calibration value for the expected current range + #define I2C_AMMETER_SHUNT_RESISTOR 0.1 // (Ohms) Calibration shunt resistor value +#endif +``` + +#### Flow Meter +CO2 Coolant flow meter support, enables laser coolant monitoring on both 12864 & 2004 LCDs. +Provides tube protection by detecting flow failures and controlling laser enable signals. +```cpp +// Laser Coolant Flow Meter +#define LASER_COOLANT_FLOW_METER +#if ENABLED(LASER_COOLANT_FLOW_METER) + #define FLOWMETER_PIN 20 // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21) + #define FLOWMETER_PPL 5880 // (pulses/liter) Flow meter pulses-per-liter on the input pin + #define FLOWMETER_INTERVAL 1000 // (ms) Flow rate calculation interval in milliseconds + #define FLOWMETER_SAFETY // Prevent running the laser without the minimum flow rate set below + #if ENABLED(FLOWMETER_SAFETY) + #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled + #endif +#endif +``` + +#### Laser Cooler +Laser cooling control, provides chiller control with temperature monitoring and safety. +```cpp +// Laser Cooler options +#if TEMP_SENSOR_COOLER + #define COOLER_MINTEMP 8 // (°C) + #define COOLER_MAXTEMP 26 // (°C) + #define COOLER_DEFAULT_TEMP 16 // (°C) + #define TEMP_COOLER_HYSTERESIS 1 // (°C) Temperature proximity considered "close enough" to the target + #define COOLER_PIN 8 // Laser cooler on/off pin used to control power to the cooling element (e.g., TEC, External chiller via relay) + #define COOLER_INVERTING false + #define TEMP_COOLER_PIN 15 // Laser/Cooler temperature sensor pin. ADC is required. + #define COOLER_FAN // Enable a fan on the cooler, Fan# 0,1,2,3 etc. + #define COOLER_FAN_INDEX 0 // FAN number 0, 1, 2 etc. e.g. + #if ENABLED(COOLER_FAN) + #define COOLER_FAN_BASE 100 // Base Cooler fan PWM (0-255); turns on when Cooler temperature is above the target + #define COOLER_FAN_FACTOR 25 // PWM increase per °C above target + #endif +#endif +``` + +#### Spindle Coolant +Spindle based coolant control, enables M7/M8/M9 G-codes. +```cpp +#define COOLANT_CONTROL +#if ENABLED(COOLANT_CONTROL) + #define COOLANT_MIST // Enable if mist coolant is present (M7) + #define COOLANT_FLOOD // Enable if flood coolant is present (M8) + #define COOLANT_MIST_INVERT false // Set "true" if the on/off function is reversed + #define COOLANT_FLOOD_INVERT false // Set "true" if the on/off function is reversed +#endif +``` diff --git a/systems/flexibot/docs/marlin/_configuration/config-ini.md b/systems/flexibot/docs/marlin/_configuration/config-ini.md new file mode 100644 index 000000000..5be62aaa2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_configuration/config-ini.md @@ -0,0 +1,106 @@ +--- +title: 'Configuring with INI' +description: 'Configuration using config.ini and PlatformIO.' + +author: thinkyhead +category: [ configuration ] +--- + +## On Configuration + +Over Marlin's lifetime we've considered many alternatives to the current system of two configuration header files, but there have always been trade-offs, especially in terms of maintaining hundreds of examples. Marlin also maintains support for Arduino IDE and small build sizes, and that requires us to use C++ headers at some level. + +All the concepts we've explored that include splitting up configs (e.g., by feature or by category) have fallen short; however, maintainers of multiple builds have always been free to come up with their own tools and methods. + +Marlin configurations include `#if` blocks to group dependent options, although this is not strictly necessary. This is done partly to make the build more efficient, but we also want to capture the dependencies between options so scripts and tools can (mostly) derive them directly from the Configurations. + +## On Migration + +It can be tricky to migrate from older versions of Marlin as settings change. Marlin checks for old settings and tells you what to change during the build, but the final result is never fully up to date. Wouldn't it be nice if Marlin would automatically migrate old settings to a new configuration for you? + +We're currently working on tools to improve the situation, with the goal to build a schema and a database of configurations across all Marlin versions so we can generate complete configuration headers, perform migrations, and even generate searchable documentation for this website. That is a big project unto itself, so feel free to [get involved on Discord](https://discord.gg/n5NJ59y)! + +## Meta Configuration + +Since Marlin now supports PlatformIO we can do custom pre-processing as part of the build. PlatformIO loves INI files, which are very simple and commonly used for 3D printer firmware configuration. So, we now include a [`config.ini` configuration file](https://github.com/MarlinFirmware/Marlin/blob/2.1.2.1/Marlin/config.ini) that can do a lot of useful tricks. + +## config.ini + +Note that the behavior of this feature is likely to change as we continue to experiment and find new ways to use it, so consult the codebase for the most up to date information. + +### Overview + +The default `config.ini` from Marlin 2.1.2.1 looks something like this: + +```ini +# +# Marlin Firmware +# config.ini - Options to apply before the build +# + +[config:base] +ini_use_config = none + +# Load all config: sections in this file +;ini_use_config = all +# Load config file relative to Marlin/ +;ini_use_config = another.ini +# Download configurations from GitHub +;ini_use_config = example/Creality/Ender-5 Plus @ bugfix-2.1.x +# Download configurations from your server +;ini_use_config = https://me.myserver.com/path/to/configs +# Evaluate config:base and do a config dump +;ini_use_config = base +;config_export = 2 + +[config:minimal] +motherboard = BOARD_RAMPS_14_EFB +serial_port = 0 +; ... + +[config:basic] +bed_overshoot = 10 +busy_while_heating = on +; ... + +[config:advanced] +arc_support = on +auto_report_temperatures = on +; ... and many more! +``` + +At the start of a build / upload PlatformIO runs the script `buildroot/share/PlatformIO/scripts/configuration.py` to process the `config.ini` file at the very start of the build process so that the configuration headers are prepared in advance of any other scripts. This allows you to start with any set of configuration files and just apply the changes that apply to your current needs. Thus the `.ini` file will be very small compared to the full set of configurations. + +The `config.ini` file follows regular conventions. Names in braces are used to start a section. (We use section names beginning with `config:` to avoid conflicts with any other INI files in the project that may already be loaded by PlatformIO.) Lines that include an equals sign are option/value pairs, with everything after the equals sign taken literally. The names of options are case-insensitive, so we stick to lowercase. + +### Base INI Options + +The section named `config:base` is always processed first. Any options within any section that start with `ini_` only apply to `config.ini` processing itself and won't be used to modify configurations. + +At this time the only special option is `ini_use_config`, with these possible values: + +{:.left-align} +|**Value**|**Description**| +|`none`|Ignore this file and continue the build.| +|`all`|Apply all sections in this file to the configurations.| +|`base`|Just apply `config:base` (i.e., not `all` or `none`).| +|`myname`|Apply everything in the section `config:myname`.| +|`another.ini`|Apply `another.ini` completely (then more of `config:base`). Files can be nested.| +|`fast @ better.ini`|Apply just the `config:fast` section of `better.ini` (and `config:base`).| +|`path/to/example @ branch`|Download from the Configurations repo, with optional branch.| +|`http...`|Download files from a custom URL.| + +Values can also be combined in any order, separated by commas. For example: +```ini +ini_use_config = base@myprinter.ini, bltouch, test +``` + +## Exporting `config.ini` + +Marlin can generate a `config.ini` file as part of any build. Set the `CONFIG_EXPORT` option to 2. This will export a file with sections named `config:basic` and `config:advanced` that only includes enabled options. + +## Suggested Uses + +- Any automated build system that currently uses `Configuration.h` and `Configuration_adv.h` files could switch to INI files, which should be easier to maintain and apply and compare changes going forward. The INI system is meant to allow for you to create a base configuration section for a particular machine and then apply just the differences in additional sections. + +- A migration system based on INI will save time and effort, as it only needs to export an INI from the previous Marlin version and generate a new INI file with the known changes applied. The advantage here is that modified configurations can still be migrated, no matter how rearranged and reorganized they might be. diff --git a/systems/flexibot/docs/marlin/_configuration/configuration.md b/systems/flexibot/docs/marlin/_configuration/configuration.md new file mode 100644 index 000000000..5838ff349 --- /dev/null +++ b/systems/flexibot/docs/marlin/_configuration/configuration.md @@ -0,0 +1,4294 @@ +--- +title: 'Configuring Marlin' +description: 'Complete guide to Marlin configuration options.' + +author: Sarf2k4 +contrib: paulusjacobus, jbrazio, landodragon141, thinkyhead, shitcreek, LMF5000, descipher +category: [ configuration ] +--- + +Marlin is a huge C++ program composed of many files, but among the most important are the files that contain all of Marlin's compile-time configuration options: + +- `Configuration.h` contains the core settings for the hardware, language and controller selection, and settings for the most common features and components. +- `Configuration_adv.h` contains more detailed customization options, add-ons, experimental features, and other esoteric settings. +- `config.ini` may be included to modify the configuration at the start of a PlatformIO build. See the [Configuration with INI](config-ini.html) page for more information. + +The two `.h` files contain all of Marlin's build-time configuration options. Simply edit or replace these files, then build and upload Marlin to the board. Hundreds of user-donated configurations are posted at the [Configurations repository](//github.com/MarlinFirmware/Configurations) to get you started. + +## Compiler Directives +Marlin is configured using C++ compiler directives. This allows Marlin to leverage the C++ preprocessor and include only the code and data needed for the enabled options. This results in the smallest possible binary. A build of Marlin can range from 50K to over 230K in size. + +Settings can be enabled, disabled, and assigned values using C preprocessor syntax like so: + +```cpp +#define THIS_IS_ENABLED // this switch is enabled +//#define THIS_IS_DISABLED // this switch is disabled +#define OPTION_VALUE 22 // this setting is "22" +``` + +## Migration +To use configurations from an earlier version of Marlin, first try dropping them into the newer Marlin, updating `CONFIGURATION_H_VERSION` and `CONFIGURATION_ADV_H_VERSION`, and building the firmware. As part of the build process, Marlin will check for outdated options and show error messages that explain exactly what needs to be changed. + +To migrate your settings to a new Configuration you can use tools like Notepad++ or [Winmerge](//winmerge.org/) to compare old configurations with the newer (default) configurations and copy settings over on a change-by-change basis. Most settings will come over without changes, then you can review any tricky changes that remain. + +## Sources of Documentation +The most authoritative source on configuration details will always be **the configuration files themselves**. They provide pretty complete descriptions of each option, and are themselves the source for most of the information presented here. + +If you've never configured and calibrated a 3D Printer before, here are some good resources: + +- [Calibration](//reprap.org/wiki/Calibration) +- [Calibrating Steps-per-unit (video)](//youtu.be/wAL9d7FgInk) +- [Průša's calculators](//blog.prusaprinters.org/calculator_3416/) +- [Triffid Hunter's Calibration Guide](//reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide) +- [The Essential Calibration Set](//www.thingiverse.com/thing:5573) +- [Calibration of your RepRap](//sites.google.com/site/repraplogphase/calibration-of-your-reprap) +- [XY 20mm Calibration Box](//www.thingiverse.com/thing:298812) +- [G-code reference](//reprap.org/wiki/G-code) +- [Marlin3DprinterTool](//github.com/cabbagecreek/Marlin3DprinterTool) + +## Before You Begin +To get your core `Configuration.h` settings right you'll need to know the following things about your printer: + +- Printer style, such as Cartesian, Delta, CoreXY, or SCARA +- Driver board, such as RAMPS, RUMBA, Teensy, etc. +- Number of extruders +- Steps-per-mm for XYZ axes and extruders (can be tuned later) +- Endstop positions +- Thermistors and/or thermocouples +- Probes and probing settings +- LCD controller brand and model +- Add-ons and custom components + +# `Configuration.h` +The core and default settings of Marlin live in the `Configuration.h` file. Most of these settings are fixed. Once you compile Marlin, that's it. To change them you need to re-compile. However, several items in `Configuration.h` only provide defaults -factory settings- that can be changed via the user interface, stored on EEPROM and reloaded or restored to initial values. + +{% alert info %} +Settings that can be changed and saved to EEPROM are marked with . Options marked with can be changed from the LCD controller. + +--- + +Settings saved in EEPROM persist across reboots and still remain after flashing new firmware, so always send [`M502`](/docs/gcode/M502.html), [`M500`](/docs/gcode/M500.html) (or "Reset EEPROM" from the LCD) after flashing. +{% endalert %} + +This section follows the order of settings as they appear. The order isn't always logical, so "Search In Page" may be helpful. We've tried to keep descriptions brief and to the point. For more detailed information on various topics, please read the main articles and follow the links provided in the option descriptions. + +## Configuration versioning +```cpp +#define CONFIGURATION_H_VERSION 020005 +``` +Marlin now checks for a configuration version and won't compile without this setting. If you want to upgrade from an earlier version of Marlin, add this line to your old configuration file. During compilation, Marlin will throw errors explaining what needs to be changed. + +## Firmware Info +```cpp +#define STRING_CONFIG_H_AUTHOR "(none, default config)" + +#define SHOW_BOOTSCREEN +#define SHOW_CUSTOM_BOOTSCREEN +#define CUSTOM_STATUS_SCREEN_IMAGE +``` + +- `STRING_CONFIG_H_AUTHOR` is shown in the Marlin startup message to identify the author (and optional variant) of the firmware. Use this setting as a way to uniquely identify your custom configurations. The startup message is printed whenever the board (re)boots. +- `SHOW_BOOTSCREEN` enables the boot screen for LCD controllers. +- `SHOW_CUSTOM_BOOTSCREEN` shows the bitmap in `Marlin/_Bootscreen.h` on startup. +- `CUSTOM_STATUS_SCREEN_IMAGE` shows the bitmap in `Marlin/_Statusscreen.h` on the status screen. + +## Hardware Info +### Serial Port +```cpp +#define SERIAL_PORT 0 +``` +The index of the on-board serial port that will be used for primary host communication. Change this if, for example, you need to connect a wireless adapter to non-default port pins. + +{% alert info %} +The first serial port (-1 or 0) will always be used by the Arduino bootloader regardless of this setting. +{% endalert %} + +```cpp +#define SERIAL_PORT_2 -1 +``` +Enable this if your board has a secondary serial port. + +{% alert info %}Serial port -1 is the USB emulated serial port, if available.{% endalert %} + +### Baud Rate +```cpp +#define BAUDRATE 115200 +``` +The serial communication speed of the printer should be as fast as it can manage without generating errors. In most cases 115200 gives a good balance between speed and stability. Start with 250000 and only go lower if "line number" and "checksum" errors start to appear. Note that some boards (_e.g.,_ a temperamental Sanguinololu clone based on the ATMEGA1284P) may not be able to handle a baud rate over 57600. Allowed values: 2400, 9600, 19200, 38400, 57600, 115200, 250000. + +### Bluetooth +```cpp +#define BLUETOOTH +``` +Enable the Bluetooth serial interface. For boards based on the AT90USB. + +![Motherboard](/assets/images/config/motherboard.jpg){: .floater.framed} + +### Motherboard +```cpp +#define MOTHERBOARD BOARD_RAMPS_14_EFB +``` +The most important setting is Marlin is the motherboard. The firmware needs to know what board it will be running on so it can assign the right functions to all pins and take advantage of the full capabilities of the board. Setting this incorrectly will lead to unpredictable results. + +Using `boards.h` as a reference, replace `BOARD_RAMPS_14_EFB` with your board's ID. The `boards.h` file has the most up-to-date listing of supported boards - check there first if you don't see yours listed [`here`](/docs/hardware/boards.html). + +{% alert info %} +The Sanguino board requires adding "Sanguino" support to Arduino IDE. Open `Preferences` and locate the `Additional Boards Manager URLs` field. Copy and paste [this source URL](//raw.githubusercontent.com/Lauszus/Sanguino/master/package_lauszus_sanguino_index.json). Then use `Tools` > `Boards` > `Boards Manager` to install "Sanguino" from the list. An internet connection is required. (Thanks to "Dust's RepRap Blog" for the tip.) +{% endalert %} + +### Custom Machine Name +```cpp +//#define CUSTOM_MACHINE_NAME "3D Printer" +``` +This is the name of your printer as displayed on the LCD and by [`M115`](/docs/gcode/M115.html). For example, if you set this to "My Delta" the LCD will display "My Delta ready" when the printer starts up. + +### Machine UUID +```cpp +//#define MACHINE_UUID "00000000-0000-0000-0000-000000000000" +``` +A unique ID for your 3D printer. A suitable unique ID can be generated randomly at [uuidtools.com](//www.uuidtools.com/generate/v4). Some host programs and slicers may use this identifier to differentiate between specific machines on your network. + +## Extruder Info +![Extruders](/assets/images/config/extruders.png){: .floater.framed} + +### Extruders +```cpp +#define EXTRUDERS 1 +``` +This value, from 0 to 6, defines how many extruders (or E steppers) the printer has. By default Marlin will assume separate nozzles all moving together on a single carriage. If you have a single nozzle, a switching extruder, a mixing extruder, or dual X carriages, specify that below. + +This value should be set to the total number of E stepper motors on the machine, even if there's only a single nozzle. + +### Filament Diameter +```cpp +#define DEFAULT_NOMINAL_FILAMENT_DIA 3.00 +``` +This is the "nominal" filament diameter as written on the filament spool (1.75, 2.85, 3.0). If you typically use 1.75mm filament, but physically measure the diameter as 1.70mm, you should still use 1.75 if that's what you have set in your slicer. + +This value is used by Marlin to compensate for Filament Width when printing in volumetric mode (See [`M200`](/docs/gcode/M200.html)), and by the Unified Bed Leveling command [`G26`](/docs/gcode/G026.html) when printing a test grid. + +You can override this value with [`M404 W`](/docs/gcode/M404.html). + +### Single Nozzle +```cpp +#define SINGLENOZZLE +``` +Enable `SINGLENOZZLE` if you have an E3D Cyclops or any other "multi-extruder" system that shares a single nozzle. In a single-nozzle setup, only one filament drive is engaged at a time, and each needs to retract before the next filament can be loaded and begin purging and extruding. + +### Průša MK2 Single Nozzle Multi-Material Multiplexer +```cpp +//#define MK2_MULTIPLEXER +``` +Enabling `MK2_MULTIPLEXER` allows one stepper driver on a control board to drive two to eight stepper motors, one at a time. + +```cpp +//#define E_MUX0_PIN 40 // Always Required +//#define E_MUX1_PIN 42 // Needed for 3 to 8 inputs +//#define E_MUX2_PIN 44 // Needed for 5 to 8 inputs +``` + +Override the default DIO selector pins. + +### Průša MMU2 +```cpp +#define PRUSA_MMU2 +``` +Enable support for the Průša Multi-material unit 2. This requires a free serial port on your printer board. To use the MMU2 you also have to + + - enable [NOZZLE_PARK_FEATURE](#nozzle-park) + - set [EXTRUDERS](#extruders) = 5 + +All details are configured in [Configuration_adv.h] + +### Switching Extruder +```cpp +//#define SWITCHING_EXTRUDER +#if ENABLED(SWITCHING_EXTRUDER) + #define SWITCHING_EXTRUDER_SERVO_NR 0 + #define SWITCHING_EXTRUDER_SERVO_ANGLES { 0, 90 } // Angles for E0, E1[, E2, E3] + #if EXTRUDERS > 3 + #define SWITCHING_EXTRUDER_E23_SERVO_NR 1 + #endif +#endif +``` +A Switching Extruder is a dual extruder that uses a single stepper motor to drive two filaments, but only one at a time. The servo is used to switch the side of the extruder that will drive the filament. The E motor also reverses direction for the second filament. Set the servo sub-settings above according to your particular extruder's setup instructions. + +### Switching Nozzle +```cpp +//#define SWITCHING_NOZZLE +#if ENABLED(SWITCHING_NOZZLE) + #define SWITCHING_NOZZLE_SERVO_NR 0 + //#define SWITCHING_NOZZLE_E1_SERVO_NR 1 // If two servos are used, the index of the second + #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 } // Angles for E0, E1 (single servo) or lowered/raised (dual servo) +#endif +``` +A Switching Nozzle is a carriage with 2 nozzles. A servo is used to move one of the nozzles up and down. The servo either lowers the active nozzle or raises the inactive one. Set the servo sub-settings above according to your particular extruder's setup instructions. + +### Parking extruder (with solenoid) +```cpp +//#define PARKING_EXTRUDER +``` +Two separate X-carriages with extruders that connect to a moving part via a solenoid docking mechanism. Requires SOL1_PIN and SOL2_PIN. + +### Parking extruder (with magnets) +```cpp +//#define MAGNETIC_PARKING_EXTRUDER +``` +Two separate X-carriages with extruders that connect to a moving part via a magnetic docking mechanism using movements and no solenoid + +```cpp +#if EITHER(PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER) + + #define PARKING_EXTRUDER_PARKING_X { -78, 184 } // X positions for parking the extruders + #define PARKING_EXTRUDER_GRAB_DISTANCE 1 // (mm) Distance to move beyond the parking point to grab the extruder + //#define MANUAL_SOLENOID_CONTROL // Manual control of docking solenoids with M380 S / M381 + + #if ENABLED(PARKING_EXTRUDER) + + #define PARKING_EXTRUDER_SOLENOIDS_INVERT // If enabled, the solenoid is NOT magnetized with applied voltage + #define PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE LOW // LOW or HIGH pin signal energizes the coil + #define PARKING_EXTRUDER_SOLENOIDS_DELAY 250 // (ms) Delay for magnetic field. No delay if 0 or not defined. + //#define MANUAL_SOLENOID_CONTROL // Manual control of docking solenoids with M380 S / M381 + + #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) + + #define MPE_FAST_SPEED 9000 // (mm/m) Speed for travel before last distance point + #define MPE_SLOW_SPEED 4500 // (mm/m) Speed for last distance travel to park and couple + #define MPE_TRAVEL_DISTANCE 10 // (mm) Last distance point + #define MPE_COMPENSATION 0 // Offset Compensation -1 , 0 , 1 (multiplier) only for coupling + + #endif + +#endif +``` +Adjust the relevant settings to your specifications for use with either `PARKING_EXTRUDER` or `MAGNETIC_PARKING_EXTRUDER`. + +### Switching Toolhead +```cpp +//#define SWITCHING_TOOLHEAD +``` +Support for swappable and dockable toolheads, such as the E3D Tool Changer. Toolheads are locked with a servo. + +### Magnetic Switching Toolhead +```cpp +//#define MAGNETIC_SWITCHING_TOOLHEAD +``` +Support swappable and dockable toolheads with a magnetic docking mechanism using movement and no servo. + +### Electromagnetic Switching Toolhead +```cpp +//#define ELECTROMAGNETIC_SWITCHING_TOOLHEAD +``` +For CoreXY / HBot kinematics, toolheads are parked at one edge and held with an electromagnet. Supports more than 2 toolheads. See https://youtu.be/JolbsAKTKf4 + +```cpp +#if ANY(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD, ELECTROMAGNETIC_SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock + #define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis + #define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis + #define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders + #if ENABLED(SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector + #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock + #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis + #define SWITCHING_TOOLHEAD_X_SECURITY { 90, 150 } // (mm) Security distance X axis (T0,T1) + //#define PRIME_BEFORE_REMOVE // Prime the nozzle before release from the dock + #if ENABLED(PRIME_BEFORE_REMOVE) + #define SWITCHING_TOOLHEAD_PRIME_MM 20 // (mm) Extruder prime length + #define SWITCHING_TOOLHEAD_RETRACT_MM 10 // (mm) Retract after priming length + #define SWITCHING_TOOLHEAD_PRIME_FEEDRATE 300 // (mm/m) Extruder prime feedrate + #define SWITCHING_TOOLHEAD_RETRACT_FEEDRATE 2400 // (mm/m) Extruder retract feedrate + #endif + #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_Z_HOP 2 // (mm) Z raise for switching + #endif +#endif +``` +Adjust the relevant settings to your specifications for use with `SWITCHING_TOOLHEAD`, `PARKING_EXTRUDER` or `MAGNETIC_PARKING_EXTRUDER`. + +### Mixing Extruder +```cpp +//#define MIXING_EXTRUDER +#if ENABLED(MIXING_EXTRUDER) + #define MIXING_STEPPERS 2 // Number of steppers in your mixing extruder + #define MIXING_VIRTUAL_TOOLS 16 // Use the Virtual Tool method with M163 and M164 + //#define DIRECT_MIXING_IN_G1 // Allow ABCDHI mix factors in G1 movement commands +#endif +``` +A Mixing Extruder uses two or more stepper motors to drive multiple filaments into a mixing chamber, with the mixed filaments extruded from a single nozzle. This option adds the ability to set a mixture, to save mixtures, and to recall mixtures using the `T` command. The extruder still uses a single E axis, while the current mixture is used to determine the proportion of each filament to use. An "experimental" [`G1`](/docs/gcode/G000-G001.html) direct mixing option is included. + +`MIXING_EXTRUDER` enables [`M163`](/docs/gcode/M163.html) - set mix factor, [`M164`](/docs/gcode/M164.html) - save mix, and [`M165`](/docs/gcode/M165.html) - set mix. + +### Hotend Offsets +```cpp +//#define HOTEND_OFFSET_X { 0.0, 20.00 } // (mm) relative X-offset for each nozzle +//#define HOTEND_OFFSET_Y { 0.0, 5.00 } // (mm) relative Y-offset for each nozzle +//#define HOTEND_OFFSET_Z { 0.0, 0.00 } // (mm) relative Z-offset for each nozzle +``` +Hotend offsets are needed if your extruder has more than one nozzle. These values specify the offset from the first nozzle to each nozzle. So the first element is always set to 0.0. The next element corresponds to the next nozzle, and so on. Add more offsets if you have 3 or more nozzles. + +## Power Supply +![ATX](/assets/images/config/atx.jpg){: .floater.framed} + +```cpp +//#define PSU_CONTROL +//#define PSU_NAME "Power Supply" + +#if ENABLED(PSU_CONTROL) + #define PSU_ACTIVE_HIGH false // Set 'false' for ATX (1), 'true' for X-Box (2) + + //#define PS_DEFAULT_OFF // Keep power off until enabled directly with M80 + + //#define AUTO_POWER_CONTROL // Enable automatic control of the PS_ON pin + #if ENABLED(AUTO_POWER_CONTROL) + #define AUTO_POWER_FANS // Turn on PSU if fans need power + #define AUTO_POWER_E_FANS + #define AUTO_POWER_CONTROLLERFAN + #define AUTO_POWER_CHAMBER_FAN + //#define AUTO_POWER_E_TEMP 50 // (°C) Turn on PSU over this temperature + //#define AUTO_POWER_CHAMBER_TEMP 30 // (°C) Turn on PSU over this temperature + #define POWER_TIMEOUT 30 + #endif +#endif +``` +This option allows the controller board to switch the power supply 12V on and off with [`M80`](/docs/gcode/M080.html) and [`M81`](/docs/gcode/M081.html). Requires `PS_ON_PIN`. + +```cpp +//#define PS_DEFAULT_OFF +``` +Enable this if you don't want the power supply to switch on when you turn on the printer. This is for printers that have dual power supplies. For instance some setups have a separate power supply for the heaters. In this situation you can save power by leaving the power supply off until needed. If you don't know what this is leave it. + + +![Thermometer](/assets/images/config/thermal.jpg){: .floater} + +## Thermal Settings +### Temperature Sensors +```cpp +#define TEMP_SENSOR_0 1 +#define TEMP_SENSOR_1 0 +#define TEMP_SENSOR_2 0 +#define TEMP_SENSOR_3 0 +#define TEMP_SENSOR_4 0 +#define TEMP_SENSOR_5 0 +#define TEMP_SENSOR_BED 0 +#define TEMP_SENSOR_CHAMBER 0 +``` +Temperature sensors are vital components in a 3D printer. Fast and accurate sensors ensure that the temperature will be well controlled, to keep plastic flowing smoothly and to prevent mishaps. Use these settings to specify the hotend and bed temperature sensors. Every 3D printer will have a hotend thermistor, and most will have a bed thermistor. + +The listing above these options in `Configuration.h` contains all the thermistors and thermocouples that Marlin knows and supports. Try to match your brand and model with one of the sensors in the list. If no match is found, use a profile for a similar sensor of the same brand, or try "1" – the generic profile. Each profile is calibrated for a particular temperature sensor so it's important to be as precise as possible. + +{% alert warning %} +It is crucial to obtain accurate temperature measurements. As a last resort, use 100k thermistor for `TEMP_SENSOR` and `TEMP_SENSOR_BED` but be highly skeptical of the temperature accuracy. +{% endalert %} + +```cpp +// Dummy thermistor constant temperature readings, for use with 998 and 999 +#define DUMMY_THERMISTOR_998_VALUE 25 +#define DUMMY_THERMISTOR_999_VALUE 100 +``` +Marlin provides two dummy sensors for testing purposes. Set their constant temperature readings here. + +```cpp +//#define TEMP_SENSOR_1_AS_REDUNDANT +#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10 +``` +Enable this option to use sensor 1 as a redundant sensor for sensor 0. This is an advanced way to protect against temp sensor failure. If the temperature difference between sensors exceeds `MAX_REDUNDANT_TEMP_SENSOR_DIFF` Marlin will abort the print and disable the heater. + +### Temperature Stability +```cpp +#define TEMP_RESIDENCY_TIME 10 // (seconds) +#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one +#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early. +``` +Extruders must maintain a stable temperature for `TEMP_RESIDENCY_TIME` before [`M109`](/docs/gcode/M109.html) will return success and start the print. Tune what "stable" means using `TEMP_HYSTERESIS` and `TEMP_WINDOW`. + +```cpp +#define TEMP_BED_RESIDENCY_TIME 10 // (seconds) +#define TEMP_BED_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one +#define TEMP_BED_WINDOW 1 // (degC) Window around target to start the residency timer x degC early. +``` +The bed must maintain a stable temperature for `TEMP_BED_RESIDENCY_TIME` before [`M109`](/docs/gcode/M109.html) will return success and start the print. Tune what "stable" means using `TEMP_BED_HYSTERESIS` and `TEMP_BED_WINDOW`. + +```cpp +#define TEMP_CHAMBER_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target +``` +Set how far from target the chamber can be and still be considered ok. + +### Temperature Ranges +```cpp +#define HEATER_0_MINTEMP 5 +#define HEATER_1_MINTEMP 5 +#define HEATER_2_MINTEMP 5 +#define HEATER_3_MINTEMP 5 +#define HEATER_4_MINTEMP 5 +#define BED_MINTEMP 5 +``` +These parameters help prevent the printer from overheating and catching fire. Temperature sensors report abnormally low values when they fail or become disconnected. Set these to the lowest value (in degrees C) that the machine is likely to experience. Indoor temperatures range from 10C-40C, but a value of 0 might be appropriate for an unheated workshop. + +If any sensor goes below the minimum temperature set here, Marlin will **shut down the printer** with a "MINTEMP" error. + +{% alert error MINTEMP %} +`Err: MINTEMP`: This error means your thermistor has disconnected or become an open circuit. (Or the machine is just very cold.) +{% endalert %} + +```cpp +#define HEATER_0_MAXTEMP 285 +#define HEATER_1_MAXTEMP 275 +#define HEATER_2_MAXTEMP 275 +#define HEATER_3_MAXTEMP 275 +#define HEATER_4_MAXTEMP 275 +#define BED_MAXTEMP 130 +``` +Maximum temperature for each temperature sensor. If Marlin reads a temperature above these values, it will immediately shut down for safety reasons. For the E3D V6 hotend, many use 285 as a maximum value. + +{% alert error MAXTEMP %} +`Err: MAXTEMP`: This error usually means that the temperature sensor wires are shorted together. It may also indicate an issue with the heater MOSFET or relay that is causing it to stay on. +{% endalert %} +{% alert warning %} +Remember that cold surfaces near hot surfaces can lead to **condensation**, which is NOT GOOD for electronics. Use blower fans to keep air moving and use a [Dew Point Calculator](//www.dpcalc.org/) to check your local dew point. +{% endalert %} + +--- + +### PID +Marlin uses PID (Proportional, Integral, Derivative) control ([Wikipedia](//en.wikipedia.org/wiki/PID_controller)) to stabilize the dynamic heating system for the hotends and bed. When PID values are set correctly, heaters reach their target temperatures faster, maintain temperature better, and experience less wear over time. + +Most vitally, correct PID settings will prevent excessive overshoot, which is a safety hazard. During PID calibration, use the highest target temperature you intend to use (where overshoots are more critical). + +See the [PID Tuning](//reprap.org/wiki/PID_Tuning) topic on the RepRap wiki for detailed instructions on [`M303`](/docs/gcode/M303.html) auto-tuning. The PID settings should be tuned whenever changing a hotend, temperature sensor, heating element, board, power supply voltage (12/24V), or anything else related to the high-voltage circuitry. + +--- + +#### Hotend PID Options +```cpp +#define PIDTEMP +#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current +#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current +#define K1 0.95 +``` +Disable `PIDTEMP` to run extruders in bang-bang mode. Bang-bang is a pure binary mode - the heater is either fully-on or fully-off for a long period. PID control uses higher frequency PWM and (in most cases) is superior for maintaining a stable temperature. + +```cpp +#if ENABLED(PIDTEMP) + //#define PID_EDIT_MENU + //#define PID_AUTOTUNE_MENU + //#define PID_PARAMS_PER_HOTEND + + //#define PID_DEBUG + //#define PID_OPENLOOP 1 + //#define SLOW_PWM_HEATERS + #define PID_FUNCTIONAL_RANGE 10 + +``` +Enable `PID_AUTOTUNE_MENU` to add an option on the LCD to run an Autotune cycle and automatically apply the result. Enable `PID_PARAMS_PER_HOTEND` if you have more than one extruder and they are different models. + +#### PID Values +```cpp + #if ENABLED(PID_PARAMS_PER_HOTEND) + // Specify between 1 and HOTENDS values per array. + // If fewer than EXTRUDER values are provided, the last element will be repeated. + #define DEFAULT_Kp_LIST { 22.20, 22.20 } + #define DEFAULT_Ki_LIST { 1.08, 1.08 } + #define DEFAULT_Kd_LIST { 114.00, 114.00 } + #else + #define DEFAULT_Kp 22.20 + #define DEFAULT_Ki 1.08 + #define DEFAULT_Kd 114.00 + #endif +``` +Sample PID values are included for reference, but they won't apply to most setups. The PID values you get from [`M303`](/docs/gcode/M303.html) may be very different, but will be better for your specific machine. + +{% alert info %} +[`M301`](/docs/gcode/M301.html) can be used to set Hotend PID and is also accessible through the LCD. [`M304`](/docs/gcode/M304.html) can be used to set bed PID. [`M303`](/docs/gcode/M303.html) should be used to tune PID values before using any new hotend components. +{% endalert %} + +--- + +#### Bed PID Options +```cpp +//#define PIDTEMPBED +``` +Enable `PIDTEMPBED` to use PID for the bed heater (at the same PWM frequency as the extruders). With the default PID_dT the PWM frequency is 7.689 Hz, fine for driving a square wave into a resistive load without significant impact on FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 250 W heater. If your configuration is significantly different than this and you don't understand the issues involved, you probably shouldn't use bed PID until it's verified that your hardware works. Use `M303 E-1` to tune the bed PID for this option. + +```cpp +//#define BED_LIMIT_SWITCHING +``` +Enable `BED_LIMIT_SWITCHING` + +```cpp +#define MAX_BED_POWER 255 +``` +The max power delivered to the bed. All forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis). Setting this to anything other than 255 enables a form of PWM. As with `PIDTEMPBED`, don't enable this unless your bed hardware is ok with PWM. + +#### Bed PID Values +```cpp +#if ENABLED(PIDTEMPBED) + + //#define PID_BED_DEBUG // Sends debug data to the serial port. + + // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) + // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10) + #define DEFAULT_bedKp 10.00 + #define DEFAULT_bedKi .023 + #define DEFAULT_bedKd 305.4 + + // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) + // from pidautotune + //#define DEFAULT_bedKp 97.1 + //#define DEFAULT_bedKi 1.41 + //#define DEFAULT_bedKd 1675.16 + + // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles. +#endif // PIDTEMPBED +``` +Sample Bed PID values are included for reference, but use the result from [`M303 E-1`](/docs/gcode/M303.html) for your specific machine. + +![Safety](/assets/images/config/safety.gif){: .floater} + +### Safety +#### Prevent Cold Extrusion +```cpp +#define PREVENT_COLD_EXTRUSION +#define EXTRUDE_MINTEMP 170 +``` +So-called "cold extrusion" can damage a machine in several ways, but it usually just results in gouged filament and a jammed extruder. With this option, the extruder motor won't move if the hotend is below the specified temperature. Override this setting with [`M302`](/docs/gcode/M302.html) if needed. + +#### Prevent Lengthy Extrude +```cpp +#define PREVENT_LENGTHY_EXTRUDE +#define EXTRUDE_MAXLENGTH 200 +``` +A lengthy extrusion may not damage your machine, but it can be an awful waste of filament. This feature is meant to prevent a typo or glitch in a [`G1`](/docs/gcode/G000-G001.html) command from extruding some enormous amount of filament. For Bowden setups, the max length should be set greater than or equal to the load/eject length. + +#### Thermal Protection +```cpp +#define THERMAL_PROTECTION_HOTENDS // Enable thermal protection for all extruders +#define THERMAL_PROTECTION_BED // Enable thermal protection for the heated bed +#define THERMAL_PROTECTION_CHAMBER // Enable thermal protection for the heated chamber +``` +Thermal protection is one of the most vital safety features in Marlin, allowing the firmware to catch a bad situation and shut down heaters before it goes too far. Consider what happens when a thermistor comes loose during printing. The firmware sees a low temperature reading so it keeps the heat on. As long as the temperature reading is low, the hotend will continue to heat up indefinitely, leading to smoke, oozing, a ruined print, and possibly even fire. + +Marlin offers two levels of thermal protection: + +1. Check that the temperature is actually increasing when a heater is on. If the temperature fails to rise enough within a certain time period (by default, 2 degrees in 20 seconds), the machine will shut down with a "`Heating failed`" error. This will detect a disconnected, loose, or misconfigured thermistor, or a disconnected heater. +2. Monitor thermal stability. If the measured temperature drifts too far from the target temperature for too long, the machine will shut down with a "`Thermal runaway`" error. This error may indicate poor contact between thermistor and hot end, poor PID tuning, or a cold environment. + +More thermal protection options are located in `Configuration_adv.h`. In most setups these can be left unchanged, but should be tuned as needed to prevent false positives. + +{% panel info %} +For false thermal runaways _not_ caused by a loose temperature sensor, try increasing `WATCH_TEMP_PERIOD` or decreasing `WATCH_TEMP_INCREASE`. Heating may be slowed in a cold environment, if a fan is blowing on the heat block, or if the heater has high resistance. +{% endpanel %} + + +![Kinematics](/assets/images/config/kinematics.jpg){: .floater} + +## Kinematics +Marlin supports four kinematic motion systems: Cartesian, Core (H-Bot), Delta, and SCARA. Cartesian is the simplest, applying each stepper directly to an axis. CoreXY uses a special belt arrangement to do XY motion, requiring a little extra maths. Delta robots convert the motion of three vertical carriages into XYZ motion in an "effector" attached to the carriages by six arms. SCARA robots move an arm in the XY plane using two angular joints. + +### CoreXY +```cpp +//#define COREXY +//#define COREXZ +//#define COREYZ +//#define COREYX +//#define COREZX +//#define COREZY +``` +Enable the option that applies to the specific Core setup. Both normal and reversed options are included for completeness. + +![Endstop switch](/assets/images/config/endstop.jpg){: .floater} + +## Endstops +In open loop systems, endstops are an inexpensive way to establish the actual position of the carriage on all axes. In the procedure known as "homing," each axis is moved towards one end until the endstop switch is triggered, at which point the machine knows that the axis is at the endstop (home) position. From this point on, the machine "knows" its position by keeping track of how far the steppers have been moved. If the machine gets out of step for any reason, re-homing may be required. + +### Endstop Plugs +```cpp +#define USE_XMIN_PLUG +#define USE_YMIN_PLUG +#define USE_ZMIN_PLUG +//#define USE_XMAX_PLUG +//#define USE_YMAX_PLUG +//#define USE_ZMAX_PLUG +``` +Specify all the endstop connectors that are connected to any endstop or probe. Most printers will use all three min plugs. On delta machines, all the max plugs should be used. Probes can share the Z min plug, or can use one or more of the extra connectors. Don't enable plugs used for non-endstop and non-probe purposes here. +{% alert info %} +`SENSORLESS_HOMING` will still need endstop connectors declared. +{% endalert %} + +### Endstop Pullups +```cpp +#define ENDSTOPPULLUPS + +#if DISABLED(ENDSTOPPULLUPS) + // Disable ENDSTOPPULLUPS to set pullups individually + //#define ENDSTOPPULLUP_XMAX + //#define ENDSTOPPULLUP_YMAX + //#define ENDSTOPPULLUP_ZMAX + //#define ENDSTOPPULLUP_XMIN + //#define ENDSTOPPULLUP_YMIN + //#define ENDSTOPPULLUP_ZMIN + //#define ENDSTOPPULLUP_ZMIN_PROBE +#endif +``` +By default all endstops have pullup resistors enabled. This is best for NC switches, preventing the values from "floating." If only some endstops should have pullup resistors, you can disable `ENDSTOPPULLUPS` and enable pullups individually. + +### Endstop Pulldowns +```cpp +//#define ENDSTOPPULLDOWNS + +#if DISABLED(ENDSTOPPULLDOWNS) + // Disable ENDSTOPPULLDOWNS to set pulldowns individually + //#define ENDSTOPPULLDOWN_XMAX + //#define ENDSTOPPULLDOWN_YMAX + //#define ENDSTOPPULLDOWN_ZMAX + //#define ENDSTOPPULLDOWN_XMIN + //#define ENDSTOPPULLDOWN_YMIN + //#define ENDSTOPPULLDOWN_ZMIN + //#define ENDSTOPPULLDOWN_ZMIN_PROBE +#endif +``` +By default all endstops have pulldown resistors disabled. + +### Endstop Hit State +Use these options to set to the state (HIGH or LOW) that applies to each endstop and the Z probe, if enabled. +```cpp +#define X_MIN_ENDSTOP_HIT_STATE HIGH +#define X_MAX_ENDSTOP_HIT_STATE HIGH +#define Y_MIN_ENDSTOP_HIT_STATE HIGH +#define Y_MAX_ENDSTOP_HIT_STATE HIGH +#define Z_MIN_ENDSTOP_HIT_STATE HIGH +#define Z_MAX_ENDSTOP_HIT_STATE HIGH +#define Z_MIN_PROBE_ENDSTOP_HIT_STATE HIGH +``` +You can use [`M119`](/docs/gcode/M119.html) to test if these are set correctly. If an endstop shows up as "TRIGGERED" when not pressed, and "open" when pressed, then it should be inverted here. + +### Stepper Drivers +```cpp +//#define X_DRIVER_TYPE A4988 +//#define Y_DRIVER_TYPE A4988 +//#define Z_DRIVER_TYPE A4988 +//#define X2_DRIVER_TYPE A4988 +//#define Y2_DRIVER_TYPE A4988 +//#define Z2_DRIVER_TYPE A4988 +//#define Z3_DRIVER_TYPE A4988 +//#define E0_DRIVER_TYPE A4988 +//#define E1_DRIVER_TYPE A4988 +//#define E2_DRIVER_TYPE A4988 +//#define E3_DRIVER_TYPE A4988 +//#define E4_DRIVER_TYPE A4988 +//#define E5_DRIVER_TYPE A4988 +``` +These settings allow Marlin to tune stepper driver timing and enable advanced options for stepper drivers that support them. You may also override timing options in Configuration_adv.h. + +### Endstop Interrupts +```cpp +//#define ENDSTOP_INTERRUPTS_FEATURE +``` +Enable this feature if all enabled endstop pins are interrupt-capable. +This will remove the need to poll the interrupt pins, saving many CPU cycles. + +### Endstop Noise Threshold +```cpp +//#define ENDSTOP_NOISE_FEATURE +``` +Enable if your probe or endstops falsely trigger due to noise. + +![Movement](/assets/images/config/movement.png){: .floater} + +## Movement +### Distinct E Factors +```cpp +//#define DISTINCT_E_FACTORS +``` +Enable `DISTINCT_E_FACTORS` if your extruders are not all mechanically identical. With this setting you can optionally specify different steps-per-mm, max feedrate, and max acceleration for each extruder. + +### Default Steps per mm +```cpp +#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 4000, 500 } +``` +These are the most crucial settings for your printer, as they determine how accurately the steppers will position the axes. Here we're telling the firmware how many individual steps produce a single millimeter (or degree on SCARA) of movement. These depend on various factors, including belt pitch, number of teeth on the pulley, thread pitch on leadscrews, micro-stepping settings, and extruder style. + +Override with [`M92`](/docs/gcode/M092.html). + +{% panel info Step Calculator %} +The [Průša Calculator](//prusaprinters.org/calculator/) is a great tool to help find the right values for your specific printer configuration. +{% endpanel %} + +#### Default Max Feed Rate +```cpp +#define DEFAULT_MAX_FEEDRATE { 500, 500, 2.25, 45 } +``` +In any move, the velocities (in mm/sec) in the X, Y, Z, and E directions will be limited to the corresponding `DEFAULT_MAX_FEEDRATE`. + +Override with [`M203`](/docs/gcode/M203.html). + +{% alert danger %} +Setting these too high will cause the corresponding stepper motor to lose steps, especially on high speed movements. +{% endalert %} + +### Acceleration +#### Default Max Acceleration +```cpp +#define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 } +``` +When the velocity of any axis changes, its acceleration (or deceleration) in mm/s/s is limited by the current max acceleration setting. Also see the *jerk* settings below, which specify the largest instant speed change that can occur between segments. + +A value of 3000 means that an axis may accelerate by 100mm/s within 1/30th of a second, or up to 3000mm/s (180000mm/m) in a full second. + +Jerk sets the floor for accelerated moves. If the change in top speed for a given axis between segments is less than the jerk value for the axis, an instantaneous change in speed may be allowed. Limits placed on other axes also apply. Basically, lower jerk values result in more accelerated moves, which may be near-instantaneous in some cases, depending on the final acceleration determined by the planner. + +Override with [`M201`](/docs/gcode/M201.html). + +#### Default Acceleration +```cpp +#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration for printing moves +#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration for retracts +#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration for travel (non printing) moves +``` +The planner uses the default accelerations set here (or by [`M204`](/docs/gcode/M204.html)) as the starting values for movement acceleration, and then constrains them further, if needed. There are separate default acceleration values for printing moves, retraction moves, and travel moves. + +- Printing moves include E plus at least one of the XYZ axes. +- Retraction moves include only the E axis. +- Travel moves include only the XYZ axes. + +In print/travel moves, `DEFAULT_ACCELERATION` and `DEFAULT_TRAVEL_ACCELERATION` apply to the XYZ axes. In retraction moves, `DEFAULT_RETRACT_ACCELERATION` applies only to the *E*-axis. During movement planning, Marlin constrains the default accelerations to the maximum acceleration of all axes involved in the move. + +Override with [`M204`](/docs/gcode/M204.html). + +{% alert danger %} +Don't set these too high. Larger acceleration values can lead to excessive vibration, noisy steppers, or even skipped steps. Lower acceleration produces smoother motion, eliminates vibration, and helps reduce wear on mechanical parts. +{% endalert %} + +--- + +#### Jerk +```cpp +//#define CLASSIC_JERK +#if ENABLED(CLASSIC_JERK) + #define DEFAULT_XJERK 10.0 + #define DEFAULT_YJERK 10.0 + #define DEFAULT_ZJERK 0.3 + + //#define TRAVEL_EXTRA_XYJERK 0.0 // Additional jerk allowance for all travel moves + + //#define LIMITED_JERK_EDITING // Limit edit via M205 or LCD to DEFAULT_aJERK * 2 + #if ENABLED(LIMITED_JERK_EDITING) + #define MAX_JERK_EDIT_VALUES { 20, 20, 0.6, 10 } // ...or, set your own edit limits + #endif +#endif + +#define DEFAULT_EJERK 5.0 // May be used by Linear Advance +``` +{% panel info Configuration Update %} +Junction Deviation is now the default mode. Enabling `CLASSIC JERK` will override it. +{% endpanel %} + +Jerk works in conjunction with acceleration (see above). Jerk is the maximum change in velocity (in mm/sec) that can occur instantaneously. It can also be thought of as the minimum change in velocity that will be done as an accelerated (not instantaneous) move. + +Both acceleration and jerk affect your print quality. If jerk is too low, the extruder will linger too long on small segments and corners, possibly leaving blobs. If the jerk is set too high, direction changes will apply too much torque and you may see "ringing" artifacts or dropped steps. + +Override with [`M205`](/docs/gcode/M205.html). + +#### Junction Deviation +```cpp +#if DISABLED(CLASSIC_JERK) + #define JUNCTION_DEVIATION_MM 0.013 // (mm) Distance from real junction edge +#endif +``` +Junction Deviation determins the cornering speed. The smaller the value the slower the cornering speed will be. + +![Junction Deviation formula](//latex.codecogs.com/gif.latex?d=0.4\frac{Jerk^{2}}{Accel_{printing}}) + +Use the above formula to calculate the Junction Deviation amount. + +See the following sources for detailed explainations on Junction Deviation: +- [JD Explained and Visualized, by Paul Wanamaker](//reprap.org/forum/read.php?1,739819) +- [Computing JD for Marlin Firmware](//blog.kyneticcnc.com/2018/10/computing-junction-deviation-for-marlin.html) +- [Improving GRBL: Cornering Algorithm](//onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/) + +#### S-Curve Acceleration +```cpp +//#define S_CURVE_ACCELERATION +``` +This option eliminates vibration during printing by fitting a Bézier curve to move acceleration, producing much smoother direction changes. + +## Z Probe Options +### Probe Pins +```cpp +#define Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN +``` +Use this option in all cases when the probe is connected to the Z MIN endstop plug. This option is used for `DELTA` robots, which always home to MAX, and may be used in other setups. + +You can use this option to configure a machine with no Z endstops. In that case the probe will be used to home Z and you will need to enable `Z_SAFE_HOMING` to ensure that the probe is positioned over the bed when homing the Z axis - done after X and Y. + +```cpp +//#define Z_MIN_PROBE_PIN 32 +``` +With `Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN` enabled, by default Marlin will use the `Z_MIN_PROBE_PIN` specified in your board's pins file (usually the X or Z MAX endstop pin since these are the most likely to be unused). If you need to use a different pin, define it here in `Configuration.h`. + +### Probe Type +Marlin supports any kind of probe that can be made to work like a switch. Specific types of probes have different needs. + +#### Manual Probe (no probe) +```cpp +//#define PROBE_MANUALLY +//#define MANUAL_PROBE_START_Z 0.2 +``` +Even if you have no bed probe you can still use any of the core `AUTO_BED_LEVELING_*` options below by selecting this option. With `PROBE_MANUALLY` the [`G29`](/docs/gcode/G029-mbl.html) command only moves the nozzle to the next probe point where it pauses. You adjust the Z height with a piece of paper or feeler gauge, then send [`G29`](/docs/gcode/G029-mbl.html) again to continue to the next point. You can also enable `LCD_BED_LEVELING` to add a "Level Bed" Menu item to the LCD for a fully interactive leveling process. +`MANUAL_PROBE_START_Z` sets the Z-height the printer initially moves to at each mesh point during manual probing. With this disabled, the printer will move to Z0 for the first probe point. Then each consecutive probe point uses the Z position of the probe point preceding it. + +#### Fix Mounted Probe +![Fixed Probe - EZABL](/assets/images/config/fixed_probe_EZABL.png){: .floater.framed} + +```cpp +//#define FIX_MOUNTED_PROBE +``` +This option is for any probe that's fixed in place, with no need to be deployed or stowed. Specify this type for an inductive probe or when using the nozzle itself as the probe. + +#### Servo Z Probe +![Probe](/assets/images/config/probe.png){: .floater.framed} + +```cpp +//#define Z_PROBE_SERVO_NR 0 // Defaults to SERVO 0 connector. +//#define Z_SERVO_ANGLES { 70, 0 } // Z Servo Deploy and Stow angles +``` +To indicate a Servo Z Probe (_e.g.,_ an endstop switch mounted on a rotating arm) just specify the servo index. Use the [`M280`](/docs/gcode/M280.html) command to find the best `Z_SERVO_ANGLES` values. + +#### BLTouch +![BLTouch](/assets/images/config/BLTouch.png){: .floater.framed} + +```cpp +//#define BLTOUCH +``` +The [ANTCLABS BLTouch](//plus.google.com/113792662927481823969) probe uses custom circuitry and a magnet to raise and lower a metal pin which acts as a touch probe. The BLTouch uses the servo connector and is controlled using specific servo angles. With this option enabled the other required settings are automatically configured (so there's no need to enter servo angles, for example). + +#### TOUCH MI PROBE +```cpp +//#define TOUCH_MI_PROBE +#if ENABLED(TOUCH_MI_PROBE) + #define TOUCH_MI_RETRACT_Z 0.5 // Height at which the probe retracts + //#define TOUCH_MI_DEPLOY_XPOS (X_MAX_BED + 2) // For a magnet on the right side of the bed + //#define TOUCH_MI_MANUAL_DEPLOY // For manual deploy (LCD menu) +#endif +``` +Touch-MI Probe by hotends.fr is deployed and activated by moving the X-axis to a magnet at the edge of the bed. By default, the magnet is assumed to be on the left and activated by a home. If the magnet is on the right, enable and set TOUCH_MI_DEPLOY_XPOS to the deploy position. Also option requires: `BABYSTEPPING`, `BABYSTEP_ZPROBE_OFFSET`, `Z_SAFE_HOMING`, and a minimum `Z_HOMING_HEIGHT` of 10. + +#### Solenoid Probe +![Solenoid probe](/assets/images/config/solenoid.png){: .floater.framed} + +```cpp +//#define SOLENOID_PROBE +``` +A probe that is deployed and stowed with a solenoid pin (Defined as `SOL1_PIN`.) + +#### Z Probe Sled +![Z-Probe Sled](/assets/images/config/zprobe_sled.png){: .floater.framed} + +```cpp +//#define Z_PROBE_SLED +//#define SLED_DOCKING_OFFSET 5 +``` +This type of probe is mounted on a detachable "sled" that sits at the far end of the X axis. Before probing, the X carriage moves to the far end and picks up the sled. When probing is completed, it drops the sled off. The `SLED_DOCKING_OFFSET` specifies the extra distance the X axis must travel to pickup the sled. 0 should be fine but it may be pushed further if needed. + +#### Rack-and-pinion probe +```cpp +//#define RACK_AND_PINION_PROBE +#if ENABLED(RACK_AND_PINION_PROBE) + #define Z_PROBE_DEPLOY_X X_MIN_POS + #define Z_PROBE_RETRACT_X X_MAX_POS +#endif +``` +A probe deployed by moving the X-axis (_e.g.,_ Wilson II's rack-and-pinion probe designed by Marty Rice.) + +#### Allen Key +```cpp +//#define Z_PROBE_ALLEN_KEY +``` +A retractable Z-probe for deltas that uses an Allen key as the probe. See "[Kossel automatic bed leveling probe](//reprap.org/wiki/Kossel#Automatic_bed_leveling_probe)" at the RepRap wiki. It deploys by leveraging against the Z-axis belt, and retracts by pushing the probe down. + +More information will be included in an upcoming Delta configuration page. + +### Probe Offsets +These offsets specify the distance from the tip of the nozzle to the probe — or more precisely, to the point at which the probe triggers. The X and Y offsets are specified as integers. The Z offset should be specified as exactly as possible using a decimal value. The Z offset can be overridden with `M851 Z` or the LCD controller. The [`M851`](/docs/gcode/M851.html) offset is saved to EEPROM with [`M500`](/docs/gcode/M500.html). + +### Distance from edge +```cpp +#define X_PROBE_OFFSET_FROM_EXTRUDER 10 // X offset: -left +right [of the nozzle] +#define Y_PROBE_OFFSET_FROM_EXTRUDER 10 // Y offset: -front +behind [the nozzle] +#define Z_PROBE_OFFSET_FROM_EXTRUDER 0 // Z offset: -below +above [the nozzle] + +#define PROBING_MARGIN 10 +``` +Certain types of probe need to stay away from the edge + +### Probing Speed +```cpp +// X and Y axis travel speed (mm/m) between probes +#define XY_PROBE_SPEED 8000 + +// Feedrate (mm/m) for the first approach when double-probing (MULTIPLE_PROBING == 2) +#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z + +// Feedrate (mm/m) for the "accurate" probe of each point +#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2) +``` +Probing should be done quickly, but the Z speed should be tuned for best repeatability. Depending on the probe, a slower Z probing speed may be needed for repeatable results. + +### Multiple Probes +```cpp +//#define MULTIPLE_PROBING 2 +//#define EXTRA_PROBING 1 +``` +Probing multiple times yields better results. Set to 2 for a fast/slow probe - the second probe result will be used. Set to 3 or more for slow probes - the average result will be used. + +### Probe Clearance +```cpp +#define Z_CLEARANCE_DEPLOY_PROBE 10 // Z Clearance for Deploy/Stow +#define Z_CLEARANCE_BETWEEN_PROBES 5 // Z Clearance between probe points +#define Z_CLEARANCE_MULTI_PROBE 5 // Z Clearance between multiple probes +//#define Z_AFTER_PROBING 5 // Z position after probing is done + +#define Z_PROBE_LOW_POINT -2 // Farthest distance below the trigger-point to go before stopping +``` +Z probes require clearance when deploying, stowing, and moving between probe points to avoid hitting the bed and other hardware. Servo-mounted probes require extra space for the arm to rotate. Inductive probes need space to keep from triggering early. + +Use these settings to specify the distance (mm) to raise the probe (or lower the bed). The values set here apply over and above any (negative) probe Z Offset set with `Z_PROBE_OFFSET_FROM_EXTRUDER`, [`M851`](/docs/gcode/M204.html), or the LCD. Only integer values >= 1 are valid for these settings. + +- *Example*: `M851 Z-5` with a CLEARANCE of 4 => 9 mm from bed to nozzle. +- *But*: `M851 Z+1` with a CLEARANCE of 2 => 2 mm from bed to nozzle. + +{% panel warning G29 Movement %} +Make sure you have enough clearance for the probe to move between points! +{% endpanel %} + +```cpp +#define Z_PROBE_OFFSET_RANGE_MIN -20 +#define Z_PROBE_OFFSET_RANGE_MAX 20 +``` +For [`M851`](/docs/gcode/M851.html) and LCD menus give a range for adjusting the Z probe offset. + +### Probe Testing +```cpp +#define Z_MIN_PROBE_REPEATABILITY_TEST +``` +This enables you to test the reliability of your probe. +Issue a [`M48`](/docs/gcode/M048.html) command to start testing. It will give you a standard deviation for the probe. +Tip: 0.02mm is normally acceptable for bed leveling to work. + +```cpp +// Before deploy/stow pause for user confirmation +//#define PAUSE_BEFORE_DEPLOY_STOW +#if ENABLED(PAUSE_BEFORE_DEPLOY_STOW) + //#define PAUSE_PROBE_DEPLOY_WHEN_TRIGGERED // For Manual Deploy Allenkey Probe +#endif +``` +Before deploy/stow pause for user confirmation + +### Probe with heaters off +```cpp +//#define PROBING_HEATERS_OFF // Turn heaters off when probing +#if ENABLED(PROBING_HEATERS_OFF) + //#define WAIT_FOR_BED_HEATER // Wait for bed to heat back up between probes (to improve accuracy) +#endif +//#define PROBING_FANS_OFF // Turn fans off when probing +//#define PROBING_STEPPERS_OFF // Turn steppers off (unless needed to hold position) when probing +//#define DELAY_BEFORE_PROBING 200 // (ms) To prevent vibrations from triggering piezo sensors +``` +Heatinging the bed and extruder for probing will produce results that more accurately correspond with your bed if you typically print with the bed heated. Enable `PROBING_HEATERS_OFF` if you are experiencing electrical noise. A delay can also be added to allow noise and vibration to settle. + +![Stepper Spin](/assets/images/config/motor-dir.jpg){: .floater} + +## Stepper Drivers +### Motor Enable +```cpp +#define X_ENABLE_ON 0 +#define Y_ENABLE_ON 0 +#define Z_ENABLE_ON 0 +#define E_ENABLE_ON 0 // For all extruders +``` +These options set the pin states used for stepper enable. The most common setting is 0 (`LOW`) for Active Low. For Active High use 1 or `HIGH`. + +### Motor Disable +```cpp +#define DISABLE_X false +#define DISABLE_Y false +#define DISABLE_Z false +``` +Use these options to disable steppers when not being issued a movement. This was implemented as a hack to run steppers at higher-than-normal current in an effort to produce more torque at the cost of increased heat for drivers and steppers. + +Disabling the steppers between moves gives the motors and drivers a chance to cool off. It sounds good in theory, but in practice it has drawbacks. Disabled steppers can't hold the carriage stable. This results in poor accuracy and carries a strong probability of axial drift (i.e., lost steps). + +Most 3D printers use an "open loop" control system, meaning the software can't ascertain the actual carriage position at a given time. It simply sends commands and assumes they have been obeyed. In practice with a well-calibrated machine this is not an issue and using open loop is a major cost saving with excellent quality. + +**We don't recommend this hack.** There are much better ways to address the problem of stepper/driver overheating. Some examples: stepper/driver heatsink, active cooling, dual motors on the axis, reduce micro-stepping, check belt for over tension, check components for smooth motion, etc. + +```cpp +//#define DISABLE_REDUCED_ACCURACY_WARNING +``` +Enable this option to suppress the warning given in cases when reduced accuracy is likely to occur. + +```cpp +#define DISABLE_E false // For all extruders +#define DISABLE_INACTIVE_EXTRUDER false // Keep only the active extruder enabled + +``` +The E disable option works like `DISABLE_[XYZ]` but pertains to one or more extruders. The default setting keeps the active extruder enabled, disabling all inactive extruders. This is reasonable for situations where a "wipe tower" or other means is used to ensure that the nozzle is primed and not oozing between uses. + +### Motor Direction +```cpp +#define INVERT_X_DIR false +#define INVERT_Y_DIR true +#define INVERT_Z_DIR false + +#define INVERT_E0_DIR false +#define INVERT_E1_DIR false +#define INVERT_E2_DIR false +#define INVERT_E3_DIR false +#define INVERT_E4_DIR false +``` +These settings reverse the motor direction for each axis. Be careful when first setting these. Axes moving the wrong direction can cause damage. Get these right without belts attached first, if possible. Before testing, move the carriage and bed to the middle. Test each axis for proper movement using the host or LCD "Move Axis" menu. If an axis is inverted, either flip the plug around or change its invert setting. + +## Homing and Bounds +### Z Homing Height +![Home Icon](/assets/images/config/home.jpg){: .floater.framed} + +```cpp +//#define NO_MOTION_BEFORE_HOMING // Inhibit movement until all axes have been homed +//#define UNKNOWN_Z_NO_RAISE // Don't raise Z (lower the bed) if Z is "unknown." + //For beds that fall when Z is powered off. +//#define Z_HOMING_HEIGHT 4 + +``` +This value raises Z to the specified height above the bed before homing X or Y. This is useful to prevent the head crashing into bed mountings such as screws, bulldog clips, etc. This also works with auto bed leveling enabled and will be triggered only when the Z axis height is less than the defined value, otherwise the Z axis will not move. + `NO_MOTION_BEFORE_HOMING` and `UNKNOWN_Z_NO_RAISE` + +### Homing Direction +```cpp +#define X_HOME_DIR -1 +#define Y_HOME_DIR -1 +#define Z_HOME_DIR -1 +``` +Homing direction for each axis: -1 = min, 1 = max. Most Cartesian and core machines have three min endstops. Deltas have three max endstops. For other configurations set these values appropriately. + +### Movement Bounds +```cpp +#define X_BED_SIZE 200 +#define Y_BED_SIZE 200 +``` +With Marlin you can directly specify the bed size. This allows Marlin to do extra logic related to the bed size when it differs from the movement limits below. If the XY carriage is able to move outside of the bed, you can specify a wider range below. + +```cpp +#define X_MIN_POS 0 +#define Y_MIN_POS 0 +#define Z_MIN_POS 0 +#define X_MAX_POS X_BED_SIZE +#define Y_MAX_POS Y_BED_SIZE +#define Z_MAX_POS 170 +``` +These values specify the physical limits of the machine. Usually the `[XYZ]_MIN_POS` values are set to 0, because endstops are positioned at the bed limits. `[XYZ]_MAX_POS` should be set to the farthest reachable point. By default, these are used as your homing positions as well. However, the `MANUAL_[XYZ]_HOME_POS` options can be used to override these, if needed. + +{% panel info Home Offset %} +Although home positions are fixed, [`M206`](/docs/gcode/M206.html) can be used to apply offsets to the home position if needed. +{% endpanel %} + +### Software Endstops +```cpp +#define MIN_SOFTWARE_ENDSTOPS +#if ENABLED(MIN_SOFTWARE_ENDSTOPS) + #define MIN_SOFTWARE_ENDSTOP_X + #define MIN_SOFTWARE_ENDSTOP_Y + #define MIN_SOFTWARE_ENDSTOP_Z +#endif + +#define MAX_SOFTWARE_ENDSTOPS +#if ENABLED(MAX_SOFTWARE_ENDSTOPS) + #define MAX_SOFTWARE_ENDSTOP_X + #define MAX_SOFTWARE_ENDSTOP_Y + #define MAX_SOFTWARE_ENDSTOP_Z +#endif +``` +Enable these options to constrain movement to the physical boundaries of the machine (as set by `[XYZ]_(MIN|MAX)_POS`). For example, `G1 Z-100` can be min constrained to `G1 Z0`. It is recommended to enable these options as a safety feature. If software endstops need to be disabled, use [`M211 S0`](/docs/gcode/M211.html). + +```cpp +#if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS) + //#define SOFT_ENDSTOPS_MENU_ITEM +#endif +``` +Enable/Disable software endstops from the LCD + +## Filament Runout Sensor +![Filament Sensor](/assets/images/config/filament-sensor.jpg){: .floater.framed} + +```cpp +//#define FILAMENT_RUNOUT_SENSOR +#if ENABLED(FILAMENT_RUNOUT_SENSOR) + #define NUM_RUNOUT_SENSORS 1 // Number of sensors, up to one per extruder. Define a FIL_RUNOUT#_PIN for each. + #define FIL_RUNOUT_INVERTING false // Set to true to invert the logic of the sensor. + #define FIL_RUNOUT_PULLUP // Use internal pullup for filament runout pins. + //#define FIL_RUNOUT_PULLDOWN // Use internal pulldown for filament runout pins. + + // Set one or more commands to execute on filament runout. + // (After 'M412 H' Marlin will ask the host to handle the process.) + #define FILAMENT_RUNOUT_SCRIPT "M600" + + // When using a runout switch (no encoder), after a runout is detected, + // continue printing this length of filament before executing the runout script. + // Useful for a sensor at the end of a feed tube. + // If using an encoder disc, this is the length of filament that would print + // without any movement from the sensor before it triggers a runout. + // Requires 4 bytes SRAM per sensor, plus 4 bytes overhead. + //#define FILAMENT_RUNOUT_DISTANCE_MM 25 + + #ifdef FILAMENT_RUNOUT_DISTANCE_MM + // Enable this option to use an encoder disc that toggles the runout pin as the filament moves. + // Be sure to set FILAMENT_RUNOUT_DISTANCE_MM large enough to avoid false positives. + // Start at the value of the sensor for one revolution and if you experience false positives, + // increment the value by the same amount. + // ie., 7mm is set, and you get false positives, set it to 14 and try it again. + //#define FILAMENT_MOTION_SENSOR + #endif +#endif +``` + +With this feature, a mechanical or opto endstop switch is used to check for the presence of filament in the feeder (usually the switch is closed when filament is present). If the filament runs out, Marlin will run the specified G-code script (by default [`M600`](/docs/gcode/M600.html)). + +RAMPS-based boards use `SERVO3_PIN`. For other boards you may need to define `FIL_RUNOUT_PIN`. Enable the [`M43`](/docs/gcode/M43.html) feature in your firmware (`PINS_DEBUGGING`) and load it to your printer. Assuming you already have a runout sensor (switch based) there, you can watch the pin states while toggling the runout sensor on an off to see which pin is changing. + +## Bed Leveling +![Bed Level](/assets/images/config/bedlevel.png){: .floater} + +Bed Leveling is a standard feature on many 3D printers. It takes the guess-work out of getting a good first layer and good bed adhesion. + +It is highly recommended to get your printer aligned and constrained as much as possible before using bed leveling, because it exists to compensate for imperfections in the hardware. + +For all the in-depth details please read the [Auto Bed Leveling](/docs/features/auto_bed_leveling.html) documentation and the [`G29`](/docs/gcode/G029.html) G-codes documentation. + +With Bed Leveling enabled: + +- [`G28`](/docs/gcode/G028.html) will disable bed leveling (but preserves your leveling data). You can enable `RESTORE_LEVELING_AFTER_G28` to keep leveling in its previous state. +- [`G29`](/docs/gcode/G029.html) will automatically probe the bed or guide you to do a paper-test at various points. After measurement it calculates a correction grid or matrix and enables leveling compensation. The specific behavior depends on configuration and type of bed leveling. +- [`M500`](/docs/gcode/M500.html) will save the bed leveling data to EEPROM. [`M501`](/docs/gcode/M501.html) will load it. [`M502`](/docs/gcode/M502.html) will erase it. And [`M503`](/docs/gcode/M503.html) will report it. +- `M420 S` can be used to enable/disable bed leveling. For example, [`M420 S1`](/docs/gcode/M420.html) must be used after [`M501`](/docs/gcode/M501.html) to enable the loaded mesh or matrix, and to re-enable leveling after [`G28`](/docs/gcode/G028.html), which disables leveling compensation. +- A "Level Bed" menu item can be added to the LCD with the `LCD_BED_LEVELING` option. + +```cpp +//#define AUTO_BED_LEVELING_3POINT +//#define AUTO_BED_LEVELING_LINEAR +//#define AUTO_BED_LEVELING_BILINEAR +//#define AUTO_BED_LEVELING_UBL +//#define MESH_BED_LEVELING +``` +Enable just one type of Bed Leveling. + +- `AUTO_BED_LEVELING_3POINT` probes three points in a triangle. The flat plane gives a transform matrix suitable to compensate for a flat but tilted bed. +- `AUTO_BED_LEVELING_LINEAR` probes the bed in a grid. A transform matrix is produced by least-squares method to compensate for a flat but tilted bed. +- `AUTO_BED_LEVELING_BILINEAR` probes the bed in a grid, with optional Catmull-Rom subdivision. The mesh data is used to adjust Z height across the bed using bilinear interpolation. Good for delta, large, or uneven beds. +- `AUTO_BED_LEVELING_UBL` (recommended) combines the features of 3-point, linear, bilinear, and mesh leveling. As with bilinear leveling, the mesh data generated by UBL is used to adjust Z height across the bed using bilinear interpolation. An LCD controller is currently required. +- `MESH_BED_LEVELING` provides a custom [`G29`](/docs/gcode/G029.html) command to measure the bed height at several grid points using a piece of paper or feeler gauge. See [`G29` for MBL](/docs/gcode/G029-mbl.html) for the full procedure. This type of leveling is only compatible with `PROBE_MANUALLY`. + +{% alert info %} +Only `AUTO_BED_LEVELING_BILINEAR` and `AUTO_BED_LEVELING_UBL` support `DELTA`.
+Only `AUTO_BED_LEVELING_BILINEAR` currently supports `SCARA`.
+`MESH_BED_LEVELING` is incompatible with Delta and SCARA. +{% endalert %} + +### Restore after G28 +```cpp +//#define RESTORE_LEVELING_AFTER_G28 +``` +Normally [`G28`](/docs/gcode/G028.html) causes leveling to be disabled, so you have to re-enable it with `M420 S1` or [`G29`](/docs/gcode/G029.html). If you enable this option then [`G28`](/docs/gcode/G028.html) will make sure to turn leveling back on if it was enabled beforehand. + +### Debug Leveling +```cpp +//#define DEBUG_LEVELING_FEATURE +``` +Use this option to enable extra debugging of homing and leveling. You can then use `M111 S32` before issuing [`G28`](/docs/gcode/G028.html) and `G29 V4` to get a detailed log of the process for diagnosis. This option is useful to figure out the cause of unexpected behaviors, or when reporting issues to the project. + +### Leveling Fade Height +```cpp +#define ENABLE_LEVELING_FADE_HEIGHT +``` +Available with `MESH_BED_LEVELING`, `AUTO_BED_LEVELING_BILINEAR`, and `AUTO_BED_LEVELING_UBL`. + +This option adds the `Z` parameter to [`M420`](/docs/gcode/M420.html) which sets a fade distance over which leveling will be gradually reduced. Above the given Z height, leveling compensation will no longer be applied. + +This feature exists to prevent irregularities in the bed from propagating through the model's entire height. Fading out leveling also reduces computational requirements and resonance from the Z axis above the fade height. For a well-aligned machine, this feature can improve print results. + +Example: To have leveling fade out over the first 10mm of layer printing use `M420 Z10`. If each layer is 0.2 mm high, leveling compensation will be reduced by 1/50th (2 %) after each layer. Above 10mm the machine will move without compensation. + +#### G26 Mesh Validation Pattern +```cpp +/** + * Enable the G26 Mesh Validation Pattern tool. + */ +#define G26_MESH_VALIDATION // Enable G26 mesh validation +#if ENABLED(G26_MESH_VALIDATION) + #define MESH_TEST_NOZZLE_SIZE 0.4 // (mm) Diameter of primary nozzle. + #define MESH_TEST_LAYER_HEIGHT 0.2 // (mm) Default layer height for the G26 Mesh Validation Tool. + #define MESH_TEST_HOTEND_TEMP 205 // (°C) Default nozzle temperature for the G26 Mesh Validation Tool. + #define MESH_TEST_BED_TEMP 60 // (°C) Default bed temperature for the G26 Mesh Validation Tool. + #define G26_XY_FEEDRATE 20 // (mm/s) Feedrate for XY Moves for the G26 Mesh Validation Tool. + +#endif +``` +When using any of the mesh-based leveling systems (1.1.7) you can activate `G26_MESH_VALIDATION` to print test patterns and fine-tune the mesh. See [`G26` Mesh Validation](/docs/gcode/G026.html) for full details. The [`G26`](/docs/gcode/G026.html) command accepts parameters for nozzle size, layer height, etc. The sub-options above specify the default values that will be applied for omitted parameters. + +### Linear / Bilinear Options +```cpp +#define GRID_MAX_POINTS_X 3 +#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X +``` +These options specify the default number of points to probe in each dimension during [`G29`](/docs/gcode/G029.html). + +```cpp +//#define PROBING_MARGIN_LEFT PROBING_MARGIN +//#define PROBING_MARGIN_RIGHT PROBING_MARGIN +//#define PROBING_MARGIN_FRONT PROBING_MARGIN +//#define PROBING_MARGIN_BACK PROBING_MARGIN +``` +These settings specify the boundaries for probing with [`G29`](/docs/gcode/G029-mbl.html). This will most likely be a sub-section of the bed because probes are not usually able to reach every point that the nozzle can. Take account of the probe's XY offsets when setting these boundaries. + +```cpp +//#define PROBE_Y_FIRST +``` +Enable this option if probing should proceed in the Y dimension first instead of X first. + +### Bilinear Options +```cpp +//#define EXTRAPOLATE_BEYOND_GRID +``` +Usually the probed grid doesn't extend all the way to the edges of the bed. So, outside the bounds of the probed grid, Z adjustment can take one of two approaches. Either the Z height can continue to raise/lower by the established tilt of the nearest grid box (best when most of the bed was probed), or it can follow the contour of the nearest edge (the default). Enable this option for extrapolation. + +```cpp +//#define ABL_BILINEAR_SUBDIVISION +#if ENABLED(ABL_BILINEAR_SUBDIVISION) + // Number of subdivisions between probe points + #define BILINEAR_SUBDIVISIONS 3 +#endif +``` +If you have SRAM to spare, this option will multiply the resolution of the bilinear grid using the Catmull-Rom subdivision method. This option only applies to bilinear leveling. If the default value of 3 is too expensive, try 2 or 1. (In Marlin 1.1.1, the default grid will be stored in PROGMEM, as UBL now does.) + +### Unified Bed Leveling Options +#### Probe Points +```cpp +#define UBL_MESH_INSET 1 // Mesh inset margin on print area +#define GRID_MAX_POINTS_X 10 // Don't use more than 15 points per axis, implementation limited. +#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X + + #define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle + #define UBL_SAVE_ACTIVE_ON_M500 // Save the currently active mesh in the current slot on M500 + + //#define UBL_Z_RAISE_WHEN_OFF_MESH 2.5 // When the nozzle is off the mesh, this value is used + // as the Z-Height correction value. +``` +These options specify the inset, grid, and 3-point triangle to use for UBL. Note that probe XY offsets and movement limits may constrain the probeable area of the bed. + +### Mesh Bed Leveling Options +```cpp +#define MESH_INSET 10 // Mesh inset margin on print area +#define GRID_MAX_POINTS_X 3 // Don't use more than 7 points per axis, implementation limited. +#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X + +//#define MESH_G28_REST_ORIGIN // After homing all axes ('G28' or 'G28 XYZ') rest Z at Z_MIN_POS +``` +These options specify the number of points that will always be probed in each dimension during [`G29`](/docs/gcode/G029.html). The mesh inset is used to automatically calculate the probe boundaries. These can be set explicitly in `Configuration_adv.h`. `MESH_G28_REST_ORIGIN` moves the nozzle to rest at `Z_MIN_POS` when mesh probing is done. If Z is offset (_e.g.,_ due to `home_offset` or some other cause) this is intended to move Z to a good starting point, usually Z=0. + +### LCD Bed Leveling +```cpp +//#define LCD_BED_LEVELING +#if ENABLED(LCD_BED_LEVELING) + #define MESH_EDIT_Z_STEP 0.025 // (mm) Step size while manually probing Z axis. + #define LCD_PROBE_Z_RANGE 4 // (mm) Z Range centered on Z_MIN_POS for LCD Z adjustment + //#define MESH_EDIT_MENU // Add a menu to edit mesh points +#endif +``` +`LCD_BED_LEVELING` adds a "Level Bed" menu to the LCD that starts a step-by-step guided leveling procedure that requires no probe. + +Available with `MESH_BED_LEVELING` and `PROBE_MANUALLY` (all forms of Auto Bed Leveling). See the `Configuration.h` file for sub-options and the [`G29`](/docs/gcode/G029.html) G-code documentation that applies to your selected leveling system. + +### Corner Leveling +```cpp +//#define LEVEL_BED_CORNERS +#if ENABLED(LEVEL_BED_CORNERS) + #define LEVEL_CORNERS_INSET 30 // (mm) An inset for corner leveling + #define LEVEL_CORNERS_Z_HOP 4.0 // (mm) Move nozzle up before moving between corners + #define LEVEL_CORNERS_HEIGHT 0.0 // (mm) Z height of nozzle at leveling points + //#define LEVEL_CENTER_TOO // Move to the center after the last corner +#endif +``` +Add a menu item to move between bed corners for manual bed adjustment. + +### Z Probe End Script +```cpp +//#define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" +``` +A custom script to do at the very end of [`G29`](/docs/gcode/G029.html). If multiple commands are needed, divide them with `\n` (the newline character). + +## Homing Options +### Bed Center at 0,0 +```cpp +//#define BED_CENTER_AT_0_0 +``` +Enable this option if the bed center is at X0 Y0. This setting affects the way automatic home positions (those not set with `MANUAL_[XYZ]_POS`) are calculated. This should always be enabled with `DELTA`. + +### Manual Home Position +```cpp +//#define MANUAL_X_HOME_POS 0 +//#define MANUAL_Y_HOME_POS 0 +//#define MANUAL_Z_HOME_POS 0 // Distance from nozzle to printbed after homing +``` +These settings are used to override the home position. Leave them undefined for automatic settings. For `DELTA` Z home must be set to the top-most position. + +### Z Safe Homing +```cpp +#define Z_SAFE_HOMING + +#if ENABLED(Z_SAFE_HOMING) + #define Z_SAFE_HOMING_X_POINT ((X_BED_SIZE) / 2) // X point for Z homing when homing all axes (G28). + #define Z_SAFE_HOMING_Y_POINT ((Y_BED_SIZE) / 2) // Y point for Z homing when homing all axes (G28). +#endif +``` + +**Z Safe Homing** prevents Z from homing when the probe (or nozzle) is outside bed area by moving to a defined XY point (by default, the middle of the bed) before Z Homing when homing all axes with [`G28`](/docs/gcode/G028.html). As a side-effect, X and Y homing are required before Z homing. If stepper drivers time out, X and Y homing will be required again. + +Enable this option if a probe (not an endstop) is being used for Z homing. Z Safe Homing isn't needed if a Z endstop is used for homing, but it may also be enabled just to have XY always move to some custom position after homing. + +### Homing Speed +```cpp +// Homing speeds (mm/m) +#define HOMING_FEEDRATE_XY (50*60) +#define HOMING_FEEDRATE_Z (4*60) +``` +Homing speed for use in auto home and auto bed leveling. These values may be set to the fastest speeds your machine can achieve. Homing and probing speeds are constrained by the current max feedrate and max acceleration settings. + +{% alert warning %} +Setting these values too high may result in reduced accuracy and/or skipped steps. Reducing acceleration may help to achieve higher top speeds. +{% endalert %} + +```cpp +#define VALIDATE_HOMING_ENDSTOPS +``` + +Validate that endstops are triggered on homing moves. + +### Bed Skew Compensation +```cpp +//#define SKEW_CORRECTION + +#if ENABLED(SKEW_CORRECTION) + // Input all length measurements here: + #define XY_DIAG_AC 282.8427124746 + #define XY_DIAG_BD 282.8427124746 + #define XY_SIDE_AD 200 + + // Or, set the default skew factors directly here + // to override the above measurements: + #define XY_SKEW_FACTOR 0.0 + + //#define SKEW_CORRECTION_FOR_Z + #if ENABLED(SKEW_CORRECTION_FOR_Z) + #define XZ_DIAG_AC 282.8427124746 + #define XZ_DIAG_BD 282.8427124746 + #define YZ_DIAG_AC 282.8427124746 + #define YZ_DIAG_BD 282.8427124746 + #define YZ_SIDE_AD 200 + #define XZ_SKEW_FACTOR 0.0 + #define YZ_SKEW_FACTOR 0.0 + #endif + + // Enable this option for M852 to set skew at runtime + //#define SKEW_CORRECTION_GCODE +#endif +``` +Correct for misalignment in the XYZ axes. See `Configuration.h` for a thorough explanation. + +## Additional Features +### EEPROM +```cpp +//#define EEPROM_SETTINGS +``` +Commands like [`M92`](/docs/gcode/M092.html) only change the settings in volatile memory, and these settings are lost when the machine is powered off. With this option enabled, Marlin uses the built-in EEPROM to preserve settings across reboots. Settings saved to EEPROM (with [`M500`](/docs/gcode/M500.html)) are loaded automatically whenever the machine restarts (and in most setups, when connecting to a host), overriding the defaults set in the configuration files. This option is highly recommended, as it makes configurations easier to manage. + +The EEPROM-related commands are: + +- [`M500`](/docs/gcode/M500.html): Save all current settings to EEPROM. +- [`M501`](/docs/gcode/M501.html): Load all settings last saved to EEPROM. +- [`M502`](/docs/gcode/M502.html): Reset all settings to their default values (as set by `Configuration.h`) +- [`M503`](/docs/gcode/M503.html): Print the current settings (in RAM, not EEPROM) + +#### EEPROM Options +```cpp +//#define DISABLE_M503 // Saves ~2700 bytes of PROGMEM. Disable for release! +#define EEPROM_CHITCHAT // Give feedback on EEPROM commands. Disable to save PROGMEM. +``` +These EEPROM options should be left as they are, but for 128K and smaller boards they may be used to recover some program memory. Vendors are strongly discouraged from using `DISABLE_M503`. + +{% alert info %} +Settings that can be changed and saved to EEPROM are marked with . Options marked with can be changed from the LCD controller. +{% endalert %} + +{% alert info %} +When you change saveable settings in the configuration files and re-flash, the new values don't take effect right away. They are still overridden by the saved values in EEPROM. To get your new default settings into the EEPROM, use [`M502`](/docs/gcode/M502.html) followed by [`M500`](/docs/gcode/M500.html). +{% endalert %} + +### Host Keepalive +```cpp +#define HOST_KEEPALIVE_FEATURE // Disable this if your host doesn't like keepalive messages +#define DEFAULT_KEEPALIVE_INTERVAL 2 // Number of seconds between "busy" messages. Set with M113. +#define BUSY_WHILE_HEATING // Some hosts require "busy" messages even during heating +``` +When Host Keepalive is enabled Marlin will send a busy status message to the host every couple of seconds when it can't accept commands. Disable if your host doesn't like keepalive messages. Use `DEFAULT_KEEPALIVE_INTERVAL` for the default number of seconds between "busy" messages. Override with [`M113`](/docs/gcode/M113.html). Marlin 1.1.5 and up include the `BUSY_WHILE_HEATING` option for hosts that treat host keepalive as a strict busy protocol. + +### Free Memory Watcher +```cpp +//#define M100_FREE_MEMORY_WATCHER +``` +Uncomment to add the [`M100`](/docs/gcode/M100.html) Free Memory Watcher for debugging purposes. + +### Inch Units +```cpp +//#define INCH_MODE_SUPPORT +``` +This option adds support for the [`G20`](/docs/gcode/G020.html) and [`G21`](/docs/gcode/G021.html) commands, allowing G-code to specify units in inches. + +### Temperature Units +```cpp +//#define TEMPERATURE_UNITS_SUPPORT +``` +This option adds support for [`M149`](/docs/gcode/M149.html) `C`, [`M149`](/docs/gcode/M149.html) `K`, and [`M149`](/docs/gcode/M149.html) `F` to set temperature units to Celsius, Kelvin, or Fahrenheit. Without this option all temperatures must be specified in Celsius units. + +### LCD Material Presets +```cpp +#define PREHEAT_1_TEMP_HOTEND 180 +#define PREHEAT_1_TEMP_BED 70 +#define PREHEAT_1_FAN_SPEED 0 // Value from 0 to 255 + +#define PREHEAT_2_TEMP_HOTEND 240 +#define PREHEAT_2_TEMP_BED 110 +#define PREHEAT_2_FAN_SPEED 0 // Value from 0 to 255 +``` +These are the default values for the `Prepare` > `Preheat` LCD menu options. These values can be overridden using the [`M145`](/docs/gcode/M145.html) command or the `Control` > `Temperature` > `Preheat Material X conf` submenus. + +### Nozzle Park +```cpp +//#define NOZZLE_PARK_FEATURE +#if ENABLED(NOZZLE_PARK_FEATURE) + // Specify a park position as { X, Y, Z_raise } + #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 } + #define NOZZLE_PARK_XY_FEEDRATE 100 // (mm/s) X and Y axes feedrate (also used for delta Z axis) + #define NOZZLE_PARK_Z_FEEDRATE 5 // (mm/s) Z axis feedrate (not used for delta printers) +#endif + +``` +Park the nozzle at the given XYZ position on idle or [`G27`](/docs/gcode/G027.html). + +The "P" parameter controls the action applied to the Z axis: + +- `P0` - (Default) If Z is below park Z raise the nozzle. +- `P1` - Raise the nozzle always to Z-park height. +- `P2` - Raise the nozzle by Z-park amount, limited to `Z_MAX_POS`. + +### Nozzle Clean +```cpp +//#define NOZZLE_CLEAN_FEATURE +#if ENABLED(NOZZLE_CLEAN_FEATURE) + // Default number of pattern repetitions + #define NOZZLE_CLEAN_STROKES 12 + + // Default number of triangles + #define NOZZLE_CLEAN_TRIANGLES 3 + + // Specify positions as { X, Y, Z } + #define NOZZLE_CLEAN_START_POINT { 30, 30, (Z_MIN_POS + 1)} + #define NOZZLE_CLEAN_END_POINT { 100, 60, (Z_MIN_POS + 1) } + + // Circular pattern radius + #define NOZZLE_CLEAN_CIRCLE_RADIUS 6.5 + // Circular pattern circle fragments number + #define NOZZLE_CLEAN_CIRCLE_FN 10 + // Middle point of circle + #define NOZZLE_CLEAN_CIRCLE_MIDDLE NOZZLE_CLEAN_START_POINT + + // Move the nozzle to the initial position after cleaning + #define NOZZLE_CLEAN_GOBACK + + // Enable for a purge/clean station that's always at the gantry height (thus no Z move) + //#define NOZZLE_CLEAN_NO_Z +#endif +``` +Adds the [`G12`](/docs/gcode/G012.html) command to perform a nozzle cleaning process. See `Configuration.h` for additional configuration options. + +### Print Job Timer +```cpp +#define PRINTJOB_TIMER_AUTOSTART +``` +Automatically start and stop the print job timer when [`M104`](/docs/gcode/M104.html)/[`M109`](/docs/gcode/M109.html)/[`M190`](/docs/gcode/M190.html) commands are received. Also adds the following commands to control the timer: +- [`M75`](/docs/gcode/M075.html) - Start the print job timer. +- [`M76`](/docs/gcode/M076.html) - Pause the print job timer. +- [`M77`](/docs/gcode/M077.html) - Stop the print job timer. + +### Print Counter +```cpp +//#define PRINTCOUNTER +``` +When enabled Marlin will keep track of some print statistics such as: + +- Total print jobs +- Total successful print jobs +- Total failed print jobs +- Total time printing + +This information can be viewed by the [`M78`](/docs/gcode/M078.html) command. + +## User Interface Language +```cpp +#define LCD_LANGUAGE en +``` +Choose your preferred language for the LCD controller here. Supported languages include: + +Code|Language||Code|Language||Code|Language +----|--------||----|--------||----|-------- +en|English (Default)||an|Aragonese||bg|Bulgarian +ca|Catalan||cn|Chinese||cz|Czech +da|Danish||de|German||el|Greek +el-gr|Greek (Greece)||es|Spanish||eu|Basque-Euskera +fi|Finnish||fr|French||gl|Galician +hr|Croatian||it|Italian||kana|Japanese +kana_utf8|Japanese (UTF8)||ko_KR|Korean (South Korea)||nl|Dutch +pl|Polish||pt|Portuguese||pt-br|Portuguese (Brazilian) +pt-|Portuguese (Brazilian UTF8)||pt_utf8|Portuguese (UTF8)||ru|Russian +sk_utf8|Slovak (UTF8)||tr|Turkish||uk|Ukrainian +vi|Vietnamese||zh_CN|Chinese (Simplified)||zh_TW|Chinese (Traditional) +|||||| + +See `language.h` for the latest list of supported languages and their international language codes. + +### HD44780 Character Set +![LCD Charset](/assets/images/config/lcd-charset.png){: .floater.framed} + +```cpp +#define DISPLAY_CHARSET_HD44780 JAPANESE +``` +This option applies only to character-based displays. Character-based displays (based on the Hitachi HD44780) provide an ASCII character set plus one of the following language extensions: + +- `JAPANESE` ... the most common +- `WESTERN` .... with more accented characters +- `CYRILLIC` ... for the Russian language + +To determine the language extension installed on your controller: + +- Compile and upload with `LCD_LANGUAGE` set to 'test' +- Click the controller to view the LCD menu +- The LCD will display Japanese, Western, or Cyrillic text + +See [LCD Language System](/docs/development/lcd_language.html) for in-depth info on how the Marlin display system currently works. + +![SD Card](/assets/images/config/sdcard.jpg){: .floater} + +### LCD_INFO_SCREEN_STYLE +```cpp +#define LCD_INFO_SCREEN_STYLE 0 +``` +0 for classic; 1 for Průša info screen style. + +## SD Card +```cpp +//#define SDSUPPORT +``` +Enable to use SD printing, whether as part of an LCD controller or as a standalone SDCard slot. + +{% alert info %} +The `SDSUPPORT` option must be enabled or SD printing will not be supported. It is no longer enabled automatically for LCD controllers with built-in SDCard slot. +{% endalert %} + +### SPI Speed +```cpp +//#define SPI_SPEED SPI_HALF_SPEED +//#define SPI_SPEED SPI_QUARTER_SPEED +//#define SPI_SPEED SPI_EIGHTH_SPEED +``` +Uncomment ONE of these options to use a slower SPI transfer speed. This is usually required if you're getting volume init errors. + +### Enable CRC +```cpp +//#define SD_CHECK_AND_RETRY +``` +Use CRC checks and retries on the SD communication. + +## LCD Menu Items +```cpp +//#define NO_LCD_MENUS +//#define SLIM_LCD_MENUS +``` +Disable all menus and only display the Status Screen with `NO_LCD_MENUS`, or just remove some extraneous menu items to recover space with `SLIM_LCD_MENUS`. + +## Encoder +![Encoder Knob](/assets/images/config/encoder.jpg){: .floater} +### Encoder Resolution +```cpp +//#define ENCODER_PULSES_PER_STEP 1 +``` +This option overrides the default number of encoder pulses needed to produce one step. Should be increased for high-resolution encoders. + +```cpp +//#define ENCODER_STEPS_PER_MENU_ITEM 5 +``` +Use this option to override the number of step signals required to move between next/prev menu items. + +### Encoder Direction +Test your encoder's behavior first with both of the following options disabled. + +- Reversed Value Edit and Menu Nav? Enable `REVERSE_ENCODER_DIRECTION`. +- Reversed Menu Navigation only? Enable `REVERSE_MENU_DIRECTION`. +- Reversed Value Editing only? Enable _BOTH_ options. + +```cpp +//#define REVERSE_ENCODER_DIRECTION +``` +This option reverses the encoder direction everywhere. Set if CLOCKWISE causes values to DECREASE. + +```cpp +//#define REVERSE_MENU_DIRECTION +``` +This option reverses the encoder direction for navigating LCD menus. If CLOCKWISE normally moves DOWN this makes it go UP. If CLOCKWISE normally moves UP this makes it go DOWN. + +```cpp +//#define REVERSE_SELECT_DIRECTION +``` +This option reverses the encoder direction for Select Screen If CLOCKWISE normally moves LEFT this makes it go RIGHT. If CLOCKWISE normally moves RIGHT this makes it go LEFT. + +```cpp +//#define INDIVIDUAL_AXIS_HOMING_MENU +``` +Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu. + + +![Piezo](/assets/images/config/piezo.png){: .floater} + +## Speaker +```cpp +//#define SPEAKER +``` +By default Marlin assumes you have a buzzer with a fixed frequency. If you have a speaker that can produce tones, enable it here. + +```cpp +//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 +//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 +``` +The duration and frequency for the UI feedback sound. Set these to 0 to disable audio feedback in the LCD menus. Test audio output with the G-code `M300 S P` + +## LCD Controller +![LCD Controllers](/assets/images/config/controllers.png){: .floater} + +Marlin includes support for several controllers. The two most popular controllers supported by Marlin are: + +- `REPRAP_DISCOUNT_SMART_CONTROLLER` A 20 x 4 character-based LCD controller with click-wheel. +- `REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER` A monochrome 128 x 64 pixel-based LCD controller with click-wheel. Able to display simple bitmap graphics and up to 5 lines of text. + +Most other LCD controllers are variants of these. Enable just one of the following options for your specific controller: + +### Character LCDs +Option|Description +------|----------- +`ULTIMAKERCONTROLLER`|The original Ultimaker Controller. +`ULTIPANEL`|[ULTIPANEL](//www.thingiverse.com/thing:15081) as seen on Thingiverse. +`PANEL_ONE`|[PanelOne from T3P3](//reprap.org/wiki/PanelOne) (via RAMPS 1.4 AUX2/AUX3). A variant of `ULTIMAKERCONTROLLER`. +`REPRAP_DISCOUNT_SMART_CONTROLLER`|[RepRapDiscount Smart Controller](//reprap.org/wiki/RepRapDiscount_Smart_Controller). Usually sold with a white PCB. +`G3D_PANEL`|[Gadgets3D G3D LCD/SD Controller](//reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel). Usually sold with a blue PCB. +`RIGIDBOT_PANEL`|[RigidBot Panel V1.0](//www.inventapart.com/). +`ANET_KEYPAD_LCD`|[Anet Keypad LCD](//www.anet3d.com/prod_view.aspx?TypeId=10&Id=178) for the Anet A3 + +### Graphical LCDs +Option|Description +------|----------- +`CARTESIO_UI`|[Cartesio UI](//mauk.cc/webshop/cartesio-shop/electronics/user-interface). +`MAKRPANEL`|[MaKr3d Makr-Panel](//reprap.org/wiki/MaKr3d_MaKrPanel) with graphic controller and SD support. +`REPRAPWORLD_GRAPHICAL_LCD`|[ReprapWorld Graphical LCD](//reprapworld.com/?products_details&products_id/1218). +`VIKI2`|[Panucatt Devices](//panucatt.com) [Viki 2.0](//panucatt.com). +`miniVIKI`|[mini Viki with Graphic LCD](//panucatt.com). +`ELB_FULL_GRAPHIC_CONTROLLER`|[Adafruit ST7565 Full Graphic Controller](//github.com/eboston/Adafruit-ST7565-Full-Graphic-Controller/). +`REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER`|[RepRapDiscount Full Graphic Smart Controller](//reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller). +`MINIPANEL`|[MakerLab Mini Panel](//reprap.org/wiki/Mini_panel) with graphic controller and SD support. +`BQ_LCD_SMART_CONTROLLER`|BQ LCD Smart Controller shipped with the BQ Hephestos 2 and Witbox 2. +`ANET_FULL_GRAPHICS_LCD`|[Anet Full Graphics LCD](//www.anet3d.com/prod_view.aspx?TypeId=10&Id=178) for the Anet A3 + +### Keypads +Option|Description +------|----------- +`REPRAPWORLD_KEYPAD`|[RepRapWorld Keypad v1.1](//reprapworld.com/?products_details&products_id=202&cPath=1591_1626) Use `REPRAPWORLD_KEYPAD_MOVE_STEP` to set how much the robot should move on each keypress (_e.g.,_ 10mm per click). + +### I2C Character LCDs +These controllers all require the [LiquidCrystal_I2C library](//github.com/kiyoshigawa/LiquidCrystal_I2C). + +Option|Description +------|----------- +`RA_CONTROL_PANEL`|Elefu RA Board Control Panel +`LCD_I2C_SAINSMART_YWROBOT`|Sainsmart [YWRobot LCM1602 LCD Display](//henrysbench.capnfatz.com/henrys-bench/arduino-displays/ywrobot-lcm1602-iic-v1-lcd-arduino-tutorial/). +`LCM1602`|Generic LCM1602 LCD adapter +`LCD_I2C_PANELOLU2`|PANELOLU2 LCD with status LEDs, separate encoder and click inputs. The click input can either be directly connected to a pin (if `BTN_ENC` is defined) or read through I2C (with `BTN_ENC` undefined). Requires [LiquidTWI2 library](//github.com/lincomatic/LiquidTWI2) v1.2.3 or later. +`LCD_I2C_VIKI`|Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/D buttons, separate encoder inputs. +`SAV_3DLCD`|Shift register panels. [2 wire Non-latching LCD SR](//github.com/fmalpartida/New-LiquidCrystal). See [LCD configuration](//reprap.org/wiki/SAV_3D_LCD). + +### I2C Graphical LCDs +These controllers all require the [LiquidCrystal_I2C library](//github.com/kiyoshigawa/LiquidCrystal_I2C). + +Option|Description +------|----------- +`U8GLIB_SSD1306`|SSD1306 OLED full graphics generic display. +`SAV_3DGLCD`|SAV OLED LCD module support using either SSD1306 or SH1106 based LCD modules. +`OLED_PANEL_TINYBOY2`|TinyBoy2 128x64 OLED / Encoder Panel + +### Fan PWM +```cpp +//#define FAST_PWM_FAN +``` +Increase the FAN PWM frequency. Removes the PWM noise but increases heating in the FET/Arduino. + +```cpp +//#define FAN_SOFT_PWM +``` +Use software PWM to drive the fan, as with the heaters. This uses a very low frequency which is not as annoying as with the hardware PWM. On the other hand, if this frequency is too low, you should also increment `SOFT_PWM_SCALE`. + +```cpp +#define SOFT_PWM_SCALE 0 +``` +Incrementing this by 1 will double the software PWM frequency, affecting heaters (and the fan if `FAN_SOFT_PWM` is enabled). However, control resolution will be halved for each increment; at zero value, there are 128 effective control positions. + +```cpp +//#define SOFT_PWM_DITHER +``` +If `SOFT_PWM_SCALE` is set to a value higher than 0, dithering can be used to mitigate the associated resolution loss. If enabled, some of the PWM cycles are stretched so on average the desired duty cycle is attained. + +### Temperature Status LEDs +```cpp +//#define TEMP_STAT_LEDS +``` +Temperature status LEDs that display the hotend and bed temperature. If all hotend and bed temperature set-point are < 54C then the BLUE led is on. Otherwise the RED led is on. There is 1C hysteresis. + +### Photo Pin +```cpp +//#define PHOTOGRAPH_PIN 23 +``` +[`M240`](/docs/gcode/M240.html) triggers a camera by emulating a Canon RC-1 Remote Data as described on [this site](//www.doc-diy.net/photo/rc-1_hacked/). + +### SkeinForge Arc Fix +```cpp +//#define SF_ARC_FIX +``` +Files sliced with SkeinForge contain the wrong arc G-codes when using "Arc Point" as fillet procedure. This option works around that bug, but otherwise should be left off. + +## Extra Features +### Fast PWM Fan +```cpp +//#define FAST_PWM_FAN +``` +`FAST_PWM_FAN` increases the FAN PWM frequency. The frequency and scaling can be adjusted in `Configuration_adv.h`. + +### Fan Software PWM +```cpp +//#define FAN_SOFT_PWM +#define SOFT_PWM_SCALE 0 +//#define SOFT_PWM_DITHER +``` +Use software PWM to drive the fan. This uses a very low frequency which is not as annoying as with the hardware PWM. Increase `SOFT_PWM_SCALE` if the frequency is too low. +If experiencing resolution loss when `SOFT_PWM_SCALE` is set to a value greater than 0, `SOFT_PWM_DITHER` can be used to mitigate it. If enabled. + +### Temperature Status LEDs +```cpp +//#define TEMP_STAT_LEDS +``` +Adds a simple temperature status indicators using LEDs. + +### SkeinForge ARC G-code correction +```cpp +//#define SF_ARC_FIX +``` +Correct the wrong arc g-codes sent by SkeinForge when using Arc Point as fillet procedure + +### Paste Extruder +```cpp +// Support for the BariCUDA Paste Extruder. +//#define BARICUDA +``` +Marlin includes support for the [Baricuda Extruder for 3D Printing Sugar and Chocolate](//www.thingiverse.com/thing:26343) also [hosted on GitHub](//www.github.com/jmil/BariCUDA). The feature adds the codes [`M126`](/docs/gcode/M126.html), [`M127`](/docs/gcode/M127.html), [`M128`](/docs/gcode/M128.html), and [`M129`](/docs/gcode/M129.html) for controlling the pump and valve of the Baricuda. + + +[![LED Lights](/assets/images/config/led-lights.jpg){: .floater.framed}](//www.instructables.com/id/3D-Printer-RGB-LED-Feedback/){:target="_blank"} + +### RGB Color LEDs +Marlin currently supplies two options for RGB-addressable color indicators. In both cases the color is set using [`M150`](/docs/gcode/M150.html) `Rr Ug Bb` to specify RGB components from 0 to 255. + +```cpp +//define BlinkM/CyzRgb Support +//#define BLINKM +``` +The [BLINKM board](//thingm.com/products/blinkm/) supplies the backlighting for some LCD controllers. Its color is set using I2C messages. + +```cpp +//define PCA9632 PWM LED driver Support +//#define PCA9632 +``` +The [Philips PCA9632](//www.digchip.com/datasheets/3286493-pca9632.html) is a common PWM LED driver, controlled (like BlinkM) using I2C. + +```cpp +// Support for PCA9533 PWM LED driver +//#define PCA9533 +``` + +```cpp +//#define RGB_LED +//#define RGBW_LED +#if EITHER(RGB_LED, RGBW_LED) + //#define RGB_LED_R_PIN 34 + //#define RGB_LED_G_PIN 43 + //#define RGB_LED_B_PIN 35 + //#define RGB_LED_W_PIN -1 +#endif +``` +Enable support for an RGB(W) LED connected to 5 V digital pins, or an RGB(W) Strip connected to MOSFETs controlled by digital pins. An inexpensive RGB LED can be used simply by assigning digital pins for each component. If the pins are able to do hardware PWM then a wide range of colors will be available. With simple digital pins only 7 colors are possible. + +Adds the [`M150`](/docs/gcode/M150.html) command to set the LED (or LED strip) color. If pins are PWM capable (_e.g.,_ 4, 5, 6, 11) then a range of luminance values can be set from 0 to 255. + +{% alert warning %} +LED Strips require a MOFSET Chip between PWM lines and LEDs, as the Arduino cannot handle the current the LEDs will require. Failure to follow this precaution can destroy your Arduino! +{% endalert %} + +#### Adafruit NeoPixel LED Driver +```cpp +//#define NEOPIXEL_LED +#if ENABLED(NEOPIXEL_LED) + #define NEOPIXEL_TYPE NEO_GRBW // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h) + #define NEOPIXEL_PIN 4 // LED driving pin + //#define NEOPIXEL2_TYPE NEOPIXEL_TYPE + //#define NEOPIXEL2_PIN 5 + #define NEOPIXEL_PIXELS 30 // Number of LEDs in the strip, larger of 2 strips if 2 NeoPixel strips are used + #define NEOPIXEL_IS_SEQUENTIAL // Sequential display for temperature change - LED by LED. Disable to change all LEDs at once. + #define NEOPIXEL_BRIGHTNESS 127 // Initial brightness (0-255) + //#define NEOPIXEL_STARTUP_TEST // Cycle through colors at startup + //#define NEOPIXEL_BKGD_LED_INDEX 0 // Index of the LED to use + //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 } // R, G, B, W +#endif +``` +[NEOPIXELS](//www.adafruit.com/category/168) + +#### Printer Event LEDs +```cpp +#if ANY(BLINKM, RGB_LED, RGBW_LED, PCA9632, PCA9533, NEOPIXEL_LED) + #define PRINTER_EVENT_LEDS +#endif +``` +This option causes the printer to give status feedback on the installed color LED, BLINKM, or PCA9632: +- Gradually change from blue to violet as the heated bed gets to target temp. +- Gradually change from violet to red as the hotend gets to temperature. +- Change to white to illuminate work surface. +- Change to green once print has finished. +- Turn off after the print has finished and the user has pushed a button. + +### Servos +![Servo](/assets/images/config/servo.png){: .floater} + +#### Number of Servos +```cpp +//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command +``` +The total number of servos to enable for use. One common application for a servo is a Z bed probe consisting of an endstop switch mounted on a rotating arm. To use one of the servo connectors for this type of probe, set `Z_ENDSTOP_SERVO_NR` in the probe options above. + +#### Servo Deactivation +```cpp +#define SERVO_DELAY 300 +``` +Delay (in microseconds) before the next move will start, to give the servo time to reach its target angle. 300ms is a good value but you can try less delay. Specify a large enough delay so the servo has enough time to complete a full motion before deactivation. + +```cpp +//#define DEACTIVATE_SERVOS_AFTER_MOVE +``` +With this option servos are powered only during movement, then turned off to prevent jitter. We recommend enabling this option to keep electrical noise from active servos from interfering with other components. The high amperage generated by extruder motor wiring during movement can also induce movement in active servos. Leave this option enabled to avoid all such servo-related troubles. + +# `Configuration_adv.h` +## Temperature Options +### Custom Thermistor 1000 Parameters +```cpp +#if TEMP_SENSOR_0 == 1000 + #define HOTEND0_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND0_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND0_BETA 3950 // Beta value +#endif + +#if TEMP_SENSOR_1 == 1000 + #define HOTEND1_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND1_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND1_BETA 3950 // Beta value +#endif + +#if TEMP_SENSOR_2 == 1000 + #define HOTEND2_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND2_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND2_BETA 3950 // Beta value +#endif + +#if TEMP_SENSOR_3 == 1000 + #define HOTEND3_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND3_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND3_BETA 3950 // Beta value +#endif + +#if TEMP_SENSOR_4 == 1000 + #define HOTEND4_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND4_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND4_BETA 3950 // Beta value +#endif + +#if TEMP_SENSOR_5 == 1000 + #define HOTEND5_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND5_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND5_BETA 3950 // Beta value +#endif + +#if TEMP_SENSOR_BED == 1000 + #define BED_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define BED_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define BED_BETA 3950 // Beta value +#endif + +#if TEMP_SENSOR_CHAMBER == 1000 + #define CHAMBER_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define CHAMBER_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define CHAMBER_BETA 3950 // Beta value +#endif +``` + +Marlin 2.0 allows for custom temperature sensors. + +```cpp +// +// Hephestos 2 24V heated bed upgrade kit. +// https://store.bq.com/en/heated-bed-kit-hephestos2 +// +//#define HEPHESTOS2_HEATED_BED_KIT +#if ENABLED(HEPHESTOS2_HEATED_BED_KIT) + #undef TEMP_SENSOR_BED + #define TEMP_SENSOR_BED 70 + #define HEATER_BED_INVERTING true +#endif +``` + +Enables the use of Hephestos 2 24V heated bed. + +### Heated Chamber +```cpp +#if TEMP_SENSOR_CHAMBER + #define CHAMBER_MINTEMP 5 + #define CHAMBER_MAXTEMP 60 + #define TEMP_CHAMBER_HYSTERESIS 1 // (°C) Temperature proximity considered "close enough" to the target + //#define CHAMBER_LIMIT_SWITCHING + //#define HEATER_CHAMBER_PIN 44 // Chamber heater on/off pin + //#define HEATER_CHAMBER_INVERTING false +#endif +``` + +A heated chamber can greatly improve print quality. Check the pins file of your board for `TEMP_CHAMBER_PIN`. The spare extruder and hotend temperature pins can be used for `HEATER_CHAMBER_PIN` and `TEMP_CHAMBER_PIN`. + +### Bang-Bang Bed Heating +```cpp +#if DISABLED(PIDTEMPBED) + #define BED_CHECK_INTERVAL 5000 // ms between checks in bang-bang control + #if ENABLED(BED_LIMIT_SWITCHING) + #define BED_HYSTERESIS 2 // Only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS + #endif +#endif +``` + +These sub-options can be used when the bed isn't using PID heating. A "bang-bang" heating method will be used instead, simply checking against current temperature at regular intervals. + +### Thermal Protection Settings +#### Hotend Thermal Protection +```cpp +#if ENABLED(THERMAL_PROTECTION_HOTENDS) + #define THERMAL_PROTECTION_PERIOD 40 // Seconds + #define THERMAL_PROTECTION_HYSTERESIS 4 // Degrees Celsius + #define WATCH_TEMP_PERIOD 20 // Seconds + #define WATCH_TEMP_INCREASE 2 // Degrees Celsius +#endif +``` +Hot end thermal protection can be tuned with these sub-options. + +The first two options deal with continuous thermal protection during an entire print job. + +The second set of options applies to changes in target temperature. Whenever an [`M104`](/docs/gcode/M104.html) or [`M109`](/docs/gcode/M109.html) increases the target temperature the firmware will wait for the `WATCH_TEMP_PERIOD` to expire, and if the temperature hasn't increased by `WATCH_TEMP_INCREASE` degrees, the machine is halted, requiring a hard reset. This test restarts with any [`M104`](/docs/gcode/M104.html)/[`M109`](/docs/gcode/M109.html), but only if the current temperature is far enough below the target for a reliable test. + +If you get false positives for "Heating failed" increase `WATCH_TEMP_PERIOD` and/or decrease `WATCH_TEMP_INCREASE`. (`WATCH_TEMP_INCREASE` should not be set below 2.) + +#### Bed Thermal Protection +```cpp +#if ENABLED(THERMAL_PROTECTION_BED) + #define THERMAL_PROTECTION_BED_PERIOD 20 // Seconds + #define THERMAL_PROTECTION_BED_HYSTERESIS 2 // Degrees Celsius + #define WATCH_BED_TEMP_PERIOD 60 // Seconds + #define WATCH_BED_TEMP_INCREASE 2 // Degrees Celsius +#endif +``` +Heated bed thermal protection can be tuned with these sub-options. + +The first two options deal with continuous thermal protection during an entire print job. + +The second set of options applies to changes in target temperature. Whenever an [`M140`](/docs/gcode/M140.html) or [`M190`](/docs/gcode/M190.html) increases the target temperature the firmware will wait for the `WATCH_BED_TEMP_PERIOD` to expire, and if the temperature hasn't increased by `WATCH_BED_TEMP_INCREASE` degrees, the machine is halted, requiring a hard reset. This test restarts with any [`M140`](/docs/gcode/M140.html)/[`M190`](/docs/gcode/M190.html), but only if the current temperature is far enough below the target for a reliable test. + +If you get too many "Heating failed" errors, increase `WATCH_BED_TEMP_PERIOD` and/or decrease `WATCH_BED_TEMP_INCREASE`. (`WATCH_BED_TEMP_INCREASE` should not be set below 2.) + +#### Heated Chamber Thermal Protection +```cpp +#if ENABLED(THERMAL_PROTECTION_CHAMBER) + #define THERMAL_PROTECTION_CHAMBER_PERIOD 20 // Seconds + #define THERMAL_PROTECTION_CHAMBER_HYSTERESIS 2 // Degrees Celsius + #define WATCH_CHAMBER_TEMP_PERIOD 60 // Seconds + #define WATCH_CHAMBER_TEMP_INCREASE 2 // Degrees Celsius +#endif +``` + +Similar to the description for the Bed Thermal Protection above. Use [`M141`](/docs/gcode/M141.html)](/docs/gcode/M141.html) to set target chamber temperature and [`M191`](/docs/gcode/M191.html) to set and wait target chamber temperature. + +### PID Extrusion Scaling +{% alert warning %} +Experimental feature +{% endalert %} +```cpp +#if ENABLED(PIDTEMP) + //#define PID_EXTRUSION_SCALING + #if ENABLED(PID_EXTRUSION_SCALING) + #define DEFAULT_Kc (100) //heating power=Kc*(e_speed) + #define LPQ_MAX_LEN 50 + #endif +#endif +``` +This option further improves hotend temperature control by accounting for the extra heat energy consumed by cold filament entering the hotend melt chamber. If material enters the hotend more quickly, then more heat will need to be added to maintain energy balance. This option adds a scaling factor that must be tuned for your setup and material. + +Extrusion scaling keeps a circular buffer of forward E movements done at each temperature measurement which acts to delay the applied factor and allow for heat dissipation. The size of this queue during printing is set by `M301 L`, limited by `LPQ_MAX_LEN`. + +{% alert info %} +Your [`M301`](/docs/gcode/M301.html) `C` and [`M301`](/docs/gcode/M301.html) `L` values are saved to EEPROM when `EEPROM_SETTINGS` is enabled. +{% endalert %} + +### PID Fan Scaling +{% alert warning %} +Experimental feature +{% endalert %} +```cpp +//#define PID_FAN_SCALING + #if ENABLED(PID_FAN_SCALING) + //#define PID_FAN_SCALING_ALTERNATIVE_DEFINITION + #if ENABLED(PID_FAN_SCALING_ALTERNATIVE_DEFINITION) + #define PID_FAN_SCALING_AT_FULL_SPEED 13.0 //=PID_FAN_SCALING_LIN_FACTOR*255+DEFAULT_Kf + #define PID_FAN_SCALING_AT_MIN_SPEED 6.0 //=PID_FAN_SCALING_LIN_FACTOR*PID_FAN_SCALING_MIN_SPEED+DEFAULT_Kf + #define PID_FAN_SCALING_MIN_SPEED 10.0 // Minimum fan speed at which to enable PID_FAN_SCALING + + #define DEFAULT_Kf (255.0*PID_FAN_SCALING_AT_MIN_SPEED-PID_FAN_SCALING_AT_FULL_SPEED*PID_FAN_SCALING_MIN_SPEED)/(255.0-PID_FAN_SCALING_MIN_SPEED) + #define PID_FAN_SCALING_LIN_FACTOR (PID_FAN_SCALING_AT_FULL_SPEED-DEFAULT_Kf)/255.0 + + #else + #define PID_FAN_SCALING_LIN_FACTOR (0) // Power loss due to cooling = Kf * (fan_speed) + #define DEFAULT_Kf 10 // A constant value added to the PID-tuner + #define PID_FAN_SCALING_MIN_SPEED 10 // Minimum fan speed at which to enable PID_FAN_SCALING + #endif + #endif +#endif +``` +Scales heater power proportional to the part/layer fan speed which in turn reduces hotend temperature drop range. + +### Automatic Temperature +```cpp +#define AUTOTEMP +#if ENABLED(AUTOTEMP) + #define AUTOTEMP_OLDWEIGHT 0.98 +#endif +``` +With Automatic Temperature the hotend target temperature is calculated by all the buffered lines of G-code. The maximum buffered steps/sec of the extruder motor is called "`se`". +Start autotemp mode with `M109 F S B`, giving a range of temperatures. The target temperature is set to `mintemp + factor * se[steps/sec]` and is limited by +`mintemp` and `maxtemp`. Turn this off by executing [`M109`](/docs/gcode/M109.html) without `F`. If the temperature is set to a value below `mintemp` (_e.g.,_ by [`M104`](/docs/gcode/M104.html)) autotemp will not be applied. + +Example: Try [`M109`](/docs/gcode/M109.html) `S215 B260 F1` in your `start.gcode` to set a minimum temperature of 215 when idle, which will boost up to 260 as extrusion increases in speed. + +### Temperature Report ADC +```cpp +//#define SHOW_TEMP_ADC_VALUES +``` +Enable this option to have [`M105`](/docs/gcode/M105.html) and automatic temperature reports include raw ADC values from the temperature sensors. + +### High Temperature Thermistors +```cpp +//#define MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED 0 +``` +High temperature thermistors may give aberrant readings. If this is an issue, use this option to set the maximum number of consecutive low temperature errors that can occur before Min Temp Error is triggered. If you require a value over 10, this could indicate a problem. +```cpp +//#define MILLISECONDS_PREHEAT_TIME 0 +``` +High Temperature Thermistors tend to give poor readings at ambient and lower temperatures. Until they reach a sufficient temperature, these sensors usually return the lowest raw value, and this will cause a Min Temp Error. + +To solve this issue, this option sets the number of milliseconds a hotend will preheat before Marlin starts to check the temperature. Set a delay sufficient to reach a temperature your sensor can reliably read. Lower values are better and safer. If you require a value over 30000, this could indicate a problem. + +### AD595 / AD8495 +```cpp +#define TEMP_SENSOR_AD595_OFFSET 0.0 +#define TEMP_SENSOR_AD595_GAIN 1.0 +#define TEMP_SENSOR_AD8495_OFFSET 0.0 +#define TEMP_SENSOR_AD8495_GAIN 1.0 +``` +These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements. The final reading is derived from `measuredTemp * TEMP_SENSOR_AD595_GAIN + TEMP_SENSOR_AD595_OFFSET`. + +### Extruder Runout Prevention +```cpp +//#define EXTRUDER_RUNOUT_PREVENT +#if ENABLED(EXTRUDER_RUNOUT_PREVENT) + #define EXTRUDER_RUNOUT_MINTEMP 190 + #define EXTRUDER_RUNOUT_SECONDS 30 + #define EXTRUDER_RUNOUT_SPEED 1500 // mm/m + #define EXTRUDER_RUNOUT_EXTRUDE 5 // mm +#endif +``` +When the machine is idle and the temperature over a given value, Marlin can extrude a short length of filament every couple of seconds. + +## Cooling Fans +Cooling fans are needed on 3D printers to keep components cool and prevent failure. + +### Controller Fan +```cpp +//#define USE_CONTROLLER_FAN +#if ENABLED(USE_CONTROLLER_FAN) + //#define CONTROLLER_FAN_PIN -1 // Set a custom pin for the controller fan + //#define CONTROLLER_FAN_USE_Z_ONLY // With this option only the Z axis is considered + #define CONTROLLERFAN_SPEED_MIN 0 // (0-255) Minimum speed. (If set below this value the fan is turned off.) + #define CONTROLLERFAN_SPEED_ACTIVE 255 // (0-255) Active speed, used when any motor is enabled + #define CONTROLLERFAN_SPEED_IDLE 0 // (0-255) Idle speed, used when motors are disabled + #define CONTROLLERFAN_IDLE_TIME 60 // (seconds) Extra time to keep the fan running after disabling motors + //#define CONTROLLER_FAN_EDITABLE // Enable M710 configurable settings + #if ENABLED(CONTROLLER_FAN_EDITABLE) + #define CONTROLLER_FAN_MENU // Enable the Controller Fan submenu + #endif +#endif +``` +A controller fan is useful to cool down the stepper drivers and MOSFETs. When stepper drivers reach a certain temperature they'll turn off, either stuttering or stopping. With this option enabled the fan will turn on automatically whenever any steppers are enabled and turn off after a set period when all steppers are turned off. + +### PWM Fans Kickstart +```cpp +//#define FAN_KICKSTART_TIME 100 +``` +When PWM fans are set to low speed, they may need a higher-energy kickstart first to get moving. Once up to speed the fan can drop back to the set speed. This option specifies the kickstart duration in milliseconds. **This option doesn't work with the software PWM fan on Sanguinololu.** + +### PWM Fans Non-Zero Off State +```cpp +//#define FAN_OFF_PWM 1 +``` +Some coolers may require a non-zero "off" state. + +### PWM Fans Minimum and Maximum Speeds +```cpp +//#define FAN_MIN_PWM 50 +//#define FAN_MAX_PWM 128 +``` +This option can be defined to set the minimum and maximum PWM speeds (1-255) required to keep the PWM fans moving. Fan speeds set by [`M106`](/docs/gcode/M106.html) will be scaled to the reduced range above this minimum. + +```cpp +#if ENABLED(FAST_PWM_FAN) + //#define FAST_PWM_FAN_FREQUENCY 31400 + //#define USE_OCR2A_AS_TOP +#endif +``` + +The default frequency for `FAST_PWM_FAN` is F = F_CPU/(2*255*1). See `Configuration_adv.h` for further information. + +### Extruder Auto-Cooling Fans +```cpp +#define E0_AUTO_FAN_PIN -1 +#define E1_AUTO_FAN_PIN -1 +#define E2_AUTO_FAN_PIN -1 +#define E3_AUTO_FAN_PIN -1 +#define E4_AUTO_FAN_PIN -1 +#define EXTRUDER_AUTO_FAN_TEMPERATURE 50 +#define EXTRUDER_AUTO_FAN_SPEED 255 // 255 == full speed +#define CHAMBER_AUTO_FAN_TEMPERATURE 30 +#define CHAMBER_AUTO_FAN_SPEED 255 +``` +Extruder auto fans turn on whenever their extruder temperatures go above `EXTRUDER_AUTO_FAN_TEMPERATURE`. Your board's pins file already specifies the recommended pins. Override those here or set to -1 to disable the fans completely. + +Multiple extruders can be assigned to the same pin in which case the fan will turn on when *any* selected extruder is above the threshold. + +### Part-Cooling Fan Multiplexer +```cpp +#define FANMUX0_PIN -1 +#define FANMUX1_PIN -1 +#define FANMUX2_PIN -1 +``` +This feature allows you to digitally multiplex the fan output. The multiplexer is automatically switched at tool-change. To enable, just assign one or more `FANMUX[012]_PIN` values for up to 2, 4, or 8 multiplexed fans. + +## Case Light +```cpp +//#define CASE_LIGHT_ENABLE +#if ENABLED(CASE_LIGHT_ENABLE) + //#define CASE_LIGHT_PIN 4 // Override the default pin if needed + #define INVERT_CASE_LIGHT false // Set true if Case Light is ON when pin is LOW + #define CASE_LIGHT_DEFAULT_ON true // Set default power-up state on + #define CASE_LIGHT_DEFAULT_BRIGHTNESS 105 // Set default power-up brightness (0-255, requires PWM pin) + //#define CASE_LIGHT_MAX_PWM 128 // Limit pwm + //#define CASE_LIGHT_MENU // Add Case Light options to the LCD menu + //#define CASE_LIGHT_NO_BRIGHTNESS // Disable brightness control. Enable for non-PWM lighting. + //#define CASE_LIGHT_USE_NEOPIXEL // Use NeoPixel LED as case light, requires NEOPIXEL_LED. + #if ENABLED(CASE_LIGHT_USE_NEOPIXEL) + #define CASE_LIGHT_NEOPIXEL_COLOR { 255, 255, 255, 255 } // { Red, Green, Blue, White } + #endif +#endif +``` +Enable this option for a firmware-controlled digital or PWM case light. Use [`M355`](/docs/gcode/M355.html) to turn on/off and control the brightness. + +## Endstops Always On +```cpp +//#define ENDSTOPS_ALWAYS_ON_DEFAULT +``` +Enable this option to keep the endstops on (by default) even when not homing. Override at any time with [`M120`](/docs/gcode/M120.html), [`M121`](/docs/gcode/M121.html). + +## Z Late Enable +```cpp +//#define Z_LATE_ENABLE +``` +With this option is active, the Z steppers will only turn on at the last moment before they move. This option may be needed if your Z driver tends to overheat. Not compatible with Core kinematics. + +## External Closed Loop Controller +```cpp +//#define EXTERNAL_CLOSED_LOOP_CONTROLLER +#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + //#define CLOSED_LOOP_ENABLE_PIN -1 + //#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1 +#endif +``` +Employ an external closed loop controller that can be activated or deactivated by the main controller. Using a single wire for the control signal and another for the return "move complete" signal to signify whether or not the move was able to be made successfully. + +Benefits + +## Dual Steppers / Dual Endstops +```cpp +//#define X_DUAL_STEPPER_DRIVERS +#if ENABLED(X_DUAL_STEPPER_DRIVERS) + #define INVERT_X2_VS_X_DIR true // Set 'true' if X motors should rotate in opposite directions + //#define X_DUAL_ENDSTOPS + #if ENABLED(X_DUAL_ENDSTOPS) + #define X2_USE_ENDSTOP _XMAX_ + #define X_DUAL_ENDSTOPS_ADJUSTMENT 0 + #endif +#endif + +//#define Y_DUAL_STEPPER_DRIVERS +#if ENABLED(Y_DUAL_STEPPER_DRIVERS) + #define INVERT_Y2_VS_Y_DIR true // Set 'true' if Y motors should rotate in opposite directions + //#define Y_DUAL_ENDSTOPS + #if ENABLED(Y_DUAL_ENDSTOPS) + #define Y2_USE_ENDSTOP _YMAX_ + #define Y_DUAL_ENDSTOPS_ADJUSTMENT 0 + #endif +#endif + +#define NUM_Z_STEPPER_DRIVERS 1 // (1-4) Z options change based on how many + +#if NUM_Z_STEPPER_DRIVERS > 1 + //#define Z_MULTI_ENDSTOPS + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z2_USE_ENDSTOP _XMAX_ + #define Z2_ENDSTOP_ADJUSTMENT 0 + #if NUM_Z_STEPPER_DRIVERS >= 3 + #define Z3_USE_ENDSTOP _YMAX_ + #define Z3_ENDSTOP_ADJUSTMENT 0 + #endif + #if NUM_Z_STEPPER_DRIVERS >= 4 + #define Z4_USE_ENDSTOP _ZMAX_ + #define Z4_ENDSTOP_ADJUSTMENT 0 + #endif + #endif +#endif +``` +These options allow you to use extra E drivers to drive a second motor for X, Y, and/or Z axes. + +Set `X_DUAL_STEPPER_DRIVERS` to use a second X motor. If the X motors need to spin in opposite directions set `INVERT_X2_VS_X_DIR` to `true`. If the second motor has its own endstop set `X_DUAL_ENDSTOPS`. (This can adjust for "racking.") Use `X2_USE_ENDSTOP` to set the endstop plug that should be used for the second endstop. Extra endstops will appear in the output of ['M119'](/docs/gcode/M119.html). + +If the two X axes aren't perfectly aligned, use `X_DUAL_ENDSTOP_ADJUSTMENT` to adjust for the difference. This offset is applied to the X2 motor after homing with [`G28`](/docs/gcode/G028.html). The dual endstop offsets can be set at runtime with `M666 X[offset] Y[offset] Z[offset]`. + +{% alert info %} +Requires enabling the corresponding stepper driver (_e.g.,_ `X2_DRIVER_TYPE` in `Configuration.h`). ***DO NOT** enable `E2_DRIVER_TYPE` - this may produce undesirable results that can harm your machine.* +{% endalert %} + +## Dual X Carriage +```cpp +//#define DUAL_X_CARRIAGE +#if ENABLED(DUAL_X_CARRIAGE) + #define X1_MIN_POS X_MIN_POS + #define X1_MAX_POS X_BED_SIZE + #define X2_MIN_POS 80 + #define X2_MAX_POS 353 + #define X2_HOME_DIR 1 + #define X2_HOME_POS X2_MAX_POS + + // This is the default power-up mode which can be later using M605. + #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_AUTO_PARK_MODE + + // Default x offset in duplication mode (typically set to half print bed width) + #define DEFAULT_DUPLICATION_X_OFFSET 100 + + // Default action to execute following M605 mode change commands. Typically G28X to apply new mode. + //#define EVENT_GCODE_IDEX_AFTER_MODECHANGE "G28X" +#endif +``` +Enable this option if you have an "IDEX" printer with Dual X-Carriages that move independently. The Dual X-Carriage design allows the inactive extruder to be parked to keep oozing filament away from the print, reduces the weight of each carriage, and enables faster printing speeds. With this option simply connect the X2 stepper to the first unused E plug. + +In a Dual X-Carriage setup the first X-carriage (`T0`) homes to the minimum endstop, while the second X-carriage (`T1`) homes to the maximum endstop. + +With Dual X-Carriage the `HOTEND_OFFSET_X` setting for `T1` overrides `X2_HOME_POS`. Use `M218 T1 X[homepos]` to set a custom X2 home position, and [`M218`](/docs/gcode/M218.html) `T1 X0` to use `X2_HOME_POS`. This offset can be saved to EEPROM with [`M500`](/docs/gcode/M500.html). + +**In your slicer, be sure to set the second extruder X-offset to 0.** + +Dual X-Carriage has three different movement modes, set with [`M605`](/docs/gcode/M605.html) `S[mode]`: + +- Mode 0: Full Control Mode. ([`M605`](/docs/gcode/M605.html) `S0`) Slicers that fully support dual X-carriages can use this mode for optimal travel results. +- Mode 1: Auto-park Mode. ([`M605`](/docs/gcode/M605.html) `S1`) The firmware automatically parks/unparks the carriages on tool-change. No slicer support is required. ([`M605`](/docs/gcode/M605.html) `S1`) +- Mode 2: Duplication Mode. (`[`M605`](/docs/gcode/M605.html) S2 X[offs] R[temp]`) The firmware will transparently make the second X-carriage and extruder copy all actions of the first X-carriage. This allows the printer to print 2 arbitrary items at once. (The 2nd extruder's X and temp offsets are set using: `[`M605`](/docs/gcode/M605.html) S2 X[offs] R[offs]`.) + +## Solenoid +```cpp +//#define EXT_SOLENOID +``` +Adds control for any solenoid attached to an extruder. Activate the solenoid on the active extruder with [`M380`](/docs/gcode/M380.html). Disable all with [`M381`](/docs/gcode/M381.html). +{% alert info %} +Requires defining the corresponding pin ie SOL0_PIN, SOL1_PIN, etc. +{% endalert %} + +## Homing +```cpp +#define X_HOME_BUMP_MM 5 +#define Y_HOME_BUMP_MM 5 +#define Z_HOME_BUMP_MM 2 +#define HOMING_BUMP_DIVISOR { 2, 2, 4 } +//#define QUICK_HOME +//#define HOMING_BACKOFF_MM { 2, 2, 2 } +//#define HOME_Y_BEFORE_X +//#define CODEPENDENT_XY_HOMING +``` +After an endstop is triggered during homing, the printerhead backs off by the set `HOME_BUMP_MM` distance then homes again at a slower speed. +The slower homing speed for each axis is set by `HOMING_BUMP_DIVISOR`. + +## BLTouch +```cpp +#if ENABLED(BLTOUCH) +//#define BLTOUCH_DELAY 500 +//#define BLTOUCH_FORCE_SW_MODE +//#define BLTOUCH_SET_5V_MODE +//#define BLTOUCH_FORCE_MODE_SET +//#define BLTOUCH_HS_MODE +//#define BLTOUCH_LCD_VOLTAGE_MENU +#endif +``` +The default BLTouch settings can be overriden with these options. `BLTOUCH_DELAY` defaults to 500 if not defined. See `Configuration_adv.h` for more information. + +## Calibration +### Z Steppers Auto-Alignment +```cpp +//#define Z_STEPPER_AUTO_ALIGN +#if ENABLED(Z_STEPPER_AUTO_ALIGN) + #define Z_STEPPER_ALIGN_XY { { 10, 190 }, { 100, 10 }, { 190, 190 } } + #ifndef Z_STEPPER_ALIGN_XY + //#define Z_STEPPERS_ORIENTATION 0 + #endif + //#define Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } } + #else + #define Z_STEPPER_ALIGN_AMP 1.0 + #endif + + #define G34_MAX_GRADE 5 // (%) Maximum incline that G34 will handle + #define Z_STEPPER_ALIGN_ITERATIONS 5 // Number of iterations to apply during alignment + #define Z_STEPPER_ALIGN_ACC 0.02 // Stop iterating early if the accuracy is better than this + #define RESTORE_LEVELING_AFTER_G34 + #define HOME_AFTER_G34 +#endif +``` +Add the [`G34`](/docs/gcode/G034-zsaa.html) command to align multiple Z steppers using a bed probe. See `Configuration_adv.h` for more information. + +### Assisted Tramming +Add the [`G35`](/docs/gcode/G035.html) command to read bed corners to help adjust screws. Requires a bed probe. + +```cpp +//#define ASSISTED_TRAMMING +#if ENABLED(ASSISTED_TRAMMING) + + // Define from 3 to 9 points to probe. + #define TRAMMING_POINT_XY { { 20, 20 }, { 180, 20 }, { 180, 180 }, { 20, 180 } } + + // Define position names for probe points. + #define TRAMMING_POINT_NAME_1 "Front-Left" + #define TRAMMING_POINT_NAME_2 "Front-Right" + #define TRAMMING_POINT_NAME_3 "Back-Right" + #define TRAMMING_POINT_NAME_4 "Back-Left" + + #define RESTORE_LEVELING_AFTER_G35 // Enable to restore leveling setup after operation + //#define REPORT_TRAMMING_MM // Report Z deviation (mm) for each point relative to the first + + //#define ASSISTED_TRAMMING_WIZARD // Add a Tramming Wizard to the LCD menu + + //#define ASSISTED_TRAMMING_WAIT_POSITION { X_CENTER, Y_CENTER, 30 } // Move the nozzle out of the way for adjustment + + /** + * Screw thread: + * M3: 30 = Clockwise, 31 = Counter-Clockwise + * M4: 40 = Clockwise, 41 = Counter-Clockwise + * M5: 50 = Clockwise, 51 = Counter-Clockwise + */ + #define TRAMMING_SCREW_THREAD 30 + +#endif +``` + +## Motion Control +### Fixed-Time Motion Control +Fixed-time-based Motion Control. Enable/disable and set parameters with G-code [`M493`](/docs/gcode/M493.html). +```cpp +#define FT_MOTION +#if ENABLED(FT_MOTION) + #define FTM_DEFAULT_MODE ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h) + #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) + #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. + #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. + #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). + #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. + #define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. + #define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. + + /** + * Advanced configuration + */ + #define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; + // half the window size for Ulendo FBS. + #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) + #define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) + #define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. + #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. + #define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. + #define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!). + // Calculate as: + // 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. + // (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. + // 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. + // 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. + #define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time. + // Calculate as (FTM_STEPPER_FS / FTM_FS). + #define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm. + // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2). + // These values may be configured to adjust duration of loop(). + #define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop(). + #define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop(). + + // This value may be configured to adjust duration to consume the command buffer. + // Try increasing this value if stepper motion is not smooth. + #define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers. +#endif +``` + +### ZV Input Shaping +Zero Vibration (ZV) Input Shaping for X and/or Y movements. + +This option uses a lot of SRAM for the step buffer. The buffer size is calculated automatically from `SHAPING_FREQ_[XY]`, `DEFAULT_AXIS_STEPS_PER_UNIT`, `DEFAULT_MAX_FEEDRATE` and `ADAPTIVE_STEP_SMOOTHING`. The default calculation can be overridden by setting `SHAPING_MIN_FREQ` and/or `SHAPING_MAX_FEEDRATE`. The higher the frequency and the lower the feedrate, the smaller the buffer. If the buffer is too small at runtime, input shaping will have reduced effectiveness during high speed movements. + +For configuration options see G-code [`M593`](/docs/gcode/M593.html). + +```cpp +//#define INPUT_SHAPING_X +//#define INPUT_SHAPING_Y +#if EITHER(INPUT_SHAPING_X, INPUT_SHAPING_Y) + #if ENABLED(INPUT_SHAPING_X) + #define SHAPING_FREQ_X 40 // (Hz) The default dominant resonant frequency on the X axis. + #define SHAPING_ZETA_X 0.15f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping). + #endif + #if ENABLED(INPUT_SHAPING_Y) + #define SHAPING_FREQ_Y 40 // (Hz) The default dominant resonant frequency on the Y axis. + #define SHAPING_ZETA_Y 0.15f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping). + #endif + //#define SHAPING_MIN_FREQ 20 // By default the minimum of the shaping frequencies. Override to affect SRAM usage. + //#define SHAPING_MAX_STEPRATE 10000 // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage. + //#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters. +#endif +``` + +## Motion +### Axis Relative/Absolute Mode +```cpp +#define AXIS_RELATIVE_MODES { false, false, false, false } +``` +True for relative mode; false for absolute mode. + +### Multi Nozzle Duplication +```cpp +//#define MULTI_NOZZLE_DUPLICATION +``` +Adds a duplicate option for well-separated conjoined nozzles. + +### Invert Stepper Drivers +```cpp +#define INVERT_X_STEP_PIN false +#define INVERT_Y_STEP_PIN false +#define INVERT_Z_STEP_PIN false +#define INVERT_E_STEP_PIN false +``` +Set to true for active low signal. + +### Default Stepper Deactive Time +```cpp +#define DEFAULT_STEPPER_DEACTIVE_TIME 120 +#define DISABLE_INACTIVE_X true +#define DISABLE_INACTIVE_Y true +#define DISABLE_INACTIVE_Z true +#define DISABLE_INACTIVE_E true +``` +Disable stepper motors after set time. Set to 0 to deactive feature. Time can be set by [`M18 & M84`](/docs/gcode/M018.html). + +### Default Minimum Feedrates +```cpp +#define DEFAULT_MINIMUMFEEDRATE 0.0 +#define DEFAULT_MINTRAVELFEEDRATE 0.0 +``` + +### Rehome After Steppers Deactive +```cpp +//#define HOME_AFTER_DEACTIVATE +``` +### Default Minimum Segment Time +```cpp +#define DEFAULT_MINSEGMENTTIME 20000 +``` + +Minimum required time for segment when the buffer is emptied. + +### Slowdown +```cpp +#define SLOWDOWN +#if ENABLED(SLOWDOWN) + #define SLOWDOWN_DIVISOR 2 +#endif +``` +Slows down the machine when the look ahead buffer is filled to the set `SLOWDOWN_DIVISOR` amount. Increase the slowdown divisor for larger buffer sizes. + +### Frequency limit +```cpp +//#define XY_FREQUENCY_LIMIT 15 +``` + +### Minimum Planner Speed +#define MINIMUM_PLANNER_SPEED 0.05 + +### Backlash Compensation +```cpp +#define BACKLASH_COMPENSATION +#if ENABLED(BACKLASH_COMPENSATION) + #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) + #define BACKLASH_CORRECTION 0.0 // 0.0 = no correction; 1.0 = full correction + //#define BACKLASH_SMOOTHING_MM 3 // (mm) + //#define BACKLASH_GCODE + + #if ENABLED(BACKLASH_GCODE) + #define MEASURE_BACKLASH_WHEN_PROBING + + #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + #define BACKLASH_MEASUREMENT_LIMIT 0.5 // (mm) + #define BACKLASH_MEASUREMENT_RESOLUTION 0.005 // (mm) + #define BACKLASH_MEASUREMENT_FEEDRATE Z_PROBE_SPEED_SLOW // (mm/m) + #endif + #endif +#endif +``` +See `Configuration_adv.h` for further information. + +### Automatic Backlash Calibration +```cpp +#define CALIBRATION_GCODE +#if ENABLED(CALIBRATION_GCODE) + + #define CALIBRATION_MEASUREMENT_RESOLUTION 0.01 // mm + + #define CALIBRATION_FEEDRATE_SLOW 60 // mm/m + #define CALIBRATION_FEEDRATE_FAST 1200 // mm/m + #define CALIBRATION_FEEDRATE_TRAVEL 3000 // mm/m + + #define CALIBRATION_NOZZLE_TIP_HEIGHT 1.0 // mm + #define CALIBRATION_NOZZLE_OUTER_DIAMETER 2.0 // mm + + //#define CALIBRATION_REPORTING + + #define CALIBRATION_OBJECT_CENTER { 264.0, -22.0, -2.0 } // mm + #define CALIBRATION_OBJECT_DIMENSIONS { 10.0, 10.0, 10.0 } // mm + + #define CALIBRATION_MEASURE_RIGHT + #define CALIBRATION_MEASURE_FRONT + #define CALIBRATION_MEASURE_LEFT + #define CALIBRATION_MEASURE_BACK + + //#define CALIBRATION_MEASURE_AT_TOP_EDGES + + #ifndef CALIBRATION_PIN + //#define CALIBRATION_PIN -1 // Define here to override the default pin + #define CALIBRATION_PIN_INVERTING false // Set to true to invert the custom pin + //#define CALIBRATION_PIN_PULLDOWN + #define CALIBRATION_PIN_PULLUP + #endif +#endif +``` +Adds [`G425`](/docs/gcode/G425.html) to run automatic calibration using an electrically-conductive cube, bolt, or washer mounted on the bed. See `Configuration_adv.h` for further information. + +### Adaptive Step Smoothing +```cpp +#define ADAPTIVE_STEP_SMOOTHING +``` +Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the lowest stepping frequencies. + +### Custom Microstepping +If you have a board with pins named `X_MS1`, `X_MS2`, etc., then you can change the micro-stepping using G-code or the LCD menu. +```cpp +//#define MICROSTEP1 LOW,LOW,LOW +//#define MICROSTEP2 HIGH,LOW,LOW +//#define MICROSTEP4 LOW,HIGH,LOW +//#define MICROSTEP8 HIGH,HIGH,LOW +//#define MICROSTEP16 LOW,LOW,HIGH +//#define MICROSTEP32 HIGH,LOW,HIGH + +#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16] +``` + +### Stepper Motor Current +```cpp +//#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 } +//#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 } +//#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 } + +//#define DIGIPOT_I2C +#if ENABLED(DIGIPOT_I2C) && !defined(DIGIPOT_I2C_ADDRESS_A) + #define DIGIPOT_I2C_ADDRESS_A 0x2C + #define DIGIPOT_I2C_ADDRESS_B 0x2D +#endif + +//#define DIGIPOT_MCP4018 +#define DIGIPOT_I2C_NUM_CHANNELS 8 +#define DIGIPOT_I2C_MOTOR_CURRENTS { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 } +``` + +## LCD / Controller +```cpp +#if EITHER(ULTIPANEL, EXTENSIBLE_UI) + #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 60 } // Feedrates for manual moves along X, Y, Z, E from panel + #define SHORT_MANUAL_Z_MOVE 0.025 // (mm) Smallest manual Z move (< 0.1mm) + #if ENABLED(ULTIPANEL) + #define MANUAL_E_MOVES_RELATIVE // Display extruder move distance rather than "position" + #define ULTIPANEL_FEEDMULTIPLY // Encoder sets the feedrate multiplier on the Status Screen + #endif +#endif + +#define ENCODER_RATE_MULTIPLIER +#if ENABLED(ENCODER_RATE_MULTIPLIER) + #define ENCODER_10X_STEPS_PER_SEC 30 // (steps/s) Encoder rate for 10x speed + #define ENCODER_100X_STEPS_PER_SEC 80 // (steps/s) Encoder rate for 100x speed +#endif +//#define BEEP_ON_FEEDRATE_CHANGE +#if ENABLED(BEEP_ON_FEEDRATE_CHANGE) + #define FEEDRATE_CHANGE_BEEP_DURATION 10 + #define FEEDRATE_CHANGE_BEEP_FREQUENCY 440 +#endif + +#if HAS_LCD_MENU + //#define LCD_INFO_MENU + #if ENABLED(LCD_INFO_MENU) + //#define LCD_PRINTER_INFO_IS_BOOTSCREEN // Show bootscreen(s) instead of Printer Info pages + #endif + //#define TURBO_BACK_MENU_ITEM + //#define LED_CONTROL_MENU + #if ENABLED(LED_CONTROL_MENU) + #define LED_COLOR_PRESETS // Enable the Preset Color menu option + #if ENABLED(LED_COLOR_PRESETS) + #define LED_USER_PRESET_RED 255 // User defined RED value + #define LED_USER_PRESET_GREEN 128 // User defined GREEN value + #define LED_USER_PRESET_BLUE 0 // User defined BLUE value + #define LED_USER_PRESET_WHITE 255 // User defined WHITE value + #define LED_USER_PRESET_BRIGHTNESS 255 // User defined intensity + //#define LED_USER_PRESET_STARTUP // Have the printer display the user preset color on startup + #endif + #endif + +#endif // HAS_LCD_MENU +``` + +### Scroll Long Status Message +```cpp +//#define STATUS_MESSAGE_SCROLLING +``` + +### Display XY with One Decimal +```cpp +//#define LCD_DECIMAL_SMALL_XY +``` +### Screen Timeout +```cpp +//#define LCD_TIMEOUT_TO_STATUS 15000 +``` + +### Set Print Progress +```cpp +//#define LCD_SET_PROGRESS_MANUALLY +``` +Add an [`M73`](/docs/gcode/M073.html) G-code to set the current percentage. + +### Show Extruder Position +```cpp +//#define LCD_SHOW_E_TOTAL +``` +Show the total filament used amount during printing. + +### Display Settings +```cpp +#if ENABLED(SHOW_BOOTSCREEN) + #define BOOTSCREEN_TIMEOUT 4000 // (ms) Total Duration to display the boot screen(s) +#endif + +#if HAS_GRAPHICAL_LCD && EITHER(SDSUPPORT, LCD_SET_PROGRESS_MANUALLY) + //#define PRINT_PROGRESS_SHOW_DECIMALS // Show progress with decimal digits + //#define SHOW_REMAINING_TIME // Display estimated time to completion + #if ENABLED(SHOW_REMAINING_TIME) + //#define USE_M73_REMAINING_TIME // Use remaining time from M73 command instead of estimation + //#define ROTATE_PROGRESS_DISPLAY // Display (P)rogress, (E)lapsed, and (R)emaining time + #endif +#endif +``` +See `Configuration_adv.h` for further information. + +### Progress Bar (character LCD) +```cpp +//#define LCD_PROGRESS_BAR // Show a progress bar on HD44780 LCDs for SD printing +#if ENABLED(LCD_PROGRESS_BAR) + #define PROGRESS_BAR_BAR_TIME 2000 // (ms) Amount of time to show the bar + #define PROGRESS_BAR_MSG_TIME 3000 // (ms) Amount of time to show the status message + #define PROGRESS_MSG_EXPIRE 0 // (ms) Amount of time to retain the status message (0=forever) + //#define PROGRESS_MSG_ONCE // Show the message for MSG_TIME then clear it + //#define LCD_PROGRESS_BAR_TEST // Add a menu item to test the progress bar +#endif +``` +Show a progress bar on HD44780 LCDs for SD printing. Sub-options determine how long to show the progress bar and status message, how long to retain the status message, and whether to include a progress bar test in the Debug menu. + +## SD Card Support +```cpp +//#define SD_DETECT_STATE HIGH +#define SD_FINISHED_STEPPERRELEASE true +#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" +#define SDCARD_RATHERRECENTFIRST +#define SD_MENU_CONFIRM_START +//#define MENU_ADDAUTOSTART +#define EVENT_GCODE_SD_STOP "G28XY" +#if ENABLED(PRINTER_EVENT_LEDS) + #define PE_LEDS_COMPLETED_TIME (30*60) +#endif +``` +See `Configuration_adv.h` for more details. + +### Power Loss Recovery +```cpp +//#define POWER_LOSS_RECOVERY +#if ENABLED(POWER_LOSS_RECOVERY) + #define PLR_ENABLED_DEFAULT false + //#define BACKUP_POWER_SUPPLY + //#define POWER_LOSS_ZRAISE 2 + //#define POWER_LOSS_PIN 44 + //#define POWER_LOSS_STATE HIGH + //#define POWER_LOSS_PULL + //#define POWER_LOSS_PURGE_LEN 20 + //#define POWER_LOSS_RETRACT_LEN 10 + #define POWER_LOSS_MIN_Z_CHANGE 0.05 +#endif +``` +See `Configuration_adv.h` for more details. + +### SD Card Sorting Options +```cpp +//#define SDCARD_SORT_ALPHA +#if ENABLED(SDCARD_SORT_ALPHA) + #define SDSORT_LIMIT 40 + #define FOLDER_SORTING -1 + #define SDSORT_GCODE false + #define SDSORT_USES_RAM false + #define SDSORT_USES_STACK false + #define SDSORT_CACHE_NAMES false + #define SDSORT_DYNAMIC_RAM false + #define SDSORT_CACHE_VFATS 2 +#endif +``` +See `Configuration_adv.h` for more details. + +### Long Filenames +```cpp +//#define LONG_FILENAME_HOST_SUPPORT +``` +This allows hosts to request long names for files and folders with [`M33`](/docs/gcode/M033.html) + +```cpp +//#define SCROLL_LONG_FILENAMES +``` +Enable this option to scroll long filenames in the SD card menu +```cpp +//#define SD_ABORT_NO_COOLDOWN +``` +Leave the heaters on after Stop Print (not recommended!) + +### Abort on Endstop Hit +```cpp +//#define SD_ABORT_ON_ENDSTOP_HIT +``` +Add an option for the firmware to abort SD printing if any endstop is triggered. Turn on with [`M540`](/docs/gcode/M540.html) `S1` (or from the LCD menu) and make sure endstops are enabled ([`M120`](/docs/gcode/M120.html)) during SD printing. + +### Reprint Last File +```cpp +//#define SD_REPRINT_LAST_SELECTED_FILE +``` +This option makes it easier to print the same SD Card file again. Whenever an SD print completes the LCD Menu will open with the same file selected. From there you can click to start a new print, or you can navigate elsewhere. + +### Auto Report SD Status +```cpp +//#define AUTO_REPORT_SD_STATUS +``` +Auto-report SD card status with [`M27`](/docs/gcode/M027.html) S + +### USB Flash Drive Support +```cpp +//#define USB_FLASH_DRIVE_SUPPORT +#if ENABLED(USB_FLASH_DRIVE_SUPPORT) + #define USB_CS_PIN SDSS + #define USB_INTR_PIN SD_DETECT_PIN + //#define USE_UHS3_USB +#endif +``` +See `Configuration_adv.h` for more details. + +### Firmware Update +```cpp +//#define SD_FIRMWARE_UPDATE +#if ENABLED(SD_FIRMWARE_UPDATE) + #define SD_FIRMWARE_UPDATE_EEPROM_ADDR 0x1FF + #define SD_FIRMWARE_UPDATE_ACTIVE_VALUE 0xF0 + #define SD_FIRMWARE_UPDATE_INACTIVE_VALUE 0xFF +#endif +``` +See `Configuration_adv.h` for more details. + +### Binary File Transfer +```cpp +//#define BINARY_FILE_TRANSFER +``` +See `Configuration_adv.h` for more details. + +### SD Card Connection +```cpp +//#define SDCARD_CONNECTION LCD +``` +Choose between `LCD`, `ONBOARD` or `CUSTOM_CABLE` or use the board's default. + +### Hide SD Card from Host +```cpp +#define NO_SD_HOST_DRIVE +``` +Disable SD Card access over USB (for security). This option hides the SD card from the host PC. + +## Graphical Display Extras +```cpp +#if HAS_GRAPHICAL_LCD + //#define DOGM_SD_PERCENT + #define XYZ_HOLLOW_FRAME + #define MENU_HOLLOW_FRAME + //#define USE_BIG_EDIT_FONT + //#define USE_SMALL_INFOFONT + //#define OVERLAY_GFX_REVERSE + + #if ENABLED(U8GLIB_ST7920) + //#define DOGM_SPI_DELAY_US 5 + //#define LIGHTWEIGHT_UI + #if ENABLED(LIGHTWEIGHT_UI) + #define STATUS_EXPIRE_SECONDS 20 + #endif + #endif +``` +Use the optimizations here to improve printing performance, which can be adversely affected by graphical display drawing, especially when doing several short moves, and when printing on DELTA and SCARA machines. + +Some of these options may result in the display lagging behind controller events, as there is a trade-off between reliable printing performance versus fast display updates. + +### Status (Info) Screen Customizations +```cpp +//#define STATUS_COMBINE_HEATERS +//#define STATUS_HOTEND_NUMBERLESS +#define STATUS_HOTEND_INVERTED +#define STATUS_HOTEND_ANIM +#define STATUS_BED_ANIM +#define STATUS_CHAMBER_ANIM +//#define STATUS_CUTTER_ANIM +//#define STATUS_ALT_BED_BITMAP +//#define STATUS_ALT_FAN_BITMAP +//#define STATUS_FAN_FRAMES 3 +//#define STATUS_HEAT_PERCENT +//#define BOOT_MARLIN_LOGO_SMALL +//#define BOOT_MARLIN_LOGO_ANIMATED +``` + +### Frivolous Game Options +```cpp +//#define MARLIN_BRICKOUT +//#define MARLIN_INVADERS +//#define MARLIN_SNAKE +//#define GAMES_EASTER_EGG +``` +## DGUS / DWIN Displays Options +```cpp +#if HAS_DGUS_LCD + #define DGUS_SERIAL_PORT 3 + #define DGUS_BAUDRATE 115200 + + #define DGUS_RX_BUFFER_SIZE 128 + #define DGUS_TX_BUFFER_SIZE 48 + //#define DGUS_SERIAL_STATS_RX_BUFFER_OVERRUNS + #define DGUS_UPDATE_INTERVAL_MS 500 + #if EITHER(DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_HIPRECY) + #define DGUS_PRINT_FILENAME + #define DGUS_PREHEAT_UI + #if ENABLED(DGUS_LCD_UI_FYSETC) + //#define DGUS_UI_MOVE_DIS_OPTION + #else + #define DGUS_UI_MOVE_DIS_OPTION + #endif + #define DGUS_FILAMENT_LOADUNLOAD + #if ENABLED(DGUS_FILAMENT_LOADUNLOAD) + #define DGUS_FILAMENT_PURGE_LENGTH 10 + #define DGUS_FILAMENT_LOAD_LENGTH_PER_TIME 0.5 + #endif + #define DGUS_UI_WAITING + #if ENABLED(DGUS_UI_WAITING) + #define DGUS_UI_WAITING_STATUS 10 + #define DGUS_UI_WAITING_STATUS_PERIOD 8 + #endif + #endif +#endif // HAS_DGUS_LCD +``` +See `Configuration_adv.h` for more details. + +## FTDI Embedded Video Engine (EVE) Touch UI +```cpp +#if ENABLED(TOUCH_UI_FTDI_EVE) + //#define LCD_FTDI_VM800B35A // FTDI 3.5" with FT800 (320x240) + //#define LCD_4DSYSTEMS_4DLCD_FT843 // 4D Systems 4.3" (480x272) + //#define LCD_HAOYU_FT800CB // Haoyu with 4.3" or 5" (480x272) + //#define LCD_HAOYU_FT810CB // Haoyu with 5" (800x480) + //#define LCD_ALEPHOBJECTS_CLCD_UI // Aleph Objects Color LCD UI + //#define TOUCH_UI_320x240 + //#define TOUCH_UI_480x272 + //#define TOUCH_UI_800x480 + //#define AO_EXP1_PINMAP // AlephObjects CLCD UI EXP1 mapping + //#define AO_EXP2_PINMAP // AlephObjects CLCD UI EXP2 mapping + //#define CR10_TFT_PINMAP // Rudolph Riedel's CR10 pin mapping + //#define S6_TFT_PINMAP // FYSETC S6 pin mapping + //#define OTHER_PIN_LAYOUT // Define pins manually below + #if ENABLED(OTHER_PIN_LAYOUT) + // Pins for CS and MOD_RESET (PD) must be chosen + #define CLCD_MOD_RESET 9 + #define CLCD_SPI_CS 10 + //#define CLCD_USE_SOFT_SPI + #if ENABLED(CLCD_USE_SOFT_SPI) + #define CLCD_SOFT_SPI_MOSI 11 + #define CLCD_SOFT_SPI_MISO 12 + #define CLCD_SOFT_SPI_SCLK 13 + #endif + #endif + //#define TOUCH_UI_INVERTED + //#define TOUCH_UI_PORTRAIT + //#define TOUCH_UI_MIRRORED + //#define TOUCH_UI_USE_UTF8 + #if ENABLED(TOUCH_UI_USE_UTF8) + #define TOUCH_UI_UTF8_WESTERN_CHARSET + #if ENABLED(TOUCH_UI_UTF8_WESTERN_CHARSET) + //#define TOUCH_UI_UTF8_SUPERSCRIPTS // ¹ ² ³ + //#define TOUCH_UI_UTF8_COPYRIGHT // © ® + //#define TOUCH_UI_UTF8_GERMANIC // ß + //#define TOUCH_UI_UTF8_SCANDINAVIAN // Æ Ð Ø Þ æ ð ø þ + //#define TOUCH_UI_UTF8_PUNCTUATION // « » ¿ ¡ + //#define TOUCH_UI_UTF8_CURRENCY // ¢ £ ¤ ¥ + //#define TOUCH_UI_UTF8_ORDINALS // º ª + //#define TOUCH_UI_UTF8_MATHEMATICS // ± × ÷ + //#define TOUCH_UI_UTF8_FRACTIONS // ¼ ½ ¾ + //#define TOUCH_UI_UTF8_SYMBOLS // µ ¶ ¦ § ¬ + #endif + #endif + #define TOUCH_UI_FIT_TEXT + //#define LCD_LANGUAGE_1 en + //#define LCD_LANGUAGE_2 fr + //#define LCD_LANGUAGE_3 de + //#define LCD_LANGUAGE_4 es + //#define LCD_LANGUAGE_5 it + //#define TOUCH_UI_PASSCODE + //#define TOUCH_UI_DEBUG + //#define TOUCH_UI_DEVELOPER_MENU +#endif +``` +See `Configuration_adv.h` for more details. + +## FSMC Graphical TFT +```cpp +#if ENABLED(FSMC_GRAPHICAL_TFT) + //#define TFT_MARLINUI_COLOR 0xFFFF // White + //#define TFT_MARLINBG_COLOR 0x0000 // Black + //#define TFT_DISABLED_COLOR 0x0003 // Almost black + //#define TFT_BTCANCEL_COLOR 0xF800 // Red + //#define TFT_BTARROWS_COLOR 0xDEE6 // 11011 110111 00110 Yellow + //#define TFT_BTOKMENU_COLOR 0x145F // 00010 100010 11111 Cyan +#endif +``` + +## ADC Button Debounce +```cpp +#if HAS_ADC_BUTTONS + #define ADC_BUTTON_DEBOUNCE_DELAY 16 // (ms) Increase if buttons bounce or repeat too fast +#endif +``` + +## Watchdog +```cpp +#define USE_WATCHDOG +``` +The hardware watchdog should reset the micro-controller, disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation. + +### Watchdog Manual Reset +```cpp +#if ENABLED(USE_WATCHDOG) + //#define WATCHDOG_RESET_MANUAL +#endif +``` +If you have a watchdog reboot in an ATmega2560 the device can hang forever, as a watchdog reset will leave the watchdog on. The `WATCHDOG_RESET_MANUAL` option works around this by eschewing the hardware reset. However, **this feature is unsafe** because it only works if interrupts are disabled, and the code could hang in an interrupt routine with interrupts disabled. + +## Babystepping +```cpp +//#define BABYSTEPPING +#if ENABLED(BABYSTEPPING) + //#define INTEGRATED_BABYSTEPPING // EXPERIMENTAL integration of babystepping into the Stepper ISR + //#define BABYSTEP_WITHOUT_HOMING + //#define BABYSTEP_XY // Also enable X/Y Babystepping. Not supported on DELTA! + #define BABYSTEP_INVERT_Z false // Change if Z babysteps should go the other way + #define BABYSTEP_MULTIPLICATOR_Z 1 // Babysteps are very small. Increase for faster motion. + #define BABYSTEP_MULTIPLICATOR_XY 1 + //#define DOUBLECLICK_FOR_Z_BABYSTEPPING // Double-click on the Status Screen for Z Babystepping. + #if ENABLED(DOUBLECLICK_FOR_Z_BABYSTEPPING) + #define DOUBLECLICK_MAX_INTERVAL 1250 + //#define BABYSTEP_ALWAYS_AVAILABLE + //#define MOVE_Z_WHEN_IDLE + #if ENABLED(MOVE_Z_WHEN_IDLE) + #define MOVE_Z_IDLE_MULTIPLICATOR 1 + #endif + #endif + //#define BABYSTEP_DISPLAY_TOTAL + //#define BABYSTEP_ZPROBE_OFFSET + #if ENABLED(BABYSTEP_ZPROBE_OFFSET) + //#define BABYSTEP_HOTEND_Z_OFFSET + //#define BABYSTEP_ZPROBE_GFX_OVERLAY + #endif +#endif +``` +Babystepping enables [`M290`](/docs/gcode/M290.html) and LCD menu items to move the axes by tiny increments without changing the current position values. This feature is used primarily to adjust the Z axis in the first layer of a print in real-time. *Warning: Does not respect endstops!* + +## Linear Advance +```cpp +//#define LIN_ADVANCE +#if ENABLED(LIN_ADVANCE) + //#define EXTRA_LIN_ADVANCE_K // Enable for second linear advance constants + #define LIN_ADVANCE_K 0.22 // Unit: mm compression per 1mm/s extruder speed + //#define LA_DEBUG // If enabled, this will generate debug information output over USB. +#endif +``` +This feature allows Marlin to use linear pressure control for print extrusion, to eliminate ooze, improve corners, etc. See `Configuration_adv.h` and the [Linear Advance page](/docs/features/lin_advance.html) for more complete documentation. + +## Leveling +### 3-Point Options +```cpp +#if EITHER(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_UBL) + //#define PROBE_PT_1_X 15 + //#define PROBE_PT_1_Y 180 + //#define PROBE_PT_2_X 15 + //#define PROBE_PT_2_Y 20 + //#define PROBE_PT_3_X 170 + //#define PROBE_PT_3_Y 20 +#endif +``` +These options specify the three points that will be probed during [`G29`](/docs/gcode/G029.html). Use to override if the automatically selected points are inadequate. + +### Custom Mininum Probe Edge +```cpp +#if PROBE_SELECTED && !IS_KINEMATIC + //#define PROBING_MARGIN_LEFT PROBING_MARGIN + //#define PROBING_MARGIN_RIGHT PROBING_MARGIN + //#define PROBING_MARGIN_FRONT PROBING_MARGIN + //#define PROBING_MARGIN_BACK PROBING_MARGIN +#endif +``` +See `Configuration_adv.h` for more details. + +### Custom Mesh Area +```cpp +#if EITHER(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL) + //#define MESH_MIN_X MESH_INSET + //#define MESH_MIN_Y MESH_INSET + //#define MESH_MAX_X X_BED_SIZE - (MESH_INSET) + //#define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET) +#endif +``` +Override the mesh area if the automatic (max) area is too large. + +### G29 Retry and Recover +```cpp +//#define G29_RETRY_AND_RECOVER +#if ENABLED(G29_RETRY_AND_RECOVER) + #define G29_MAX_RETRIES 3 + #define G29_HALT_ON_FAILURE + #define G29_SUCCESS_COMMANDS "M117 Bed leveling done." + #define G29_RECOVER_COMMANDS "M117 Probe failed. Rewiping.\nG28\nG12 P0 S12 T0" + #define G29_FAILURE_COMMANDS "M117 Bed leveling failed.\nG0 Z10\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nG4 S1" +#endif +``` +Repeatedly attempt [`G29`](/docs/gcode/G029.html) leveling until it succeeds. Stop after `G29_MAX_RETRIES` attempts. + +### Thermal Probe Compensation +```cpp +#if HAS_BED_PROBE && TEMP_SENSOR_PROBE && TEMP_SENSOR_BED + #define PROBE_TEMP_COMPENSATION + #if ENABLED(PROBE_TEMP_COMPENSATION) + #define PTC_PARK_POS { 0, 0, 100 } + #define PTC_PROBE_POS { 90, 100 } + //#define USE_TEMP_EXT_COMPENSATION + #endif +``` +Probe measurements are adjusted to compensate for temperature distortion. Use [`G76`](/docs/gcode/G076.html) to calibrate this feature. Use [`M871`](/docs/gcode/M871.html) to set values manually. For a more detailed explanation of the process see `G76_M871.cpp` and `Configuration_adv.h`. + +## Enhanced G-code +### G60/G61 Position Save and Return +```cpp +//#define SAVED_POSITIONS 1 // Each saved position slot costs 12 bytes +``` +Enables [`G60`](/docs/gcode/G060.html) & [`G61`](/docs/gcode/G061.html) and specifies number of available slots. + +### G2/G3 Arc Support +```cpp +#define ARC_SUPPORT // Disable this feature to save ~3226 bytes +#if ENABLED(ARC_SUPPORT) + #define MM_PER_ARC_SEGMENT 1 // Length of each arc segment + #define N_ARC_CORRECTION 25 // Number of intertpolated segments between corrections + //#define ARC_P_CIRCLES // Enable the 'P' parameter to specify complete circles + //#define CNC_WORKSPACE_PLANES // Allow G2/G3 to operate in XY, ZX, or YZ planes +#endif +``` +[`G2/G3`](/docs/gcode/G002-G003.html) Arc Support + +### G5 Bezier Curve +```cpp +//#define BEZIER_CURVE_SUPPORT +``` +Support for [`G5`](/docs/gcode/G005.html) with XYZE destination and IJPQ offsets. Requires \~2666 bytes. + +### G38.2/G38.3 Probe Target +```cpp +//#define G38_PROBE_TARGET +#if ENABLED(G38_PROBE_TARGET) + #define G38_MINIMUM_MOVE 0.0275 // (mm) Minimum distance that will produce a move +#endif +``` +Add commands [`G38.2`](/docs/gcode/G038.html) and [`G38.3`](/docs/gcode/G038.html) to probe towards target. Enable `PROBE_DOUBLE_TOUCH` if you want [`G38`](/docs/gcode/G038.html) to double touch. + +## Stepper Driver Tuning +### Minimum Steps Per Segment +```cpp +#define MIN_STEPS_PER_SEGMENT 6 +``` +Moves (or segments) with fewer steps than this will be joined with the next move. + +### Minimum Stepper Delay +```cpp +//#define MINIMUM_STEPPER_POST_DIR_DELAY 650 +//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650 +``` +Minimum delay before and after setting the stepper DIR (in ns). See `Configuration_adv.h` for more details. + +### Minimum Stepper Pulse +```cpp +#define MINIMUM_STEPPER_PULSE 2 // (µs) The smallest stepper pulse allowed +``` +The minimum pulse width (in µs) for stepping a stepper. Set this if you find stepping unreliable, or if using a very fast CPU. + +### Maximum Stepper Rate +```cpp +//#define MAXIMUM_STEPPER_RATE 250000 +``` +Maximum stepping rate (in Hz) the stepper driver allows. If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE). See `Configuration_adv.h` for more details. + +## Parallel Heaters +```cpp +//#define HEATERS_PARALLEL +``` +Control heater 0 and heater 1 in parallel. + +## Buffer / Hosts +### Block Buffer +```cpp +#if ENABLED(SDSUPPORT) + #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller +#else + #define BLOCK_BUFFER_SIZE 16 // maximize block buffer +#endif +``` +The number of linear motions that can be in the plan at any give time. The `BLOCK_BUFFER_SIZE` must be a power of 2, (8, 16, 32, etc.) because shifts and ors are used to do the ring-buffering. + +### Serial Command Buffer +```cpp +#define MAX_CMD_SIZE 96 +#define BUFSIZE 4 +``` +The ASCII buffer for serial input. Individual command line length is set by `MAX_CMD_SIZE`, and should be long enough to hold a complete G-code line. Set the number of lines with `BUFSIZE`. + +### Transmit to Host Buffer +```cpp +#define TX_BUFFER_SIZE 0 +``` +Transmission to Host buffer size. To save 386 bytes of PROGMEM (and `TX_BUFFER_SIZE`+3 bytes of SRAM) set to 0. To buffer a simple "ok" you need 4 bytes. An `ADVANCED_OK` ([`M105`](/docs/gcode/M105.html)) needs 32 bytes. For debug-echo: 128 bytes for the optimal speed. Other output doesn't need to be that speedy. + +### Host Receive Buffer +```cpp +//#define RX_BUFFER_SIZE 1024 +#if RX_BUFFER_SIZE >= 1024 + //#define SERIAL_XON_XOFF +#endif +``` +Host Receive buffer size. Without XON/XOFF flow control (see `SERIAL_XON_XOFF` below) 32 bytes should be enough. To use flow control, set this buffer size to at least 1024 bytes. + +### SD Transfer Stats +```cpp +#if ENABLED(SDSUPPORT) + //#define SERIAL_STATS_MAX_RX_QUEUED + //#define SERIAL_STATS_DROPPED_RX +#endif +``` + +### Emergency Parser +```cpp +//#define EMERGENCY_PARSER +``` +Enable an emergency-command parser to intercept certain commands as they enter the serial receive buffer, so they cannot be blocked. Currently handles [`M108`](/docs/gcode/M108.html), [`M112`](/docs/gcode/M112.html), and [`M410`](/docs/gcode/M410.html). Does not work on boards using AT90USB (USBCON) processors! + +### No Timeouts +```cpp +//#define NO_TIMEOUTS 1000 // (ms) +``` +Bad serial connections can miss a received command by sending an "ok", and some hosts will abort after 30 seconds. Some hosts start sending commands while receiving a 'wait'. This "wait" is only sent when the buffer is empty. 1 second is a good value here. The `HOST_KEEPALIVE` feature provides another way to keep the host alive. + +### Advanced OK +```cpp +//#define ADVANCED_OK +``` +Include extra information about the buffer in "ok" messages. Some hosts will have this feature soon. This could make the `NO_TIMEOUTS` unnecessary. + +### Serial Overrun Protection +```cpp +#define SERIAL_OVERRUN_PROTECTION +``` +Printrun may have trouble receiving long strings all at once. This option inserts short delays between lines of serial output. + +### Serial Float Precision +```cpp +//#define SERIAL_FLOAT_PRECISION 4 +``` +For serial echo, the number of digits after the decimal point + +### Proportional Font Ratio +```cpp +#define PROPORTIONAL_FONT_RATIO 1.0 +``` +Some hosts use a proportional font in their output console. This makes it hard to read output from Marlin that relies on fixed-width for alignment. This option tells Marlin how many spaces are required to fill up a typical character space in the host font. For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0. Otherwise, adjust according to your host. + +## Extra Fan Speed +```cpp +//#define EXTRA_FAN_SPEED +``` +Add a secondary fan speed for each print-cooling fan. [`M106`](/docs/gcode/M106.html) +- `M106 P[fan] T3-255` sets a secondary speed for [fan]. +- `M106 P[fan] T2` uses the set secondary speed. +- `M106 P[fan] T1` restores the previous fan speed + +## Firmware Retraction +```cpp +//#define FWRETRACT +#if ENABLED(FWRETRACT) + #define FWRETRACT_AUTORETRACT // Override slicer retractions + #if ENABLED(FWRETRACT_AUTORETRACT) + #define MIN_AUTORETRACT 0.1 // (mm) Don't convert E moves under this length + #define MAX_AUTORETRACT 10.0 // (mm) Don't convert E moves over this length + #endif + #define RETRACT_LENGTH 3 // (mm) Default retract length (positive value) + #define RETRACT_LENGTH_SWAP 13 // (mm) Default swap retract length (positive value) + #define RETRACT_FEEDRATE 45 // (mm/s) Default feedrate for retracting + #define RETRACT_ZRAISE 0 // (mm) Default retract Z-raise + #define RETRACT_RECOVER_LENGTH 0 // (mm) Default additional recover length (added to retract length on recover) + #define RETRACT_RECOVER_LENGTH_SWAP 0 // (mm) Default additional swap recover length (added to retract length on recover from toolchange) + #define RETRACT_RECOVER_FEEDRATE 8 // (mm/s) Default feedrate for recovering from retraction + #define RETRACT_RECOVER_FEEDRATE_SWAP 8 // (mm/s) Default feedrate for recovering from swap retraction + #if ENABLED(MIXING_EXTRUDER) + //#define RETRACT_SYNC_MIXING // Retract and restore all mixing steppers simultaneously + #endif +#endif +``` +This option adds [`G10`](/docs/gcode/G010.html)/[`G11`](/docs/gcode/G011.html) commands for automatic firmware-based retract/recover. Use [`M207`](/docs/gcode/M207.html) and [`M208`](/docs/gcode/G038.html) to set the parameters, and [`M209`](/docs/gcode/M209.html) to enable/disable. With auto-retract enabled, all `G1 E` moves within the set range will be converted to firmware-based retract/recover moves. + +**Be sure to turn off auto-retract during filament change!** All [`M207`](/docs/gcode/M207.html)/[`M208`](/docs/gcode/M208.html)/[`M209`](/docs/gcode/M209.html) settings are saved to EEPROM. + +### Universal Tool Change Settings +```cpp +#if EXTRUDERS > 1 + #define TOOLCHANGE_ZRAISE 2 // (mm) + //#define TOOLCHANGE_NO_RETURN // Never return to the previous position on tool-change + #if ENABLED(TOOLCHANGE_NO_RETURN) + //#define EVENT_GCODE_AFTER_TOOLCHANGE "G12X" // G-code to run after tool-change is complete + #endif + //#define TOOLCHANGE_FILAMENT_SWAP + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + #define TOOLCHANGE_FIL_SWAP_LENGTH 12 // (mm) + #define TOOLCHANGE_FIL_EXTRA_PRIME 2 // (mm) + #define TOOLCHANGE_FIL_SWAP_RETRACT_SPEED 3600 // (mm/m) + #define TOOLCHANGE_FIL_SWAP_PRIME_SPEED 3600 // (mm/m) + #endif + //#define TOOLCHANGE_PARK + #if ENABLED(TOOLCHANGE_PARK) + #define TOOLCHANGE_PARK_XY { X_MIN_POS + 10, Y_MIN_POS + 10 } + #define TOOLCHANGE_PARK_XY_FEEDRATE 6000 // (mm/m) + #endif +#endif +``` + +## Advanced Pause +```cpp +//#define ADVANCED_PAUSE_FEATURE +#if ENABLED(ADVANCED_PAUSE_FEATURE) + #define PAUSE_PARK_RETRACT_FEEDRATE 60 // (mm/s) Initial retract feedrate. + #define PAUSE_PARK_RETRACT_LENGTH 2 // (mm) Initial retract. + // This short retract is done immediately, before parking the nozzle. + #define FILAMENT_CHANGE_UNLOAD_FEEDRATE 10 // (mm/s) Unload filament feedrate. This can be pretty fast. + #define FILAMENT_CHANGE_UNLOAD_ACCEL 25 // (mm/s^2) Lower acceleration may allow a faster feedrate. + #define FILAMENT_CHANGE_UNLOAD_LENGTH 100 // (mm) The length of filament for a complete unload. + // For Bowden, the full length of the tube and nozzle. + // For direct drive, the full length of the nozzle. + // Set to 0 for manual unloading. + #define FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE 6 // (mm/s) Slow move when starting load. + #define FILAMENT_CHANGE_SLOW_LOAD_LENGTH 0 // (mm) Slow length, to allow time to insert material. + // 0 to disable start loading and skip to fast load only + #define FILAMENT_CHANGE_FAST_LOAD_FEEDRATE 6 // (mm/s) Load filament feedrate. This can be pretty fast. + #define FILAMENT_CHANGE_FAST_LOAD_ACCEL 25 // (mm/s^2) Lower acceleration may allow a faster feedrate. + #define FILAMENT_CHANGE_FAST_LOAD_LENGTH 0 // (mm) Load length of filament, from extruder gear to nozzle. + // For Bowden, the full length of the tube and nozzle. + // For direct drive, the full length of the nozzle. + //#define ADVANCED_PAUSE_CONTINUOUS_PURGE // Purge continuously up to the purge length until interrupted. + #define ADVANCED_PAUSE_PURGE_FEEDRATE 3 // (mm/s) Extrude feedrate (after loading). Should be slower than load feedrate. + #define ADVANCED_PAUSE_PURGE_LENGTH 50 // (mm) Length to extrude after loading. + // Set to 0 for manual extrusion. + // Filament can be extruded repeatedly from the Filament Change menu + // until extrusion is consistent, and to purge old filament. + #define ADVANCED_PAUSE_RESUME_PRIME 0 // (mm) Extra distance to prime nozzle after returning from park. + //#define ADVANCED_PAUSE_FANS_PAUSE // Turn off print-cooling fans while the machine is paused. + + // Filament Unload does a Retract, Delay, and Purge first: + #define FILAMENT_UNLOAD_PURGE_RETRACT 13 // (mm) Unload initial retract length. + #define FILAMENT_UNLOAD_PURGE_DELAY 5000 // (ms) Delay for the filament to cool after retract. + #define FILAMENT_UNLOAD_PURGE_LENGTH 8 // (mm) An unretract is done, then this length is purged. + #define FILAMENT_UNLOAD_PURGE_FEEDRATE 25 // (mm/s) feedrate to purge before unload + + #define PAUSE_PARK_NOZZLE_TIMEOUT 45 // (seconds) Time limit before the nozzle is turned off for safety. + #define FILAMENT_CHANGE_ALERT_BEEPS 10 // Number of alert beeps to play when a response is needed. + #define PAUSE_PARK_NO_STEPPER_TIMEOUT // Enable for XYZ steppers to stay powered on during filament change. + + //#define PARK_HEAD_ON_PAUSE // Park the nozzle during pause and filament change. + //#define HOME_BEFORE_FILAMENT_CHANGE // Ensure homing has been completed prior to parking for filament change + + //#define FILAMENT_LOAD_UNLOAD_GCODES // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu. + //#define FILAMENT_UNLOAD_ALL_EXTRUDERS // Allow M702 to unload all extruders above a minimum target temp (as set by M302) +#endif +``` +Experimental feature for filament change support and parking the nozzle when paused. Adds the [`M600`](/docs/gcode/M600.html) command to perform a filament change. With `PARK_HEAD_ON_PAUSE` enabled also adds the [`M125`](/docs/gcode/M125.html) command to pause printing and park the nozzle. Requires an LCD display. Note that [`M600`](/docs/gcode/M600.html) is required for the default `FILAMENT_RUNOUT_SCRIPT`. Requires LCD display and `NOZZLE_PARK_FEATURE`. + +## Stepper Drivers +### Trinamic TMC26X +```cpp +#if HAS_DRIVER(TMC26X) + + #if AXIS_DRIVER_TYPE_X(TMC26X) + #define X_MAX_CURRENT 1000 // (mA) + #define X_SENSE_RESISTOR 91 // (mOhms) + #define X_MICROSTEPS 16 // Number of microsteps + #endif + + #if AXIS_DRIVER_TYPE_X2(TMC26X) + #define X2_MAX_CURRENT 1000 + #define X2_SENSE_RESISTOR 91 + #define X2_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_Y(TMC26X) + #define Y_MAX_CURRENT 1000 + #define Y_SENSE_RESISTOR 91 + #define Y_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_Y2(TMC26X) + #define Y2_MAX_CURRENT 1000 + #define Y2_SENSE_RESISTOR 91 + #define Y2_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_Z(TMC26X) + #define Z_MAX_CURRENT 1000 + #define Z_SENSE_RESISTOR 91 + #define Z_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_Z2(TMC26X) + #define Z2_MAX_CURRENT 1000 + #define Z2_SENSE_RESISTOR 91 + #define Z2_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_Z3(TMC26X) + #define Z3_MAX_CURRENT 1000 + #define Z3_SENSE_RESISTOR 91 + #define Z3_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_Z4(TMC26X) + #define Z4_MAX_CURRENT 1000 + #define Z4_SENSE_RESISTOR 91 + #define Z4_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E0(TMC26X) + #define E0_MAX_CURRENT 1000 + #define E0_SENSE_RESISTOR 91 + #define E0_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E1(TMC26X) + #define E1_MAX_CURRENT 1000 + #define E1_SENSE_RESISTOR 91 + #define E1_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E2(TMC26X) + #define E2_MAX_CURRENT 1000 + #define E2_SENSE_RESISTOR 91 + #define E2_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E3(TMC26X) + #define E3_MAX_CURRENT 1000 + #define E3_SENSE_RESISTOR 91 + #define E3_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E4(TMC26X) + #define E4_MAX_CURRENT 1000 + #define E4_SENSE_RESISTOR 91 + #define E4_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E5(TMC26X) + #define E5_MAX_CURRENT 1000 + #define E5_SENSE_RESISTOR 91 + #define E5_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E6(TMC26X) + #define E6_MAX_CURRENT 1000 + #define E6_SENSE_RESISTOR 91 + #define E6_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_E7(TMC26X) + #define E7_MAX_CURRENT 1000 + #define E7_SENSE_RESISTOR 91 + #define E7_MICROSTEPS 16 + #endif + +#endif +``` +You'll need to import the [TMC26XStepper](//github.com/trinamic/TMC26XStepper.git) library into the Arduino IDE. See `Configuration_adv.h` for the full set of sub-options. + +### Trinamic Configuration +```cpp +#if HAS_TRINAMIC_CONFIG + + #define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current + #define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256 + + #if AXIS_IS_TMC(X) + #define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current. + #define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing + #define X_MICROSTEPS 16 // 0..256 + #define X_RSENSE 0.11 + #define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ... + #endif + + #if AXIS_IS_TMC(X2) + #define X2_CURRENT 800 + #define X2_CURRENT_HOME X2_CURRENT + #define X2_MICROSTEPS 16 + #define X2_RSENSE 0.11 + #define X2_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(Y) + #define Y_CURRENT 800 + #define Y_CURRENT_HOME Y_CURRENT + #define Y_MICROSTEPS 16 + #define Y_RSENSE 0.11 + #define Y_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(Y2) + #define Y2_CURRENT 800 + #define Y2_CURRENT_HOME Y2_CURRENT + #define Y2_MICROSTEPS 16 + #define Y2_RSENSE 0.11 + #define Y2_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(Z) + #define Z_CURRENT 800 + #define Z_CURRENT_HOME Z_CURRENT + #define Z_MICROSTEPS 16 + #define Z_RSENSE 0.11 + #define Z_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(Z2) + #define Z2_CURRENT 800 + #define Z2_CURRENT_HOME Z2_CURRENT + #define Z2_MICROSTEPS 16 + #define Z2_RSENSE 0.11 + #define Z2_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(Z3) + #define Z3_CURRENT 800 + #define Z3_CURRENT_HOME Z3_CURRENT + #define Z3_MICROSTEPS 16 + #define Z3_RSENSE 0.11 + #define Z3_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(Z4) + #define Z4_CURRENT 800 + #define Z4_CURRENT_HOME Z4_CURRENT + #define Z4_MICROSTEPS 16 + #define Z4_RSENSE 0.11 + #define Z4_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E0) + #define E0_CURRENT 800 + #define E0_MICROSTEPS 16 + #define E0_RSENSE 0.11 + #define E0_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E1) + #define E1_CURRENT 800 + #define E1_MICROSTEPS 16 + #define E1_RSENSE 0.11 + #define E1_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E2) + #define E2_CURRENT 800 + #define E2_MICROSTEPS 16 + #define E2_RSENSE 0.11 + #define E2_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E3) + #define E3_CURRENT 800 + #define E3_MICROSTEPS 16 + #define E3_RSENSE 0.11 + #define E3_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E4) + #define E4_CURRENT 800 + #define E4_MICROSTEPS 16 + #define E4_RSENSE 0.11 + #define E4_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E5) + #define E5_CURRENT 800 + #define E5_MICROSTEPS 16 + #define E5_RSENSE 0.11 + #define E5_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E6) + #define E6_CURRENT 800 + #define E6_MICROSTEPS 16 + #define E6_RSENSE 0.11 + #define E6_CHAIN_POS -1 + #endif + + #if AXIS_IS_TMC(E7) + #define E7_CURRENT 800 + #define E7_MICROSTEPS 16 + #define E7_RSENSE 0.11 + #define E7_CHAIN_POS -1 + #endif +``` +You'll need the [TMC2130Stepper](//github.com/teemuatlut/TMC2130Stepper) Arduino library. See `Configuration_adv.h` for the full set of sub-options. + +To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to the hardware SPI interface on your board and define the required CS pins in your `pins_MYBOARD.h` file. (_e.g.,_ RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.). + +### L6470 Drivers +```cpp +#if HAS_L64XX + //#define L6470_CHITCHAT // Display additional status info + #if AXIS_IS_L64XX(X) + #define X_MICROSTEPS 128 // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16 + #define X_OVERCURRENT 2000 // (mA) Current where the driver detects an over current + // L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down + // POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down + #define X_STALLCURRENT 1500 // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) - 4A max - rounds down) + // L6470 & L6474 - VALID: 31.25 * (1-128) - 4A max - rounds down + // POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down + // L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current + #define X_MAX_VOLTAGE 127 // 0-255, Maximum effective voltage seen by stepper - not used by L6474 + #define X_CHAIN_POS -1 // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI + #define X_SLEW_RATE 1 // 0-3, Slew 0 is slowest, 3 is fastest + #endif + ... +``` +You'll need to import the [L6470 library](//github.com/ameyer/Arduino-L6470) into the Arduino IDE for this. See `Configuration_adv.h` for the full set of sub-options. NOTE: Support for L6470 was removed from Marlin in version 2.1, but may be restored in a future version if there is some demand. + +## Experimental i2c Bus +```cpp +//#define EXPERIMENTAL_I2CBUS +#define I2C_SLAVE_ADDRESS 0 // Set a value from 8 to 127 to act as a slave +``` +This feature can be used to talk to slave devices on the i2c bus, passing data back to the host. With additional work the `TWIBus` class can be used to build a full protocol and add remote control features to Marlin, distributing load over two or more boards. +``` +; Example #1 +; This macro sends the string "Marlin" to the slave device with address 0x63 (99) +; It uses multiple [`M260`](/docs/gcode/M260.html) commands with one B[base 10] arg +[`M260`](/docs/gcode/M260.html) A99 ; Target slave address +M260 B77 ; M +M260 B97 ; a +M260 B114 ; r +M260 B108 ; l +M260 B105 ; i +M260 B110 ; n +M260 S1 ; Send the current buffer + +; Example #2 +; Request 6 bytes from slave device with address 0x63 (99) +[`M261`](/docs/gcode/M261.html) A99 B5 + +; Example #3 +; Example serial output of a M261 request +echo:i2c-reply: from:99 bytes:5 data:hello +``` +## Photo G-code +```cpp +//#define PHOTO_GCODE +#if ENABLED(PHOTO_GCODE) + //#define PHOTO_POSITION { X_MAX_POS - 5, Y_MAX_POS, 0 } // { xpos, ypos, zraise } (M240 X Y Z) + //#define PHOTO_DELAY_MS 100 + //#define PHOTO_RETRACT_MM 6.5 + //#define PHOTOGRAPH_PIN 23 + //#define CHDK_PIN 4 + //#define PHOTO_SWITCH_POSITION { X_MAX_POS, Y_MAX_POS } + //#define PHOTO_SWITCH_MS 50 // (ms) (M240 D) + //#define PHOTO_PULSES_US { 2000, 27850, 400, 1580, 400, 3580, 400 } // (µs) Durations for each 48.4kHz oscillation + #ifdef PHOTO_PULSES_US + #define PHOTO_PULSE_DELAY_US 13 // (µs) Approximate duration of each HIGH and LOW pulse in the oscillation + #endif +#endif +``` +Add the [`M240`](/docs/gcode/M240.html) to take a photo. The photo can be triggered by a digital pin or a physical movement. + +## Spindle / Laser +```cpp +//#define SPINDLE_FEATURE +//#define LASER_FEATURE +#if EITHER(SPINDLE_FEATURE, LASER_FEATURE) + #define SPINDLE_LASER_ACTIVE_STATE LOW // Set to "HIGH" if SPINDLE_LASER_ENA_PIN is active HIGH + + #define SPINDLE_LASER_USE_PWM // Enable if your controller supports setting the speed/power + #if ENABLED(SPINDLE_LASER_USE_PWM) + #define SPINDLE_LASER_PWM_INVERT false // Set to "true" if the speed/power goes up when you want it to go slower + #define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC) + #endif + + //#define AIR_EVACUATION // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11 + #if ENABLED(AIR_EVACUATION) + #define AIR_EVACUATION_ACTIVE LOW // Set to "HIGH" if the on/off function is active HIGH + //#define AIR_EVACUATION_PIN 42 // Override the default Cutter Vacuum or Laser Blower pin + #endif + + //#define AIR_ASSIST // Air Assist control with G-codes M8-M9 + #if ENABLED(AIR_ASSIST) + #define AIR_ASSIST_ACTIVE LOW // Active state on air assist pin + //#define AIR_ASSIST_PIN 44 // Override the default Air Assist pin + #endif + + //#define SPINDLE_SERVO // A servo converting an angle to spindle power + #ifdef SPINDLE_SERVO + #define SPINDLE_SERVO_NR 0 // Index of servo used for spindle control + #define SPINDLE_SERVO_MIN 10 // Minimum angle for servo spindle + #endif + + /** + * Speed / Power can be set ('M3 S') and displayed in terms of: + * - PWM255 (S0 - S255) + * - PERCENT (S0 - S100) + * - RPM (S0 - S50000) Best for use with a spindle + * - SERVO (S0 - S180) + */ + #define CUTTER_POWER_UNIT PWM255 + + /** + * Relative Cutter Power + * OCR power is relative to the range SPEED_POWER_MIN...SPEED_POWER_MAX. + * so input powers of 0...255 correspond to SPEED_POWER_MIN...SPEED_POWER_MAX + * instead of normal range (0 to SPEED_POWER_MAX). + * Best used with (e.g.) SuperPID router controller: S0 = 5,000 RPM and S255 = 30,000 RPM + */ + //#define CUTTER_POWER_RELATIVE // Set speed proportional to [SPEED_POWER_MIN...SPEED_POWER_MAX] + + #if ENABLED(SPINDLE_FEATURE) + //#define SPINDLE_CHANGE_DIR // Enable if your spindle controller can change spindle direction + #define SPINDLE_CHANGE_DIR_STOP // Enable if the spindle should stop before changing spin direction + #define SPINDLE_INVERT_DIR false // Set to "true" if the spin direction is reversed + + #define SPINDLE_LASER_POWERUP_DELAY 5000 // (ms) Delay to allow the spindle/laser to come up to speed/power + #define SPINDLE_LASER_POWERDOWN_DELAY 5000 // (ms) Delay to allow the spindle to stop + + /** + * M3/M4 Power Equation + * + * Each tool uses different value ranges for speed / power control. + * These parameters are used to convert between tool power units and PWM. + * + * Speed/Power = (PWMDC / 255 * 100 - SPEED_POWER_INTERCEPT) / SPEED_POWER_SLOPE + * PWMDC = (spdpwr - SPEED_POWER_MIN) / (SPEED_POWER_MAX - SPEED_POWER_MIN) / SPEED_POWER_SLOPE + */ + #if ENABLED(SPINDLE_LASER_USE_PWM) + #define SPEED_POWER_MIN 5000 // (RPM) + #define SPEED_POWER_MAX 30000 // (RPM) SuperPID router controller 0 - 30,000 RPM + #define SPEED_POWER_STARTUP 25000 // (RPM) M3/M4 speed/power default (with no arguments) + #endif + + #else + + #if ENABLED(SPINDLE_LASER_USE_PWM) + #define SPEED_POWER_MIN 0 // (%) 0-100 + #define SPEED_POWER_MAX 100 // (%) 0-100 + #define SPEED_POWER_STARTUP 80 // (%) M3/M4 speed/power default (with no arguments) + #endif + + // Define the minimum and maximum test pulse time values for a laser test fire function + #define LASER_TEST_PULSE_MIN 1 // (ms) Used with Laser Control Menu + #define LASER_TEST_PULSE_MAX 999 // (ms) Caution: Menu may not show more than 3 characters + + #define SPINDLE_LASER_POWERUP_DELAY 50 // (ms) Delay to allow the spindle/laser to come up to speed/power + #define SPINDLE_LASER_POWERDOWN_DELAY 50 // (ms) Delay to allow the spindle to stop + + /** + * Any M3 or G1/2/3/5 command with the 'I' parameter enables continuous inline power mode. + * + * e.g., 'M3 I' enables continuous inline power which is processed by the planner. + * Power is stored in move blocks and applied when blocks are processed by the Stepper ISR. + * + * 'M4 I' sets dynamic mode which uses the current feedrate to calculate a laser power OCR value. + * + * Any move in dynamic mode will use the current feed rate to calculate the laser power. + * Feed rates are set by the F parameter of a move command e.g. G1 X0 Y10 F6000 + * Laser power would be calculated by bit shifting off 8 LSB's. In binary this is div 256. + * The calculation gives us ocr values from 0 to 255, values over F65535 will be set as 255 . + * More refined power control such as compesation for accell/decell will be addressed in future releases. + * + * M5 I clears inline mode and set power to 0, M5 sets the power output to 0 but leaves inline mode on. + */ + + + /** + * Enable M3 commands for laser mode inline power planner syncing. + * This feature enables any M3 S-value to be injected into the block buffers while in + * CUTTER_MODE_CONTINUOUS. The option allows M3 laser power to be commited without waiting + * for a planner syncronization + */ + //#define LASER_POWER_SYNC + + /** + * Scale the laser's power in proportion to the movement rate. + * + * - Sets the entry power proportional to the entry speed over the nominal speed. + * - Ramps the power up every N steps to approximate the speed trapezoid. + * - Due to the limited power resolution this is only approximate. + */ + //#define LASER_POWER_TRAP + + + + // + // Laser I2C Ammeter (High precision INA226 low/high side module) + // + //#define I2C_AMMETER + #if ENABLED(I2C_AMMETER) + #define I2C_AMMETER_IMAX 0.1 // (Amps) Calibration value for the expected current range + #define I2C_AMMETER_SHUNT_RESISTOR 0.1 // (Ohms) Calibration shunt resistor value + #endif + + #endif +#endif // SPINDLE_FEATURE || LASER_FEATURE + +/** + * Synchronous Laser Control with M106/M107 + * + * Marlin normally applies M106/M107 fan speeds at a time "soon after" processing + * a planner block. This is too inaccurate for a PWM/TTL laser attached to the fan + * header (as with some add-on laser kits). Enable this option to set fan/laser + * speeds with much more exact timing for improved print fidelity. + * + * NOTE: This option sacrifices some cooling fan speed options. + */ +//#define LASER_SYNCHRONOUS_M106_M107 + +/** + * Coolant Control + * + * Add the M7, M8, and M9 commands to turn mist or flood coolant on and off. + * + * Note: COOLANT_MIST_PIN and/or COOLANT_FLOOD_PIN must also be defined. + */ +//#define COOLANT_CONTROL +#if ENABLED(COOLANT_CONTROL) + #define COOLANT_MIST // Enable if mist coolant is present + #define COOLANT_FLOOD // Enable if flood coolant is present + #define COOLANT_MIST_INVERT false // Set "true" if the on/off function is reversed + #define COOLANT_FLOOD_INVERT false // Set "true" if the on/off function is reversed +#endif +``` + +Enable for Spindle and Laser control. Adds the [`M3`](/docs/gcode/M003.html), [`M4`](/docs/gcode/M004.html), and [`M5`](/docs/gcode/M005.html) commands to turn the spindle/laser on and off, and to set spindle speed, spindle direction, and laser power. + +SuperPid is a router/spindle speed controller used in the CNC milling community. Marlin can be used to turn the spindle on and off. It can also be used to set the spindle speed from 5,000 to 30,000 RPM. + +You'll need to select a pin for the ON/OFF function and optionally choose a 0-5V hardware PWM pin for the speed control and a pin for the rotation direction. + +See [Laser and Spindle (1.1.x)](/docs/configuration/1.1/laser_spindle.html) or [Laser and Spindle (2.0.9.x)](/docs/configuration/2.0.9/laser_spindle.html) and `Configuration_adv.h` for more details. + +## Filament Width Sensor + + +```cpp +//#define FILAMENT_WIDTH_SENSOR +``` +Enable to add support for a filament width sensor such as [Filament Width Sensor Prototype Version 3](//www.thingiverse.com/thing:454584). With a filament sensor installed, Marlin can adjust the flow rate according to the measured filament width. Adjust the sub-options below according to your setup. + +Only a single extruder is supported at this time. + +```cpp +#define FILAMENT_SENSOR_EXTRUDER_NUM 0 +``` +Only one extruder can have a filament sensor. Specify here which extruder has it. + +```cpp +#define MEASUREMENT_DELAY_CM 14 +``` +Distance from the filament width sensor to the melt chamber. + +```cpp +#define MEASURED_UPPER_LIMIT 3.30 // (mm) Upper limit used to validate sensor reading +#define MEASURED_LOWER_LIMIT 1.90 // (mm) Lower limit used to validate sensor reading +``` +The range of your filament width. Set these according to your filament preferences. The sample values here apply to 3mm. For 1.75mm you'll use a range more like 1.60 to 1.90. + +```cpp +#define MAX_MEASUREMENT_DELAY 20 +``` +This defines the size of the buffer to allocate for use with `MEASUREMENT_DELAY_CM`. The value must be greater than or equal to `MEASUREMENT_DELAY_CM`. Keep this setting low to reduce RAM usage. + +```cpp +#define FILAMENT_LCD_DISPLAY +``` +Periodically display a message on the LCD showing the measured filament diameter. + +## CNC Coordinate Systems +```cpp +//#define CNC_COORDINATE_SYSTEMS +``` +Enables [`G53`](/docs/gcode/G053.html) and [`G54`-`G59.3`](/docs/gcode/G054-G059.html) commands to select coordinate systems, plus [`G92.1`](/docs/gcode/G010.html) to reset the current workspace to native machine space. Workspaces set with this feature are also saved to EEPROM. + +## Auto-Report +### Fans Auto-Report +```cpp +//#define AUTO_REPORT_FANS +``` +Auto-report fan speed with M123 S. Requires fans with tachometer pins. + +### Temperature Auto-Report +```cpp +#define AUTO_REPORT_TEMPERATURES +``` +It is recommended to enable this feature (along with `EXTENDED_CAPABILITIES_REPORT`) to install the [`M155`](/docs/gcode/M115.html) Auto-Report Temperature command. [`M115`](/docs/gcode/M115.html) tells Marlin to send the current temperature to the host at regular intervals, instead of requiring the host software to send [`M105`](/docs/gcode/M105.html) repeatedly. This saves a space in the command buffer and reduces overhead. + +### Position Auto-Report +```cpp +//#define AUTO_REPORT_POSITION +``` +Auto-report position with `M154 S`. + +## Extended Capabilities Report +```cpp +#define EXTENDED_CAPABILITIES_REPORT +``` +This option adds a list of capabilities to the output of [`M115`](/docs/gcode/M115.html), allowing savvy host software to take advantage of add-ons like `AUTO_REPORT_TEMPERATURES`. + +## Volumetric Mode Default +```cpp +//#define VOLUMETRIC_DEFAULT_ON +``` +Activate this option to make volumetric extrusion the default method The last values loaded or set by [`M404 W`](/docs/gcode/M400.html) and [`M200 D`](/docs/gcode/M200.html) will be used as the Nominal and Actual filament diameters. With this option, [`M200 D0`](/docs/gcode/M200.html) must be used to disable volumetric mode when running length-based G-code. + +## No Workspace Offsets +```cpp +//#define NO_WORKSPACE_OFFSETS +``` +Enable this option for a leaner build of Marlin that removes all workspace offsets. This simplifies all coordinate transformations, leveling, etc., and may allow for slightly faster printing. With this option, [`M206`](/docs/gcode/M206.html) and [`M428`](/docs/gcode/M428.html) are disabled, and [`G92`](/docs/gcode/G092.html) reverts to its old behavior, as it is in Marlin 1.0. + +## G-code Parser +### Faster G-code Parser +```cpp +#define FASTER_GCODE_PARSER +``` +This option uses a 28 byte SRAM buffer and an alternative method to get parameter values so the G-code parser can run a little faster. If possible, always leave this option enabled. + +### G-code Case Insensitive +```cpp +//#define GCODE_CASE_INSENSITIVE +``` +Accept G-code sent to the firmware in lowercase. + +### CNC G-code Options +```cpp +//#define PAREN_COMMENTS // Support for parentheses-delimited comments +//#define GCODE_MOTION_MODES // Remember the motion mode (G0 G1 G2 G3 G5 G38.X) and apply for X Y Z E F, etc. +``` +Support CNC-style G-code dialects used by laser cutters, drawing machine cams, etc. + +### Default G0 Feedrate +```cpp +//#define G0_FEEDRATE 3000 // (mm/m) +#ifdef G0_FEEDRATE + //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode +#endif +``` +Enable and set a (default) feedrate for all G0 moves. + +### Startup Commands +```cpp +//#define STARTUP_COMMANDS "M17 Z" +``` +Execute specified G-code commands immediately after power-on. + +### G-code Macros +```cpp +//#define GCODE_MACROS +#if ENABLED(GCODE_MACROS) + #define GCODE_MACROS_SLOTS 5 // Up to 10 may be used + #define GCODE_MACROS_SLOT_SIZE 50 // Maximum length of a single macro +#endif +``` + +## Custom User Menu Items +User-defined menu items to run custom G-code. Up to 25 may be defined, but the actual number is LCD-dependent. + +```cpp +// Custom Menu: Main Menu +//#define CUSTOM_MENU_MAIN +#if ENABLED(CUSTOM_MENU_MAIN) + //#define CUSTOM_MENU_MAIN_TITLE "Custom Commands" + #define CUSTOM_MENU_MAIN_SCRIPT_DONE "M117 User Script Done" + #define CUSTOM_MENU_MAIN_SCRIPT_AUDIBLE_FEEDBACK + //#define CUSTOM_MENU_MAIN_SCRIPT_RETURN // Return to status screen after a script + #define CUSTOM_MENU_MAIN_ONLY_IDLE // Only show custom menu when the machine is idle + + #define MAIN_MENU_ITEM_1_DESC "Home & UBL Info" + #define MAIN_MENU_ITEM_1_GCODE "G28\nG29 W" + //#define MAIN_MENU_ITEM_1_CONFIRM // Show a confirmation dialog before this action + + // . . . +#endif + +// Custom Menu: Configuration Menu +//#define CUSTOM_MENU_CONFIG +#if ENABLED(CUSTOM_MENU_CONFIG) + //#define CUSTOM_MENU_CONFIG_TITLE "Custom Commands" + #define CUSTOM_MENU_CONFIG_SCRIPT_DONE "M117 Wireless Script Done" + #define CUSTOM_MENU_CONFIG_SCRIPT_AUDIBLE_FEEDBACK + //#define CUSTOM_MENU_CONFIG_SCRIPT_RETURN // Return to status screen after a script + #define CUSTOM_MENU_CONFIG_ONLY_IDLE // Only show custom menu when the machine is idle + + #define CONFIG_MENU_ITEM_1_DESC "Wifi ON" + #define CONFIG_MENU_ITEM_1_GCODE "M118 [ESP110] WIFI-STA pwd=12345678" + //#define CONFIG_MENU_ITEM_1_CONFIRM // Show a confirmation dialog before this action + + // . . . +#endif +``` + +## Custom User Menu Buttons +User-defined buttons to run custom G-code. Up to 25 may be defined. + +```cpp +//#define CUSTOM_USER_BUTTONS +#if ENABLED(CUSTOM_USER_BUTTONS) + //#define BUTTON1_PIN -1 + #if PIN_EXISTS(BUTTON1) + #define BUTTON1_HIT_STATE LOW // State of the triggered button. NC=LOW. NO=HIGH. + #define BUTTON1_WHEN_PRINTING false // Button allowed to trigger during printing? + #define BUTTON1_GCODE "G28" + #define BUTTON1_DESC "Homing" // Optional string to set the LCD status + #endif + + // . . . +#endif +``` + +## Host Action Commands +Define host streamer action commands in compliance with the standard. See [this article](//reprap.org/wiki/G-code#Action_commands){:target="_blank"} for a description of the standard. + +```cpp +//#define HOST_ACTION_COMMANDS +#if ENABLED(HOST_ACTION_COMMANDS) + //#define HOST_PAUSE_M76 // Tell the host to pause in response to M76 + //#define HOST_PROMPT_SUPPORT // Initiate host prompts to get user feedback + #if ENABLED(HOST_PROMPT_SUPPORT) + //#define HOST_STATUS_NOTIFICATIONS // Send some status messages to the host as notifications + #endif + //#define HOST_START_MENU_ITEM // Add a menu item that tells the host to start + //#define HOST_SHUTDOWN_MENU_ITEM // Add a menu item that tells the host to shut down +#endif +``` + +## Cancel Objects +```cpp +//#define CANCEL_OBJECTS +#if ENABLED(CANCEL_OBJECTS) + #define CANCEL_OBJECTS_REPORTING // Emit the current object as a status message +#endif +``` +Adds [`M486`](/docs/gcode/M486.html) to allow Marlin to skip objects. Based on a proposal by Paul Paukstelis. + +## I2C Position Encoders +```cpp +//#define I2C_POSITION_ENCODERS +#if ENABLED(I2C_POSITION_ENCODERS) + #define I2CPE_ENCODER_CNT 1 + #define I2CPE_ENC_1_ADDR I2CPE_PRESET_ADDR_X + #define I2CPE_ENC_1_AXIS X_AXIS + #define I2CPE_ENC_1_TYPE I2CPE_ENC_TYPE_LINEAR + #define I2CPE_ENC_1_TICKS_UNIT 2048 + //#define I2CPE_ENC_1_TICKS_REV (16 * 200) + //#define I2CPE_ENC_1_INVERT + #define I2CPE_ENC_1_EC_METHOD I2CPE_ECM_MICROSTEP + #define I2CPE_ENC_1_EC_THRESH 0.10 + #define I2CPE_ENC_2_ADDR I2CPE_PRESET_ADDR_Y + #define I2CPE_ENC_2_AXIS Y_AXIS + #define I2CPE_ENC_2_TYPE I2CPE_ENC_TYPE_LINEAR + #define I2CPE_ENC_2_TICKS_UNIT 2048 + //#define I2CPE_ENC_2_TICKS_REV (16 * 200) + //#define I2CPE_ENC_2_INVERT + #define I2CPE_ENC_2_EC_METHOD I2CPE_ECM_MICROSTEP + #define I2CPE_ENC_2_EC_THRESH 0.10 + #define I2CPE_ENC_3_ADDR I2CPE_PRESET_ADDR_Z + #define I2CPE_ENC_3_AXIS Z_AXIS + #define I2CPE_ENC_4_ADDR I2CPE_PRESET_ADDR_E + #define I2CPE_ENC_4_AXIS E_AXIS + #define I2CPE_ENC_5_ADDR 34 + #define I2CPE_ENC_5_AXIS E_AXIS + #define I2CPE_DEF_TYPE I2CPE_ENC_TYPE_LINEAR + #define I2CPE_DEF_ENC_TICKS_UNIT 2048 + #define I2CPE_DEF_TICKS_REV (16 * 200) + #define I2CPE_DEF_EC_METHOD I2CPE_ECM_NONE + #define I2CPE_DEF_EC_THRESH 0.1 + //#define I2CPE_ERR_THRESH_ABORT 100.0 + #define I2CPE_TIME_TRUSTED 10000 + #define I2CPE_MIN_UPD_TIME_MS 4 + #define I2CPE_ERR_ROLLING_AVERAGE +#endif // I2C_POSITION_ENCODERS +``` + +## Analog Joystick +```cpp +//#define JOYSTICK +#if ENABLED(JOYSTICK) + #define JOY_X_PIN 5 // RAMPS: Suggested pin A5 on AUX2 + #define JOY_Y_PIN 10 // RAMPS: Suggested pin A10 on AUX2 + #define JOY_Z_PIN 12 // RAMPS: Suggested pin A12 on AUX2 + #define JOY_EN_PIN 44 // RAMPS: Suggested pin D44 on AUX2 + //#define INVERT_JOY_X // Enable if X direction is reversed + //#define INVERT_JOY_Y // Enable if Y direction is reversed + //#define INVERT_JOY_Z // Enable if Z direction is reversed + // Use M119 with JOYSTICK_DEBUG to find reasonable values after connecting: + #define JOY_X_LIMITS { 5600, 8190-100, 8190+100, 10800 } // min, deadzone start, deadzone end, max + #define JOY_Y_LIMITS { 5600, 8250-100, 8250+100, 11000 } + #define JOY_Z_LIMITS { 4800, 8080-100, 8080+100, 11550 } +#endif +``` + +## MAX7219 Debug Matrix +```cpp +//#define MAX7219_DEBUG +#if ENABLED(MAX7219_DEBUG) + #define MAX7219_CLK_PIN 64 + #define MAX7219_DIN_PIN 57 + #define MAX7219_LOAD_PIN 44 + //#define MAX7219_GCODE // Add the M7219 G-code to control the LED matrix + #define MAX7219_INIT_TEST 2 // Test pattern at startup: 0=none, 1=sweep, 2=spiral + #define MAX7219_NUMBER_UNITS 1 // Number of Max7219 units in chain. + #define MAX7219_ROTATE 0 // Rotate the display clockwise (in multiples of +/- 90°) + // connector at: right=0 bottom=-90 top=90 left=180 + //#define MAX7219_REVERSE_ORDER // The individual LED matrix units may be in reversed order + //#define MAX7219_SIDE_BY_SIDE // Big chip+matrix boards can be chained side-by-side + #define MAX7219_DEBUG_PRINTER_ALIVE // Blink corner LED of 8x8 matrix to show that the firmware is functioning + #define MAX7219_DEBUG_PLANNER_HEAD 3 // Show the planner queue head position on this and the next LED matrix row + #define MAX7219_DEBUG_PLANNER_TAIL 5 // Show the planner queue tail position on this and the next LED matrix row + #define MAX7219_DEBUG_PLANNER_QUEUE 0 // Show the current planner queue depth on this and the next LED matrix row + // If you experience stuttering, reboots, etc. this option can reveal how + // tweaks made to the configuration are affecting the printer in real-time. +#endif +``` + +## NanoDLP Sync Support +```cpp +//#define NANODLP_Z_SYNC +#if ENABLED(NANODLP_Z_SYNC) + //#define NANODLP_ALL_AXIS // Enables "Z_move_comp" output on any axis move. + // Default behavior is limited to Z axis only. +#endif +``` + +## WiFi Support (Espressif ESP32 WiFi) +```cpp +//#define WIFISUPPORT // Marlin embedded WiFi management +//#define ESP3D_WIFISUPPORT // ESP3D Library WiFi management (https://github.com/luc-github/ESP3DLib) +#if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT) + //#define WEBSUPPORT // Start a web server (which may include auto-discovery) + //#define OTASUPPORT // Support over-the-air firmware updates + //#define WIFI_CUSTOM_COMMAND // Accept feature config commands (e.g., WiFi ESP3D) from the host + //#include "Configuration_Secure.h" // External file with WiFi SSID / Password +#endif +``` + +## Průša MMU2 advanced settings +```cpp +#if ENABLED(PRUSA_MMU2) + #define INTERNAL_SERIAL_PORT 2 + #define MMU2_SERIAL internalSerial + //#define MMU2_RST_PIN 23 + //#define MMU2_MODE_12V + ... +``` + +- A serial connection is required for communication between the printer board and the MMU2. The configuration differs between 8- and 32-bit boards. +- On a board with a ATmega2560/1280 micro-controller you have three potential serial ports to use for the MMU2: serial 1 (pins 18/19), serial 2 (pins 16/17), serial 3 (pins 14/15). Define the port your MMU2 is connected to - this activates an additional serial connection in Marlin named (in the example configuration) `internalSerial`. +- When using a 32-bit board you just have to define the name of the serial port which will be used for communication with the MMU2. +- The MMU2 provides two options how the printer board can trigger a reset: software and hardware reset. By default software reset is enabled. Hardware reset requires a digital output pin wired to the reset pin on the MMU2. To activate hardware reset you define the pin (`MMU2_RST_PIN`) to use on the printer board +- If your MMU2 is powered from 12V you can activate a special mode on the MMU2 (`MMU2_MODE_12V`). This should reduce the noise of the MMU2 but has no effect on the general operation. + +### Filament runout handling +Here you define the G-code script which will be executed when the so-called FINDA sensor on the MMU2 detects a filament runout. +```cpp +// G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout +#define MMU2_FILAMENT_RUNOUT_SCRIPT "M600" +``` +The default is [`M600`](/docs/gcode/M600.html) which requires [ADVANCED_PAUSE_FEATURE](#advanced_pause). + +### LCD Menu +```cpp +// Add MMU2 controls to the LCD menu +#define MMU2_MENUS +``` +Enable this option to activate an additional menu to operate the MMU2 from the LCD. + +### Filament load/unload settings +#### Load to nozzle +The MMU2 LCD menu allows you to load filament to the nozzle. The MMU2 will transport the filament all the way to the extruder gears. The required extruder steps to load it into the hotend have to be defined in Marlin. + +```cpp + // This is for Průša MK3-style extruders. Customize for your hardware. + #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \ + { 7.2, 562 }, \ + { 14.4, 871 }, \ + { 36.0, 1393 }, \ + { 14.4, 871 }, \ + { 50.0, 198 } + +``` +The values are relative E distances and feed rates in mm/m. The defaults are based on the nozzle to extruder gear distance of a Průša MK3 extruder, so if required you have to modify those to your extruder/hotend setup accordingly. + +#### Unload filament +To unload filament using the LCD menu a generic ramming sequence will be executed before the MMU2 will retract the filament. The steps to do so are defined using + +```cpp + #define MMU2_RAMMING_SEQUENCE \ + { 1.0, 1000 }, \ + { 1.0, 1500 }, \ + { 2.0, 2000 }, \ + { 1.5, 3000 }, \ + { 2.5, 4000 }, \ + { -15.0, 5000 }, \ + { -14.0, 1200 }, \ + { -6.0, 600 }, \ + { 10.0, 700 }, \ + { -10.0, 400 }, \ + { -50.0, 2000 } +``` + +The values are relative E distances and feed rates in mm/m. The default values are based on a E3D V6 hotend and the nozzle to extruder gear distance of a Průša MK3 extruder, so if required you have to modify those to your extruder/hotend setup accordingly. + +#### Eject filament +Eject filament will do a simple retraction of the filament out of the hotend without ramming. The feedrate to do so is defined using +```cpp + #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0 +``` + +### Debug +```cpp + #define MMU2_DEBUG // Write debug info to serial output +``` +Enable this option to get debug output related to the printer to MMU2 communication. This will consume some PROGMEM. + +### Developer Section +#### M100 - Free Memory Watcher +```cpp +//#define M100_FREE_MEMORY_WATCHER +``` +See [`M100`](/docs/gcode/M100.html) for more details. + +#### M43 +```cpp +//#define PINS_DEBUGGING +``` +Display pin status, toggle pins, watch pins, watch endstops & toggle LED, test servo probe with [`M43`](/docs/gcode/M043.html). + +#### Enable Marlin Dev Mode +```cpp +//#define MARLIN_DEV_MODE +``` +Enable Marlin dev mode which adds some special commands. diff --git a/systems/flexibot/docs/marlin/_configuration/probes.md b/systems/flexibot/docs/marlin/_configuration/probes.md new file mode 100644 index 000000000..1601de4f4 --- /dev/null +++ b/systems/flexibot/docs/marlin/_configuration/probes.md @@ -0,0 +1,90 @@ +--- +title: 'Probe Configuration' +description: 'Configuring a bed probe in Marlin.' + +author: thinkyhead +contrib: shitcreek +category: [ configuration ] +--- + +No matter how well you constrain, tighten, and align the components of your 3D printer there are bound to be imperfections in alignment that can negatively affect your print quality. Among these issues, irregularities in bed-nozzle distance is one of the most problematic. After all, if the first layer doesn't adhere to the bed then the rest of the print job is moot. + +Marlin includes a "Bed Leveling" feature that compensates for these imperfections by taking measurements of the bed-nozzle distance at 3 or more points and then adjusting the nozzle position throughout the print so that it remains at a consistent distance from the bed. + +Marlin allows you to take these bed measurements using nothing but a piece of paper, but for an improved experience the best option is to install a bed probe (also called a "Z probe"). + +## Bed Probes + +Marlin supports a wide variety of probe types: + +- Simple switch [`FIX_MOUNTED_PROBE`](#fix_mounted_probe) +- Nozzle probe [`NOZZLE_AS_PROBE`](#nozzle_as_probe) +- Switch on a servo arm [`Z_PROBE_SERVO_NR`](#z_probe_servo_nr) +- Switch on a solenoid [`SOLENOID_PROBE`](#solenoid_probe) +- Inductive probes [`FIX_MOUNTED_PROBE`](#fix_mounted_probe) +- BLTouch - and clones [`BLTOUCH`](#bltouch) +- Sled-mounted probe [`Z_PROBE_SLED`](#z_probe_sled) +- Allen-key delta probe [`Z_PROBE_ALLEN_KEY`](#z_probe_allen_key) +- No probe [`PROBE_MANUALLY`](#probe_manually) + +## Bed Leveling Methods + +Marlin includes various methods of probing and leveling: + +- **3-Point** probes a triangle to determine the height and tilt of the bed plane. During printing the nozzle is adjusted in X, Y, and Z, so you can even print on a badly-tilted bed. However, this method requires a very flat and even surface. +- **Linear Grid** probes a square grid (as much as possible on `DELTA`) to determine the height and tilt of the bed. After that it works just the same way as 3-point leveling. +- **Bilinear Grid** probes a grid in the same manner as Linear Grid, but during printing the Z axis is adjusted according to bilinear interpolation between the measured points. This allows the printer to compensate for an uneven surface, +- **Mesh Bed Leveling** works in the same manner as **Bilinear Grid** but takes different [`G29`](/docs/gcode/G029.html) parameters. (This feature is superseded by combining the manual probe option with bilinear leveling, and will not be included in future versions of Marlin.) +- **Unified Bed Leveling** combines elements of bilinear and planar leveling and includes extra utilities to help improve measurement accuracy, especially for deltas. See [this page](/docs/features/unified_bed_leveling.html) for an article specifically about this feature. + +## Configuration + +### 1. Z Probe Pin + +Before configuring any bed probe be sure to read its documentation and the documentation for your electronics. Make sure you know to which pins the probe will be connected. Marlin provides reasonable defaults, but they will not apply to every situation. + +In general, on deltabots the probe should be connected to the unused Z-Min endstop pin (if there is one). On machines that use Z-min for an endstop, the Z-Max pin is recommended next, so this is set as the default alternative on most boards. + +- If the probe is connected to the Z-Min pin, enable `Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN`. +- For Marlin 2.0.5.2 and earlier, if the probe is connected to any other pin, enable `Z_MIN_PROBE_ENDSTOP`. +- The probe-specific pin is defined with `Z_MIN_PROBE_PIN`. Most boards have a default, but it can be overriden in the configuration. + +### 2. Probe Type + +What kind of probe do you have? + +#### FIX_MOUNTED_PROBE +![Fixed Probe - EZABL](/assets/images/config/fixed_probe_EZABL.png){: .floater.framed} +Use this option for a fixed switch or inductive probe. + +#### NOZZLE_AS_PROBE +Use this option if the nozzle itself is used as the probe. + +#### Z_ENDSTOP_SERVO_NR +![Probe](/assets/images/config/probe.png){: .floater.framed} +Endstop switches are inexpensive, and some printer kits include one or two replacement parts. So one popular probe type mounts an endstop switch on a servo-driven arm. Set this option to `0` for a servo-probe connected to the first servo plug, `1` for the next servo plug, etc. Set the servo's deployed/stowed angles with the `Z_SERVO_ANGLES` setting. + +#### SOLENOID_PROBE +![Solenoid probe](/assets/images/config/solenoid.png){: .floater.framed} +Select this option for a switch mounted on a solenoid. + +#### BLTOUCH +![BLTouch](/assets/images/config/BLTouch.png){: .floater.framed} +The BLTouch by ANTCLABS is a compact probe specifically designed for use on inexpensive 3D printers. It uses a Hall effect sensor to detect the movement of a metal pin that can be magnetically extended and retracted. The BLTouch connects to the servo pins which function to send commands to the probe. + +#### Z_PROBE_SLED +![Z-Probe Sled](/assets/images/config/zprobe_sled.png){: .floater.framed} +This is a switch mounted on a "sled" that can be docked to the end of the X axis. The X carriage can pick up this sled, use it to perform probing, and put it back when done. + +#### Z_PROBE_ALLEN_KEY +This is a popular solution on deltas. A spare Allen key is used with an endstop switch to make a probe that's deployed and stowed by turning the key 90 degrees. You can either deploy and stow the key manually or configure movements that bump the key against some fixed point. Options for this type of probe are included in the delta example configurations that come with Marlin. + +#### PROBE_MANUALLY +The bed-nozzle distance can be measured without a probe by following a [`manual procedure`](/docs/gcode/G029-mbl.html). The nozzle moves to each point and pauses. You adjust the Z height so that the nozzle is touching the bed. Once the Z height is adjusted, you tell the machine to go to the next point. Continue until all points are probed. This option can be used with all Auto Bed Leveling options except UBL, which is freestanding. + +### 3. Other Probe Options + +- `LCD_BED_LEVELING` provides a guided process to assist with `PROBE_MANUALLY` (or Mesh Bed Leveling). Without this option you must send [`G29`](/docs/gcode/G029.html) to move to the next point and [`G1`](/docs/gcode/G000-G001.html) (or buttons in your host software) to adjust the Z axis. +- `Z_MIN_PROBE_ENDSTOP_INVERTING` should be set to `true` if your probe uses normally-open (NO) switches. Normally-closed switches are recommended because they have the appropriate failsafe state and are less prone to false positives. +- `ENDSTOPPULLUP_ZMIN_PROBE` may be used if you need to _disable_ the endstop pullup for some reason, such as having an external pull-down resistor on a normally-open switch. +- `USE_ZMAX_PLUG` must be enabled if the probe is connected to the Z-Max endstop pin. `USE_ZMIN_PLUG` must be enabled if the probe is connected to the Z-Min endstop pin. _Et cetera_, _et cetera_. diff --git a/systems/flexibot/docs/marlin/_development/boards.md b/systems/flexibot/docs/marlin/_development/boards.md new file mode 100644 index 000000000..f7f23c136 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/boards.md @@ -0,0 +1,73 @@ +--- +title: 'Boards' +description: 'Complete list of hardware supported by Marlin' +tag: info + +author: jbrazio +contrib: thinkyhead +category: [ development, hardware ] +--- + +### General information + +Marlin supports a wide variety of 3D printers, including all RAMPS variants, and is adaptable to virtually any Arduino/Genuino-based electronics through pin-mapping - associating pins with their functions. +Originally Marlin was designed to run on low-powered 8-bit AVR boards, but starting with Marlin 1.1.9 it has gained support for dozens of ARM-based boards. The Hardware Abstraction Layer created for Marlin 2.0 provides a consistent set of interfaces, making it much easier to add support for new platforms. + +Several files in the Marlin source code provide hardware support, but the files supporting the core electronics are: + +{:.pretty-list.headless} +File|Description +----|----------- +`boards.h`|Contains the full list of boards supported by Marlin. Set `MOTHERBOARD` to one of the boards listed here. +`pins.h`|Manages pin definitions, including the appropriate `pins_BOARD.h` file for the specified `MOTHERBOARD`. +`pins_BOARDNAME.h`|Pins files define which Marlin functions use which board pins. Most pins files stand alone, but some form the basis for related pins files. +`platformio.ini`|Some boards will need a new [PlatformIO environment](//docs.platformio.org/en/latest/projectconf/) with custom build settings. + +To build Marlin for a specific board, set the `MOTHERBOARD` option in `Configuration.h`. This example selects a RAMPS 1.4 board with the 12V power MOSFET connectors arranged in Extruder, Fan, Bed (EFB) order: + +```cpp +#define MOTHERBOARD BOARD_RAMPS_EFB +``` + +See the [boards list](#board_list) at the bottom of this page for a complete list of boards supported in the latest release of Marlin. + +### FastIO and Pin Mapping + +FastIO is a set of macros that allows Marlin to read and write pins quickly, using the same code on all processors. Marlin uses FastIO macros whenever possible because [direct port manipulation](//www.arduino.cc/en/Reference/PortManipulation) is many times faster than the pin functions provided by `Arduino.h`. + +Pin Mapping refers to the relationship between assigned "pin numbers" and the actual hardware ports on the CPU. For example, pins might be mapped starting with 0 to represent **Port A Pin 0**, then numbered sequentially up to **Port L Pin 15**. + +FastIO allows Marlin to use any pin mapping imaginable, but we've decided that the "Arduino mapping" as used by the Arduino headers is the best choice for several reasons. Most importantly, all standard Arduino code uses this mapping, and the mapping smartly uses the documented DIO pin numbers. + +_**Note: When writing code for Marlin, never use `digitalRead` or `digitalWrite`.**_ + +#### AT90USB pins + +Since version 1.1.4, Marlin also uses Arduino pin mapping for Teensy++, Sanguino, and other AT90USB-based processors, so we can still use the documented digital pin numbers even in the Teenyduino build environment. Previous versions of Marlin provided an option to use either Teensyduino or Arduino mapping, depending on the what the active pins file supported. + +#### Analog pins + +Analog inputs are always assigned using an index from 0-15. Marlin doesn't need to know their digital pin numbers. + +### Adding a new board + +The easiest way to add a new board to Marlin is to start with one of the existing pins files that has pin mappings similar to the new board, make a copy, and modify the pins that differ. Once your pins file is ready, simply add a new define to the `boards.h` file and a conditional include to `pins.h`. And you're done! [Submit a PR](/docs/development/getting_started_pull_requests.html) to share it with the world. + +{% alert warning %} +If you're developing a custom board, try to use common pinouts as much as possible, or choose a pin-mapping similar to another board Marlin supports. The more a new board resembles an existing board, the easier it will be to integrate. +{% endalert %} + +### Board list + +
+{% for item in site.data.boards %} +

{{ item.group }}

+{% if item.long %}

{{ item.long | markdownify }}

{% endif %} + + +{% for board in item.boards %} + +{% endfor %} +
NameDescription
BOARD_{{ board.name }}{{ board.brief }}
+{% endfor %} +
diff --git a/systems/flexibot/docs/marlin/_development/code_structure.md b/systems/flexibot/docs/marlin/_development/code_structure.md new file mode 100644 index 000000000..c234852f9 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/code_structure.md @@ -0,0 +1,201 @@ +--- +title: Code Structure +description: An overview of Marlin's files and folders. +tag: coding + +author: thinkyhead +category: [ development ] +--- + +## Marlin Code Overview + +Marlin is a very complex Arduino sketch. It is as complicated for developers to navigate as it is for new users who might want to make a small change. This document is meant to be a concise guide to help you find your way around the Marlin codebase and understand how the program works, at least in principle. + +This document provides a high level overview of structural details and program flow. By the end you should have an idea where (and how) to find your way around. Other details, such as Marlin coding style, are described in more detail on the [Coding Standards](coding_standards.html) page for those who may want to contribute. + +### Base Folder Structure + +{:.pretty-list.headless} +File|Description +----|----------- +**`MarlinFirmware`**|The root folder contains only files that need to be here. When you build Marlin with PlatformIO it creates a `.pio` folder here, and when working with git in the shell this should be your current work directory. +**`buildroot`**|Contains helper scripts for developers, font tools, CI tests, Marlin logo art, and other data. +**`buildroot/share/PlatformIO`**|Board definitions, variants, linker scripts, and build scripts are stored here. This folder is frequently referenced by the build environments in the `ini` folder. +**`ini`**|This folder contains all the PlatformIO environment settings organized by MCU type. The `platformio.ini` file pulls these in to provide build / upload / debug settings for PlatformIO. One file is extra useful: Marlin's custom build scripts use `features.ini` at the start of the build to filter source files based on enabled features, so the build finishes much more quickly. +**`Marlin`**|Primarily, this is where the main configuration files need to be when building Marlin. The `Marlin.ino` Arduino project file is here. And, you should `cd Marlin` in the shell if you want to do a build with `make` (only supported for Arduino IDE-compatible targets). +**`Marlin/src`**|Contains the Marlin application ("sketch"). The main program starts with `MarlinCore.cpp` which contains the `setup()` and `loop()` functions that make Marlin an Arduino program. The contents of this folder are described in detail in the next section. + +### The Marlin/src Folder + +The only files in the `Marlin/src` folder are Marlin's main source file, `MarlinCore.cpp`, where you'll find `setup()` and `loop()`, and the `MarlinCore.h` header file. + +The rest of the source code is divided up into 10 subfolders, and many of these subfolders are divided up further. Here's a basic overview of each one: + +{:.pretty-list.headless} +File|Description +----|----------- +**`core`**|Contains headers that are always needed by other Marlin source files, providing types, macros, serial output, utility functions, etc. Most source files will just include `inc/MarlinConfig.h` which ensures these files will be included in their expected order. +**`feature`**|This folder contains supporting code for optional features. Some features are light and only add a G-code or insert a change into common code. If a feature needs to define a class or a suite of functions, those additional files will go here. +**`gcode`**|Contains the `GCodeParser` class definition, plus all the G-code command implementations (with some exceptions), wrapped in a single class called `GcodeSuite`. The G-code implementation files are bundled into sub-folders with several categories. The files named as the G-code so they can be found more quickly using your IDE's Quick-Open feature. +**`HAL`**|Each controller family provides functions to control the hardware, but not all controller families use the same interfaces. The _Hardware Access Layer_ defines functions to conceal these differences so the rest of Marlin can be defined more generically. At the time of this writing Marlin has ten distinct HALs. +**`inc`**|This folder contains essential includes that define the Marlin version, configuration conditionals, checks for obsolete options, and final sanity-checks for reasonable settings. Note that each HAL also contains its own `Conditionals*.h` and `SanityCheck.h` files. +**`lcd`**|All the code related to LCDs, TFTs, OLEDs, encoders, buttons, and serial controllers is stored here. Language translation has typically only applied to external controllers so language translations are also stored here. +**`libs`**|Any general math or hardware library code goes here. So there's code for the buzzer, crc16 checksums, 3x3 matrices, number-to-string conversion, Heatshrink for binary transfer, and even a couple of EEPROMs. +**`module`**|All the typical features of the machine are defined here. This includes all the things a 3D printer would have, such as: heaters and sensors, bed probe, endstops, kinematics, high-level motion functions that turn commands into segmented moves, the motion planner that turns mm segments into enqueued stepper blocks with speed changes, and the stepper ISR that turns the block segments into interrupt timings and STEP signals. +**`pins`**|All of Marlin's board definitions are in this folder. The boards are divided up mostly by architecture, plus `rambo`, `ramps`, and `sanguino`. Each board has its own unique pins file, included by `pins.h` based on the `MOTHERBOARD` setting. Since `pins.h` is one of the files included by `MarlinConfig.h`, it isn't included elsewhere. +**`sd`**|This is where you'll find all the high level filesystem code that implements actual files and folders. The `CardReader` class is Marlin's main interface for navigating the directory, opening G-code files, and printing from SD card (or other media). Since Marlin 2.0.8 all media types derive from the `DiskIODriver` abstract class. + +### Configuration and Include Tree + +Marlin is highly configurable. You'll find many places throughout the source code where configuration options are applied to turn code on and off, change behavior, and provide values. + +How does a Marlin source file get all the configuration values it needs? + +To begin with, when you build a C++ program the first stage is to build all the `.c` and `.cpp` files individually. Each of these files must be complete within itself, and each is responsible to include the headers it requires. This can get tedious in a large project, so a lot of compilers allow you make a "precompiled header" (`.pch` file) that includes all your common headers. Marlin doesn't use a PCH file, but rather, regular headers that work in a similar way. + +The include order of the headers in the `inc`, `core`, `HAL`, and `pins` folders is important because each one builds on its predecessors. To ensure the correct include order is always followed, any code that needs the Configuration and Conditionals files (up to `Conditionals_adv.h`) must include `inc/MarlinConfigPre.h`, while any code that needs the fully realized hardware configuration must include `inc/MarlinConfig.h`. + +Let's take a closer look at the headers that each of these files includes. + +#### `MarlinConfigPre.h` + +{:.pretty-list.headless} +File|Description +----|----------- +``|This is needed all the time for shorthand integer types. +`HAL/platforms.h`|This file determines the active HAL and provides a macro for doing HAL includes. +`core/macros.h`|A lot of Marlin is about meta-programming. This file provides precompiler macros used to compile code conditionally. +`core/boards.h`|Marlin defines the names of all boards in this file, plus a helpful macro to check whether one of a list of boards is enabled. +`Configuration.h`|Marlin's primary configuration file contains settings like the specific motherboard, machine geometry, stepper driver types, heaters and sensors, enabled features, LCD controller, and so on. Pins defined in this file will override defaults. +`CUSTOM_VERSION_FILE` and `Version.h`|A few settings for the About Screen. +`inc/Conditionals_LCD.h` and `HAL/.../inc/Conditionals_LCD.h`|The items we call _conditionals_ are simply defines - mostly flags - based on one or more configuration settings. In combination with configured settings conditionals provide hints to the precompiler and the build scripts to refine and optimize the build. For example the `HAS_TOUCH_BUTTONS` defined here is used by one of our PlatformIO preprocessor scripts (in combination with `ini/features.ini`) to add `src/lcd/touch/touch_buttons.cpp` to the build, where normally it would be excluded. +`core/drivers.h`|This file defines macros to test for available stepper driver features. The stepper drivers have been selected at this point so some conditionals are also defined here for use in `Configuration_adv.h` and any other headers that follow. +`Configuration_adv.h`|Extended configuration options are defined in this file so you can add more peripherals, tune thermal runaway, set up filament runout parameters, enable debugging, and more. +`inc/Conditionals_adv.h` and `HAL/.../inc/Conditionals_adv.h`|More conditionals, as described above. These conditionals can make reference to any settings from `Configuration_adv.h` plus anything from all the files included so far. + +#### `MarlinConfig.h` + +{:.pretty-list.headless} +File|Description +----|----------- +`MarlinConfigPre.h`|Everything above is first included. +`HAL/HAL.h`|This header uses defines set by the build tools to figure out the current target platform and architecture, then includes the `HAL.h` header of the target platform to declare common HAL interface macros and low-level functions like `HAL_ADC_RANGE`, `watchdog_refresh`, and `HAL_reboot`. +`pins/pins.h`|The master pins file takes care of including the correct pin definitions from `pins/subfolder` while also providing helpful hints for the build scripts in its comments. This file also includes version-checking to alert users when board names have changed. +`HAL/.../timers.h`|Timer defines and functions. +`HAL/.../spi_pins.h`|SPI pins are defined based on the MCU family. +`inc/Conditionals_post.h` and `HAL/.../inc/Conditionals_post.h`|This final conditionals file can test pin definitions along with any other defined values from the headers above. +`core/types.h`|Defines types and macros for working with XYZE coordinates, celsius temperatures, and so on. +`inc/SanityCheck.h`|This file exists only to check configuration settings and make sure they're compatible and reasonable, generating error messages to the console for any bad settings or incompatible combinations. The tests at the top of the file check for obsolete options giving error messages that provide basic guidance for upgrading. +`HAL/.../inc/SanityCheck.h`|Each HAL can do its own sanity-check for incompatible options, unimplemented features, etc. +`core/language.h`|Define all the protocol serial language strings, strings for your selected LCD interface language(s), and helper macros to get translated strings. +`core/utility.h`|Declare some utility functions like `safe_delay`, `serial_delay`, and `log_machine_info`, plus some useful macros for setting temporary values in block scope. +`core/serial.h`|Define several useful serial output macros and functions, used throughout Marlin for serial output. + +### A Typical Source File + +Putting it all together, a typical source file will at least include `MarlinConfigPre.h` so that it can check some configuration values up front. Additional headers will be included only if they're needed. It's not unusual for some source files to include headers for several features. + +```cpp +/** + * (c) 2021 Marlin Firmware + * A typical Marlin source.cpp file. + */ +#include "inc/MarlinConfigPre.h" + +#if ENABLED(MY_COOL_FEATURE) + +#if ENABLED(EXTENSIBLE_UI) + #include "lcd/extui/ui_api.h" +#endif + +#endif // MY_COOL_FEATURE +``` + +### A Typical Header File + +Marlin header files aren't wrapped with `#if`…`#endif` in the same way as source files. Instead, if a header isn't needed, then it's simply never included. Marlin also eschews C-style `#ifdef` wrappers and only uses `#pragma once` on its own headers. + +```cpp +/** + * (c) 2021 Marlin Firmware + * A typical Marlin header.h file. + */ +#pragma once + +extern int my_feature_var; +void do_feature_stuff(); +``` + +Some headers will provide empty functions when the feature is disabled. This makes it easier to turn things off at a single point and can make code neater in other places, but this is used sparingly because it obfuscates what is actually happening. + +```cpp +/** + * (c) 2021 Marlin Firmware + * A typical Marlin header.h file. + */ +#pragma once + +#include "inc/MarlinConfigPre.h" + +#if ENABLED(MY_COOL_FEATURE) + extern int my_feature_var; + void do_feature_stuff(); +#else + inline void do_feature_stuff() {} +#endif +``` + +## Marlin Build Process + +A Marlin build can take a while, but it works like any other sketch. All `.cpp` files in Marlin and its dependencies are compiled, plus anything that they include. A Marlin build with PlatformIO uses the files in the `ini` folder along with the scripts in `buildroot/share/PlatformIO` to filter out unused source files based on your configuration, making it much faster. + +## Program and Command Flow + +Marlin program execution begins in `MarlinCore.cpp` with initialization in the `setup()` function and the main loop in the `loop()` function, just like any Arduino sketch. The `loop()` function is pretty small and is mainly responsible to call `idle()` and then run the next G-code command at the front of the queue when it arrives. + +Most of the tasks in Marlin are executed out of the `idle` function, which calls `manage_inactivity` and `thermalManager.manage_heater`. You'll see a lot of calls to `idle` because all wait loops use it to keep the machine running. If Marlin ever goes too long without calling `idle` the watchdog will get triggered and reset the machine for safety. + +This program architecture requires some care, since we don't want some function that gets called by `idle` itself calling `idle` until the stack blows up. There are only a small number of re-entry guards in Marlin, so in practice it works well. + +It is pretty straightforward to follow the function calls from `idle` to see how Marlin keeps all the devices and features running in the program context. Some features carry on activities all the time, but most of what Marlin does is initiated by G-code commands. + +### Interrupt Service Routines + +Marlin defines a few Interrupt Service Routines (ISRs): +- The **Stepper ISR** runs repeatedly, advancing the planner queue and moving the stepper motors at high speed by sending pulses to their STEP and DIR pins. The frequency of this interrupt is tied to the movement speed. +- The **Temperature ISR** reads the temperature sensors at a frequency close to 1KHz and signals to the main program when the readings are ready. It also manages Software / Slow PWM configured for heaters and fans that don't need a very high base frequency. +- The **Endstop ISR** can be activated if the endstop pins are interrupt-capable. It only fires when an endstop pin's input state changes. +- The **Tone Timer** is defined by Arduino for some platforms and defined by Marlin for others. It handles pulsing the Piezo buzzer to create tones, and it runs at double the frequency of the current tone. +- The **Servo Timer** provides PWM signals for servos. + +Platforms will also define interrupts for Serial UART and maybe other devices, so Marlin has to be careful choosing the interrupts and timers that it uses. + +### Handling a G-code + +Next, let's look at how a G-code is processed and follow the program flow. + +#### 0. Emergency Parser +What can you do when the command queue is blocked but the machine needs user input in some form? The emergency parser is a simple state machine that operates at a low level in the serial code watching for certain commands. When it sees `M108`, `M112`, etc., it takes action right away to handle the code. + +#### 1. Read from Serial and SD +The `manage_inactivity` function calls `queue.get_available_commands()` which checks the immediate buffer, polls the serial ports, and reads the active SD print file, copying lines into the command queue with the aim to keep it filled. + +#### 2. Pop a G-code +The main `loop()` calls `queue.advance()` which gets the command at the front of the queue and runs it right away. Marlin won't come back to `loop()` until the command has been completed. + +Note that `queue.advance()` runs internal commands *ahead of the queue*, so Marlin can command itself to do things within the regular command flow. + +#### 3. Prescan the G-code +Once `queue.advance()` has chosen the next command, it calls the parser to pre-process the G-code line. The pre-processor validates the line number and checksum and if all is well it does a quick pre-scan of the parameters before calling the specific G-code handler. + +#### 4. Handle the G-code +All G-code handlers are encapsulated in the `GcodeSuite` class (_e.g.,_ `GcodeSuite::G28()`) although a few are implemented elsewhere. A G-code handler is a simple void method with no return value. Instead of getting parameters from the function call, it queries the `GCodeParser` class to check for parameters and read their values. + +For example, the handler uses `parser.seen('X')` to check if the `'X'` parameter exists, then calls `parser.value_float()` to get its numerical value in the form of a float. See `gcode/parser.h` for all the available methods. + +G-code handlers can do almost anything, so they are split up into individual files, with each one including only the headers it needs. All handlers must include `gcode.h` and that will include `parser.h`. + +#### 5. Command Blocking +A `G1` command is considered completed as soon as its move is enqueued, so it can potentially return right away. In practice, and especially with bed leveling enabled, every linear move has the potential to fill up the planner queue and block for a long time waiting for space to open up. + +When a command needs to wait for something like free space in the planner or user feedback, it calls the `idle` function to keep the machine alive and running. The `idle` function will even keep reading incoming commands into the queue, but since `idle` doesn't dispatch G-codes or advance the queue, the queue can't get any emptier until the handler finishes and returns. diff --git a/systems/flexibot/docs/marlin/_development/coding_standards.md b/systems/flexibot/docs/marlin/_development/coding_standards.md new file mode 100644 index 000000000..e21de3b22 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/coding_standards.md @@ -0,0 +1,495 @@ +--- +title: 'Coding Standards' +description: 'Guidelines for Marlin code formatting, methodologies, and standards.' +tag: coding + +author: thinkyhead +category: [ development ] +--- + +Please follow the formatting guidelines and coding standards below when contributing code to Marlin. Pull requests that don't follow the existing coding style closely may be postponed for cleanup. Your code reviewer should point out where changes are needed. + +# Coding Style +## Indentation +Indentation is important for readability and maintainability of code, and provides guidance for naïve code editors (_e.g.,_ TextMate, Sublime, et. al.) to properly fold code blocks by level. + + - Entab lines with 2 spaces and don't use tabs. _Set your editor to use 2 Spaces! Tabs will bite you in the end._ + - All block elements should increase the indentation level, including `#if` blocks and other non-brace compiler blocks: + +```cpp +void myFunction() { + if (myCondition == 0) { + #ifdef PETER_PARKER + slingWeb(100); + #else + findPhoneBooth(); + #endif + } +} +``` + +## Brace-style + +Marlin uses a brace style intended to + - show the folded code block at the end of its opening line: `{``(...)`, + - maintain consistency and develop a single style habit, and + - maximize the number of code lines on-screen. + +If vertical spacing makes code more readable, add _one_ extra blank line rather than using a different brace style. + + - Known by the Ancients as ["One True Brace Style"](//en.wikipedia.org/wiki/Indent_style#Variant:_1TBS_.28OTBS.29) + - Place opening braces at the end of the line: `if (a == 1) {` + - Do the same for a declaration line: `void pizza(int slices) {` + - Vertically align closing braces to the opening line. + +Here's an example of 1TBS style applied to a faux function: +```cpp +void my_function(void) { + if (...) { + ... + } + else { + ... + } + + switch (val) { + case 1: SERIAL_CHAR('Q'); break; + case 2: SERIAL_CHAR('T'); break; + } +} +``` + +## Spacing + + - One space after control keywords:
`if (…)`, `while (…)`, `do {…} while(…)`, `switch (…)` etc. + - No space is needed for `sizeof()` and other "function-like" language features. + - No space between a function and its arguments: `val = myFunction(…);` + - No spaces around `.` or `->` operators: `the_place = state->parks[echo];` + - No space between a cast and its target: `old_state = (int)state;` + - Use one space around (on each side of) most binary and ternary operators:
`myVar = aVar + bVar * cVar;`
`myVal = (a * b + b * c);` + +## Trailing Whitespace + +Don't leave trailing whitespace at the ends of lines. Some editors will auto-indent new lines, leaving extra whitespace behind on blank lines. As a result, you end up with lines containing trailing whitespace. + +Git can warn you about patches that introduce trailing whitespace, and optionally strip the trailing whitespace for you; however, if applying a series of patches, this may make later patches in the series fail by changing their context lines. + +## Commenting + +Comments are good, but avoid over-commenting. _Never_ try to explain _how_ your code works in a comment: it's much better to write the code so that the working is obvious, and it's a waste of time to explain badly written code. + +Generally, you want your comments to explain _what_ your code does, not _how_. Keep comments inside a function body short. If a function is so complex that you need to separately comment parts of it, consider splitting it up into simpler units. Make small comments to note or warn about something particularly clever (or ugly), but avoid excess. Reserve detailed comments for the head of the function, explaining what it does, and possibly _why_ it does it. + + - Use Doxygen-style comments for functions, classes, and other defined entities, and concentrate documentation in the `.h` files. + +```cpp +/** + * This is the preferred style for multi-line comments in the + * Marlin Firmware source code. Please use it consistently. + * + * This mimics Doxygen/HeaderDoc style, and once keywords are added + * we'll be able to auto-generate code documentation and provide more + * complete development guidance. + */ +``` + +- Use C++ single-line style with `//` for comments under 3 lines. + +```cpp +// A short comment that takes up only a line or two +// should just use end-of-line comment style. +``` + +# Names and Symbols + +## Filenames + +Filenames for Marlin code should favor `lowercase_with_underscores.ext` format. Contributed code will follow its own standard. + + - use `.cpp` for C++ sources + - use `.c` for C only sources + - use `.h` for headers of all types + +## Directories + - Lowercase names. + - Marlin 1.0.x and 1.1.x retain a flat file layout + - Marlin 1.2.x and up adopts a hierarchical file layout + +## Capitalization + +For Marlin variables, data members, functions, and methods use `lowercase_with_underscores`. Use `camelCase` names only when class names and methods already uses that format. Marlin classes may use `MyClassName` format or `my_class_name`. Core classes tend to use camel-case, with general-purpose classes using underscore format. + + - `my_function_name(int in_integer, float in_float=0.0)` + - `MyClass`, `classMethod`, `classData` + - `local_variable`, `global_variable`, `const_value` + - `MACRO_NAME` – anything created with `#define` + - `EnumeratedType` + +## Libraries + +Whenever possible, use the functions supplied by avr-libc or Arduino bundled libraries. Any libraries required to compile Marlin should be included in the package so that they are guaranteed to be compatible versions. + +# Language Features + +Marlin is written in C/C++ and needs be able to compile with the supplied `Makefile` or an up-to-date version of Arduino. With Marlin 1.1 we now support building with Arduino IDE, Teensyduino, PlatformIO, `make`, and `cmake`. + +Going forward, Marlin does not need to be backward-compatible with older (pre-2017) toolchains. The minimum requirement for Marlin 1.1.x is Arduino IDE 1.6.8. + +- **Do not use** extended C++ features like: + - Exceptions (throw / catch) + - Virtual functions / classes + - Standard Template Library (STL) + +- **Do use** modern C++11 features like: + - `constexpr` values and functions. + - `static_assert(test,"error")` to sanity-check `float` and `constexpr` values. + +## Primitive Types + +- Favor bit-size types like `uint8_t` and `int32_t` over `short`, `int`, and `long`. This helps to keep behavior consistent across architectures. +- AVR recasts `double` as `float`, so both are 32 bits long. Favor `float` and avoid `double` unless the extra precision is needed on a 32-bit architecture. + +## Memory Usage + + - Dynamic allocation (`malloc()`, `free()`, `new`, `delete`) is ***verboten***! + There may be some flexibility for certain 32-bit features. + - Avoid unconstrained recursion (_e.g.,_ calling `idle()` from `idle()`) so the stack won't explode. + - Avoid using globals and `static` locals because SRAM is a precious resource on many boards. + - Use `PSTR` and `PROGMEM` macros to keep strings in Program Memory. + +## Minimize Repetition + +When possible, use macros, small functions, and other clever techniques to avoid redundancy. For example, instead of this... +```cpp +#if ENABLED(FEATURE_ONE) + const char blue = '1'; +#else + const char blue = '0'; +#endif +``` +...do this... +```cpp +const char blue = + #if ENABLED(FEATURE_ONE) + '1' + #else + '0' + #endif +; +``` +...or, better yet, use this... +```cpp +const char blue = TERN(FEATURE_ONE, '1', '0'); +``` + +## Avoid Expensive Code + + - `millis()` can be expensive so put it in a `const millis_t var` if you need to use the value more than once. (And always use the `ELAPSED`/`PENDING` macros - see below.) + - Pre-calculate instead of calculating on the fly, when possible. + - Use multiplication (of the reciprocal) instead of division, when possible. + - Most code doesn't need to be optimized for speed, so favor smaller code. + +## Best-Practices for #include + +- Follow best practices for `#include`. + - Only include the headers needed to provide the definitions required by the current source file. This helps provide an accurate view of dependencies. + - Include `Marlin.h` only when you need its externs. Don't include `Marlin.h` when just `MarlinConfig.h` (or `MarlinConfigPre.h`) will do. + - Included headers should be arranged in the following order: + - `MarlinConfig.h` (or `MarlinConfigPre.h`), if configuration values are needed for `#if` or other uses. + - After the main `#if` condition, include the file's own corresponding header. + - Next, arrange project headers to prevent hiding broken dependencies. For example, if `grape.h` depends on `orange.h`, try to include `grape.h` before `orange.h` so that if `grape.h` fails to include `orange.h` an error will be thrown. + - Last come system and library headers, such as ``, ``, and ``. + +# Marlin-specific Conventions + +## Preprocessor directives + + - Use `#define` instead of `const` for configurable values + - Don't use `#if` / `#endif` for commenting-out unused, old or broken code. We have a git repository! If it's obsolete, delete it. + - Use `#if ENABLED(FEATURE_NAME)` / `#endif` to compile code for an enabled feature. (Using these macros allows features to be set externally.) + - Use `#if DISABLED(FEATURE_NAME)` / `#endif` to compile code for a disabled feature. See more macros below. + - Use `#define` macros to avoid repeating boilerplate code.
Consider both readability and maintainability. + - Label `#endif` with the opening `#if` condition(s) if the block is over \~15 lines. Make the label compact. For example, `#endif // SDSUPPORT || ULTRALCD`. + +## Macros + +Marlin provides several shorthand macros - mostly in the `macros.h` file - that are used throughout the code. Get to know and use them. Here are some of the most common: + +### Configuration Tests + +{:.pretty-list.headless} +Macro|Description +----|----------- +`ENABLED(OPTION)`/`DISABLED(OPTION)`| Test whether an option is on/off. These macros are required so that `make` can set options. +`EITHER(OPT1, OPT2)`| True if either of the listed options is enabled. +`BOTH(OPT1, OPT2)`| True if both of the listed options is enabled. +`ANY(...)`| True if any of the listed options is enabled. +`MANY(...)`| True only if more than one of the listed options is enabled. +`ALL(...)`| True only if all of the listed options are enabled. +`NONE(...)`| True only if none of the listed options is enabled. +`COUNT_ENABLED(OPT1, OPT2, ...)`| Count the number of options in the list that are enabled. + +### Ternary Macros + +Since Marlin 2.0 all macros listed here (unless marked "**Precompiler only**") can be used anywhere in code where a value would be used. This is a really handy capability and allows the code to be a lot more concise. The `ENABLED` and related macros simply emit an integer 0 or 1. A more interesting macro is `TERN` and its relatives `TERN0`, `TERN1`, `TERN_`, `IF_ENABLED`, and `IF_DISABLED`. + +Macro|Description +----|----------- +`TERN(OPTION, T, F)`| If `OPTION` is enabled emit T otherwise emit F. +`TERN0(OPTION, T)`| If `OPTION` is enabled emit T otherwise emit 0 (`false`). +`TERN1(OPTION, T)`| If `OPTION` is enabled emit T otherwise emit 1 (`true`). +`TERN_(OPTION, T)`| If `OPTION` is enabled emit T otherwise emit nothing. +`IF_ENABLED(OPTION, T)`| Alias for `TERN_`. +`IF_DISABLED(OPTION, F)`| If `OPTION` is disabled emit F otherwise emit nothing. +`SUM_TERN(OPTION, F)`| If `OPTION` is disabled emit F otherwise emit nothing. + +`PLUS_TERN0(O,A)`| Emit +(A) for enabled option O, otherwise nothing. +`MINUS_TERN0(O,A)`| Emit -(A) for enabled option O, otherwise nothing. +`SUM_TERN(O,B,A)`| Emit (B)+(A) for enabled option, otherwise just (B). +`DIFF_TERN(O,B,A)`| Emit (B)-(A) for enabled option, otherwise just (B). + +Here are some ternary macro examples: +```cpp +millis_t ms = millis() + TERN(USE_LONG_TIMEOUT, 200, 100); // A longer timeout +bool is_ready = TERN1(HAS_READY_STATE, get_ready_state()); // Get state (or assume true) +TERN_(EEPROM_SETTINGS, settings.read()); // Read settings (or not) +``` + +### Check Defined Pins + +{:.pretty-list.headless} +Macro|Description +----|----------- +`PIN_EXISTS(NAME)`| True if the pin is defined. **Precompiler only.** (Takes a pin name minus `_PIN`.) +`PINS_EXISTS(...)`| True if all the listed pins are defined. **Precompiler only.** (Takes pin names minus `_PIN`.) +`ANY_PIN(...)`| True if any of the listed pins is defined. **Precompiler only.** (Takes pin names minus `_PIN`.) + +### FastIO + +Marlin uses FastIO macros to interface with pins that are known and fixed at compile-time. This results in much faster I/O, especially on AVR boards where every cycle counts. For more details about Marlin's use of FastIO see [this page](fastio.html). + +{:.pretty-list.headless} +Macro|Description +----|----------- +`SET_INPUT(PIN)`| Set a digital pin to `INPUT` mode. +`SET_INPUT_PULLUP(PIN)`| Set a digital pin to `INPUT_PULLUP` mode. +`SET_INPUT_PULLDOWN(PIN)`| Set a digital pin to `INPUT_PULLDOWN` mode (if supported, else `INPUT`). +`SET_OUTPUT(PIN)`| Set a digital pin to `OUTPUT` mode. +`SET_PWM(PIN)`| Set a digital pin to `PWM` mode (if supported, else `OUTPUT`). +`SET_PWM_OD(PIN)`| Set a digital pin to `PWM` open-drain mode (if supported, else `PWM` or `OUTPUT`). +`READ(PIN)`| Read the state of a digital pin. Returns either `HIGH` or `LOW`. +`WRITE(PIN, STATE)`| Set a digital pin's state to either `HIGH` or `LOW`. +`OUT_WRITE(PIN, STATE)`| Set a digital pin's state to either `HIGH` or `LOW`. + +### Loops Shorthand + +{:.pretty-list.headless} +Macro|Description +----|----------- +`LOOP_L_N(VAR, N)` | Zero-based loop, given a size. `for (uint8_t VAR=0; VAR<(N); VAR++)` +`LOOP_LE_N(VAR, N)` | Zero-based loop, given a last index. `for (uint8_t VAR=0; VAR<=(N); VAR++)` +`LOOP_S_L_N(VAR, S, N)` | Loop over range, excluding end index. `for (uint8_t VAR=(S); VAR<(N); VAR++)` +`LOOP_S_LE_N(VAR, S, N)` | Loop over range, including end index. `for (uint8_t VAR=(S); VAR<=(N); VAR++)` +`LOOP_ABC(VAR)` | Loop over the first (up to) three axes +`LOOP_NUM_AXES(VAR)` | Loop over all axes except for E +`LOOP_LOGICAL_AXES(VAR)` | Loop over all axes including E as a single axis +`LOOP_DISTINCT_AXES(VAR)` | Loop over all axes, including multiple E (for settings, saved tool state, etc.) +`LOOP_DISTINCT_E(VAR)` | Loop over all E (tool) indexes +`EXTRUDER_LOOP()`| Loop integer var '`e`' over all extruder indexes. +`HOTEND_LOOP()`| Loop integer var '`e`' over all hotend indexes. + +### REPEAT + +The `REPEAT` macros are used to emit another macro repeatedly, passing an index and optional arguments. In this example, `REPEAT` emits a whole line of code for each serial port: + +```cpp + #define _S_FLUSH(N) if (portMask.enabled(output[N])) serial##N.flush(); + REPEAT(NUM_SERIAL, _S_FLUSH); +``` + +{:.pretty-list.headless} +Macro|Description +----|----------- +`REPEAT(N,OP)` | Emit the `OP` macro `N` times with zero-based index. +`REPEAT_1(N,OP)` | Emit the `OP` macro `N` times with one-based index. +`REPEAT_S(S,N,OP)` | Do a zero-based `REPEAT`, skipping `S` elements. +`REPEAT2(N,OP,V...)` | Emit the `OP` macro `N` times with zero-based index and arguments. +`REPEAT2_S(S,N,OP,V...)` | Do a zero-based `REPEAT2`, skipping `S` elements. +`RREPEAT(N,OP)` | `REPEAT` for usage within another `REPEAT*`. +`RREPEAT_S(S,N,OP)` | `REPEAT_S` for usage within another `REPEAT*`. +`RREPEAT2(N,OP,V...)` | `REPEAT2` for usage within another `REPEAT*`. +`RREPEAT2_S(S,N,OP,V...)` | `REPEAT2_S` for usage within another `REPEAT*`. + +### MAP + +The `MAP` macro works like `REPEAT`, but takes a list of things to pass to the emitted macro instead of a number. In this example, `MAPLIST` emits a comma-separated list of items for the axes listed in `ALL_AXIS_NAMES`: + +```cpp + #define TMC_SW_DETAIL(A) { TMC_SW_DETAIL_ARGS(A) } + constexpr SanitySwSerialDetails sanity_tmc_sw_details[] = { + MAPLIST(TMC_SW_DETAIL, ALL_AXIS_NAMES) + }; +``` + +{:.pretty-list.headless} +Macro|Description +----|----------- +`MAP(OP,VALS...)` | Emit the `OP` macro with each of the given `VALS`. +`MAPLIST(OP,VALS...)` | Emit `OP` with each of the given `VALS`, comma-separated. + +### Character Test + +{:.pretty-list.headless} +Macro|Description +----|----------- +`NUMERIC(c)`| True if a character is numeric: `0123456789` +`DECIMAL(c)`| True if a character is decimal: `0123456789.` +`NUMERIC_SIGNED(c)`| True if a character is signed numeric: `0123456789+-` +`DECIMAL_SIGNED(c)`| True if a character is signed decimal: `0123456789+-.` + +### Lists and Arrays + +{:.pretty-list.headless} +Macro|Description +----|----------- +`COUNT(array)`| The number of items in a defined array. +`LIST_N(N,VALS...)`| Reduce a prepopulated list to size `N` (based on an integer option like `EXTRUDERS`). +`LIST_N_1(N,VAL)`| Generate a list of size `N` filled with a single value. +`ARRAY_N(N,VALS...)`| Generate a C style array of size `N` from a prepopulated list. +`ARRAY_N_1(N,VAL)`| Generate a C style array of size `N` filled with a single value. +`ARRAY_BY_EXTRUDERS(V...)`| Reduce a prepopulated list to `EXTRUDERS` items. +`ARRAY_BY_EXTRUDERS1(v1)`| Generate a list of `EXTRUDERS` items filled with a single value. +`ARRAY_BY_HOTENDS(V...)`| Reduce a prepopulated list to `HOTENDS` items. +`ARRAY_BY_HOTENDS1(v1)`| Generate a list of `HOTENDS` items filled with a single value. + +### Time Comparison + +Use the following macros when comparing two millis count values: + +- `PENDING(ms,time)`: Relative to `ms`, `time` is pending. +- `ELAPSED(ms,time)`: Relative to `ms`, `time` has elapsed. + +When using `ELAPSED` and `PENDING`, always compare against the _next time_ rather than the _last time_. This... +```cpp +const millis_t ms = millis(); +if (ELAPSED(ms, next_event_ms)) { + next_event_ms = ms + TIME_INTERVAL; + ... +} +``` +...will be smaller and faster than this... +```cpp +const millis_t ms = millis(); +if (ELAPSED(ms, last_event_ms + TIME_INTERVAL)) { + last_event_ms = ms; + ... +} +``` + +### Serial Macros + +The `serial.h` file also includes several macros to make it easier to create PROGMEM strings and print them to the serial output. Below are a few of them. See the `serial.h` file for others. + +{:.pretty-list.headless} +Macro|Description +----|----------- +`SERIAL_ECHO_START()`| Send "`echo:`" to the serial output. +`SERIAL_ERROR_START()`| Print "`error:`" to the serial output. +`SERIAL_ECHO("hello")`| Print an ASCII string stored in SRAM to serial out. +`SERIAL_ECHOLN("hello")`| Print an ASCII string stored in SRAM to serial out, appending a newline. +`SERIAL_ECHOPGM("hello")`| Wrap the given ASCII string in `PSTR` and print it to serial out. +`SERIAL_ECHOLNPGM("hello")`| Wrap the given ASCII string in `PSTR` and print it to serial out, appending a newline. +`SERIAL_ECHOPAIR("Hello:",val)`| Wrap an ASCII string in `PSTR`; print it and a value to serial out. +`SERIAL_ECHOLNPAIR("Hello:",val)`| Wrap an ASCII string in `PSTR`; print it, a value, and a newline to serial out. +`STRINGIFY(DEFINE)`| Resolve a define to a quoted string. (If undefined, the name of the define.) + +### Maths macros + +Use the following macros in place of their normal lower-case versions. These ensure the smaller 32-bit `float` on all architectures. The initial 32-bit targets for Marlin, while significantly faster, do not have a floating-point unit either, so `float` maths is more compatible while not sacrificing performance. + +{:.pretty-list.headless} +Macro|Description +----|----------- +`FIXFLOAT(N)`| Add a tiny value to a `float` to fix rounding errors (e.g., for display). +`NEAR_ZERO(V)`/`UNEAR_ZERO(V)`/`NEAR(V1,V2)`| True if a float value is near zero or another value. +`RECIPROCAL(N)`| The reciprocal of a value, but return 0.0 (not infinity) for 0.0. +`RADIANS(d)`/`DEGREES(r)`| Convert degrees to radians and _vice-versa_. +`HYPOT2(x,y)`| The hypotenuse-squared of a right triangle with legs x,y. +`HYPOT(x,y)`| The hypotenuse of a right triangle with legs x,y. +`ATAN2(y, x)`| `atan2f` +`FABS(x)`| `fabsf` +`POW(x, y)`| `powf` +`SQRT(x)`| `sqrtf` +`CEIL(x)`| `ceilf` +`FLOOR(x)`| `floorf` +`LROUND(x)`| `lroundf` +`FMOD(x, y)`| `fmodf` + +### Other Shorthand + +{:.pretty-list.headless} +Macro|Description +----|----------- +`WITHIN(val,low,high)`| Check that a value is within a given range, inclusive. +`NOLESS(var,min)`| Change a variable, if needed, so it is not smaller than the given value. +`NOMORE(var,max)`| Change a variable, if needed, so it is not larger than the given value. +`FORCE_INLINE`| Force a function or method to be compiled inline. +`NOOP`| A do-nothing macro to use for empty macro functions. + +## Adding a New Feature + +Since Marlin needs to runs on the most modest hardware, much care has been taken to keep code size small and avoid overtaxing the CPU. AVR and some 32-bit CPUs have no FPU, so it's best to avoid floating point operations whenever possible, and add-on features should also conserve SRAM. Right out of the gate, the default configuration of Marlin 1.1 uses over 2.6K of SRAM, and won't fit on an UNO. + + - `#define` is used liberally, especially for configuration values + - Use `#define MYFEATURE` for feature switches. + - Feature settings have some flexibility, and can have values. + - Use `#if ENABLED(MYFEATURE)` / `#if DISABLED(MYFEATURE)` rather than `#ifdef` or `#if defined()`. The `ENABLED`/`DISABLED` macros allow features to be overridden by `make`. + - Indent `#if…`/`#endif` blocks and their contents with the rest of the cascade. This allows editors that only have naive code-folding to fold blocks properly. + - Add a comment: `#endif // MYFEATURE` — but only if the `#endif` is far away (lets say, over 10 lines) from the starting `#if`. + +### New Feature Example +**In Configuration.h:** +```cpp +// Enable this to make something new happen +#define MYFEATURE +#if ENABLED(MYFEATURE) + #define MYFEATURE_SETTING 12.5 + #undef OVERRIDDEN_FEATURE // This won't be needed with MYFEATURE +#endif +``` +**In SanityCheck.h:** +```cpp +/** + * My feature + */ +#if ENABLED(MYFEATURE) && ENABLED(INCOMPAT_FEATURE) + #error MYFEATURE is not compatible with INCOMPAT_FEATURE +#endif +``` +**In Conditionals.h:** +```cpp +/** + * My feature + */ +#if ENABLED(MYFEATURE) + #undef OVERRIDDEN_FEATURE // This feature is disabled by MYFEATURE + #undef OVERRIDDEN_SETTING // This setting will always be 1234 with MYFEATURE + #define OVERRIDDEN_SETTING 1234 +#endif +``` +**In MarlinCore.cpp, for example:** +```cpp +// My Feature, when Your Feature is disabled +#if ENABLED(MYFEATURE) && DISABLED(YOURFEATURE) + my_feature_function(); // Run my feature, possible an inline function taking refs + #if ENABLED(HISFEATURE) + ... + call_something(); + ... + #else // !HISFEATURE + ... + call_something_else(); + ... + #endif // !HISFEATURE +#endif // MYFEATURE +``` diff --git a/systems/flexibot/docs/marlin/_development/contributing.md b/systems/flexibot/docs/marlin/_development/contributing.md new file mode 100644 index 000000000..6461e465c --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/contributing.md @@ -0,0 +1,66 @@ +--- +title: 'Contributing to Marlin' +description: 'How to help improve Marlin' +tag: contributing + +author: thinkyhead +category: [ development ] +--- + + +As a community-supported open source project, Marlin relies on the time and talent of many volunteers. All the great stuff you see in Marlin today comes from a [bright and engaged group](//github.com/MarlinFirmware/Marlin/graphs/contributors) of debaters, experimenters, and makers who screw up their sleep schedules, grind their steppers, and twerk their axes so the rest of us don't have to. + +The core Marlin team consists of a few maintainers who review contributions, discuss ideas, track bugs, apply [Coding Standards](coding_standards.html), publish releases, and update this website. See the [project page](//github.com/MarlinFirmware/Marlin) for current team contacts. + +## Ways to contribute + +### Report bugs +- Use the community links below for help with configuration and troubleshooting. +- Submit your **Confirmed Bugs** to the [Issue Queue](//github.com/MarlinFirmware/Marlin/issues/new/choose). Search the Issue Queue first! + +### Request features +- Submit your **Feature Requests** to the [Issue Queue](//github.com/MarlinFirmware/Marlin/issues/new/choose). Search the Issue Queue first! + +### Submit code +If you know C or C++ and can help to patch bugs, fix typos, or just add helpful comments, we welcome your expertise. See "[Contributing Code with Pull Requests](/docs/development/getting_started_pull_requests.html)" to find out how to submit code. + +- Submit **Bug Fixes** and **New Features** as Pull Requests to the ([bugfix-2.1.x](//github.com/MarlinFirmware/Marlin/tree/bugfix-2.1.x)) branch. +- Follow the [Coding Standards](/docs/development/coding_standards.html) to gain points with the maintainers. + +### Do Some Testing +Marlin posts "nightly" builds that contain the most up-to-date code. While they include patches to the most recent release (yay, fewer bugs!) they can also contain untested code, so your feedback is essential. + +### Contribute Documentation +Are you skilled in information design? This website is far from complete, and it's a bit text-heavy. We need more photos, diagrams, and YouTube videos to embed on these pages. A well-chosen image or well-produced video can have more impact than many pages of written documentation. Visit the [MarlinDocumentation Project](//github.com/MarlinFirmware/MarlinDocumentation) for more information. + +### Fund Development +The current maintainer of Marlin is [Scott Lahteine](//www.thinkyhead.com/donate-to-marlin) aka @thinkyhead. Scott has been writing software for a few decades, with a focus on shareware and open source. He reviews every contribution before it goes into Marlin, maintains documentation, hosts Facebook and Discord groups, and maintains a little test lab in Austin, TX. + +Your donation accelerates development, testing, and advancement of the most ambitious open source multi-platform 3D printing firmware in the world. See "[Donate to Marlin](//www.thinkyhead.com/donate-to-marlin)" for funding options. The newest way to provide support is through [GitHub Sponsors](//github.com/sponsors/thinkyhead). + +### Join the Community + + + +There are now many community resources for users of Marlin. If you're looking for help installing or troubleshooting these are the best places to go. + +- [MarlinFirmware on Discord](//discord.gg/n5NJ59y) - Realtime chat with users and developers +- [Marlin Firmware](//www.facebook.com/groups/1049718498464482/) and [Marlin Firmware for 3D Printers](//www.facebook.com/groups/3Dtechtalk/) Facebook Groups +- [Marlin Forum](//forums.reprap.org/list.php?415) at RepRap.org +- [Marlin YouTube Videos](//youtube.com/results?search_query=marlin+firmware) + +### Promote Marlin +Marlin needs evangelists, enthusiasts, fans, and everyday users to tell everyone just how awesome Marlin is. Users and vendors may be wary of installing Marlin 2.0 on their trusty old and reliable hardware. Let them know that Marlin continues to evolve! And be sure to engage with Marlin's Mastodon feed at [@MarlinFirmware@fosstodon.org](//fosstodon.org/@marlinfirmware). + +### Nag Your Vendor +Some companies do a very poor job of deploying Marlin on their hardware. And a dark side of open source is that some vendors fail to honor the terms of our license which requires them to give you the exact Marlin source code for the firmware on your machine. We understand that companies want to be protective of their trade secrets, but our license terms are clear, and the years of work we have put into Marlin is a major foundation of these businesses. If your vendor is misbehaving, send them a polite message to remind them of your rights under the GPL and their obligation as beneficiaries of Open Source software. + +# Community Guidelines +Marlin is hosted on GitHub, so you'll need a free GitHub user account to post issues and take part in development. GitHub provides tools to ban fake and SPAM users, but it's up to each project to maintain general civility by adhering to some basic policies. +- Read and use the "New Issue" template for best results with bug reports and feature requests. +- Limit issues to a single topic. You can always spawn new issues if more topics arise. +- Keep discussions concise and limited to technical issues. Steer back to the main topic if sidetracked. +- Be respectful to other contributors, especially in disagreements. We want everyone to enjoy the experience. +- We have Zero Tolerance for personal attacks. Use other channels to discuss those issues. _Contributors have been banned for violating this policy!_ +- Pay attention to your issues and follow up on them. Stale issues may be closed without notice. +- If your issue is resolved, please post a message and close it. diff --git a/systems/flexibot/docs/marlin/_development/fastio.md b/systems/flexibot/docs/marlin/_development/fastio.md new file mode 100644 index 000000000..ce5ed3f10 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/fastio.md @@ -0,0 +1,35 @@ +--- +title: FastIO +description: Overview of FastIO +tag: coding + +author: chepo92 +category: [ development ] +--- +Marlin uses [direct port manipulation](//www.arduino.cc/en/Reference/PortManipulation) macros to read and change pin states as quickly as possible, which is much faster than the `Arduino.h` functions. FastIO can only be used for constant pin numbers, known at compile-time, and thus Marlin (currently) uses hard-coded pin numbers and requires a re-compile whenever you want to change them. + +## FastIO Pin Mapping + +Pins on an embedded processor aren't just numbered sequentially. Instead they have a series of 8- or 16-bit wide "ports" with letter labels referred to by name as **Port A**, **Port B**, etc. A single bit in a port register might be a serial I/O line, a PWM signal, a simple digital pin that just holds its state, or any other imaginable function. + +To make pins easier to manage for some processors, Marlin uses pin mappings that assign an index number to each digital I/O pin. For simplicity, these start with 0 to represent **Port A Pin 0**, 1 to represent **Port A Pin 1**, and so on, all the way up to 191 for **Port L Pin 15**. + +To keep everything interoperable with the Arduino headers and documentation, Marlin uses the same mapping as the Arduino headers. All standard Arduino code uses the same mapping, which smartly uses the documented DIO pin numbers. + +## FastIO Macros + +In Marlin we only use `digitalRead` and `digitalWrite` in cases where the pin number is variable or unknown at compile-time. For all other cases we use the `READ` and `WRITE` macros defined by the HAL. See [this page](coding_standards.html#fastio) for descriptions of all the FastIO macros. + +## AT90USB pins + +Since version 1.1.4, Marlin also uses Arduino pin mapping for Teensy++, Sanguino, and other AT90USB-based processors, so we can still use the documented digital pin numbers even in the Teenyduino build environment. Previous versions of Marlin provided an option to use either Teensyduino or Arduino mapping, depending on the what the active pins file supported. + +## Analog pins + +Analog inputs are always assigned using an index from 0-15. Marlin doesn't need to know their digital pin numbers. + +Marlin code should never use `analogRead` because it blocks execution. Instead, Marlin primes and reads one ADC input at a time, in sequence, at a rate of 500Hz divided by the number of analog devices. So, if you've got 2 thermistors and a filament width sensor, all three devices will be sampled at 166Hz. + +## LPC1768 / STM32 Pins + +For LPC1768 and STM32 pins the documentation always refers to pins by their port number or port letter and the pin index within that port. So for LPC1768 the pins in Marlin are named like this: `P0_03`…`P4_14` . And for STM32 the pins in Marlin are named like this: `PA3`…`PD14`. Of course, behind these names are index numbers, so those will also work. diff --git a/systems/flexibot/docs/marlin/_development/feature_request.md b/systems/flexibot/docs/marlin/_development/feature_request.md new file mode 100644 index 000000000..8734d9389 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/feature_request.md @@ -0,0 +1,32 @@ +--- +title: 'Feature requests' +description: 'Complete list of all the user requested features' +tag: github + +author: jbrazio +contrib: thinkyhead +category: [ development ] +--- + + + +Marlin has _a lot_ of features, and there are several more in development, but we're always open to more ideas and contributions! We keep track of feature requests in the Marlin Issue Queue. Open tagged feature requests appear on this page: + +####      [Open Marlin Feature Requests](//github.com/MarlinFirmware/Marlin/labels/T%3A%20Feature%20Request) + +# Before Submitting + +**Scan the [Feature Requests](//github.com/MarlinFirmware/Marlin/labels/T%3A%20Feature%20Request) list** to see if a similar request is already in the queue. If there is, you can add comments to the existing request. + +**Read the [Coding Standards](coding_standards.html)** (especially "[Adding a New Feature](coding_standards.html#adding-a-new-feature)") and review them when preparing your code for submission. + +**[Sign up for a free Github account](//github.com/join)**. A Github account is required to submit a Feature Request. The process only takes a few minutes, and then you will be notified on Github as your feature progresses and be able to contribute to the feature. + +# Submitting a Feature Request + +Go to the Marlin project page to [Open a New Issue](//github.com/MarlinFirmware/Marlin/issues/new) and follow these guidelines: + +- Prefix the title with **'[Feature Request]'** or its short form, **'[FR]'**. +- Keep the title short and to the point. A good example would be: + **[FR] Add support for ACME Stepper Driver** +- Provide all relevant information about the feature. diff --git a/systems/flexibot/docs/marlin/_development/fonts.md b/systems/flexibot/docs/marlin/_development/fonts.md new file mode 100644 index 000000000..22b043dc0 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/fonts.md @@ -0,0 +1,82 @@ +--- +title: 'Adding new fonts' +description: 'How to add new font files to Marlin' +tag: language + +author: jbrazio +contrib: thinkyhead, AnHardt +category: [ development ] +--- +# Editing +All the Marlin fonts were created using [Fony](//hukka.ncn.fi/?fony) but any other font editor such as [Fontforge](//fontforge.github.io/en-US/) may be used to create and edit fonts. + +# Exporting +Marlin can't directly read font files in the **FON** file format. These must be exported to a C/C++ byte array. The workflow is simple. +- Open a font file using [Fony](//hukka.ncn.fi/?fony) or the [Online Font Converter](//onlinefontconverter.com/). +- Export the font to **BDF** format, giving it a **`.bdf`** extension. +- Use the [bdf2u8g](//github.com/olikraus/u8glib/tree/master/tools/font/bdf2u8g) program to convert to C/C++ data. + +Before converting the font, you'll need to choose the character range to use. In the [Fony](//hukka.ncn.fi/?fony) window select the first "symbol" from your font file (**1**) and take note of its index (**3**). In the following example the index of our first symbol is 32. Repeat the operation for the last symbol (**2**). In our example the value is 255. + +![Figure #001]({{ '/assets/images/docs/development/fonts/figure-001.jpg' | prepend: site.baseurl }}) +{: style="text-align: center;"} + +Open a terminal window, `cd` to the same folder where the **BDF** file is located, and run the following command: + +- On Linux/macOS/UNIX: + ``` + bdf2u8g -b -e .bdf fontdata_.h + ``` + +- On Windows: + ``` + .\bdf2u8g.exe -b -e .bdf fontdata_.h + ``` + +Replace ``/`` with your index numbers and `` with the font's filename. + +- For example: + ``` + bdf2u8g -b 32 -e 255 MyGlyphs.bdf MyGlyphs fontdata_MyGlyphs.h + ``` + +You may need to edit the generated `fontdata_MyGlyphs.h` file and make the following changes: + +- Replace `#include "u8g.h"` with `#include ` + +- Replace `U8G_FONT_SECTION` with `U8G_SECTION` + +- Insert `.progmem.` right after the first quote `"` on `U8G_SECTION` + + - Original: + ``` + #include "u8g.h" + const u8g_fntpgm_uint8_t MyGlyphs[140] U8G_FONT_SECTION("MyGlyphs") = { . . . } + ``` + + - Edited: + ``` + #include + const u8g_fntpgm_uint8_t MyGlyphs[140] U8G_SECTION(".progmem.MyGlyphs") = { . . . } + ``` + +Now add the new font to Marlin… + +- Copy the edited C/C++ header file to `Marlin/src/lcd/dogm/fontdata`. + +- Edit `ultralcd_DOGM.h` to add the new font to the include list: + ``` + #elif ENABLED(DISPLAY_CHARSET_NEWNAME) + #include "fontdata_MyGlyphs.h" + #define FONT_MENU_NAME YOURFONTNAME + #else // fall-back + ``` + +{% alert info %}Marlin comes with the `genallfonts.sh` script to automate *most* of the steps to generate font data from Marlin's included fonts. When using this script no followup editing of the header files is needed, and the resulting fontdata headers will be automatically optimized to include only the minimum font data required.{% endalert %} + +# Implementation and limits +The current symbol limit per font is 256. + +Marlin's menu system generates as many lines as will fit on a 64 pixel-tall display. By default this is 5 lines with 12 pixels height. If a larger font is used the number of lines will be reduced. Increasing `TALL_FONT_CORRECTION ` (`1` by default) will bring lines closer together and may possibly allow an extra line to fit. + +To fit a line of 22 symbols on a 128 pixel-wide display, they must be no more than 5 pixels wide **for the first 128 symbols**. Marlin supports up to 11 pixel-wide bitmaps **for the upper 128 symbols**. diff --git a/systems/flexibot/docs/marlin/_development/getting_started_pull_requests.md b/systems/flexibot/docs/marlin/_development/getting_started_pull_requests.md new file mode 100644 index 000000000..ee009f34b --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/getting_started_pull_requests.md @@ -0,0 +1,369 @@ +--- +title: 'Contributing Code with Pull Requests' +description: 'How to submit changes to Marlin through Github' +tag: github + +author: Bob-the-Kuhn, thinkyhead +category: [ development ] +--- + +### Introduction + +GitHub is a great tool for collaboration, but it has a bit of a learning curve. The power of GitHub comes from the [Git version control system](//en.wikipedia.org/wiki/Git). Git will be familiar if you've used other version control systems like [CVS](//en.wikipedia.org/wiki/Concurrent_Versions_System), [Apache Subversion](//en.wikipedia.org/wiki/Apache_Subversion), or [Mercurial](//en.wikipedia.org/wiki/Mercurial). GitHub adds helpful collaboration features that make it an ideal platform for maintaining the Marlin project. + +Before submitting code and other content, please review [Contributing to Marlin](contributing.html) and [Marlin Coding Standards](coding_standards.html). Following our guidelines ensures that your changes will be accepted more quickly. + +### Set up GitHub, Fork, and Clone + +Before you can contribute to Marlin, you need to get a [free GitHub.com account](//github.com/join). This is a pretty quick process. Please upload a unique icon or image so it will be easier to identify you on the project pages! You'll also need to download and install the [GitHub Desktop](//desktop.github.com) application. + +After signing in to your GitHub account, go to the main Marlin repository at: [https://github.com/MarlinFirmware/Marlin](//github.com/MarlinFirmware/Marlin) and create a fork of Marlin by clicking the `fork` icon in the top right of the page. + +![image1]({{ 'pull_1.jpg' | prepend: site.pull_img }}) + +When GitHub is done copying files, a page will appear displaying your shiny new fork of Marlin. This takes about 10-20 seconds, so be patient. You may need to wait for the `Fetching Latest Commit` message to go away also. If it still hasn't finished after few minutes then GitHub might be hung up (not unusual). + +---- + +### Rename your Fork (not recommended) + +It's always best to leave the repository name as "Marlin" unless you plan to make your own custom version of Marlin for publication. Here are the instructions if you want to rename it. + +Click on the `Settings` icon. + +![image2]({{ 'pull_2.jpg' | prepend: site.pull_img }}) + +Click in the `Repository name` box, type the new name, and click `Rename`. + +![image3]({{ 'pull_3.jpg' | prepend: site.pull_img }}) + +![image4]({{ 'pull_4.jpg' | prepend: site.pull_img }}) + +This takes you back to your fork's main page, where the new name is displayed. + +Edit the title by clicking `Edit`. + +![image5]({{ 'pull_5.jpg' | prepend: site.pull_img }}) + +Type in the new title and click `Save`. + +![image6]({{ 'pull_6.jpg' | prepend: site.pull_img }}) + +---- + +### Change the Default Branch + +At this time we're using the `bugfix-2.1.x` branch to patch bugs for the next minor release, and we'll create a new branch for the next major release as we develop a plan. We recommend you change the "Default Branch" in your fork to `bugfix-2.1.x` to make it easier to do Pull Requests later. + +Click on the **branches** tab to view all branches in your fork. + +![image8]({{ 'pull_8.jpg' | prepend: site.pull_img }}) + +Click on the **Change default branch** button. + +![image9]({{ 'pull_9.jpg' | prepend: site.pull_img }}) + +Click on the branch dropdown button. Select `bugfix-2.1.x` and click **Update**. + +![image10]({{ 'pull_10.jpg' | prepend: site.pull_img }}) + +A warning pops up. Just click the button. + +![image11]({{ 'pull_11.jpg' | prepend: site.pull_img }}) + +---- + +### Clone Marlin to GitHub Desktop + +Click the "**<> Code**" tab + +![image12]({{ 'pull_12.jpg' | prepend: site.pull_img }}) + +Click the **Clone or download** button + +![image13]({{ 'pull_13.jpg' | prepend: site.pull_img }}) + +Select **Open in Desktop** + +![image14]({{ 'pull_14.jpg' | prepend: site.pull_img }}) + +A security popup may appear. Just click the **Allow** button + +![image15]({{ 'pull_15.jpg' | prepend: site.pull_img }}) + +Click **OK** to save it in the default location. + +![image16]({{ 'pull_16.jpg' | prepend: site.pull_img }}) + +A progress bar appears. + +![image17]({{ 'pull_17.jpg' | prepend: site.pull_img }}) + +### Using GitHub Desktop... + +You now have a "working copy" of Marlin. Note that only the branch you selected on your GitHub page may have been downloaded. Check that the desired branch was downloaded by clicking on **Changes**. + +![image18]({{ 'pull_18.jpg' | prepend: site.pull_img }}) + +Click **Open this repository**. + +![image19]({{ 'pull_19.jpg' | prepend: site.pull_img }}) + +A Windows Explorer window appears. Open the `Marlin` directory and then open the `Version.h` file. + +![image20]({{ 'pull_20.jpg' | prepend: site.pull_img }}) + +Scroll down until the `#define SHORT_BUILD_VERSION` is visible. The text should be "`bugfix-2.1.x`." + +![image21]({{ 'pull_21.jpg' | prepend: site.pull_img }}) + +If you downloaded the wrong branch, go back to the GitHub website, select the correct branch, and choose "**Open in Desktop**" again. + +---- + +### Make a feature branch + +It's a good idea to keep an unaltered copy of the `bugfix-2.1.x` branch that you keep in sync with the main repository. Before editing any code you should make a copy of `bugfix-2.1.x` and give the new branch a descriptive name. + +![image22]({{ 'pull_22.jpg' | prepend: site.pull_img }}) + +Make a new branch via Desktop by clicking this icon: + +![image23]({{ 'pull_23.jpg' | prepend: site.pull_img }}) + +Type in the branch name and click **Create new branch**. + +![image24]({{ 'pull_24.jpg' | prepend: site.pull_img }}) + +The new branch is automatically selected. Click the **Publish** button to upload the branch to your fork on GitHub. (The button changes to **Sync** once the branch has been published.) + +![image25]({{ 'pull_25.jpg' | prepend: site.pull_img }}) + +---- + +### Make Changes and Test + +You can freely edit code files, configurations, etc., in your working copy. You can make new branches in your working copy to experiment, then throw them away. Nothing counts until you publish and sync your changes. And thanks to the magic of `git` you can always go back to earlier points in time. + +In the main view, GitHub Desktop shows all your uncommitted changes in a list. You can click on each item to see the specific changes in the right pane. Previous commits are shown under the "History" tab. + +### Commit to your Working Copy + +Use GitHub Desktop to "commit" the changes you want to keep (to your working copy). A commit stores your changes and provides a "bookmark" (Commit ID) for the point in time when the changes were committed. The "commit message" summarizes why the changes were made. + +Tick the checkboxes on all the files that you want to commit. (Note that you can also "cherry-pick" selected changes by clicking in the margin of the second pane.) + +![image26]({{ 'pull_26.jpg' | prepend: site.pull_img }}) + +Fill in the **Summary** and **Description**, then click **Commit**. Voila! The selected changes are packaged and ready for submission. + +![image27]({{ 'pull_27.jpg' | prepend: site.pull_img }}) + +Once everything is committed, publish to your GitHub account by clicking the `Sync` button: + +![image28]({{ 'pull_28.jpg' | prepend: site.pull_img }}) + +---- + +### Submit code with a Pull Request + +Before submitting the Pull Request: + +- Please review the [Marlin project guidelines](//github.com/MarlinFirmware/Marlin/wiki/DNE-Contributing). +- Make sure you've compiled and done some sanity tests on the code. + +#### Submit from GitHub Desktop + +You can use GitHub Desktop to submit a Pull Request by using the **Pull Request** button, but you must be careful to _**specifically target the `MarlinFirmware/bugfix-2.1.x` branch!**_ + +#### Submit from the GitHub website + +Return to your fork's page on GitHub, select your updated branch, and click the **New Pull Request** button. + +![image29]({{ 'pull_29.jpg' | prepend: site.pull_img }}) + +GitHub should automatically detect the target for the Pull Request as `bugfix-2.1.x` in the main `MarlinFirmware` project. However, you may instead see a page like the one below. In that case, click the **Compare across forks** button: + +![image30]({{ 'pull_30.jpg' | prepend: site.pull_img }}) + +To target the `bugfix-2.1.x` branch in the main Marlin repository, click the **base** button and select `bugfix-2.1.x`. (For new features you should instead use `dev-2.1.x`.) + +![image31]({{ 'pull_31.jpg' | prepend: site.pull_img }}) + +Click **compare across forks** (again). + +![image32]({{ 'pull_32.jpg' | prepend: site.pull_img }}) + +Click on the **head fork:** button and then click on **your repository**. + +![image33]({{ 'pull_33.jpg' | prepend: site.pull_img }}) + +Click on the **compare** button and then click the **name of the branch** you created with Desktop. + +![image34]({{ 'pull_34.jpg' | prepend: site.pull_img }}) + +If you have only a single commit, its text will be copied into the Pull Request. Edit as needed to provide all the relevant details. When your description is complete click the **Create Pull Request** button. + +![image35]({{ 'pull_35.jpg' | prepend: site.pull_img }}) + +Here's the Pull Request that was just created. + +![image36]({{ 'pull_36.jpg' | prepend: site.pull_img }}) + +If you have an open issue associated with your Pull Request, include that issue's number in your Pull Request description (_e.g.,_ "`#1536`"), and a link to the Pull Request will automatically appear on the issue's page. The same goes for individual commit descriptions. + +### Updating the PR + +Typically you'll get requests to correct, improve and add features to your code. +The top level steps of doing this are: +1. Open your branch in Windows Explorer +2. Edit & test your code +3. Apply the code to the PR (commit & sync) +4. Repeat 1-3 as necessary +5. Resolve "All checks have failed" issues +6. Make the PR pretty & sync to main repository ( may need to be done multiple times) + +#### Open your branch in Windows Explorer + +You've done most of this before when you created your branch. + +Open Desktop, select your repository (on the left side), select your branch (top left), click on **Changes** (top middle) and then click on **open this repository** (right middle) + +![image37]({{ 'pull_37.jpg' | prepend: site.pull_img }}) +A Windows Explorer window will popup. Copy the `Marlin` directory to your work area. Close the Windows Explorer window and close Desktop. + +![image38]({{ 'pull_38.jpg' | prepend: site.pull_img }}) + +#### Edit and Test + +As before, do all your work & testing in your local copy. + +#### Move the code to the PR (commit & sync your code) + +Open Desktop and the Windows Explorer window as before + +Copy the changed files into the new Windows Explorer window. Alternatively you can just copy your entire directory over. GitHub will check the newly copied files against the old and only list the ones that have changed. + +Finish the commit and Sync as you did previously in **Commit changes to your working copy**. + +_**When a branch is associated with a PR, the PR is updated on every Sync.**_ + +Most of the time you've made changes to the Configuration.h and Configuration_adv.h files that are specific to your printer. Do NOT upload those to the PR. This can be done multiple ways: +* Don't copy them into the GitHub directory +* Don't include them in the commit + +#### Repeat the above as necessary + +#### Resolve "All checks have failed" issues + +When you create a PR (and every time you commit new code) GitHub uses the "Travis CI" service to run several tests on the code by enabling various combinations of options and compiling for various target platforms. Any failed tests need to be resolved before the PR can be merged into the main Marlin repository. + +Within 30-90 seconds of doing the sync the PR will have a section that looks like this: + +![image39]({{ 'pull_39.jpg' | prepend: site.pull_img }}) + +Several minutes later the PR will show this status if there are no problems: + +![image40]({{ 'pull_40.jpg' | prepend: site.pull_img }}) + +If you see a "failed" status instead then something needs to be fixed. You don't have to fix the PR immediately but it must be fixed before it can be merged into the main Marlin repository. + +To see the errors click on **Details** + +![image41]({{ 'pull_41.jpg' | prepend: site.pull_img }}) + +This will bring up the **Travis** log. Green means that the test has passed. Red means there's a problem. + +![image42]({{ 'pull_42.jpg' | prepend: site.pull_img }}) + +It's recommended that you include the fixes in the next code you commit. + +The errors you're looking at come from the compiler. Resolve just like you do when compiling on your local machine. + +Unfortunately the Travis log does not include the options that were enabled when the errors were found. That makes it harder to reproduce the problem locally. + +#### Organize and Sync the PR + +If you've made a lot of small fix-up commits it can be hard to see the combined result. So before a PR is merged it's helpful to reduce your commits down to a manageable number and get them organized. They can even be combined into a single commit. + +This process also incorporates any code changes in the main Marlin code that have been done since the PR was created or the last time the process was run. + +This process uses a command window (shell) to issue GIT commands. + +Open **Desktop** and open the **Windows Explorer** window. Make a copy of the directory. You may need it later. + +Next, right-click on the repository to open the popup menu. Select **Open in Git Shell**. + +![image43]({{ 'pull_43.jpg' | prepend: site.pull_img }}) + +The Git Shell will open. + +![image44]({{ 'pull_44.jpg' | prepend: site.pull_img }}) + +Type `git remote –v` into the Git Shell and press return to execute the command. + +![image45]({{ 'pull_45.jpg' | prepend: site.pull_img }}) + +If the `upstream` remote is missing then type `git remote add upstream https://github.com/MarlinFirmware/Marlin.git` followed by return. + +Next type `git fetch upstream` followed by `git rebase upstream/bugfix-2.1.x`. If the rebase succeeds the output will look like this: + +![image46]({{ 'pull_46.jpg' | prepend: site.pull_img }}) + +If Git can't automatically merge the code then it'll look like this. + +![image47]({{ 'pull_47.jpg' | prepend: site.pull_img }}) + +This tells you the number of files that need to be examined and the names of the files. In this example there's only one file needing attention. + +Git marks conflicts within the file and then writes the modified file to the directory you opened with Desktop. + +Open the modified file (the file name didn't change but the timestamp did) and search for `<<<<<<< HEAD`. This marks the beginning of the code that could be newer than what you started with. The `=======` marks the boundary between the newer code and the original code in your file. The `>>>>>>>` line marks the end of the conflicting code. In this example, "`#endif in wrong place`" is the title of the commit that GIT couldn't automatically handle. + +Resolving conflicts is a bit of an art, and it may take some practice to start getting a feel for what's going on. Often it may be helpful to consult the copy you made just before opening the Git Shell. It may help to keep the latest `bugfix-2.1.x` on GitHub open in the browser as a reference on what to keep and what to change. + +![image48]({{ 'pull_48.jpg' | prepend: site.pull_img }}) + +Save the file. + +Go to Git Shell and enter the command `git rebase --continue`. This will tell `git` to keep your changes and continue with the rebase. + +![image49]({{ 'pull_49.jpg' | prepend: site.pull_img }}) + +Repeat the **edit-save-add-commit** cycle until all the files have been committed. + +If you couldn't address all the files then you can abort the process with: `git rebase –abort` + +If all the files have been addressed then enter this into the Git Shell: `git rebase –continue` + +The next step is to "squash" the commits using an interactive rebase. This allows you to easily combine commits together. To start the process enter the command: `git rebase -i upstream/bugfix-2.1.x`. + +Assuming there are no conflicts, an editor window should open with a list of your commits. Each line begins with the action you want performed, which is `pick` by default. You may see extra commits if the main code base has been updated, so make sure the commits are all yours. Change the action to `drop` for any commits you don't want to keep. Your first commit should be left as `pick` (or `reword` if you want to change the commit message). Set the action to `fixup` (or just `f`) for any commits you want to combine with the `pick` commit that precedes it. + +![image50]({{ 'pull_50.jpg' | prepend: site.pull_img }}) + +After making all necessary changes, save the file. + +![image51]({{ 'pull_51.jpg' | prepend: site.pull_img }}) + +In a few seconds a second editor window will pop up. Here you can provide a description for the squashed commit. + +All lines _without_ a leading `#` will be included the description. Edit the description to itemize the combined changes, then save and close the file. + +![image52]({{ 'pull_52.jpg' | prepend: site.pull_img }}) + +After saving and closing the editor, the Git Shell will show this: + +![image53]({{ 'pull_53.jpg' | prepend: site.pull_img }}) + +In Git Shell type `git push –f` to push the changes to your fork on Github. Check the output to make sure it succeeds. + +![image54]({{ 'pull_54.jpg' | prepend: site.pull_img }}) + +You can now close Git Shell. + +In **Github Desktop** you should see that only the commits you `pick`ed are left, and all your `fixup`s are now part of those commits. + +You won't need to click `Sync` in Desktop at this point because you already used `push -f`. + +You can now close Desktop and the Windows Explorer window you opened from Desktop. diff --git a/systems/flexibot/docs/marlin/_development/git_scripts.md b/systems/flexibot/docs/marlin/_development/git_scripts.md new file mode 100644 index 000000000..5607c6792 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/git_scripts.md @@ -0,0 +1,211 @@ +--- +title: 'Marlin Github Scripts' +description: 'Helper scripts to ease and speed Marlin development.' +tag: github + +author: thinkyhead +category: [ development ] +--- + + + +Github is a great tool for collaboration. You can cover a lot of ground in a short time, and ideas sometimes come quickly and from many directions at once. Wouldn't it be great if the pace of deployment could be as fast as you can conceive of new ideas? While we may not be able to turn thought directly into code, we can at least provide some tools to smooth the process. + +These scripts aim to improve, most especially, the process of managing, patching, and updating active Pull Requests. They don't rely on any special privileges, but encourage the use of the Pull Request process instead of doing direct commits. + +Theoretically, a Pull Request should have a very short lifespan. It should be created, polished, and completed before anything else threatens to stomp on the same code lines. But in practice, some PRs take longer than others to develop and the Marlin policy has been to keep them open till they're ready. This opens up conflict and stale code issues. The longer a PR sits the harder it is to integrate and the less applicable its changes will be. A Marlin PR can sit for weeks or months. + +By also paying careful attention to conflict resolution, these scripts can help keep a feature or patch branch (i.e., based on `bugfix-2.1.x` and forming the basis for a PR) fresh for as long as needed. + +# Merge vs. Rebase + +Working with branches and Pull Requests, you soon find there are some operations you need to do over and over, many of which just can't be done using the Github Desktop graphical interface. And one thing that becomes clear is that merge commits are highly undesirable on active PRs. If you have a PR that needs conflict resolution Github's tools work fine to patch it up, but the result is an unsightly new merge commit following your PR commits. Since a PR is a new set of changes yet to be added to the latest code, it's always best to "rebase" instead of "merge." + +These helper scripts are designed for a workflow that uses `git rebase` and `git rebase -i` exclusively so Pull Request changes always come after the latest merged commits and are therefore relevant to the code at the time of merge. + +# Interactive Rebase + +During the lifespan of a Pull Request, you'll commonly want to combine or remove commits. This will be done using an "**interactive rebase**." All this means is that `git` opens up your editor (`vim`, `joe`, etc.) and you can change the order of commits, rewrite commit messages, drop commits, combine commits together, etc. When you save and close the editor, `git` attempts to make the changes. + +This is one place where conflicts might arise, since `git` can't always decide which changes should supersede others. + +# Resolving Conflicts + +Git will tell you if there's a conflict and insert unresolved blocks beginning with `<<<<<` into the code. You must return to the project editor, search for these, resolve the conflicts, and then do: + +``` +git add . +git rebase --continue +``` +If the resolution resulted in no changes (_e.g.,_ because already merged), then you will continue with: +``` +git add . +git rebase --skip +``` +If things get hairy and you don't know how to proceed, you can always abort and start over with: +``` +git rebase --abort +``` + +Conflict resolution is a bit of art and a bit of science, but not too hard to get the hang of. When massive conflicts arise it may be better to skip `git rebase` and use `git diff` instead. But in ordinary situations with under \~20 conflicts, it shouldn't be very hard to resolve them. + +**When resolving conflicts:** +- Usually you want some change from both sources. Consider all differences. +- Look carefully. Did a name change, punctuation get added? +- Confused? Reach beyond the current editor. Open the Github website to keep your original commits in view. + +Ultimately, the aim of rebase is to apply the equivalent changes to a newer codebase. So use all means at your disposal. If necessary, you can create a temporary branch, recreate your original changes anew, then update the PR to point at the new commits: +``` +mfnew my_redo_branch ;# Create a new clean branch. + ;# Make changes, commit them, and then... +git checkout my_pr_branch ;# Go back to the branch with a PR +git reset --hard my_redo_branch ;# Point the PR branch at the new work +git push -f ;# Now the PR contains shiny new commits +``` + +# Core Scripts + +These powerful scripts come with some preliminary requirements: + + - A GNU BASH shell environment with GNU utilies `sed`, `awk`, `gawk`, `sort`, and a few others. + - Basic understanding of Git branches, commits, some experience with `git merge` and `git rebase`. + - Experience with making a Pull Request. + - A Github account and a fork of Marlin in your Github account. + - A checked-out working copy of your Marlin fork. (Get Github Desktop. Use "Open in Desktop" from your fork's page.) + +(It may also be possible to adapt these scripts for the Github Desktop shell environment in Windows.) + +Only run these commands from within your Marlin working copy. That is, you first need to run `cd /home/work/Marlin` (for example). If you don't know what any of this is about, start by reading about BASH online, specifically about the "working directory." Just don't `cd` out of the working directory and all will be well. + +WARNING: While short, these scripts can be dangerous and don't always fail cleanly. Read them to understand how they work and use them with utmost caution. Remember, you can use `git reflog` to recover from almost any disaster, so have fun. + +--- +## `ghtp` + +**Usage:** `ghtp -[s|h] [remote-list]` + +Use this script to set the "GitHub Transport Protocol" for your remotes to either SSH or HTTP. This determines how Git (and Github Desktop) will connect to Github. You can set all remotes or specify just those you want to change. You should always use SSH with a public-key, unless behind a firewall. + +--- +## `mfinit` + +**_Run this script before any others_** to prepare your working copy of Marlin to use these helper scripts. All `mfinit` does is create a remote named `upstream` as an alias to `MarlinFirmware`. This is a common and convenient shorthand, and is used within the other scripts. + +--- +## `mfinfo` + +Run this script to get a line of information about your current working copy, branch, and upstream. When working on Marlin the output will look something like this: + +**Project**|**Your Account**|**Repository**|**Dev Branch**|**Working Branch** +`MarlinFirmware`|`joehitgub`|`Marlin`|`bugfix-2.1.x`|`fix_something_june_1` + +When working with this website's repository, the output will will read: + +**Project**|**Your Account**|**Repository**|**Dev Branch**|**Working Branch** +`MarlinFirmware`|`joehitgub`|`MarlinDocumentation`|`master`|`master` + +The other `mf*` scripts use `mfinfo` so they know what repository, fork, and so on are currently in use. If you write any custom scripts, you can also use `mfinfo`. + +--- +## `firstpush` + +- Push the current branch to your fork on Github (`origin`) for the first time. +- Set the current branch's upstream to `origin`. +- Open the current branch's commit log in the browser. + +Use `firstpush` after `mfnew` or whenever you want establish the current branch in your fork. The `mfpr` script will run `firstpush` if needed. This script doesn't do anything extra if the branch already exists in your fork. + +--- +## `mfnew` + +**Usage:** `mfnew [new_branch_name]` + +- Fetch `upstream` to make sure you have the latest code. +- Create a new branch with the given name as a copy of the Dev Branch. + +Note that the new branch is not sync'ed to your fork. Run `firstpush` if you want to create the remote copy. + +Use this command when you want to make a patch or feature starting from the latest Dev Branch. + +--- +## `mfpr` + +Open the **Compare & Pull Request** page on Github for the current branch. Be sure to use `git push` or `git push -f` to update the branch in your fork before submitting the Pull Request. You can always use `git push -f` afterward if you forget. + +--- +## `mfqp` + +Quick patch the current branch. + +- Commit all uncommitted changes with the message "patch." +- Run `mfrb` so you can apply the patch with `fixup` and make other changes. +- Run `git push -f` to update your fork. + +Use `mfqp` when you want to make a quick correction to an earlier commit and upload it immediately to `origin`. This will also update the open Pull Request, if there is one, and is intended to be used when patching up a Pull Request in preparation to get it merged and closed. + +--- +## `mfrb` + +Rebase the code on the latest Dev Branch and (optionally) rewrite commits. + +- Fetch `upstream` to get the latest changes to the Dev Branch. +- Rebase the current branch on the Dev Branch. (Conflicts may arise here.) +- Do an **interactive rebase** to fixup, squash, drop, rewrite, etc. + +For the 2.0.x development tree that last step will run `git rebase -i upstream/bugfix-2.1.x`. After using `mfrb` to rewrite your commit log you must use `git push -f` to update your fork. The `-f` flag cannot be omitted. + +Use `mfrb` whenever an open Pull Request is reporting conflicts (thus preventing the PR from being merged), or anytime you want to refresh a branch or Pull Request. Ideally, all open Pull Request should be periodically rebased so that they can be evaluated in relation to the current codebase. This command makes rebasing much easier to do while requiring much less typing. + +Whenever possible, take the opportunity to reduce the number of commit using "squash" or "fixup" (preferred). + +{% alert warning %} +NOTE: `mfrb` may stop for conflict resolution. If this occurs, don't panic. Carefully evaluate each instance where `<<<<<` appears in the code and make sure to choose the resolution that fits the commit being applied (not necessarily the final code). +{% endalert %} + +--- +## `mfup` + +Quickly bring a branch up to date, locally and remote. + +- Fetch `upstream` to get the latest changes to the Dev Branch +- Rebase the current branch on the Dev Branch. (Conflicts may arise here.) +- Run `git push -f` to update your fork. + +{% alert warning %} +NOTE: `mfup` may stop for conflict resolution. If this occurs, don't panic. Carefully evaluate each instance where `<<<<<` appears in the code and make sure to choose the resolution that fits the commit being applied (not necessarily the final code). +{% endalert %} + +# Utility Scripts + +--- +## `mfadd` + +Add and fetch a remote. + +**Usage:** `mfadd MagoKimbra` + +Use this command to get a branch from another Github user to work on. After making changes and committing them to a copy of another user's branch, you can submit a PR to the original branch on their fork. If their branch has an open PR, then your PR's changes become included in their PR when merged. + +--- +## `mfclean` + +Check to see if branches can be deleted. Remove merged branches and any branches that have been deleted from your fork. Use with care. May not be suitable for all working styles. + +# Documentation Scripts + +Documentation can be worked on with PRs, but these scripts assume a more direct approach for privileged users. You can still check out the documentation, make changes, and submit PRs. The `mfpr`, `mfnew`, `mfqp`, and `mfup` scripts are all compatible with the `MarlinDocumentation` repository as well. + +--- +## `mfdoc` + +Use Jekyll to compile the Marlin documentation website and display the local copy in the browser using the small integrated webserver. This command only runs in the `MarlinDocumentation` repository with the `master` branch checked out. + +--- +## `mfpub` + +Publish the current documentation website. This command only runs in the `MarlinDocumentation` repository with the `master` branch checked out. Only committed changes will be published. Uncommitted changes will be stashed and popped, so you can continue to work on them. + +- Check out `master` and force-push changes to `origin` and `upstream`. +- Build the full Marlin documentation website to a temporary folder. +- Check out `gh-pages` and copy the built website into it. +- Add and commit changes, then push the `gh-pages` branch. diff --git a/systems/flexibot/docs/marlin/_development/hal.md b/systems/flexibot/docs/marlin/_development/hal.md new file mode 100644 index 000000000..a17b72c0f --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/hal.md @@ -0,0 +1,88 @@ +--- +title: Hardware Access Layer +description: Overview of the Hardware Access Layer in Marlin +tag: coding + +author: chepo92 +contrib: thinkyhead +category: [ development ] +--- + +The Hardware Access Layer –"HAL" for short– allows Marlin to run on a wide variety of boards by providing a common interface for low-level resources like timers, serial ports, i2c and SPI buses, EEPROM, SDIO, and so on. + +## HAL Rationale + +Marlin was originally derived in 2011 from [Sprinter](//github.com/kliment/Sprinter) and [GRBL](//github.com/gnea/grbl). Initially, Marlin could only run on Arduino's AVR boards, but it was quickly ported to DUE. Soon we saw boards based on the LPC1768/9 appearing, along with a Grbl-based firmware called [Smoothieware](//reprap.org/wiki/Smoothieboard). + +Another ARM processor, the STM32, was poised to take over as the new frontrunner, so we put our heads together to pick a course for extended hardware support. We decided not to rebuild Marlin from the ground up, but to preserve the existing work by adding a layer to abstract away the platform. + +## HAL Alternatives + +We could have chosen to use an RTOS to build this abstraction, but there are just too many points against: + +- We want to stay compatible with AVR and small boards. That rules out RTOS. +- While possible to make the AVR version separate it's much simpler to keep a single codebase so everyone gets the latest features, patches and all platforms can benefit from improvements. We also catch bugs much faster when we're running the same code on more architectures. +- Marlin was designed to use direct interrupts, so it requires the least work to keep the same design. The extra benefit is that Marlin continues to run hardware-direct. The aim is for Marlin to obtain the best performance possible on the board using the least amount of power. + +### Current Marlin HALs + +#### AVR (8-bit) + + board|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Arduino AVR](//www.arduino.cc/)|ATmega, ATTiny, etc.|16-20MHz|64-256k|2-16k|5V|no + +#### DUE + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Arduino Due](//www.arduino.cc/en/Guide/ArduinoDue), [RAMPS-FD](//www.reprap.org/wiki/RAMPS-FD), etc.|[SAM3X8E ARM-Cortex M3](//www.microchip.com/wwwproducts/en/ATsam3x8e)|84MHz|512k|64+32k|3.3V|no + +#### ESP32 + + board|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [ESP32](//www.espressif.com/en/products/hardware/esp32/overview)|Tensilica Xtensa LX6|240MHz|---|---|3.3V|--- + +#### LPC1768 / LPC1769 + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Re-ARM](//www.kickstarter.com/projects/1245051645/re-arm-for-ramps-simple-32-bit-upgrade)|[LPC1768 ARM-Cortex M3](//www.nxp.com/products/microcontrollers-and-processors/arm-based-processors-and-mcus/lpc-cortex-m-mcus/lpc1700-cortex-m3/512kb-flash-64kb-sram-ethernet-usb-lqfp100-package:LPC1768FBD100)|100MHz|512k|32+16+16k|3.3-5V|no + [MKS SBASE](//forums.reprap.org/read.php?13,499322)|LPC1768 ARM-Cortex M3|100MHz|512k|32+16+16k|3.3-5V|no + [Selena Compact](//github.com/Ales2-k/Selena)|LPC1768 ARM-Cortex M3|100MHz|512k|32+16+16k|3.3-5V|no + [Azteeg X5 GT](//www.panucatt.com/azteeg_X5_GT_reprap_3d_printer_controller_p/ax5gt.htm)|LPC1769 ARM-Cortex M3|120MHz|512k|32+16+16k|3.3-5V|no + [Smoothieboard](//reprap.org/wiki/Smoothieboard)|LPC1769 ARM-Cortex M3|120MHz|512k|64k|3.3-5V|no + +#### SAMD51 + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Adafruit Grand Central M4](//www.adafruit.com/product/4064)|[SAMD51P20A ARM-Cortex M4](//www.microchip.com/wwwproducts/en/ATSAMD51P20A)|120MHz|1M|256k|3.3V|yes + +#### STM32 + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Arduino STM32](//github.com/rogerclarkmelbourne/Arduino_STM32)|[STM32F1](//www.st.com/en/microcontrollers-microprocessors/stm32f103.html) ARM-Cortex M3|72MHz|256-512k|48-64k|3.3V|no + [Geetech GTM32](//github.com/Geeetech3D/Diagram/blob/master/Rostock301/Hardware_GTM32_PRO_VB.pdf)|[STM32F1](//www.st.com/en/microcontrollers-microprocessors/stm32f103.html) ARM-Cortex M3|72MHz|256-512k|48-64k|3.3V|no + [STEVAL-3DP001V1](//www.st.com/en/evaluation-tools/steval-3dp001v1.html)|[STM32F401VE Arm-Cortex M4](//www.st.com/en/microcontrollers/stm32f401ve.html)|84MHz|512k|64+32k|3.3-5V|yes + +#### Teensy++ 2.0 + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Teensy++ 2.0](//www.microchip.com/wwwproducts/en/AT90USB1286)|[AT90USB1286](//www.microchip.com/wwwproducts/en/AT90USB1286)|16MHz|128k|8k|5V|no + +#### Teensy 3.1 / 3.2 + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Teensy 3.2](//www.pjrc.com/store/teensy32.html)|[MK20DX256VLH7](//www.mouser.com/ProductDetail/NXP-Freescale/MK20DX256VLH7) ARM-Cortex M4|72MHz|256k|32k|3.3V-5V|yes + +#### Teensy 3.5 / 3.6 + + boards|processor|speed|flash|sram|logic|fpu + ----|---------|-----|-----|----|-----|--- + [Teensy 3.5](//www.pjrc.com/store/teensy35.html)|[MK64FX512VMD12](//www.mouser.com/ProductDetail/NXP-Freescale/MK64FX512VMD12) ARM-Cortex M4|120MHz|512k|192k|3.3-5V|yes + [Teensy 3.6](//www.pjrc.com/store/teensy36.html)|[MK66FX1M0VMD18](//www.mouser.com/ProductDetail/NXP-Freescale/MK66FX1M0VMD18) ARM-Cortex M4|180MHz|1M|256k|3.3V|yes diff --git a/systems/flexibot/docs/marlin/_development/lcd_language.md b/systems/flexibot/docs/marlin/_development/lcd_language.md new file mode 100644 index 000000000..5ae4fbc63 --- /dev/null +++ b/systems/flexibot/docs/marlin/_development/lcd_language.md @@ -0,0 +1,194 @@ +--- +title: 'LCD Language System' +description: 'How Marlin handles LCD languages' +tag: language + +author: thinkyhead +contrib: shitcreek +category: [ development ] +--- +{% alert warning %} +This document describes changes made to the font system for Marlin 1.1. +{% endalert %} + +Marlin deals with a variety of different displays and needs to display a lot of different languages in different scripts on them, within their capabilities. The system described here solves some of the related problems that need to be overcome with in a limited environment. + +# The Displays +Currently Marlin includes support for two display technologies: + +## Character based displays: +- Have a fixed set of symbols (charset - font) in their ROM. +- All of them have a similar (not identical) first 127 symbols, similar to US-ASCII. + +On the other hand, symbols 128 and above have major differences from one display to another. + +Marlin 1.0 and 1.1 currently support: +- HD44780 (and similar) with Kana charset A00 [HD44780](//www.sparkfun.com/datasheets/LCD/HD44780.pdf) (Page 17) These are very common, but sadly not very useful when writing in European languages. +- HD44780 (and similar) with Western charset A02 [HD44780](//www.sparkfun.com/datasheets/LCD/HD44780.pdf) (Page 18). These are rare, but fairly useful for European languages. Also a limited number of Cyrillic symbols is available. +- HD44780 (and similar) with [Cyrillic charset](//store.comet.bg/download-file.php?id=466) (Page 14). Some of our Russian friends use them. + +On all these displays you can define 8 custom symbols to display at once. In Marlin these characters are used on the Boot Screen, and on the Info Screen for the Bed Temp, Degree symbol, Thermometer, "FR" (feed-rate), Clock, and Progress Bar. On the SD Card listing screens some of these characters are re-used again for Up-level, Folder, and Refresh. + +## Full Graphical Displays + +Graphical displays provide complete freedom to display whatever we want, so long as we provide a program for it. Currently we deal with 128x64 Pixel Displays and divide this area into \~5 Lines with \~22 columns. So we need monospace fonts with a bounding box of about 6x10. + +- Until now we've been using a custom Marlin font similar to ISO10646-1 but with special symbols at the end, which made 'ü' and 'ä' inaccessible at 6x10 size. +- Because these letters were too big for some positions on the Info Screen, we use a full ISO10646-1 font at 6x9 (3200 bytes). +- When we define `USE_BIG_EDIT_FONT` we use an additional ISO10646-1 9x18 font, eating up another 3120 bytes of PROGMEM - but readable without glasses! + +# The Languages + +Marlin currently supports 34 different language variants: + +Code|Language| |Code|Language +----|--------|-|----|-------- +en|English||an|Aragonese +bg|Bulgarian||ca|Catalan +cn|Chinese||cz|Czech +cz_utf8|Czech (UTF8)||de|German +el|Greek||el-gr|Greek (Greece) +es|Spanish||eu|Basque-Euskera +fi|Finnish||fr|French +fr_utf8|French (UTF8)||gl|Galician +hr|Croatian||hu|Hungarian| +it|Italian||kana|Japanese| +kana_utf8|Japanese (UTF8)||nl|Dutch| +pl|Polish||pt|Portuguese| +pt-br|Portuguese (Brazilian)||pt-br_utf8|Portuguese (Brazilian) (UTF8)| +pt_utf8|Portuguese (UTF8)||ru|Russian| +sk|Slovak (UTF8)||tr|Turkish| +uk|Ukrainian||zh_CN|Chinese (Simplified)| +zh_TW|Chinese (Taiwan)||vi|Vietnamese + +# The Problem + +All these languages (except English) normally use extended symbols not contained in US-ASCII. Even the English translation uses some Symbols not in US-ASCII (_e.g.,_ '`\002`' for Thermometer, `STR_h3` for '³'). In the code itself symbols may be used without taking into account the display they're written on. + +The upshot of all this is that on Western displays you'll see a '`~`' while on Cyrillic an "arrow coming from top - pointing to left" (which is quite the opposite of what the programmer wanted). The Germans want to use "`ÄäÖöÜüß`", the Finnish at least "`äö`". Other European languages want to see their accents too. For other scripts like Cyrillic, Japanese, Greek, Hebrew, ... you have to find totally different symbol sets. + +The Japanese translator dealt with two scripts, introducing a special font for Graphical Displays and making use of the Japanese extended character displays. Thus he ended up with two pretty unreadable `language.h` files full of '`\xxx`' definitions. Other languages either tried to avoid words that included special symbols or just used the basic symbols without the accents, dots... whatever. + +This system was created to address these problems. + +# The (Partial) Solution + +On a full-featured desktop system like Windows or Linux we could install `unifont.ttf` and some library code and we'd be done. But embedded systems have very limited resources! So we must find ways to limit the space used (`unifont.ttf` alone is \~12MB!), requiring some compromise. + +## Aims + +- Make the input for translators as convenient as possible. (Unicode UTF8) +- Make the displays show the scripts as best as they can. (fonts, mapping tables) +- Don't destroy the existing language files. +- Don't use more CPU resources. +- Don't use too much memory. + +## Actions + +- Declare the display hardware we use. (`Configuration.h`) +- Declare the language or script we use. (`Configuration.h`) +- Declare the kind of input we use. Ether direct pointers to the font (`\xxx`) or UTF-8 and the font to use on graphic displays. (`language_xx.h`) +- Declare the translations. (`language_xx.h`) +- Make a `strlen()` that works with UTF8. (`ultralcd.cpp`) +- Separate the Marlin Symbols into their own font. (`dogm_font_data_Marlin_symbols.h`) +- Make the fontswitch function remember the last used font. (`ultralcd_impl_DOGM.h`) +- Make output functions that count the number of chars written and switch the font to Marlin symbols and back when needed. (`ultralcd_impl_DOGM.h`) (`ultralcd_impl_HD44780.h`) +- Make three fonts to simulate the HD44780 charsets on dogm-displays. With these fonts the translator can check how the translation will look on character-based displays. +- Make ISO fonts for Cyrillic and Katakana - because they don't need a mapping table, are faster to deal with, and have a better charset than the HD44780 fonts. (Less compromise!) +- Make mapping functions and tables to convert from UTF8 to the fonts and integrate in the new output functions. (`utf_mapper.h`) +- Delete the obsolete `LiquidCrystalRus.xxx` files and their calls in '`ultralcd_implementation_HD44780.h`'. +- Split '`dogm_font_data_Marlin.h`' into separate fonts and delete. (+`dogm_font_data_6x9_marlin.h`, +`dogm_font_data_Marlin_symbols.h`, -`dogm_font_data_Marlin.h`) +- Do a bit of preprocessor magic to match displays - fonts and mappers in `utf_mapper.h`. + +# Translators' handbook +- Check first whether a `language_xx.h` file for your language already exists (-> b.) or not (-> e.). +- Either there's a `MAPPER_NON` declared (-> c.) or some other mapper (-> d.) + +### Direct HD44780 Translation +- Symbols outside the normal ASCII-range (32-128) are written as "`\xxx`" and point directly into the font of the hardware declared in `Configuration.h`. +- HD44780 displays have one of three fonts (`JAPANESE`, `WESTERN`, `CYRILLIC`) set by `DISPLAY_CHARSET_HD44780`. +- Even on the full graphic displays one of these character sets can be used by defining `SIMULATE_ROMFONT`. +- If you don't make use of the extended character set your file will look like `language_en.h` and your language file will work on all the displays. +- If you make extensive use, your file will look like `language_kana.h` and your language file will only work on one of the displays (in this case `DISPLAY_CHARSET_HD44780` == `JAPANESE`). +- Be careful with the characters `0x5C = '\'`, and `0x7B - 0x7F` "`{|}`". These are not the same on all variants. + +### Mappers +- `MAPPER_NON` is the fastest and least memory-hungry variant. Language files without accents use this. +- If you want to make use of more than a few symbols outside standard ASCII or want to improve the portability to more types of displays, use UTF-8 input. Which means defining another mapper. +- UTF-8 input is used for mappers other than `MAPPER_NON`. With a mapper, instead of "`\xe1`" (JAPANESE) or `STR_ae` you can simply type "`ä`". The "`ä`" expands to "`\xc3\xa4`". "Я" expands to "`\xd0\xaf`" … "ホ" expands to "`\xe3\x83\x9b`" … etc. +- Due to storage limitations we can't use every UTF-8 glyph at once, so we capture only a subset containing the characters we need: + - `MAPPER_C2C3` corresponds well with Western-European languages. The possible symbols are listed at [this Latin-1 page](//en.wikipedia.org/wiki/Latin-1_Supplement_(Unicode_block)). + - `MAPPER_D0D1` corresponds well with the Cyrillic languages. See [this Cyrillic page](//en.wikipedia.org/wiki/Cyrillic_(Unicode_block)). + - `MAPPER_E382E383` works with the Japanese Katakana script. See [this Katakana page](//en.wikipedia.org/wiki/Katakana_(Unicode_block)). + - There a few other language-specific mappers, and more are being developed. + +Mapper functions will only catch the 'lead-in' described in the mapper's name (_e.g.,_ `C2C3`). If the input doesn't match, the mapper will output a '?' or garbage. + +The last byte in the sequence ether points directly into a matching ISO10646 font or (via a mapper_table) into one of the HD44780 fonts. + +The mapper_tables do their best to find a similar symbol in the HD44780_fonts (for example, replacing small letters with the matching capital letters). But they may fail to find a match and will output a '?'. There are combinations of language and display which simply have no corresponding symbols - like Cyrillic on a Japanese display or _vice-versa_. In those cases the compiler will throw an error. + +In short: Choose a mapper that works with the symbols you want to use. Use only symbols matching the mapper. On Full Graphic Displays all symbols should be fine. Using the graphical display, you can test for bad substitutions or question-marks that would appear on character displays by defining `SIMULATE_ROMFONT` and trying the different variants. + +If you get a lot of question marks on the Hitachi-based displays with your new translation, maybe creating an additional language file with the format `language_xx_utf8.h` is the way to go. + +## Mapper Notes + +- As mentioned, `MAPPER_NON` is the fastest and least memory-hungry variant. While `MAPPER_NON` language files are ugly and tedious to maintain for non-Roman languages, for Roman languages it is trivial to make a `MAPPER_NON` file without any accents. +- Mappers together with an `ISO10646_*` font are the second-best choice in terms of speed and memory consumption. Only a few more decisions are made per-character. +- On top of space used for the font, mappers use an additional \~128 bytes for the `mapping_table`. +- Creating a new language file is no big thing! + - Make a new file with the format '`language_xx.h`' (or '`language.xx_utf8.h`') + - In this file specify the mapper (_e.g.,_ `MAPPER_NON`) and font (_e.g.,_ `DISPLAY_CHARSET_ISO10646_1`) and translate some of the strings defined in `language_en.h`. (Remove `#ifndef` `#endif` from the defines.) + - You don't have to translate all strings. Omitted definitions will simply use the English strings in in `language_en.h`. +- If there's no existing mapper for your language then things get a bit more complex. With the Hitachi-based displays you can't make something useful without a matching charset. For graphical display… let's take the example of Greek: + - Find a matching charset. ([Greek and Coptic](//en.wikipedia.org/wiki/Greek_and_Coptic)) + - Provide a bitmap font containing the symbols in the right size (5x9 to 6x10 recommended). Normal ASCII characters should occupy 1 to 127, and the upper 128 places should be populated with your special characters. + - Write a mapper that catches -in this case- `0xCD` to `0xCF` and add it to `utf_mapper.h`. + - In case of an ISO10646 font we have a `MAPPER_ONE_TO_ONE` and don't have to make a table. + - If you discover enough useful symbols in one of the HD44780 fonts you can provide a mapping table. For example `WESTERN` contains 'alpha', 'beta', 'pi', 'Sigma', 'omega' 'My' - which is not enough to make USEFUL table - I think. + - If you want to integrate an entirely new variant of a Hitachi-based display. Add it to `Configuration.h` and define mapper tables in `utf_mapper.h`. You may need to add a new mapper function. + +The length of strings (for menu titles, edit labels, etc.) is limited. "17 characters" was a crude rule of thumb. Obviously 17 is too long for a 16x2 display. So, language files are free to check the LCD width and provide shorter strings in the following manner: + +```cpp +#if LCD_WIDTH <= 16 + #define MSG_SPRING_LABEL "Spring" +#else + #define MSG_SPRING_LABEL "Springiness" +#endif +``` + +On 16x2 displays, strings suited to a 20x4 display will be chopped to fit. So if shorter string isn't provided, at least make similar strings different early in the string. ('`Someverylongoptionname x`' -> '`x Somverylongoptionname`') + +All translatable strings are first declared in `language_en.h` and then language maintainers follow up by providing translations in their own languages. Marlin includes a script named `findMissingTranslations.sh` which list the strings needing translation for one or more languages. + +Strings in `language.h` are for serial output, so don't require any translation. Core error strings must always be in English to satisfy host protocols. + +For information about fonts see [`buildroot/share/fonts/README.md` file](//github.com/MarlinFirmware/Marlin/tree/1.1.x/buildroot/share/fonts#readme). + +# User Instructions + +Define your hardware and the desired language in `Configuration.h`. + +To find out which character set your hardware uses, set `#define LCD_LANGUAGE test` and compile Marlin. In the menu you'll see two lines from the upper half of the character set: + +- `JAPANESE` displays "`バパヒビピフブプヘベペホボポマミ`" +- `WESTERN` displays "`ÐÑÒÓÔÕÖ×ØÙÚÛÜÝÞß`" +- `CYRILLIC` displays "`РСТУФХЦЧШЩЪЫЬЭЮЯ`" + +If you get an error message about "missing mappers" during compilation - lie about your display's hardware font to see at least some garbage, or select another language. + +English works on all hardware. + +# Definitions + +`LCD_LANGUAGE`: The LCD language and encoding to compile in. For example, `pt-br_utf8` specifies Portuguese (Brazil) in UTF-8 format with a mapper. For a faster, lighter, but non-accented translation you might choose `pt-br` instead. + +`MAPPER_C2C3`: This is a mapper set by some language files, and indicates that Marlin should use the mapper for Unicode pages C2 and C3. In this mapper, strings are converted from raw UTF-8 input to single ASCII characters from 0-127, and indexes from 0-127 within the combined two 64-glyph pages C2 and C3. + +`SIMULATE_ROMFONT`: Languages can opt to use the HD44780 ROM font special characters on graphical display. This method can be used for accented Western, Katakana, and Cyrillic if they don't supply their own fonts, or just for testing character-based mappers on a graphical display. + +`DISPLAY_CHARSET_ISO10646_1`: To support a graphical display, a language file must specify either `SIMULATE_ROMFONT` or a display character set. This specific option selects the Western font for use on graphical display. Others include `ISO10646_5`, `ISO10646_KANA`, `ISO10646_GREEK`, `ISO10646_CN`, `ISO10646_TR`, and `ISO10646_PL`. If no character set is specified, Marlin assumes `ISO10646_1`. + +`MAPPER_ONE_TO_ONE`: Most character sets on graphical displays (including `SIMULATE_ROMFONT`) map the character index directly to its position in the upper half of the font. This is possible for character sets that have only 2 contiguous pages of Unicode containing all the special characters. Other mappers use logic or a lookup table to locate the glyph. diff --git a/systems/flexibot/docs/marlin/_features/auto_bed_leveling.md b/systems/flexibot/docs/marlin/_features/auto_bed_leveling.md new file mode 100644 index 000000000..c2a59d754 --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/auto_bed_leveling.md @@ -0,0 +1,67 @@ +--- +title: 'Automatic Bed Leveling' +description: 'Automated procedures to probe the bed and compensate for an irregular or tilted bed' +tag: leveling + +author: thinkyhead +contrib: shitcreek +category: [ features, leveling ] +--- + +{% alert info %}This article pertains to Marlin 1.1.6 and some earlier versions. Corrections/improvements are welcome.{% endalert %} + +{% alert info %}Marlin also includes [Unified Bed Leveling](unified_bed_leveling.html) and [Mesh Bed Leveling](/docs/gcode/G029-mbl.html) which have their own unique options. The information on this page only fully applies to ABL.{% endalert %} + + + +Automatic Bed Leveling (ABL) helps improve the quality of printing and bed adhesion by taking several measurements of the bed surface and then adjusting all movement to follow the tilt or contours of the bed. Most beds appear quite flat and even, but even when the bed is flat, there may be irregularities due to tape or other matter on the surface. Or there may be irregularities in the bed or nozzle height due to mechanical flaws. ABL is able to compensate for all these kinds of height irregularities. + +ABL requires a Bed Probe to automatically measure the bed height at various points. Fortunately, probes come in many varieties, so there's a probe for every kind of printer. One popular solution is to use a mechanical switch mounted on a servo arm. The popular BLTouch probe emulates a servo but uses a retractable pin. There are infrared and inductive probes that trigger at some known distance from the bed. The nozzle itself may be used by mounting it on a spring-loaded carriage that presses a switch, or on a floating carriage that opens a contact. + +Note that Marlin now includes a `PROBE_MANUALLY` option (described below) so if you don't have an electronic probe you can still use all forms of ABL. + +# Types of Automatic Bed Leveling + - Three-Point: Probe the bed at 3 arbitrary points and apply a matrix to the bed's overall tilt. + - Planar Grid: Probe the bed in a grid and (like three-point) apply a matrix to the bed's overall tilt. + - Bilinear Grid: Probe the bed in a grid and apply mesh-based compensation. Best for an irregular bed. + +# Configuring Automatic Bed Leveling +1. Enable one of the automatic bed leveling options: + - `AUTO_BED_LEVELING_3POINT` + - `AUTO_BED_LEVELING_LINEAR` + - `AUTO_BED_LEVELING_BILINEAR` + +Unless you know you have a very flat bed, you should always use `AUTO_BED_LEVELING_BILINEAR`. And if you have an LCD and enough program memory, you should also enable `LCD_BED_LEVELING` to add a **Bed Leveling** sub-menu to the LCD. + +2. Configure the points (for 3-point leveling) or boundaries (for the others) where probing will occur. For the grid-based leveling options specify how many points to probe in X and Y. These may be set to different values, but for a square bed they should be equal. + +3. For testing, enable `DEBUG_LEVELING_FEATURE`. With this option enabled, use `M111 S32` to turn on detailed logging of homing and bed leveling. This will cause [`G28`](/docs/gcode/G028.html) and [`G29`](/docs/gcode/G029.html) to report everything they do, step-by-step, and can be indispensible for troubleshooting when things go wrong. + +4. Upload Marlin to the board and get ready for that first test. As always, do [`M502`](/docs/gcode/M502.html) followed by [`M500`](/docs/gcode/M500.html) to ensure that the configured "default" settings are stored in the EEPROM. Otherwise, older saved settings might be loaded and used. + +# First-Time Bed Leveling + +{% alert info %}For cartesian printers, level the bed corners using the 'paper method' before begining. With `LEVEL_BED_CORNERS` enabled you can do so via the LCD menu.{% endalert %} + +Begin with `M111 S247` for maximum logging. Before leveling the bed the machine must be homed with [`G28`](/docs/gcode/G028.html). This establishes the current position and makes sure that the carriage won't try to move outside the physical limits. + +Begin Automatic Bed Leveling with a plain [`G29`](/docs/gcode/G029.html) command. This will use the settings as configured. Stay close to the power switch in case the machine tries to move out of bounds. For the intial test we just want to determine whether probing works. + +If all goes well, move the nozzle down close to the bed and use a piece of paper to test the nozzle height. The paper should slide with a little bit of catch, but not too much. Now move the nozzle to different points on the bed with [`G1`](/docs/gcode/G000-G001.html) and re-test the height with the paper at each point. The feel should be close to the same at all points. If you find that the leveling isn't very accurate, use [`M48`](/docs/gcode/M048.html) to test the accuracy of the bed probe. + +# Saving and Loading +After a [`G29`](/docs/gcode/G029.html) the leveling data is only stored in RAM. You have to use [`M500`](/docs/gcode/M500.html) to save the bed leveling data to EEPROM, otherwise the data will be lost when you restart (or reconnect) the printer. Use [`M502`](/docs/gcode/M502.html) to reset the bed leveling data (and other settings to defaults). Use [`M501`](/docs/gcode/M501.html) to reload your last-saved bed leveling from EEPROM. This is done automatically on reboot. + +After a [`G29`](/docs/gcode/G029.html) bed leveling is automatically enabled, but in all other situations you must use `M420 S1` to enable bed leveling. It is essential to include the command `M420 S1` in the "Start G-code" in your slicer settings. If you have no bed leveling, or if there is no leveling data, then this command is simply ignored. + +# No Probe? No Problem! +Marlin now includes a `PROBE_MANUALLY` option as a kind of faux probe. With this option enabled you send [`G29`](/docs/gcode/G029.html) repeatedly, once for each point, until all points have been measured. In-between points you must manually adjust the Z axis with [`G1`](/docs/gcode/G000-G001.html) or your host software, feeling under the nozzle with a piece of paper or feeler gauge. Once the height feels right, send [`G29`](/docs/gcode/G029.html) to move to the next point. This may take a while! When all points are done, be sure to save the results with [`M500`](/docs/gcode/M500.html). + +The `LCD_BED_LEVELING` option makes manual leveling a lot faster and easier by providing a guided procedure and direct Z adjustment. + +# G29 Command Options + +For even more exciting details about ABL, see: +- [`G29` ABL (3-Point)](/docs/gcode/G029-abl-3point.html) +- [`G29` ABL (Linear)](/docs/gcode/G029-abl-linear.html) +- [`G29` ABL (Bilinear)](/docs/gcode/G029-abl-bilinear.html) diff --git a/systems/flexibot/docs/marlin/_features/autostart.md b/systems/flexibot/docs/marlin/_features/autostart.md new file mode 100644 index 000000000..bcbe2a45f --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/autostart.md @@ -0,0 +1,30 @@ +--- +title: Autostart +description: Automatically execute G-code at startup +tag: autostart + +author: shitcreek +contrib: AnHardt, thinkyhead +category: [ features, autostart ] +--- + +# Autostart + +If the printer has an SD card inserted at startup or reset, Marlin will look for the file `auto0.g` and execute it, followed in sequence by any other files with the same pattern (`auto1.g`, `auto2.g`, etc.) all the way up to `auto9.g`. + +By default, Autostart is included in the firmware whenever SD card support is enabled. It can be disabled to save a little flash and SRAM if the feature is not needed. + +## Use-cases + +- Provide alternative settings for all the files on an SD Card. +- Use the printer in "kiosk mode" to start a print simply by rebooting. +- Set the printer to a fresh state after a reboot. +- Run from the menu to set a fresh state at any time. + +## Configuration + +- `NO_SD_AUTOSTART` completely removes Autostart from the firmware. +- `MENU_ADDAUTOSTART` adds a menu item that can be used to run all the `auto#.g` files at any time. + +## Credits +Originally created by `bkubicek`, `Joris`, and the Ultimaker guys in a pizza-powered hacking session at Protospace/Utrecht as a way to start a print as soon the printer is powered on. diff --git a/systems/flexibot/docs/marlin/_features/eeprom.md b/systems/flexibot/docs/marlin/_features/eeprom.md new file mode 100644 index 000000000..430c0eb97 --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/eeprom.md @@ -0,0 +1,28 @@ +--- +title: EEPROM +description: Electrically Erasable Programmable Read-Only Memory +tag: eeprom + +author: shitcreek +contrib: AnHardt, RetireeJay46 +category: [ features, eeprom ] +--- + +{% alert info %}Requires `EEPROM_SETTINGS`.{% endalert %} + +Most 3D printer electronics include a little bit of storage (512K, 3K, or more) called EEPROM (Electrically Erasable Programmable Read-Only Memory) that persists when the power is off. Marlin uses the EEPROM to store the printer settings and loads them up the next time the machine powers up. Changing the source code and re-flashing the firmware does not change the contents of EEPROM. + +# Enable EEPROM + +![EEPROM](/assets/images/features/EEPROM.png) + +By default, EEPROM is disabled. This is to avoid the "unintended consequence" of local developers making changes to the values in Source Code and then having the printer boot up using the EEPROM values instead. But note that if you have EEPROM enabled, you can load it with "factory defaults" (coming from the Source Code) using [`M502`](/docs/gcode/M502.html) followed by [`M500`](/docs/gcode/M500.html). + +# EEPROM G-codes + +[`M500`](/docs/gcode/M500.html) - store current settings in EEPROM for the next startup or [`M501`](/docs/gcode/M501.html). +[`M501`](/docs/gcode/M501.html) - read all parameters from EEPROM, or undo changes. +[`M502`](/docs/gcode/M502.html) - Reset current settings to defaults, as set in Configurations.h - follow with [`M500`](/docs/gcode/M500.html) to reset the EEPROM. +[`M503`](/docs/gcode/M503.html) - Print the current settings – ''Not the settings stored in EEPROM.'' + +EEPROM is also accessible through the [LCD menu](/docs/features/lcd_menu.html). diff --git a/systems/flexibot/docs/marlin/_features/fwretract.md b/systems/flexibot/docs/marlin/_features/fwretract.md new file mode 100644 index 000000000..b15444dc3 --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/fwretract.md @@ -0,0 +1,41 @@ +--- +title: Firmware Retract +description: Configuration and usage of firmware-based retract and recover. + +author: thinkyhead +category: features +--- + + + +Molten filament extrusion is an inexact science at best. While 3D printers can perform XYZ movements with incredible accuracy and repeatability, extrusion continues to be one of the most challenging aspects of 3D printing due to its inherent slop. Many factors can influence extrusion latency and ooze, including the volume of the melt chamber, the hotend temperature, the viscosity of the material, the diameter of the nozzle, ambient temperature, and so on. As a result, tuning extrusion can be one of the most time-consuming aspects of printer calibration. + +To help deal with latency and reduce ooze, almost every extruder needs to apply some amount of **retraction** in between continuous extrusions, then an equal amount of **recovery** when starting the next extrusion. In a retract move, the extruder pulls the filament up out of the hot end to create negative pressure and (hopefully) prevent the filament from oozing during the next travel move. The recover move reverses the retraction to restore pressure before starting the next extruded line. Proper length and speed of retraction can vary widely, so it helps to experiment. + +# Slicer Retraction + +Normally you configure the retraction length and feedrate in your slicer software, then all retract and recover moves are _baked_ into the resulting G-code. This works well if you know the best length and feedrate to use and don't expect a lot of variability, but it makes experimentation and configuration changes much slower going since any changes in retraction require re-slicing all of your models. All of them! + +# Firmware-based Retraction + +With Firmware-based Retraction, Marlin manages all the details of retraction and recovery. Instead of generating extra E moves, the slicer just outputs [`G10`](/docs/gcode/G010.html) for retract moves and [`G11`](/docs/gcode/G011.html) for recover moves. Before doing a tool-change, the slicer outputs `G10 S1` for a swap-retract, and then the next [`G11`](/docs/gcode/G011.html) for that extruder will automatically be a swap-recover. + +In addition to producing a smaller G-code file, firmware-based retraction allows you to tune your retract/recover settings during a print and save them to EEPROM for all future prints with the same material. This means you never have to re-slice your models for a different material or new filament spool. Just run a test print to recheck and fine-tune retraction settings, save them to EEPROM, and get on with more printing. + +Enable Firmware-based Retraction with the `FWRETRACT` option in `Configuration_adv.h`. Default lengths and feedrates may also be set there. + +See [`M207` Set Retract](/docs/gcode/M207.html) and [`M208` Set Recover](/docs/gcode/M208.html) for available runtime settings. + +# Automatic Firmware Retraction + +Marlin includes Automatic Firmware Retraction (aka "Auto Retract") to convert slicer-based retraction to Firmware-based Retraction on the fly. When Automatic Firmware Retraction is enabled (_e.g.,_ with [`M209` Auto Retract](/docs/gcode/M209.html)) Marlin converts all retract/recover moves (`G0 E` moves over a configured length) into firmware-based retract/recover moves, using the length and feedrate values set in the firmware instead of those specified by the G-code. + +# AFR Caveats + +Currently, the [`M209`](/docs/gcode/M209.html) state is persistent and the state is saved to EEPROM. The expectation has been that once you've settled on a preference for firmware retraction you'll set the machine and keep it on or off. This behavior may change so that auto-retract is disabled most often, as it is safer to always leave it off. For legacy G-code, just add `M209 S1` to the starting code and `M209 S0` to the end. + +Auto-retract uses the settings `MIN_AUTORETRACT` and `MAX_AUTORETRACT` to determine the range of E moves that should be converted to firmware retract/recover moves. When Auto Retract is enabled, long [`G0`](/docs/gcode/G000-G001.html) moves (_e.g.,_ for a manual filament change) will be done as retract/recover moves. Turn off automatic firmware retraction with `M209 S0` before doing any manual E moves. + +{% alert warning %} +** **Avoid using Automatic Firmware Retraction unless absolutely needed!** ** +{% endalert %} diff --git a/systems/flexibot/docs/marlin/_features/lcd_menu.md b/systems/flexibot/docs/marlin/_features/lcd_menu.md new file mode 100644 index 000000000..9a4bf092f --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/lcd_menu.md @@ -0,0 +1,373 @@ +--- +title: LCD Menu Tree +description: A synopsis of the LCD menu tree +tag: lcd-menu + +author: thinkyhead +category: [ features, lcd ] +--- + +{% alert info %}This page is a work in progress, based on Marlin 1.1.2.{% endalert %} + +In addition to a serial/usb/host interface, Marlin also includes a menu-based user interface for inexpensive character and graphical LCD controllers. Rotate a knob or use buttons to navigate menu items, edit values, and make other adjustments. Click the knob or press a button to choose menu items, exit adjustment screens, and perform other actions. + +_Note: In low-level contexts we refer to the first extruder as `E0`, the second as `E1`, etc. However, at "user level" in the LCD menus, we refer to the first extruder as `E1`, the second as `E2`, etc. (Marlin 2.0 includes an option to show the first extruder as `E0`.)_ + +---- + +The tables below describe every menu item for every option (and all 5 extruders). In normal use the LCD menu will be much smaller in size. + +# Main Menu + +Item|Description|Requirements +----|-----------|------------ +**<< Info Screen** || +**[Debug >>](#debug)** || `HAS_DEBUG_MENU` (`LCD_PROGRESS_BAR_TEST`) +Case Light ON/OFF |Toggle the case light| `MENU_ITEM_CASE_LIGHT` +Reset BLTouch || `BLTOUCH` +**[Tune >>](#tune)** || (if printing) +**[Prepare >>](#prepare)** || (if idle) +**Calibrate Delta >>** || `DELTA_CALIBRATION_MENU` (if idle) +**[Control >>](#control)** || +Pause/Resume Print || `SDSUPPORT` (while SD printing) +**SD Card >>** |Navigate the SD Card| `SDSUPPORT` (while idle) +Init SD |[`M21`](/docs/gcode/M021.html) detect SD Card| `!SD_DETECT && SDSUPPORT` +**Info >>** || `LCD_INFO_MENU` + +# Debug + +Item|Description|Requirements +----|-----------|------------ +**[<< Main](#main-menu)** || +Progress Bar Test |Test the encoder using a progress bar| `LCD_PROGRESS_BAR_TEST` + +# Tune +The Tune menu is only available during active printing. Most items in this menu are editable values. + +Item|Description|Requirements +----|-----------|------------ +**[<< Main](#main-menu)** || +Speed: -–- |Feed Rate Multiplier| +Bed Z: -–- |MBL Z offset| `MESH_BED_LEVELING && LCD_BED_LEVELING` +Nozzle (#): -–- |Nozzle temperature(s)| `HOTENDS` +Bed: -–- |Bed temperature(s)| `HAS_THERMALLY_PROTECTED_BED && WATCH_BED_TEMP_PERIOD > 0` +Fan Speed (#): -–- || `FAN_COUNT > 0` +Flow (#): -–- |Flow Multiplier(s)| `EXTRUDERS` +Babystep X || `BABYSTEPPING && BABYSTEP_XY` +Babystep Y || `BABYSTEPPING && BABYSTEP_XY` +Babystep Z || `BABYSTEPPING && !BABYSTEP_ZPROBE_OFFSET` +Z Probe Offset |[`M851 Z`](/docs/gcode/M851.html)| `BABYSTEP_ZPROBE_OFFSET` +**Change Filament >>** |[`M600`](/docs/gcode/M600.html)| `FILAMENT_CHANGE_FEATURE` and not too cold + +# Prepare +The Prepare menu is only available when the machine is not printing. + +Item|Description|Requirements +----|-----------|------------ +**[<< Main](#main-menu)** || +**[Move Axis >>](#move-axis)** || `DELTA` requires [`G28`](/docs/gcode/G028.html) first +Auto Home |[`G28`](/docs/gcode/G028.html)| +Auto Home X |[`G28 X`](/docs/gcode/G028.html)| `INDIVIDUAL_AXIS_HOMING_MENU` +Auto Home Y |[`G28 Y`](/docs/gcode/G028.html)| `INDIVIDUAL_AXIS_HOMING_MENU` +Auto Home Z |[`G28 Z`](/docs/gcode/G028.html)| `INDIVIDUAL_AXIS_HOMING_MENU` +[Bed Leveling >>](#bed-leveling)|[`G29`](/docs/features/auto_bed_leveling.html#no-probe-no-problem) guided manual probing| `LCD_BED_LEVELING` +[Unified Bed Leveling >>](#unified-bed-leveling)|[`G29`](/docs/gcode/G029-ubl.html)| `UNIFIED_BED_LEVELING` +Set Home Offsets |[`M428`](/docs/gcode/M428.html)| `!DELTA && !NO_WORKSPACE_OFFSETS` +Disable Steppers |[`M18`](/docs/gcode/M018.html)| +Change Filament |[`M600`](/docs/gcode/M600.html)| `FILAMENT_CHANGE_FEATURE` and not too cold +Cooldown || `TEMP_SENSOR_0` (shown if currently heating) +**[Preheat PLA >>](#preheat-pla)** || `TEMP_SENSOR_0` +**[Preheat ABS >>](#preheat-abs)** || `TEMP_SENSOR_0` +BLTouch Self-Test || `BLTOUCH` +BLTouch Reset || `BLTOUCH` (if triggered while disabled) +Power ON/OFF || `HAS_POWER_SWITCH` +Autostart || `SDSUPPORT && MENU_ADDAUTOSTART` + +## Move Axis + +The move axis sub-menu was reorganized for Marlin 1.1. To use the move commands, first select the axis to move, then select the move distance. Use the controller wheel (or arrow buttons) to adjust the axis position. For larger move sizes, Marlin waits until you stop moving the controller for 1/2 second before it starts the move, giving you an opportunity to catch overshoot. + +Item|Description|Requirements +----|-----------|------------ +**[<< Prepare](#prepare)** || +Free XY |Move Z down to safe-zone| `DELTA` (above safe zone) +**Move X >>** |Select X move size, do moves| (may require [`G28`](/docs/gcode/G028.html), safe zone, etc.) +**Move Y >>** |Select Y move size, do moves| (may require [`G28`](/docs/gcode/G028.html), safe zone, etc.) +**Move Z >>** |Select Z move size, do moves| (`DELTA` and `SCARA` require [`G28`](/docs/gcode/G028.html)) +Auto Home |[`G28`](/docs/gcode/G028.html)| (shown if not homed) +Select E1/E2 |Sends "`T0`" / "`T1`"| `SWITCHING_EXTRUDER` +**Move E >>** |Select Active E move size, do moves.| +**Move E1 >>** |Select E1 move size, do moves| `EXTRUDERS >= 2` (if not too cold) +**Move E2 >>** |Select E2 move size, do moves| `EXTRUDERS >= 2` (if not too cold) +**Move E3 >>** |Select E3 move size, do moves| `EXTRUDERS >= 3` (if not too cold) +**Move E4 >>** |Select E4 move size, do moves| `EXTRUDERS >= 4` (if not too cold) +**Move E5 >>** |Select E5 move size, do moves| `EXTRUDERS == 5` (if not too cold) + +## Bed Leveling + +The Bed Leveling menu groups together commands for calibrating the nozzle-to-bed distance. Different options will appear depending on your setup and the type of leveling you've enabled. **Level Bed** runs the default [`G29`](/docs/gcode/G029.html) procedure. For auto bed leveling this will deploy the probe, measure all points, and stop. For manual leveling (`PROBE_MANUALLY` or `MESH_BED_LEVELING`) you'll be taken through a step-by-step process. + +Item|Description|Requirements +----|-----------|------------ +**[<< Prepare](#prepare)** || +Free XY |Move Z down to safe-zone | `DELTA` (above safe zone) +Auto Home |[`G28`](/docs/gcode/G028.html) | Unknown position +Leveling On/Off |`M420 S` | Valid mesh, known position +Level Bed |[`G29`](/docs/gcode/G029.html)/`G29 S1` | Known position +Fade Height: -–- |`M420 Z` | `ENABLE_LEVELING_FADE_HEIGHT` +Mesh Z Offset: -–- |`G29 Z` | `MESH_BED_LEVELING` +Z Probe Offset: -–- |`M851 Z` | `HAS_BED_PROBE` (`BABYSTEP_ZPROBE_OFFSET` for active Z adjust) +Load Settings |[`M501`](/docs/gcode/M501.html) | `EEPROM_SETTINGS` +Save Settings |[`M500`](/docs/gcode/M500.html) | `EEPROM_SETTINGS` + +## Unified Bed Leveling + +The Unified Bed Leveling menu groups together commands for leveling and mesh editing. Since this menu is very large and complex, it will be described in a separate document - coming soon. + +## Preheat PLA + +Set the fan speed plus bed and/or nozzle temperature to the preset "PLA" settings. Use `M145 S0 ...` to change the temperatures and fan speed used for this menu. + +Item|Description|Requirements +----|-----------|------------ +**[<< Main](#main-menu)** || +Preheat PLA |Active Extruder, fan, bed| `HOTENDS == 1` +Preheat PLA End |Active Extruder only | `HOTENDS == 1` +Preheat PLA 1 |Preheat E1 (and bed) | `HOTENDS >= 2` +Preheat PLA End E1 |Preheat E1 only | `HOTENDS >= 2 && TEMP_SENSOR_BED` +Preheat PLA 2 |Preheat E2 (and bed) | `HOTENDS >= 2` +Preheat PLA End E2 |Preheat E2 only | `HOTENDS >= 2 && TEMP_SENSOR_BED` +Preheat PLA 3 |Preheat E3 (and bed) | `HOTENDS >= 3` +Preheat PLA End E3 |Preheat E3 only | `HOTENDS >= 3 && TEMP_SENSOR_BED` +Preheat PLA 4 |Preheat E4 (and bed) | `HOTENDS >= 4` +Preheat PLA End E4 |Preheat E4 only | `HOTENDS >= 4 && TEMP_SENSOR_BED` +Preheat PLA 5 |Preheat E5 (and bed) | `HOTENDS == 5` +Preheat PLA End E5 |Preheat E5 only | `HOTENDS == 5 && TEMP_SENSOR_BED` + +## Preheat ABS + +Set the fan speed plus bed and/or nozzle temperature to the preset "ABS" settings. Use `M145 S1 ...` to change the temperatures and fan speed used for this menu. + +Item|Description|Requirements +----|-----------|------------ +**[<< Main](#main-menu)** || +Preheat ABS |Active Extruder, fan, bed| `HOTENDS == 1` +Preheat ABS End |Active Extruder only | `HOTENDS == 1` +Preheat ABS 1 |Preheat E1 (and bed) | `HOTENDS >= 2` +Preheat ABS End E1 |Preheat E1 only | `HOTENDS >= 2 && TEMP_SENSOR_BED` +Preheat ABS 2 |Preheat E2 (and bed) | `HOTENDS >= 2` +Preheat ABS End E2 |Preheat E2 only | `HOTENDS >= 2 && TEMP_SENSOR_BED` +Preheat ABS 3 |Preheat E3 (and bed) | `HOTENDS >= 3` +Preheat ABS End E3 |Preheat E3 only | `HOTENDS >= 3 && TEMP_SENSOR_BED` +Preheat ABS 4 |Preheat E4 (and bed) | `HOTENDS >= 4` +Preheat ABS End E4 |Preheat E4 only | `HOTENDS >= 4 && TEMP_SENSOR_BED` +Preheat ABS 5 |Preheat E5 (and bed) | `HOTENDS == 5` +Preheat ABS End E5 |Preheat E5 only | `HOTENDS == 5 && TEMP_SENSOR_BED` + +# Control + +The Control sub-menu includes the Temperature, Motion, and Filament sub-menus and Settings/EEPROM commands, plus a few other miscellanous hardware control commands. + +Item|Description|Requirements +----|-----------|------------ +**[<< Main](#main-menu)** || +**[Temperature >>](#temperature)** || +**[Motion >>](#motion)** || +**[Filament >>](#filament)** || +**LCD Contrast >>** || `HAS_LCD_CONTRAST` +**Retract >>** || `FWRETRACT` +**Drive Strength >>** || `DAC_STEPPER_CURRENT` +**[BLTouch >>](#bltouch)** || `BLTOUCH` +Store settings || `EEPROM_SETTINGS` +Load settings || `EEPROM_SETTINGS` +Restore failsafe |[`M502`](/docs/gcode/M502.html) Settings to defaults| +Init EEPROM |[`M502`](/docs/gcode/M502.html)+[`M500`](/docs/gcode/M500.html) Default settings and store to EEPROM| + +## Temperature + +Use this sub-menu to set the target temperature for nozzles and the bed, fan speed, `AUTOTEMP`, PID factors, and material preheat settings. + +Item|Description|Requirements +----|-----------|------------ +**[<< Control](#control)** || + || +Nozzle: -–- |Current E Target Temperature| `HOTENDS == 1` +Nozzle 1: -–- |E_n_ Target Temperature…| `HOTENDS >= 2` +Nozzle 2: -–- || `HOTENDS >= 2` +Nozzle 3: -–- || `HOTENDS >= 3` +Nozzle 4: -–- || `HOTENDS >= 4` +Nozzle 5: -–- || `HOTENDS == 5` +Bed: -–- |Bed Target Temperature| `HAS_THERMALLY_PROTECTED_BED && WATCH_BED_TEMP_PERIOD > 0` + || +Fan Speed: -–- || `FAN_COUNT == 1` +Fan Speed 1: -–- || `FAN_COUNT >= 2` +Fan Speed 2: -–- || `HAS_FAN1` +Fan Speed 3: -–- || `HAS_FAN2` + || +Autotemp ON/OFF || `AUTOTEMP && TEMP_SENSOR_0` +Min: -–- || `AUTOTEMP && TEMP_SENSOR_0` +Max: -–- || `AUTOTEMP && TEMP_SENSOR_0` +Factor: -–- || `AUTOTEMP && TEMP_SENSOR_0` + || +Pid P E1: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 1` +Pid I E1: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 1` +Pid D E1: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 1` +Pid C E1: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 1 && PID_EXTRUSION_SCALING` + || +Pid P E2: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 2` +Pid I E2: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 2` +Pid D E2: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 2` +Pid C E2: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 2 && PID_EXTRUSION_SCALING` + || +Pid P E3: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 3` +Pid I E3: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 3` +Pid D E3: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 3` +Pid C E3: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 3 && PID_EXTRUSION_SCALING` + || +Pid P E4: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 4` +Pid I E4: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 4` +Pid D E4: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 4` +Pid C E4: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 4 && PID_EXTRUSION_SCALING` + || +Pid P E5: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 5` +Pid I E5: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 5` +Pid D E5: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 5` +Pid C E5: -–- || `PIDTEMP && PID_PARAMS_PER_HOTEND && HOTENDS >= 5 && PID_EXTRUSION_SCALING` + || +**[Preheat PLA conf >>](#preheat-pla-conf)**|| +**[Preheat ABS conf >>](#preheat-abs-conf)**|| + +### Preheat PLA conf + +The temperatures and fan speed set here will be used for the "Preheat PLA" menu item. + +Item|Description|Requirements +----|-----------|------------ +**[<< Control](#control)** || +Fan Speed: -–-||`HAS_FAN` +Nozzle: -–-|| +Bed: -–-||`TEMP_SENSOR_BED` +Store settings|[`M500`](/docs/gcode/M500.html)| + +### Preheat ABS conf + +The temperatures and fan speed set here will be used for the "Preheat ABS" menu item. + +Item|Description|Requirements +----|-----------|------------ +**[<< Control](#control)** || +Fan Speed: -–-||`HAS_FAN` +Nozzle: -–-|| +Bed: -–-||`TEMP_SENSOR_BED` +Store settings|[`M500`](/docs/gcode/M500.html)| + +## Motion + +The motion settings provide control over tunable movement parameters which can be stored to EEPROM. + +Item|Description|Requirements +----|-----------|------------ +**[<< Control](#control)** || +Z Offset |`M851 Z`| `HAS_BED_PROBE` (with `BABYSTEP_ZPROBE_OFFSET` it babysteps) +Bed Z: -–- |MBL Z Offset| `MESH_BED_LEVELING && LCD_BED_LEVELING` +[Feedrate >>](#feedrate) |Feedrate settings| +[Acceleration >>](#acceleration)|Acceleration settings| +[Jerk >>](#jerk) |Jerk settings| +[Steps/mm >>](#stepsmm) |Steps/mm for XYZ axes and extruders| +Endstop abort ON/OFF || `SD_ABORT_ON_ENDSTOP_HIT` + +### Feedrate + +Item|Description|Requirements +----|-----------|------------ +**[<< Motion](#motion)** || +Vmax X: -–- |Max X Velocity (mm/s)| +Vmax Y: -–- |Max Y Velocity (mm/s)| +Vmax Z: -–- |Max Z Velocity (mm/s)| +Vmax E: -–- |Max E Velocity (mm/s)| +Vmax E1: -–- |Max E1 Velocity (mm/s)| `DISTINCT_E_FACTORS` +Vmax E2: -–- |Max E2 Velocity (mm/s)| `DISTINCT_E_FACTORS` +Vmax E3: -–- |Max E3 Velocity (mm/s)| `DISTINCT_E_FACTORS && E_STEPPERS >= 3` +Vmax E4: -–- |Max E4 Velocity (mm/s)| `DISTINCT_E_FACTORS && E_STEPPERS >= 4` +Vmax E5: -–- |Max E5 Velocity (mm/s)| `DISTINCT_E_FACTORS && E_STEPPERS == 5` +Vmin: -–- |Min Feedrate (mm/s)| +VTrav min: -–-|Min Travel Velocity (mm/s)| + +### Acceleration + +Item|Description|Requirements +----|-----------|------------ +**[<< Motion](#motion)** || +Accel: -–- |Nominal Acceleration| +Amax X: -–- |Max X Acceleration (mm/s2)| +Amax Y: -–- |Max Y Acceleration (mm/s2)| +Amax Z: -–- |Max Z Acceleration (mm/s2)| +Amax E: -–- |Max E Acceleration (mm/s2)| +Amax E1: -–- |Max E1 Acceleration (mm/s2)| `DISTINCT_E_FACTORS` +Amax E2: -–- |Max E2 Acceleration (mm/s2)| `DISTINCT_E_FACTORS` +Amax E3: -–- |Max E3 Acceleration (mm/s2)| `DISTINCT_E_FACTORS && E_STEPPERS >= 3` +Amax E4: -–- |Max E4 Acceleration (mm/s2)| `DISTINCT_E_FACTORS && E_STEPPERS >= 4` +Amax E5: -–- |Max E5 Acceleration (mm/s2)| `DISTINCT_E_FACTORS && E_STEPPERS == 5` +A-retract: -–-|Retract Acceleration (mm/s2)| +A-travel: -–- |Travel Acceleration (mm/s2)| + +### Jerk + +Item|Description|Requirements +----|-----------|------------ +**[<< Motion](#motion)** || +Vx-Jerk: -–-|Max X Jerk| +Vy-Jerk: -–-|Max Y Jerk| +Vz-Jerk: -–-|Max Z Jerk| +Ve-Jerk: -–-|Max E Jerk| + +### Steps/mm + +Item|Description|Requirements +----|-----------|------------ +**[<< Motion](#motion)** || +Xsteps/mm: -–- |X steps-per-mm| +Ysteps/mm: -–- |Y steps-per-mm| +Zsteps/mm: -–- |Z steps-per-mm| +Esteps/mm: -–- |E steps-per-mm| +E1steps/mm: -–-|E1 steps-per-mm| `DISTINCT_E_FACTORS` +E2steps/mm: -–-|E2 steps-per-mm| `DISTINCT_E_FACTORS` +E3steps/mm: -–-|E3 steps-per-mm| `DISTINCT_E_FACTORS && E_STEPPERS >= 3` +E4steps/mm: -–-|E4 steps-per-mm| `DISTINCT_E_FACTORS && E_STEPPERS >= 4` +E5steps/mm: -–-|E5 steps-per-mm| `DISTINCT_E_FACTORS && E_STEPPERS == 5` + +## Filament + +Volumetric extrusion, Linear Advance K factor, and filament diameter per-extruder. + +Item|Description|Requirements +----|-----------|------------ +**[<< Control](#control)** || +E in mm3 ON/OFF |Volumetric Units| +Advance K: -–- || `LIN_ADVANCE` +Fil. Dia.: -–- || `EXTRUDERS == 1` and volumetirc enabled +Fil. Dia. E1: -–-|| `EXTRUDERS >= 2` and volumetirc enabled +Fil. Dia. E2: -–-|| `EXTRUDERS >= 2` and volumetirc enabled +Fil. Dia. E3: -–-|| `EXTRUDERS >= 3` and volumetirc enabled +Fil. Dia. E4: -–-|| `EXTRUDERS >= 4` and volumetirc enabled +Fil. Dia. E5: -–-|| `EXTRUDERS == 5` and volumetirc enabled + +## BLTouch + +When the ANTCLABS BLTouch probe acts up you can use the items in this sub-menu to reset and test the probe. + +Item|Description|Requirements +----|-----------|------------ +**[<< Control](#control)** || +Reset BLTouch |Revive after an error| +BLTouch Self-Test |Run the built-in self-test| +Deploy BLTouch || +Stow BLTouch || + +---- + +# UBL Submenus + +Unified Bed Leveling aims to be a comprehensive all-in-one system to calibrate the bed based on every available datapoint. + +--- diff --git a/systems/flexibot/docs/marlin/_features/lin_advance.md b/systems/flexibot/docs/marlin/_features/lin_advance.md new file mode 100644 index 000000000..fef59f06c --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/lin_advance.md @@ -0,0 +1,212 @@ +--- +title: Linear Advance +description: Nozzle pressure control to improve print quality + +author: Sebastianv650, Sineos +category: [ features, developer ] +--- + + + +Under default conditions, extruder axis movement is treated in the same way as the XYZ linear axes. The extruder motor moves in linear proportion to all the other motors, maintaining exactly the same acceleration profile and start/stop points. But an extruder is not a linear system, so this approach leads, most obviously, to extra material being extruded at the end of each linear movement. + +Take the common test-cube as an example. Even with the best tuning the corners are usually not sharp, but bleed out. The top solid infill displays roughness where the print direction changes on perimeters. These problems are minor or even imperceptible at low printing speeds, but they become more noticeable and problematic as print speeds increase. + +Tuning the flow can help, but this may lead to under-extrusion when starting new lines. Some slicers include an option to end extrusion early in each move, but this adds more complexity to the G-code and has to be retuned for different temperatures and materials. + +Since the root cause is pressure, `LIN_ADVANCE` de-couples extrusion from the other axes to produce the correct pressure inside the nozzle, adapting to the printing speed. Once Linear Advance is properly tuned, bleeding edges and rough solid infill should be nearly eliminated. +
+# Advantages + +- Better dimensional precision due to reduced bleeding edges. +- Higher printing speeds are possible without any loss of print quality - as long as your extruder can handle the needed speed changes. +- Visible and tangible print quality is increased even at lower printing speeds. +- No need for high acceleration and jerk values to get sharp edges. + +
+ +# Special notes for v1.5 + +## Changelog + +- K is now a meaningful value with the unit [mm of filament compression needed per 1mm/s extrusion speed] or [mm/mm/s]. +- Load inside stepper ISR reduced as no calculations are needed there any more. Instead, the extruder runs at a fixed speed offset during pressure adjustment. Therefore this version runs faster. +- LIN_ADVANCE now respects hardware limitations set in Configuration.h, namely extruder jerk. If the pressure corrections require faster adjustments than allowed by extruder jerk limit, the acceleration for this print move is limited to a value which allows to use extruder jerk speed as the upper limit. +- The pressure adjustment moves don't lead to a rattling extruder as it was in v1.0: as the extruder is now running at a smooth speed instead of jerking between multiples of extruder print speed. +- This smooth extruder operation and respecting of jerk limits ensures no extruder steps are skipped. + +## New K value required + +As the unit of K has changed, you have to redo the K calibration procedure. See next chapter for details. While old v1 K values for PLA might be between 30-130, you can now expect K to be around 0.1-2.0. + +## LIN_ADVANCE can reduce your print acceleration + +In v1, if K was set to a high value which couldn't be handled by your printer, then the printer was losing steps and/or using all of it's processing power to execute extruder steps. In v1.5, this is handled much smarter. `LIN_ADVANCE` will now check if it can execute the advance steps as needed. If the needed extruder speed exceeds the extruder jerk limit, it will reduce the print acceleration for the line printed to a value which keeps the extruder speed within the limit. + +While you will most likely not run into this on direct drive printers with filaments like PLA, it will happen most likely on bowden printers as they need higher K values and therefore faster speed adaptions. If this happens to an amount you don't want to accept, you have the following options: +- Check your extruder jerk setting. If you have the feeling it is set to a very conservative value, try increasing it. +- Keep the extruder acceleration low. This can be achieved by lowering the layer height or line width for example +- Keep K as low as possible. Maybe you can shorten the bowden tube? + +## A note on bowden printers vs. LIN_ADVANCE + +A quite common note during development of `LIN_ADVANCE` was that bowden systems (and especially delta printers) are meant to be faster due to the lower moving mass. So lowering the print acceleration as described above would be an inadequate solution. On the other hand, bowden systems need a pressure advance feature the most as they usually have the most problems with speed changes. + +Well, `LIN_ADVANCE` was developed because I (Sebastianv650) wasn't satisfied by the print quality I got out of my direct drive printer. While it's a possible point of view to say that lowering acceleration on a bowden printer (which is meant to be fast) is a bad thing, I see it differently: if you would be satisfied with the print quality your bowden setup gives you, you wouldn't be reading about a way to do pressure corrections, isn't it? So maybe in this case the highest possible top speed is quite useless.. Bowdens are an option to keep moving mass low and therefore allowing higher movement speeds, but don't expect them to give the same precise filament laydown ability than a direct drive one. +It's like painting a picture: try to paint with a 1m long brush, grabing the rear end of the handle which is made from rubber. Even if you try to compensate for the wobbly brush tip (which is basically what `LIN_ADVANCE` does), it will never be as good as using a usual brush. +On the other hand, if you only need to have a part printed fast without special needs in terms of quality, there is no reason to enable `LIN_ADVANCE` at all. For those prints, you can just set K to 0. + +# Calibration +## Generate Test Pattern +Marlin documentation provides a [K-Factor Calibration Pattern generator](/tools/lin_advance/k-factor.html). This script will generate a G-code file that supports determining a proper K-Factor value. +The generated G-code will print a test pattern as shown in the following illustration: + + +![basics](/assets/images/features/lin_advance/k-factor_basics.png) + + +Beginning with the chosen `Start value for K`, individual lines will be printed from left to right. Each line consists of 20mm extrusion using `Slow Printing Speed` being followed by 40mm of `Fast Printing Speed` and finally being concluded by another 20mm of `Slow Printing Speed`. + +For each new line the K-Factor will be increased by the `K-Factor Stepping` value, up to the provided `End Value for K`. + +
+ +### General considerations for the Test Pattern Settings + + - [Bowden](//reprap.org/wiki/Erik%27s_Bowden_Extruder) extruders need a higher K-Factor than direct extruders. Consider a `Start value for K` of around 0.1 up to an `End Value for K` of around 2.0 for LIN_ADVANCE v1.5 or around 30 up to an `End Value for K` of around 130 for v1.0. + - The best matching K-Factor to be used in production depends on. + - Type of filament. Extremely flexible filaments like Ninjaflex may not work at all. + - Printing temperature. + - Extruder characteristics: Bowden vs. direct extruder , bowden length, free filament length in the extruder, etc. + - Nozzle size and geometry. + - The extruder's steps/mm value has to be [calibrated precisely](//reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide#E_steps). Calibration is recommended at low speeds to avoid additional influences. + - Minimize Backlash caused by gears [geared extruder](//reprap.org/wiki/Wade%27s_Geared_Extruder) or by push fittings. As it will not influence the K-Factor, it can lead to strange noises from the extruder due to the pressure control. + +> Repeat the calibration, if any of the above parameters change. + +
+ +## Evaluating the Calibration Pattern + +The transition between `Slow Printing Speed` phases and `Fast Printing Speed` phases are the points of interest to determine the best matching K-Factor. Following illustration shows a magnified view of a line where the K-Factor is too low: + + +![low](/assets/images/features/lin_advance/k-factor_low.png) + + +| Phase | Description | +|:--:|--| +| 1 | `Slow Printing Speed` | +| 2 | Beginning of the `Fast Printing Speed`. The pressure build up in the nozzle (= amount of extruded material) is lagging behind the acceleration of the print-head. This results in too little material and a starved line. Towards the end of this phase, the pressure is catching up to its intended value. | +| 3 | Extrusion and print-head movement are in sync. The nominal line width is extruded | +| 4 | Beginning of the deceleration towards `Slow Printing Speed`. Here the opposite of Phase 2 can be observed: The pressure decrease in the nozzle is lagging behind the deceleration of the print-head. This results in too much material being extruded | +| 5 | Beginning of the `Slow Printing Speed` phase. Still the pressure in the nozzle is not in sync with the intended extrusion amount and the line is suffering from over-extrusion. | +| 6 | `Slow Printing Speed` has stabilized. | + +A too high K-Factor essentially reverses the above picture. The extruded amount will overshoot at the start of an acceleration and starve in the deceleration phase. +
+> The test line, which has a fluid and barely visible or even invisible +> transition between the different speed phases represents the best +> matching K-Factor. + +
+ +# Setting the K-Factor for production + +## Considerations before using Linear Advance + + - Some slicers have options to control the nozzle pressure. Common names are: *Pressure advance*, *Coast at end*, *extra restart length after retract*. Disable these options as they will interfere with Linear Advance. + - Also disable options like *wipe while retract* or *combing*. There should be almost no ooze, once the proper K-Factor is found. + - Recheck retraction distance, once Linear Advance is calibrated and working well. It may even be as low as 0, since pressure control reduces the material pressure at the end of a line to nearly zero. + +## The following considerations are no longer a problem with LIN_ADVANCE version 1.5 + - This feature adds extra load to the CPU (and possibly more wear on the extruder). Using a communication speed of 115200 baud or lower to prevent communication errors and "weird" movements is recommended. + - The print host software should be using line numbers and checksums. (This is disabled by default e.g. in Simplify3D) + - Theoretically there should be no "extra" movements produced by `LIN_ADVANCE`. If extra movements were produced, this would tend to increase wear on more fragile parts such as the printed gears of a Wade extruder. + + +## Saving the K-Factor in the Firmware +If only one filament material is used, the best way is to set the K-Factor inside `Configuration_adv.h` and reflash the firmware: + + /** + * Implementation of linear pressure control + * + * Assumption: advance = k * (delta velocity) + * K=0 means advance disabled. + * See Marlin documentation for calibration instructions. + */ + #define LIN_ADVANCE + + #if ENABLED(LIN_ADVANCE) + #define LIN_ADVANCE_K + +## Adding the K-Factor to the G-code Start Script +[G-code Start Scripts](//reprap.org/wiki/Start_GCode_routines) are supported by various slicers. The big advantage of setting the K-Factor via this methods is that it can easily be modified, e.g. when switching to a different material. +The K-Factor is defined by adding the command `M900 Kxx` to the end of the start script, where *xx* is the value determined with the above test pattern. + +The following chapter briefly describes where to find the relevant setting in popular slicers. + +**Note 1:** + +With the G-code Start Script method, the feature still needs to be activated in the firmware as described in [Saving the K-Factor in the Firmware](#saving-the-k-factor-in-the-firmware). It is recommended to set `#define LIN_ADVANCE_K` to 0, which effectively disables the hard-coded firmware value. In this case only the K-Factor set via the start script is used. + +**Note 2:** + +The shown G-code Start Scripts are individual to each printer and personal taste. This is only intended to demonstrate where the K-Factor setting can be applied. + +
+### Cura +*Settings* ---> *Printer* ---> *Manage Printer* ---> *Machine Settings* + +![cura](/assets/images/features/lin_advance/cura.png) +


+### Slic3r +*Settings* ---> *Printer Settings* ---> *Custom G-code* + +![slic3r](/assets/images/features/lin_advance/slic3r.png) +


+### Simplify 3D +*Edit Process Settings* ---> *Show Advanced* --> *Scripts* ---> *Custom G-code* + +![s3d](/assets/images/features/lin_advance/s3d.png) +

+# Developer Information + +## General Informations + +The force required to push the filament through the nozzle aperture depends, in part, on the speed at which the material is being pushed into the nozzle. If the material is pushed faster (=printing fast), the filament needs to be compressed more before the pressure inside the nozzle is high enough to start extruding the material. + +For a single, fast printed line, this results in under-extrusion at the line's starting point (the filament gets compressed, but the pressure isn't high enough) and over-extrusion with a blob at the end of the line (the filament is still compressed when the E motor stops, resulting in oozing). + +For a complete print, this leads to bleeding edges at corners (corners are stop/end points of lines) and in extreme cases even gaps between perimeters due to under-extrusion at their starting points. + +## Version 1.5 +Version 1.5 handles the pressure correction in a slightly different way to reach the following goals: +- respect extruder jerk +- ensure a smooth extruder movement without rattling +- reduce load inside stepper ISR + +It does this by calculating an extruder speed offset within the planner for the given segment. If we have a true, linear acceleration then this will execute the needed advance steps just in time, so we have reached all our needed advance steps just when the acceleration part is over. As Marlin uses an approximation for the acceleration calculation inside the ISR, this is not perfectly true, we will come to this later. +If the needed speed offset exceeds the allowed extruder jerk, the print acceleration for this segment is reduced to a lower value so extruder jerk is not exceeded any more. This is comparable to the check Marlin does for each axis, for example if we have a print acceleration of 2000mm/s² but X axis max. acceleration is set to 500mm/s², print acceleration is reduced to 500mm/s². During the trapezoid calculation, `LIN_ADVANCE` calculates the needed amount of advance steps at cruising speed and at final speed (=speed at and of the block). + +When this block is executed by the stepper ISR, the extruder is set to a frequency which represents the calculated speed offset. The advance step is executed together with normal e steps. During the block runtime, the pressure will be advanced until the precalculated needed extra step amount is reached or the deceleration is started. During deceleration we reduce the advance step amount until we reach the amount for final speed or the block comes to an end. +This checks are necessary as Marlin uses an approximation for acceleration calculation as mentioned above. Therefore, for example, we might not reach the final pressure at end of move perfectly but that's not important as this error will not cumulate. + +The next update might include improved handling of variable width moves. On variable width path it's possible that we need to deplete pressure during acceleration, for example when the next line is much narrower than the previous one. Therefore `LIN_ADVANCE` would need to check for the actual extruder direction needed. +Another case to be considered is the gap fill to the tip of a triangle: in this case Marlin will move on with a constant speed, but the extruder speed and therefore needed pressure gets smaller and smaller when we approach the tip of the triangle. We should adapt nozzle pressure with max. possible speed (extruder jerk speed) then. +As gap fill is done at quite low speeds by most slicers, we have to decide if that extra load is worth the effect. On 32bit boards where calculation performance is most likely not a problem, it makes sense in any case. + +## Version 1.0 +The `LIN_ADVANCE` pressure control handles this free filament length as a spring, where `K` is a spring constant. When the nozzle starts to print a line, it takes the extrusion speed as a reference. Additional to the needed extrusion length for a line segment, which is defined by the slicer, it calculates the needed extra compression of the filament to reach the needed nozzle pressure so that the extrusion length defined by the slicer is really extruded. This is done in every loop of the stepper ISR. + +During deceleration, the filament compression is released again by the same formula: `advance_steps = delta_extrusion_speed * K`. During deceleration, `delta_extrusion_speed` is negative, thus the `advance_steps` values is negative which leads to a **retract** (or slowed) movement, relaxing the filament again. + +The basic formula (`advance_steps = delta_extrusion_speed * K`) is the same as in the famous JKN pressure control, but with one important difference: JKN calculates the sum of all required advance extruder steps inside the planner loop and distributes them equally over every acceleration and deceleration stepper ISR loop. This leads to the wrong distribution of advance steps, resulting in an imperfect print result. `LIN_ADVANCE` calculates the extra steps on the fly in *every* stepper ISR loop, therefore applying the required steps precisely where needed. + +For further details and graphs have a look into [this presentation, slides 7-9](//drive.google.com/file/d/0B5UvosQgK3adaHVtdUI5OFR3VUU/view). + +In Marlin, all the work is done in the `stepper.*` and `planner.*` files. In the planner loop, `LIN_ADVANCE` checks whether a move needs pressure control. This applies only to print moves, not to travel moves and extruder-only moves (like retract and prime). + +In the `Stepper::isr` method, `LIN_ADVANCE` calculates the number of extra steps needed to reach the required nozzle pressure. To avoid missing steps, it doesn't execute them all at once, but distributes them over future calls to the interrupt service routine. + +In v1.0 there is no check if the extruder acceleration, speed or jerk will exceed the limits set inside Configuration.h! diff --git a/systems/flexibot/docs/marlin/_features/model_predictive_control.md b/systems/flexibot/docs/marlin/_features/model_predictive_control.md new file mode 100644 index 000000000..b42de6454 --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/model_predictive_control.md @@ -0,0 +1,244 @@ +--- +title: Model Predictive Temperature Control +description: Control temperatures using a physical model of the system + +author: tombrazier +category: [ features ] +since: 2.0.9.4 +--- + + + + +## Background + +Temperature in control-systems (like Marlin) is commonly controlled with a PID algorithm. PID operates as a feedback loop with Proportional-Integral-Derivative control terms. Functionally the further the Measured-temperature is from the target temperature (setpoint), the more correction is applied to the power output. If you could supply PID with perfectly-measured temperature information, in a predictable steady state it should apply perfect control. However, temperature sensors have both latency and noise. PID control may also struggle to respond to rapid changes. In practice this leads to temperature overshoot and oscillation. + +Model Predictive Control (MPC) takes a different approach. Instead of trying to control against the measured temperature, it maintains a simulation of the system and uses the simulated hotend temperature to plan an optimal power output. The simulation has no noise and no latency, allowing for nearly perfect control. Thus it can compensate directly for extrusion speed and part-cooling. To prevent the simulated system state diverging from the actual hotend state, the simulated temperature is continually adjusted towards the sensor measurement. Although this does introduce a little noise and latency into the simulated system, the effect is far smaller than for PID. + +Configure with [`M306`](/docs/gcode/M306.html). + +## Advantages + +- Easy to configure. +- Stable. +- Responsive. +- Controls the actual hotend temperature, rather than the sensor temperature. +- Easily models heat losses to part cooling fan and filament. No need for `PID_EXTRUSION_SCALING` and `PID_FAN_SCALING`. + +## Configuration + +1. Disable `PIDTEMP` and enable `MPCTEMP` in `Configuration.h`. +1. Set your heater power(s) in `MPC_HEATER_POWER`. +1. Ensure `MPC_TUNING_POS` leaves space not to crash into the bed. During tuning the printer will home and then position the hotend just above the bed. The ideal Z position is around first layer height. +1. Install the firmware and run `M306 T` to tune the active hotend. (Look out for cooled blobs on the nozzle to avoid a collision with the bed.) +1. Save MPC constants with `M500` and/or set them in Configuration.h. +1. Set a hotend temperature to give it a test. + +Example output from `M306 T`: +``` +MPC Autotune start for E0 +Cooling to ambient +Heating to over 200C +Measuring ambient heat-loss at 209.64 +MPC Autotune finished! Put the constants below into Configuration.h +MPC_BLOCK_HEAT_CAPACITY 18.42 +MPC_SENSOR_RESPONSIVENESS 0.2176 +MPC_AMBIENT_XFER_COEFF 0.0664 +MPC_AMBIENT_XFER_COEFF_FAN255 0.0998 +``` + +[`M306`](/docs/gcode/M306.html) can also be used to change constants at runtime. + +### Manual Tuning + +If `M306 T` doesn't work –e.g., with positive temperature coefficient (PTC) hotends– MPC can be configured manually. + +1. Start with the part cooling fan off and hotend cold. Record the ambient starting temperature Ta. e.g., Ta = 20°C. +1. Set the temperature to 200°C and then back to 0°C once it reaches around 200°C. Measure the curve of temperature +vs time while the hotend is heating, starting at time = 0s. +1. Measure the fastest rate Rf at which temperature increases in °C/s. e.g., Rf = 3°C/s. +1. Divide the heater power by Rf to get `MPC_BLOCK_HEAT_CAPACITY` in J/K. e.g., 40W / 3°C/s = 13.33 J/K. +1. Measure the temperature Tf and time tf of the point where temperature was increasing fastest. +1. `MPC_SENSOR_RESPONSIVENESS` is Rf / (Rf x tf + Ta - Tf). e.g., for tf = 10s and Tf = 35°C, this is 3°C/s / ( 3°C/s x 10s + 20°C - 35°C) = 0.2 K/s/K. +1. Set these values with `M306` and set the temperature to 200°C. +1. MPC should eventually settle at a stable temperature around 200°C. +1. Use `M105` to find the PWM output required to maintain 200°C. e.g., if `M105` returns `T:200.12 /200.00 B:18.38 /0.00 P:18.24 /0.00 @:41 B@:0` it is the value `41` after the first `@` so PWM = 41. +1. `MPC_AMBIENT_XFER_COEFF` is PWM / 127 * heater power / (200°C - Ta). e.g., 41 / 127 * 40 W / (200°C - 20°C) = 0.072 W/K. +1. Find `MPC_AMBIENT_XFER_COEFF_FAN255` by repeating the last three steps with the fan on full. + +## Advanced Configuration + +`MPC_FAN_0_ALL_HOTENDS` and `MPC_FAN_0_ACTIVE_HOTEND`: Marlin assumes fan _N_ cools parts printed by hotend _N_. However some multi-hotend machines have only one fan. In these cases MPC needs to know whether the cooling fan cools all hotends simultaneously or whether it cools only the active hotend. Enable the appropriate option. + +`FILAMENT_HEAT_CAPACITY_PERMM`: MPC models heat loss from melting filament. Set the filament heat capacity here. + +`MPC_SMOOTHING_FACTOR`, `MPC_MIN_AMBIENT_CHANGE` and `MPC_STEADYSTATE`: These may be tweaked for stability. See the algorithm description for details. + +### Filament Heat Capacity + +Marlin needs to know how much energy (in Joules) it takes to heat 1mm of filament by 1°C (or 1 Kelvin, which is the same thing). +This can be calculated from the specific heat capacity and the density of the material. As an example, consider ABS. A web search gives the following approximate values: + +| Specific heat capacity | 2 J/g/K | +| Density | 1.07 g/ml | + +(Note: the way the units are presented for specific heat capacity vary widely but usually mean the same thing. K is the same as °C. And kJ/kg is the same as J/g or 1000 J/g.) + +For 1.75mm filament, 1mm of filament has a volume of 0.1 cm x π x (0.175 cm)2 / 4 = 0.00241 ml.
+Multiply 0.00241 ml/mm by the density of 1.07 g/ml to get 0.00257 g/mm.
+Multiply 0.00257 g/mm by the specific heat capacity of 2 J/g/K to get 0.00515 J/K/mm. + +The approximate heat capacities per mm of several popular filaments are: + +| Material | Value for 1.75mm filament | Value for 2.85mm filament | +| - | - | - | +| ABS | 0.00515 J/K/mm | 0.0137 J/K/mm | +| Nylon | 0.00522 J/K/mm | 0.0138 J/K/mm | +| PETG | 0.0036 J/K/mm | 0.0094 J/K/mm | +| PLA | 0.0056 J/K/mm | 0.0149 J/K/mm | + +## Tweaking MPC + +The advanced configuration options may offer stability benefits to some users. However by far the most common reason for tweaking MPC is when there is a fixed offset between the set temperature and the actual temperature. The MPC algorithm will eliminate this offset over time, but the effect may return when parameters such as fan speed change. A fixed offset like this will be caused by `MPC_AMBIENT_XFER_COEFF`, `MPC_AMBIENT_XFER_COEFF_FAN255` and/or `FILAMENT_HEAT_CAPACITY_PERMM`. Slightly increasing these values will increase the temperature where MPC settles and slightly decreasing them will decrease the settling temperature. + +## Marlin's MPC Algorithm + +MPC models the hotend system as four thermal masses: ambient air, the filament, the heater block and the sensor. Heater power heats the modeled heater block directly. Ambient air heats or cools the heater block. Filament cools the heater block. The heater block heats or cools the sensor. + +Every time the MPC algorithm runs it uses the following information to calculate a new temperature for the simulated hotend and sensor: +- The last power setting for the hotend. +- The present best-guess of the ambient temperature. +- The effect of the fan on heat-loss to the ambient air. +- The effect of filament feedrate on heat-loss to the filament. Filament is assumed to be at the same temperature as the ambient air. + +Once this calculation is done, the simulated sensor temperature is compared to the measured temperature and a fraction of the difference is added to the modeled sensor and heater block temperatures. This drags the simulated system in the direction of the real system. Because only a fraction of the difference is applied, sensor noise is diminished and averages out to zero over time. Both the simulated and the real sensor exhibit the same (or very similar) latency. Consequently the effects of latency are eliminated when these values are compared to each other. So the simulated hotend is only minimally affected by sensor noise and latency. This is where the real magic of this MPC implementation lies. + +`MPC_SMOOTHING_FACTOR` is the factor applied to the difference between simulated and measured sensor temperature. At its maximum value of 1, the simulated sensor temperature is continually set equal to the measured sensor temperature. A lower value will result in greater stability in MPC output power but also in decreased responsiveness. A value around 0.25 seems to work quite well. + +No simulation is perfect and, anyway, real life ambient temperature changes. So MPC also maintains a best guess estimate of ambient temperature. When the simulated system is close to steady state the simulated ambient temperature is continually adjusted. Steady state is determined to be when the MPC algorithm is not driving the hotend at its limits (i.e., full or zero heater power) or when it is at its limit but temperatures are still not changing very much - which will occur at asymptotic temperature (usually when target temperature is zero and the hotend is at ambient). + +`MPC_STEADYSTATE` is used to recognize the asymptotic condition. Whenever the simulated hotend temperature changes at an absolute rate less than `MPC_STEADYSTATE` between two successive runs of the algorithm, the steady state logic is applied. Since the algorithm runs frequently (6 times a second on an AVR board), even a small amount of noise can result in a fairly high instantaneous rate of change of hotend temperature. In practice 1°C/s seems to work well for `MPC_STEADYSTATE`. + +When in steady state, the difference between real and simulated sensor temperatures is used to drive the changes to ambient temperature. However when the temperatures are really close `MPC_MIN_AMBIENT_CHANGE` ensures that the simulated ambient temperature converges relatively quickly. Larger values of `MPC_MIN_AMBIENT_CHANGE` will result in faster convergence but will also cause the simulated ambient temperature to flutter somewhat chaotically around the ideal value. This is not a problem because the effect of ambient temperature is fairly small and short term variations of even 10°C or more will not have a noticeable effect. + +It is important to note that the simulated ambient temperature will only converge on real world ambient temperature if the ambient heat transfer coefficients are exactly accurate. In practice this will not be the case and the simulated ambient temperature therefore also acts a correction to these inaccuracies. + +Finally, armed with a new set of temperatures, the MPC algorithm calculates how much power must be applied to get the heater block to target temperature in the next two seconds. This calculation takes into account the heat that is expected to be lost to ambient air and filament heating. This power value is then converted to a PWM output. + +## `M306 T` Details +The tuning algorithm does the following with the target hotend: +- Move to the center and close to bed: Printing occurs close to the bed or printed model so tuning is done close to a surface to best emulate the conditions while printing. +- Cool to ambient: The tuning algorithm needs to know the approximate ambient temperature. It switches the part cooling fan on and waits until the temperature stops decreasing. +- Heat past 200°C: Three temperature measurements are needed at some point after the initial latency has taken effect. The tuning algorithm heats the hotend to over 200°C. +- Hold temperature while measuring ambient heat-loss: At this point enough is known for the MPC algorithm to engage. The tuning algorithm makes a best guess at the overshoot past 200°C which will occur and targets this temperature for about a minute while ambient heat-loss is measured without (and optionally with) the fan. +- Set MPC up to use the measured constants and report them for use in `Configuration.h`. + +If the algorithm fails or is interrupted with `M108`, some or all of the MPC constants may be changed anyway and their values may not be reliable. + +## Model Details & Tuning Algorithm + +The simulated hotend model is not a physically-accurate representation of the hotend but it's good enough. Differences include: +- The real heating element is a separate thermal mass, somewhat thermally insulated from the heater block. +- The real heater block is cooled by the heatsink which slowly heats to some asymptotic temperature. +- The real temperature sensor heats/cools the heater block to a tiny degree. + +None of these effects is significant enough to harm the functioning of MPC. So for the sake of simplicity and performance they are ignored. + +The model is governed by a very simple set of differential equations: + +$$ \dfrac{dT_b}{dt} = \dfrac{P + h_a . (T_a - T_b)}{C_b} $$ + +$$ \dfrac{dT_s}{dt} = \dfrac{h_s . (T_b - T_s)}{C_s} $$ + +where + +$$T_b$$ = temperature of the heater block. + +$$T_s$$ = temperature of the sensor. + +$$T_a$$ = ambient temperature. + +$$t$$ = time. + +$$P$$ = heater power. + +$$h_a$$ = coefficient of heat transfer from heater block to ambient. This one constant encapsulates the effect of +fan speed and filament feedrate and is calculated using `MPC_AMBIENT_XFER_COEFF`, `MPC_AMBIENT_XFER_COEFF_FAN255` and +`FILAMENT_HEAT_CAPACITY_PERMM`. Both room air and un-melted filament are assumed to be at the same ambient temperature. + +$$h_s$$ = coefficient of heat transfer from heater block to sensor. + +$$C_b$$ = heat capacity of the heater block (i.e., `MPC_BLOCK_HEAT_CAPACITY`). + +$$C_s$$ = heat capacity of the sensor. + +Since $$h_s$$ and $$C_s$$ never appear independently, they are collapsed into a single the single constant represented by `MPC_SENSOR_RESPONSIVENESS` which has the value $$\dfrac{h_s}{C_s}$$. + +These differential equations are continually solved numerically by MPC. There is also a simple analytical solution which is used by `M306 T`: + +$$ T_b = T_{asymp} + (T_a - T_{asymp}) . e ^ {(-\alpha_b . t)}$$ + +$$ T_s = T_{asymp} + (T_a - T_{asymp}) . \dfrac{\alpha_s . e ^ {(-\alpha_b . t)} - \alpha_b . e ^ {(-\alpha_s . t)}}{\alpha_s - \alpha_b}$$ + +where + +$$T_{asymp} = T_a + P / h_a$$ is the asymptotic temperature of the hotend. + +$$\alpha_b = h_a / C_b$$ is the "responsiveness" of the heater block to ambient temperature. + +$$\alpha_s = h_s / C_s$$ is the "responsiveness" of the sensor to heater block temperature (i.e., `MPC_SENSOR_RESPONSIVENESS`). + +and assuming $$T_s(0) = T_b(0) = T_a$$. + +In a real world system, $$\alpha_s \gg \alpha_b$$. So after the initial latency effects (which will generally be the case after $$T_s > 100$$) an excellent approximation of the second equation is + +$$ T_s \approx T_{asymp} + (T_a - T_{asymp}) . \dfrac{\alpha_s . e ^ {(-\alpha_b . t)}}{\alpha_s - \alpha_b} \label{approx} $$ + +This makes it easy to measure $$T_{asymp}$$ and, consequently, $$\alpha_b$$ (leading to a measure of $$h_a$$ and $$C_b$$) and $$\alpha_s$$. + +For any $$\Delta t$$ the above equation gives + +$$\dfrac{T_s(t + \Delta t) - T_{asymp}}{T_s(t) - T_{asymp}} = e ^ {(-\alpha_b . \Delta t)} \label{eqdelta} $$ + +By the same logic + +$$\dfrac{T_s(t + 2 \Delta t) - T_{asymp}}{T_s(t + \Delta t) - T_{asymp}} = e ^ {(-\alpha_b . \Delta t)} $$ + +And so + +$$\dfrac{T_s(t + 2 \Delta t) - T_{asymp}}{T_s(t + \Delta t) - T_{asymp}} = \dfrac{T_s(t + \Delta t) - T_{asymp}}{T_s(t) - T_{asymp}}$$ + +Rearranging: + +$$ T_s(t + 2 \Delta t) . T_s(t) - T_{asymp} . (T_s(t + 2 \Delta t) + T_s(t)) + T_{asymp}^2 = T_s(t + \Delta t) ^ 2 - T_{asymp} . 2 . T_s(t + \Delta t) + T_{asymp}^2 $$ + +Or (subtracting $$T_{asymp}^2$$ from both sides): + +$$ T_s(t + 2 \Delta t) . T_s(t) - T_{asymp} . (T_s(t + 2 \Delta t) + T_s(t)) = T_s(t + \Delta t) ^ 2 - T_{asymp} . 2 . T_s(t + \Delta t) $$ + +And: + +$$ T_{asymp} = \dfrac{T_s(t + \Delta t) ^ 2 - T_s(t + 2 \Delta t) . T_s(t)}{2 . T_s(t + \Delta t) - T_s(t + 2 \Delta t) - T_s(t)} $$ + +Using the identity $$T_{asymp} = T_a + P / h_a$$: + +$$ h_a = \dfrac{P}{T_{asymp} - T_a} $$ + +Equation $$\eqref{eqdelta}$$ also gives + +$$ \alpha_b = \dfrac{-ln(\dfrac{T_s(t + \Delta t) - T_{asymp}}{T_s(t) - T_{asymp}})}{\Delta t} $$ + +And using the identity $$\alpha_b = h_a / C_b$$: + +$$ C_b = \dfrac{h_a}{\alpha_b} $$ + +And for any known $$T_s(t)$$ equation $$\eqref{approx}$$ can be solved to give + +$$ \alpha_s = \dfrac{\alpha_b . (T_s(t) - T_{asymp})}{T_s(t) - T_{asymp} - (T_a - T_{asymp}) . e^{-\alpha_b . t}} $$ + +`M306 T` finds a $$t$$ and $$\Delta t$$ with known sensor values for $$T_s(t)$$, $$T_s(t + \Delta t)$$ and $$T_s(t + 2 \Delta t)$$. These are used with the equations above to calculate values for `MPC_SENSOR_RESPONSIVENESS`, `MPC_AMBIENT_XFER_COEFF` and `MPC_BLOCK_HEAT_CAPACITY`. These values are then used to target a particular temperature while heat loss is measured to obtain `MPC_AMBIENT_XFER_COEFF_FAN255` and an even better estimate of `MPC_AMBIENT_XFER_COEFF`. diff --git a/systems/flexibot/docs/marlin/_features/probe_temp_compensation.md b/systems/flexibot/docs/marlin/_features/probe_temp_compensation.md new file mode 100644 index 000000000..14716cff1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/probe_temp_compensation.md @@ -0,0 +1,107 @@ +--- +title: 'Probe Temperature Compensation' +description: 'Probe measurement temperature calibration' + +author: tompe-proj +contrib: thinkyhead, thisiskeithb +category: [ features, leveling ] +--- + +{% alert warning %} +As of this writing, this is still an experimental feature and should be used with caution. +{% endalert %} + +## Introduction + +Temperature can significantly affect bed probing and as a consequence first layer quality. To address this, probes like the P.I.N.D.A V2 include a thermistor so they can compensate for measurements taken at different temperatures. However, in order to find these compensation values a calibration process is required ([`G76`](/docs/gcode/G076.html)). + +Since the probe temperature is not the only factor affecting first layer quality, the current implementation can compensate for the bed, probe, and extruder, but only the first two can be calibrated automatically. The measured values are used during [`G29`](/docs/gcode/G029.html) mesh bed leveling to adjust the probe measurements at different temperature readings. + +During the calibration process it's important to keep other parts at a constant temperature to prevent them from affecting measurement. For the bed this is fairly easy since Marlin controls its temperature. And for the probe, Marlin can control its proximity to the bed. On some printers (_e.g.,_ Průša MK3) it may be necessary to shield the probe from active fans or it won't heat up enough. Setting the extruder to something like 140°C can also help. + +The probe calibration table starts at 30°C, the bed at 60°C, and the extruder at 180°C. In reality we might not reach maximum temperatures while calibrating, so linear regression and extrapolation are used to fill in the gaps. While this is hardly exact, it's still better than applying the last value for higher temperatures. The more measurements taken, the better the extrapolated values will be. + +The calibration process simply does some probing at a lower temperature (_e.g.,_ probe at 30°C with bed constant) and uses that measurement as the base value. After heating up the probe or bed by an incremental value (+5°C) another probe reading is taken and the measured offset is stored in the appropriate table. This process is repeated multiple times. + +After calibration print, verify sanity, and eventually modify single values (outliers) with the [`M871`](/docs/gcode/M871.html) command. + +## [`G76`](/docs/gcode/G076.html) bed calibration process +During bed calibration the probe temperature is held constant (_e.g.,_ 30°C). + - Move the probe to the cooldown point. + - Heat up the bed to 60°C. + - Move the probe to the probing point (0.5mm above heatbed). + - Wait until the probe heats up to the target (30°C). + - Probe the bed to get a base value and increase bed temperature by 5°C. + - To get the rest of the calibration values the following steps are repeated until the maximum bed temperature is reached or a timeout occurs: + - Increase the bed temperature by 5°C. + - Move the probe to the cooldown point. + - Wait until the probe temperature is below 30°C and the bed has reached the new target temperature. + - Move the probe to the probing point and wait until the probe reaches the target temperature (_e.g.,_ 30°C). + - Probe the bed to get a delta value. +- In the case of a timeout, compensation values for higher temperatures will be extrapolated from the existing values. + +Note that some beds distort when heated and this will invalidate results. If your bed distorts you may need manual calibration for the bed. + +## [`G76`](/docs/gcode/G076.html) probe calibration process +While probe calibration is active bed temperature is held constant (_e.g.,_ 110°C). + - Move the probe to the cooldown point. + - Heat up the bed to maximum temperature (_e.g.,_ 110°C). + - Move the probe to the probing point and lower to just 0.5mm above the bed. + - Wait until the probe heats up to the target (30°C). + - Probe the bed to get a base value. + - To get the rest of the calibration values the following steps are repeated until the maximum probe temperature is reached or a timeout occurs (_i.e.,_ the probe doesn't get any hotter): + - Increase the target temperature for the probe by 5°C. + - Wait until the probe reaches the new target temperature. + - Probe the bed to get a delta value. + - In the case of a timeout, compensation values for higher temperatures will be extrapolated from the existing values. + +## Manual calibration process +The extruder (and perhaps the bed) must be calibrated manually. Here is a potential process: + - Record the Probe Z Offset (call it `V0`). + - Set the extruder (or bed) temperature and wait for it to stabilize. + - Use the Z Probe Wizard to get a new value for the Probe Z Offset (call it `V1`). + - Use [`M871`](/docs/gcode/M871.html) to set the value `V0 - V1`. + - Repeat with the next temperature... + +## Configuration +The feature can be enabled and configured in `Configuration_adv.h`. Most of the numbers quoted above are defaults and can be modified. +1. Make sure you have a probe and at least one temperature sensor: probe, bed and/or extruder. +1. Enable the option for each temperature sensor you wish to use: + - `PTC_PROBE`, `PTC_BED` or `PTC_HOTEND` +1. Set up the temperature range to use when calibrating each sensor: + - `PTC_*_START`, `PTC_*_RES` and `PTC_*_COUNT` +1. If you already have Z offset measurements, populate them: + - `PTC_*_ZOFFS` +1. Set the behavior for temperatures outside the calibrated range, extrapolation or (default) clamping to the min/max value: + - `PTC_LINEAR_EXTRAPOLATION` +1. Set `BED_MAXTEMP` in `Configuration.h`. +1. Set the park position for [`G76`](/docs/gcode/G076.html) to wait for probe to cool down: + - `PTC_PARK_POS` +1. Set the probe position for [`G76`](/docs/gcode/G076.html) to wait for probe to heat up and perform Z-probings: + - `PTC_PROBE_POS` +1. Set the probe temperature for [`G76`](/docs/gcode/G076.html) to target while calibrating the bed. + - `PTC_PROBE_TEMP` +1. Set the height above Z=0.0 for heating the probe: + - `PTC_PROBE_HEATING_OFFSET` +1. Calibrate the Z value for `NOZZLE_TO_PROBE_OFFSET` (the Probe Z Offset) at the temperatures given by `PTC_*_START`. +1. Run [`G76`](/docs/gcode/G076.html) command to start calibration process. +1. Use [`M871`](/docs/gcode/M871.html) command to check/adjust values in tables. +1. Use [`M500`](/docs/gcode/M500.html) command to store values in EEPROM. + +## Saving and Loading +The [`G76`](/docs/gcode/G076.html) or [`M871`](/docs/gcode/M871.html) commands only store their results in SRAM, so you must save the data to EEPROM with [`M500`](/docs/gcode/M500.html) to preserve the data across reboots. If you've used [`G76`](/docs/gcode/G076.html) or [`M871`](/docs/gcode/M871.html) and don't want to use the results, you can send [`M501`](/docs/gcode/M501.html) to load the last-saved values or [`M502`](/docs/gcode/M502.html) to reset them to zero. + +## Example values +These values were calibrated using a genuine MK52 and P.I.N.D.A V2 probe. The values for the probe above 50°C are extrapolated. Note that you can always tidy up your compensation curve manually using the [`M871`](/docs/gcode/M871.html) command. + +### Probe + +|°C|30°C|35°C|40°C|45°C|50°C|55°C|60°C|65°C|70°C|75°C|80°C| +|-|-|-|-|-|-|-|-|-|-|-|-| +|µm|0|-5|-27|-46|-57|-63|-80|-98|-115|-133|-150| + +### Bed + +|°C|60°C|65°C|70°C|75°C|80°C|85°C|90°C|95°C|100°C|105°C|110°C| +|-|-|-|-|-|-|-|-|-|-|-|-| +|µm|0|3|11|27|30|35|37|37|39|50|55| diff --git a/systems/flexibot/docs/marlin/_features/unified_bed_leveling.md b/systems/flexibot/docs/marlin/_features/unified_bed_leveling.md new file mode 100644 index 000000000..bf89c2f49 --- /dev/null +++ b/systems/flexibot/docs/marlin/_features/unified_bed_leveling.md @@ -0,0 +1,380 @@ +--- +title: 'Unified Bed Leveling' +description: 'The Unified Auto Bed Leveling system (UBL) provides automated procedures to probe the bed and compensate for an irregular or tilted bed' +tag: leveling + +author: Bob-the-Kuhn, thinkyhead, Roxy-3D, bjarchi +category: [ features, leveling ] +--- + +The **Unified Bed Leveling (UBL)** system is a superset of the previous leveling systems. + +The main improvements over the previous systems are: + - Optimized line-splitting algorithm. For all mesh-based leveling methods, on Cartesians each linear move is split on grid line boundaries, respecting the best-known measured heights on the bed. UBL highly optimizes this boundary-splitting with pre-calculation, optimized handling of special cases, and avoiding recursion. + - It is possible to probe and store a high-resolution rectangular mesh in nonvolatile storage, load this mesh, and use either 3-point or grid based probing to 'tilt' the mesh and compensate for slight changes in bed orientation. + - The user is able to fill in the portions of the mesh that can’t be reached by automated probing. This allows the entire bed to be compensated. + - It allows the user to fine tune the system. The user is able to modify the mesh based on print results. Really good first layer adhesion and height can be achieved over the entire bed. + +## Synopsis + +Currently an LCD display with a rotary encoder is recommended. Note that the MKS TFT 2.8 and 3.2 *do not* actually fulfill the LCD requirements. The main documentation below assumes that a conforming LCD and a z-probe are present. See [the no-lcd addendum](#ubl-without-an-lcd) for information on using UBL without a display, and [the no-z-probe addendum](#ubl-without-a-z-probe) to get UBL working without a z-probe installed. Note that operation without an LCD is still work-in-progress, and subject to change. + +UBL is a superset of previous automatic leveling systems, but it does not necessarily supersede them in all cases. Its goal is to allow the best features of the previous leveling schemes to be used together and combined, as well as providing a richer set of commands and feedback for the user. However, this functionality comes at a cost of program space. Compared to bilinear leveling, for example, the difference might be 50 kB for UBL vs. 5 kB for bilinear -- and for an equally precise mesh the printed results could be quite similar. With that said, the cost in program space is likely only a concern for more resource constrained parts like the 128k ATMegas. + +The printer must be already fully functional and tested, with a well-constrained movement system. The more physically level and straight the bed is, the better your results will be. See `Configuration.h` and `Configuration_adv.h` for all of UBL's settings. + +You should be able to successfully print a small object at the center of the bed with bed leveling turned off. It's very important to verify that your `Configuration.h` settings make this possible before trying to bring up UBL. Most problems bringing up the UBL Bed Leveling system occur when this step has been ignored. Please pay particular attention to your `Z_PROBE_OFFSET_FROM_EXTRUDER` value. Usually it's best to home the Z-Axis in the center of the bed. But wherever you decide to home, the Z value reported on the LCD (or with [`M114`](/docs/gcode/M114.html)) should be _very_ close to 0.0 mm when the nozzle is just touching the bed. Failure to calibrate `Z_PROBE_OFFSET_FROM_EXTRUDER` properly will result in dimensional errors in your printed parts. + +The following command sequence can then be used as a quick-start guide to home, level, and then fine-tune the results. These commands are for a 'normal' setup; see the relevant [addenda](#addenda) for concerns and G-code sequences related to setups without an lcd or z-probe.: + +```gcode +;------------------------------------------ +;--- Setup and initial probing commands --- +;------------------------------------------ +M502 ; Reset settings to configuration defaults... +M500 ; ...and Save to EEPROM. Use this on a new install. +M501 ; Read back in the saved EEPROM. + +M190 S65 ; Not required, but having the printer at temperature helps accuracy +M104 S210 ; Not required, but having the printer at temperature helps accuracy + +G28 ; Home XYZ. +G29 P1 ; Do automated probing of the bed. +G29 P2 B T ; Manual probing of locations USUALLY NOT NEEDED!!!! +G29 P3 T ; Repeat until all mesh points are filled in. + +G29 T ; View the Z compensation values. +G29 S1 ; Save UBL mesh points to EEPROM. +G29 F 10.0 ; Set Fade Height for correction at 10.0 mm. +G29 A ; Activate the UBL System. +M500 ; Save current setup. WARNING: UBL will be active at power up, before any [`G28`](/docs/gcode/G028.html). +;--------------------------------------------- +;--- Fine Tuning of the mesh happens below --- +;--------------------------------------------- +G26 C P5.0 F3.0 ; Produce mesh validation pattern with primed nozzle (5mm) and filament diameter 3mm + ; PLA temperatures are assumed unless you specify, e.g., B 105 H 225 for ABS Plastic +G29 P4 T ; Move nozzle to 'bad' areas and fine tune the values if needed + ; Repeat G26 and G29 P4 T commands as needed. + +G29 S1 ; Save UBL mesh values to EEPROM. +M500 ; Resave UBL's state information. +;---------------------------------------------------- +;--- Use 3-point probe to transform a stored mesh --- +;---------------------------------------------------- +G29 L1 ; Load the mesh stored in slot 1 (from G29 S1) +G29 J ; No size specified on the J option tells G29 to probe the specified 3 points + ; and tilt the mesh according to what it finds. +``` + +## Scope + +The UBL system contains a suite of tools with multiple options intended to cover almost any situation. This document is aimed at getting a new user acquainted with the most used tools and options needed to produce a high quality print. + +The intent is to provide a new user with enough knowledge of the UBL system that they can go to the detailed documentation and start working with the other tools and options as needed. + +The 3-point leveling option is only covered to the extent of using it to transform an already-measured mesh. + +## Theory + +UBL projects a rectangular grid over the print bed. A Z height is measured at each point (confluence) in the grid. + +Linear moves are split at grid boundaries. For each segment the Z offset at start and end are calculated. The Z compensation varies linearly from the start to end of the move. + +Note that kinematic systems like Delta and SCARA already split moves into very small segments, removing the need to split moves at grid boundaries. In the future, moves may be split into smaller segments on Cartesian also to produce more fine-grained Z height changes through the move. + +The Z compensation on any grid line is the simple linear interpolation of the Z offsets of the two corners it connects. + +The Z compensation for any point within a grid box is produced by calculating the bilinear interpolation of the Z offsets of the four corner points. See the addendum [Bilinear computation](#bilinear-computation) for details. + +Tools are provided that can populate the Z compensation values at the mesh points via automated probing, manual probing, and manually entering a value. The intent of UBL is to allow the entire printable area of the bed to have usable Z compensation values. + +The initial auto bed leveling procedure rarely produces great results across the whole bed. Fine editing tools are used to tune the mesh more finely. UBL includes a test print utility to aid in the tuning process. + +## Process overview + +To create a mesh that produces good first-layer results over the entire bed, follow this procedure: + +1. Setup the UBL parameters in `Configuration.h` and `Configuration_adv.h`. +2. Perform automated probing. +3. Perform additional manual probing, if needed. +4. Fill in un-probed points in the mesh +4. Run the test print utility. +5. Fine tune the matrix. +6. Repeat steps 5 and 6 until satisfied. + +An LCD controller with rotary encoder, while not required, substantially simplifies the process. + +The printer (and LCD) must be fully functional before starting this process. + +### UBL Configuration + +UBL configuration options are located in `Configuration.h` and `Configuration_adv.h`. + +Enable these options: +- `AUTO_BED_LEVELING_UBL`. Leave the others commented out. +- `G26_MESH_VALIDATION` to enable the [`G26`](/docs/gcode/G026.html) test print utility. +- `EEPROM_SETTINGS`. **EEPROM support is required.** +- One of the LCD options. ***An LCD with a rotary encoder is strongly recommended.*** + +**Z Probe XY offsets** should be set to within 1mm of the measured distance from the nozzle to the probe. Ideally the error should be less than +-2mm. Errors of 5mm have been known to cause difficulties in fine-tuning. + +**Travel limits & bed size** tell the system where the nozzle can reach. This is used during automated probing to determine what points the PROBE can reach. + +All printers require these settings, which specify the physical movement limits for the nozzle: + +```cpp +// The size of the print bed +#define X_BED_SIZE xxx +#define Y_BED_SIZE xxx + +// Travel limits (mm) after homing, corresponding to endstop positions. +#define X_MIN_POS xxx +#define Y_MIN_POS xxx +#define Z_MIN_POS xxx +#define X_MAX_POS xxx +#define Y_MAX_POS xxx +#define Z_MAX_POS xxx +``` + +**Mesh size and density** – These define the default boundaries of the UBL mesh - the region of the bed the nozzle(s) can reach, and therefore needs to be compensated - and the mesh density. These settings can be found in `Configuration.h`. + +Ideally the mesh bounds will match your printable area perfectly. In practice it’s a good idea to pull these in a bit with `MESH_INSET` if the printable area goes right up to the edge of the bed. This helps keep the probe from missing the bed. + +3 x 3 through 15 x 15 meshes are supported. X & Y dimensions do NOT need to be the same. First time users should start out with a small mesh until they are familiar with the tools. Once you’re proficient then move to larger meshes. 7 x 7 seems to be a popular size for a first attempt at a final mesh. + +```cpp +#define MESH_INSET 10 // Mesh inset margin on print area +#define GRID_MAX_POINTS_X 3 // Don't use more than 15 points per axis, implementation limited. +#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X +``` + +The automated mesh boundary settings assume that the printable area is centered in the physical bed area (as specified below), and just applies an inset to all sides. If your configuration is different then you may need to modify the min/max settings, found in `Configuration_adv.h`, to fit your situation. Note though that (unlike bilinear leveling) the MESH_MIN and MESH_MAX positions refer to where the *nozzle* can reach, not the *probe*.: + +```cpp +#define MESH_MIN_X UBL_MESH_INSET +#define MESH_MAX_X (X_BED_SIZE - (UBL_MESH_INSET)) +#define MESH_MIN_Y UBL_MESH_INSET +#define MESH_MAX_Y (Y_BED_SIZE - (UBL_MESH_INSET)) +``` + +For delta printers the situation is similar. It is necessary to have grid points defined that can be filled covering the entirety of `DELTA_PRINTABLE_RADIUS`, but there should also be a 'border' of valid mesh points that lie just outside the printable radius. This ensures that every grid cell within the printable radius will have all four of its corners defined. + +So however bed size and printable radius are defined, make sure that your mesh grid is defined so that a full circle of 'extra' mesh points lie outside of the printable radius. + +**3-point probe positions** - If you plan to use 3-point probing to 'touch up' the orientation of a saved mesh then you will also need to make sure that the 3-point leveling probe points are all accessible by your probe. + +**Marlin 1.x** +```cpp +#define UBL_PROBE_PT_1_X 39 // Probing points for 3-Point leveling of the mesh +#define UBL_PROBE_PT_1_Y 180 +#define UBL_PROBE_PT_2_X 39 +#define UBL_PROBE_PT_2_Y 20 +#define UBL_PROBE_PT_3_X 180 +#define UBL_PROBE_PT_3_Y 20 +``` + +**Marlin 2.x** +```cpp +#define PROBE_PT_1_X 15 +#define PROBE_PT_1_Y 180 +#define PROBE_PT_2_X 15 +#define PROBE_PT_2_Y 20 +#define PROBE_PT_3_X 170 +#define PROBE_PT_3_Y 20 +``` + +### Commands + +UBL has a series of “phase” commands that roughly follow the mesh building process. Some are heavily used, some aren’t. + +There are several options that can be applied to each of the phase commands. These are the most common: + +Command|Description +-------|----------- +`G29 P1`|Phase 1 – Automatically probe the bed. +`G29 P2`|Phase 2 – Manually probe points that automated probing couldn’t reach. +`G29 P3`|Phase 3 – Assign values to points that still need values. +`G29 P4`|Phase 4 – Fine tune the mesh. +`G29 Snn`|Store the mesh in EEPROM slot `nn`. +`G29 Lnn` or `M420 Lnn`|Load a mesh from EEPROM slot `nn`. (Other leveling systems use [`M501`](/docs/gcode/M501.html).) +`G29 A` or `M420 S1`|Activate the Z compensation bed leveling. +`G29 D` or `M420 S0`|Disable the Z compensation bed leveling. +`G29 T` or `M420 V`|Print a map of the mesh. +[`G26`](/docs/gcode/G026.html)|Print a pattern to test mesh accuracy. +[`M421`](/docs/gcode/M421.html)|Touch up mesh points by specifying a value (`Z`) or offset (`Q`). +[`M502`](/docs/gcode/M502.html), [`M500`](/docs/gcode/M500.html)|Reset settings to defaults, save to EEPROM. + +### Automated probing + +The first step in the process is to use the Z probe to populate as much of the mesh as possible. + +To start the process issue `G29 P1` or, if you want to see the values as they are measured, `G29 P1 T` + +If the EEPROM hasn’t been initialized then it’ll tell you to issue the `M502, M500, M501` sequence. If that happens then you’ll need to re-issue the `G29 P1` command. + +If a [`G28`](/docs/gcode/G028.html) hasn’t already been done then the [`G28`](/docs/gcode/G028.html) sequence will automatically be done followed by the` G29 P1` probing. + +No further action is required of the user for this phase. + +If you do a `G29 T` or `M420 V` command you’ll most likely see areas that do not have Z compensation values. See the addendum [Mesh area](#mesh-areas) for details. + +### Manual probing + +This optional step uses the encoder wheel to move the nozzle up and down in 0.01mm steps. BE VERY CAREFUL when doing this. Nasty things can happen if too much force is applied to the bed by the nozzle. + +Most systems will have areas that the Z probe can’t reach. These points can be manually probed using `G29 P2`, but the 'smart' mesh filling of `G29 P3` is often good enough to make manual probing unnecessary. + +Manual probing consists of lowering the nozzle until the nozzle comes in contact with a feeler gauge. Usually the feeler gauge is a piece of paper or a business card. It’s better if the gauge is a piece of plastic that’s hard but still has some flex. Even better is a mechanic’s metal feeler gauge but those are usually too short to be convenient. + +The idea is to stop lowering when there is the first sign of resistance to moving the gauge. It is _very important_ to be consistent in the amount of force/resistance from point to point. + +The first step is to measure the thickness of the feeler gauge: + +- Issue `G29 P2 B T` to start. + +- The nozzle will move to the center of the bed. + +- Use the encoder wheel to move the nozzle until you feel a small amount of resistance. This is the resistance level you’ll want to aim for when manually probing. + +- Click the encoder button. + +- Remove the feeler gauge. + +- Lower the nozzle **VERY SLOWLY** until the nozzle just touches the bed. + +- Click the encoder button. + +- The nozzle will move to the first unmeasured location. Use the encoder to lower the nozzle until the desired resistance is felt with the feeler gauge. Click the encoder. The nozzle then moves to the next unmeasured location. Repeat until all locations are measured. + +- See the host interface screen for the grid position you're currently probing. + +When done, you can use `G29 S` to save the mesh to EEPROM. + +### Filling in the mesh + +UBL includes a third phase, `G29 P3`, which fills in points on the mesh that were not probed automatically or manually. Note that unlike in bilinear leveling, UBL does not automatically extrapolate correction beyond the bounds of the mesh. If a mesh point is not defined no correction will be applied, and a missing point can affect up to 4 mesh cells. + +Issue `G29 P3` (no other parameters) to do a 'smart fill' of missing mesh points. This uses an extrapolation algorithm - which varies between delta and Cartesian systems - to give the unfilled mesh points reasonable initial values. You may need to run this more than once -- each instance of `G29 P3` will fill in one missing line of the grid. This allows fine tuning between `P3` steps when filling the remainder of larger grids. From this point, [`G26`](/docs/gcode/G026.html) and `G29 P4` can be used to iteratively refine the mesh. + +`G29 P3 Cx.xx` can be used to manually fill a value into a mesh point(s), like [`M421`](/docs/gcode/M421.html), if for some reason that is necessary. `G29 P3 Cx.xx Rn` will fill the nearest n points with the value x.xx; 'nearest' is referenced to the nozzle position, unless X and Y arguments are provided to override the search start point. + +Again, `G29 S[n]` will save the mesh to EEPROM. + +### Test print + +Once you have a reasonable looking mesh then it’s time to do a test print. + +The easiest way to do this is to use the [`G26`](/docs/gcode/G026.html) command. There are several options for the [`G26`](/docs/gcode/G026.html) command. (See [`G26`](/docs/gcode/G026.html) for full details.) + +`G26 Bxx Hyy F1.75 L0.2 S0.4` will usually get you something reasonable: +- `Bxx` – bed temperature +- `Hyy` – hotend temperature +- `F1.75` – filament width of 1.75mm (default) +- `L0.2` – layer height of 0.2mm (default) +- `S0.4` – nozzle diameter of 0.4mm (default) + +### Fine-tuning of the matrix + +Look over the results of the [`G26`](/docs/gcode/G026.html) print and note where adjustments are needed. + +To edit a single point move the nozzle close to the point that needs adjustment. Issue a `G29 P4 T`. The head will move to nearest point. Use the encoder wheel to change the value. If `UBL_MESH_EDIT_MOVES_Z` is enabled in `Configuration.h` (the default setting) the nozzle will change height during this process. If it is disabled the nozzle will not move. + +The values in the mesh indicate how far the nozzle needs to move along the Z axis to compensate for imperfections in the bed. Positive values mean that the nozzle needs to move **away from** the bed ("up") and negative values mean that the nozzle needs to move **towards** the bed ("down"). Thus, if the [`G26`](/docs/gcode/G026.html) print shows that for a specific mesh point the nozzle is too close to the bed (the lines are "squished" or the nozzle hit the bed when printing the test pattern) the value of the mesh point should be **increased**. If the nozzle is too far away from the bed (lines are too thin or not even sticking to the bed) the value of the mesh point should be **decreased**. This may cause the mesh point value to change from positive to negative or vice versa. + +For example, suppose that a mesh point has a probed value of -0.022 and the test pattern shows that the nozzle is too close at that point. If an adjustment of +0.050 is desired (moving the nozzle 0.050mm **away from** the bed) the new value for the mesh point would be +0.028. + +If `UBL_MESH_EDIT_MOVES_Z` is enabled it is also possible to use a piece of paper or a feeler gauge to adjust the position. Use a command of the form `G29 P4 Hxxx` where xxx is the thickness of the feeler gauge (or piece of paper) being used to adjust the nozzle height. For example `G29 P4 H0.1` is a good option to use with a piece of paper. + +To edit multiple points move the nozzle close to the first point and issue `G29 P4 T Rxx` where `xx` is the number of points you want to edit. You can look at the host interface screen to see where in the grid you are currently editing. + +Press and hold the encoder button/wheel when you are finished. + +There are options (`G29 P4 X... Y...`) to make it easier to move to the desired probe locations. For example `G29 P4 X110 Y110` will move to the grid point closest to the center of a 220x220mm bed. + +It’s probably a good idea to issue a `G29 S` command to save the mesh to EEPROM at this stage. + +Repeat the [`G26`](/docs/gcode/G026.html), `G29 P4 T` sequence until you have the desired first layer height quality. + +Issue a `G29 S` command periodically to save your mesh. + +As you print parts you may notice that further fine-tuning is needed. The `G29 P4 T` command can be used anytime to make adjustments. + +## Addenda + +### UBL without an LCD + +If you don't have an LCD with encoder, or you have something like a MKS TFT that doesn't behave like a proper display, then you will need to modify this process slightly. + +First, it is **especially important** that you physically level the bed as well as possible prior to initially probing the bed with `G29 P1`. This is always a prerequisite, but it is especially important here because without an LCD there's no easy way to abort the probe process if the nozzle starts getting too close to the bed. + +Possible workarounds are to keep your finger on the reset button/power switch so you can quickly stop the probe process, or being ready to quickly issue [`M112`](/docs/gcode/M112.html) (emergency stop) if **and only if** you have `EMERGENCY_PARSER` enabled in `Configuration_adv.h`. + +The same cautions apply to using the [`G26`](/docs/gcode/G026.html) test print command; if something goes wrong you want a way to quickly abort the process before your print head is driven into the bed. + +`G29 P2` (manual probe) is not available without a functional LCD, so instead of the sequence above users should skip directly from `G29 P1` (auto-probe) to `G29 P3` (smart fill). Likewise, `G29 P4 R...` cannot be used to interactively edit the mesh, so [`M421`](/docs/gcode/M421.html) must be used instead to manually adjust individual mesh points. With UBL, the `M421 Q` form can be used to offset the specified mesh point, avoiding the need to specify absolute values. + +In summary, initial set-up without an LCD might look like this: + +```gcode +G29 P1 ; Automatically probe accessible area +G29 P3 ; Fill un-probed areas with reasonable values - may need to be repeated +G26 ; Start test print / validation process +M421 ... Qx.xx ; Direct edit mesh point, using offset +G29 S1 ; Save to slot 1, return to G26 for further refinement. +``` + +### UBL without a z-probe + +UBL also includes the features previously provided by `MESH_BED_LEVELING` and `PROBE_MANUALLY`, allowing the user to take advantage of the system without having a z-probe at all. Again, the initialization and start-up process needs to be varied a bit. + +As in the case of no LCD, it is important to have good physical leveling of the bed before you start here - **especially** if you try to skip the manual probing step. + +In this case instead of starting with `G29 P1` to automatically probe the bed, you want to start with `G29 P0` to zero the mesh. From here you can go straight to the cycle of `G26...` to print a test pattern and `G29 P4 R...` to fine-tune mesh points - probably working your way 'down' from the worst area(s) of the validation pattern, and using `G29 S` to save results between iterations. You can also use `G29 P2` to manually probe first, which is recommended. + +If you use `G29 P2` to probe manually first, you probably want to *at least* probe the center and four corners of the bed -- possibly some points in between as well. Then you want to use `G29 P3` commands to fill in reasonable initial values for the rest of the mesh before moving on to the [`G26`](/docs/gcode/G026.html) / `G29 P4` cycle. `G29 P3 Rn Cx.xx` will fill in the nearest n grid points (to the nozzle) with the value specified by `Cx.xx`. You will probably have to use the `G29 P3 C...` form initially, rather than trying to let the smart fill algorithm handle lots of undefined points. + +So in summary, initial set-up of a mesh might look like this: + +```gcode +G29 P0 ; Zero the mesh +; Optional +G29 P2... ; Probe manually at appropriate locations +G29 P3... ; Fill in missing points +; /Optional +G26 ; Jump into validation print / edit process +G29 P4 R... ; Refine mesh points +G29 S1 ; Save to slot 1, return to G26 for further refinement +``` + +### Bilinear computation + +1. Uses the Z heights at the 4 corners of the current XY position's grid box. +2. Performs a bilinear interpolation of the Z heights: + - Calculates Z height (z1) at the left edge of the box for the current Y by linear interpolation. + - Calculates Z height (z2) at the right edge of the box for the current Y by linear interpolation. + - Calculates Z height at the current X by linear interpolation between z1 and z2. This is the Z offset used for the move. + +### MESH areas + +After `G29 P1` your matrix will probably have areas that do not have Z compensation values. This is because the probe can’t be positioned in these areas. The only ways to avoid this are: +- Use the nozzle as the probe (no offsets). +- Build your system so that the nozzle can travel outside the bed. + +If your probe is in front and to the right of your nozzle then the matrix will look like one of these. + +![image1]({{ '/assets/images/features/bed_probe_areas.jpg' | prepend: site.baseurl }}) + +- GREEN: Probing is possible +- BLUE: Probe can’t reach + +### Further Optimization + +Going forward, we've been thinking anew about boundary-splitting and delta-style line-splitting. On kinematic systems, moves are split into small segments, so the nozzle already closely follows the (bilinear approx.) curve of the bed on those machines. Thus, on kinematic systems we can theoretically skip the boundary-splitting step. + +At the same time, we also realize that for mesh-based bed leveling, splitting up lines into smaller segments has extra benefit for Cartesians too. So, if we simply enable move-splitting for cartesians when mesh leveling is enabled, we can skip boundary-splitting while also improving leveling accuracy. Since it requires some extra computation, this ought to be an optional feature. + +[noZ]: #ubl-without-a-z-probe +[noLcd]: #ubl-without-an-lcd + +### More Information + - See also [G26 Mesh Validation](/docs/gcode/G026.html) and [G29 for UBL](/docs/gcode/G029-ubl.html). diff --git a/systems/flexibot/docs/marlin/_gcode/G000-G001.md b/systems/flexibot/docs/marlin/_gcode/G000-G001.md new file mode 100644 index 000000000..aa7f537cf --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G000-G001.md @@ -0,0 +1,105 @@ +--- +tag: g000 +title: Linear Move +brief: Add a straight line movement to the planner +author: thinkyhead + +since: 1.0.0-beta +group: motion + +codes: [ G0, G1 ] + +related: [ G2, G3, G5, M82, M83, G91 ] + +notes: | + - Coordinates are given in millimeters by default. Units may be set to inches by [`G20`](/docs/gcode/G020.html). + - In Relative Mode ([`G91`](/docs/gcode/G091.html)) all coordinates are interpreted as relative, adding onto the previous position. + - In Extruder Relative Mode ([`M83`](/docs/gcode/M083.html)) the E coordinate is interpreted as relative, adding onto the previous E position. + - A single linear move may generate several smaller moves to the planner due to kinematics and bed leveling compensation. Printing performance can be tuned by adjusting segments-per-second. + +devnotes: | + - Developers: Keep using `G0` for non-print moves. It makes G-code more adaptable to lasers, engravers, etc. + +parameters: + - + tag: X + optional: true + description: An absolute or relative coordinate on the X axis (in current units). + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: An absolute or relative coordinate on the Y axis (in current units). + values: + - + tag: pos + type: float + - + tag: Z + optional: true + description: An absolute or relative coordinate on the Z axis (in current units). + values: + - + tag: pos + type: float + - + tag: E + optional: true + description: An absolute or relative coordinate on the E (extruder) axis (in current units). The E axis describes the position of the filament in terms of input to the extruder feeder. + values: + - + tag: pos + type: float + - + tag: F + optional: true + description: The maximum movement rate of the move between the start and end point. The feedrate set here applies to subsequent moves that omit this parameter. + values: + - + tag: rate + type: float + - + tag: S + since: 2.1.1 + requires: LASER_FEATURE + optional: true + description: Set the laser power for the move. + values: + - + tag: power + type: float + +examples: + - + pre: The most basic move sets a feedrate and moves the tool to the given position. + code: + - G0 X12 ; Move to 12mm on the X axis + - G0 F1500 ; Set the feedrate to 1500 mm/min + - G1 X90.6 Y13.8 ; Move to 90.6mm on the X axis and 13.8mm on the Y axis + - + pre: There are some caveats related with feedrates. Consider the following: + code: + - G1 F1500 ; Set the feedrate to 1500 mm/min + - G92 E0 + - G1 X50 Y25.3 E22.4 ; Move while extruding + post: In the above example the feedrate is set to 1500 mm/min, then the tool is moved 50mm on the X axis and 25.3mm on the Y axis while extruding 22.4mm of filament between the two points. + - + code: + - G1 F1500 + - G92 E0 + - G1 X50 Y25.3 E22.4 F3000 + post: However, in the above example, we set a feedrate of 1500 mm/min on line 1 then do the move described above, accelerating to a feedrate of 3000 mm/min (if possible). The extrusion will accelerate along with the X and Y movement, so everything stays synchronized. + +--- +The `G0` and `G1` commands add a linear move to the queue to be performed after all previous moves are completed. These commands yield control back to the command parser as soon as the move is queued, but they may delay the command parser while awaiting a slot in the queue. + +A linear move traces a straight line from one point to another, ensuring that the specified axes will arrive simultaneously at the given coordinates (by linear interpolation). The speed may change over time following an acceleration curve, according to the acceleration and jerk settings of the given axes. + +A command like `G1 F1000` sets the feedrate for all subsequent moves. + +By convention, most G-code generators use `G0` for non-extrusion movements (those without the E axis) and `G1` for moves that include extrusion. This is meant to allow a kinematic system to, optionally, do a more rapid uninterpolated movement requiring much less calculation. + +For Cartesians and Deltas the `G0` (rapid linear movement) command is (and must be) a direct alias for `G1` (rapid movement). On SCARA machines `G0` does a fast non-linear move. Marlin 2.0 introduces an option to maintain a separate default feedrate for `G0`. *Note: Slicers tend to override firmware feedrates!* diff --git a/systems/flexibot/docs/marlin/_gcode/G002-G003.md b/systems/flexibot/docs/marlin/_gcode/G002-G003.md new file mode 100644 index 000000000..5c0bdb12d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G002-G003.md @@ -0,0 +1,143 @@ +--- +tag: g002 +title: Arc or Circle Move +brief: Add an arc or circle movement to the planner +author: thinkyhead +contrib: shitcreek, edwilliams16 + +since: 1.0.0-beta +group: motion +requires: ARC_SUPPORT + +codes: [ G2, G3 ] +related: [ G17, G18, G19 ] + +parameters: + - + tag: X + optional: true + description: A coordinate on the X axis + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: A coordinate on the Y axis + values: + - + tag: pos + type: float + - + tag: Z + optional: true + description: A coordinate on the Z axis + values: + - + tag: pos + type: float + - + tag: I + type: float + optional: false + description: An offset from the current X position to use as the arc center + values: + - + tag: offset + type: float + - + tag: J + type: float + optional: false + description: An offset from the current Y position to use as the arc center + values: + - + tag: offset + type: float + - + tag: R + type: float + optional: false + description: A radius from the current XY position to use as the arc center + values: + - + tag: radius + type: float + - + tag: E + type: float + optional: true + description: The amount to extrude between the start point and end point + values: + - + tag: pos + type: float + - + tag: F + optional: true + description: The maximum rate of the move between the start and end point + values: + - + tag: rate + type: float + optional: false + - + tag: P + optional: true + description: Specify complete circles. (Requires `ARC_P_CIRCLES`) + values: + - + tag: count + type: int + - + tag: S + optional: true + since: 2.0.8 + description: Set the Laser power for the move. + values: + - + tag: power + type: float + +examples: + - + pre: Move in a clockwise arc from the current position to [125, 32] with the center offset from the current position by (10.5, 10.5). + code: G2 X125 Y32 I10.5 J10.5 + - + pre: Move in a counter-clockwise arc from the current position to [125, 32] with the center offset from the current position by (10.5, 10.5). + code: G3 X125 Y32 I10.5 J10.5 + - + pre: Move in a complete clockwise circle with the center offset from the current position by [20, 20]. + code: G2 I20 J20 + +images: + - + title: G3 command geometry + caption: This illustrates a counter clockwise arc, starting at [9, 6]. It can be generated either by `G3 X2 Y7 I-4 J-3` or `G3 X2 Y7 R5` + path: G3fig.png +--- + +`G2` adds a clockwise arc move to the planner; `G3` adds a counter-clockwise arc. An arc move starts at the current position and ends at the given XYZ, pivoting around a center-point offset given by `I` and `J` or `R`. + +[`CNC_WORKSPACE_PLANES`](/docs/gcode/G017-G019.html) allows `G2/G3` to operate in the selected XY, ZX, or YZ workspace plane. + +This command has two forms: +#### I J Form + + - `I` specifies an X offset. `J` specifies a Y offset. + - At least one of the `I` `J` parameters is required. + - `X` and `Y` can be omitted to do a complete circle. + - The given `X` `Y` is not error-checked. + The arc ends based on the angle of the destination. + - Mixing `I` or `J` with `R` will throw an error. + +#### R Form + - `R` specifies the radius. `X` or `Y` is required. + - Omitting both `X` and `Y` will throw an error. + - `X` or `Y` must differ from the current XY position. + - Mixing `R` with `I` or `J` will throw an error. + +Arc moves actually generate several short straight-line moves, the length of which are determined by the configuration option `MM_PER_ARC_SEGMENT` (default 1mm). Any change in the Z position is linearly interpolated over the whole arc. + +'ARC_P_CIRCLES' enables the use of the 'P' parameter to specify complete circles diff --git a/systems/flexibot/docs/marlin/_gcode/G004.md b/systems/flexibot/docs/marlin/_gcode/G004.md new file mode 100644 index 000000000..fe3e9af44 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G004.md @@ -0,0 +1,43 @@ +--- +tag: g004 +title: Dwell +brief: Pause the planner +author: thinkyhead + +since: 1.0.0-beta +group: motion + +codes: [ G4 ] + +notes: + - If both `S` and `P` are included, `S` takes precedence. + - '[`M0`](/docs/gcode/M000-M001.html)/[`M1`](/docs/gcode/M000-M001.html) provides an interruptible "dwell" (Marlin 1.1.0 and up).' + - '`G4` with no arguments is effectively the same as [`M400`](/docs/gcode/M400.html).' + +parameters: + - + tag: S + optional: true + description: Amount of time to dwell + values: + - + tag: time + type: int + unit: sec + - + tag: P + optional: true + description: Amount of time to dwell + values: + - + tag: time + type: int + unit: ms + +example: + - + code: + - G4 P500 ; Dwell for 1/2 second +--- + +Dwell pauses the command queue and waits for a period of time. diff --git a/systems/flexibot/docs/marlin/_gcode/G005.md b/systems/flexibot/docs/marlin/_gcode/G005.md new file mode 100644 index 000000000..77204b781 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G005.md @@ -0,0 +1,113 @@ +--- +tag: g005 +title: Bézier cubic spline +brief: Cubic B-spline with XYE destination and IJPQ offsets +author: thinkyhead + +experimental: true +since: 1.1.0 +group: motion + +codes: [ G5 ] + +videos: + - aVwxzDHniEw + +notes: + - It is an error if an axis other than `X` or `Y` is specified. + - The first control point is the current position of the head. `XY` is the destination (the last control point of the spline). + - The next control-points are the current position plus `IJ` and the current position plus `PQ`. + - "`I` and `J` can be omitted, which results in these offsets being zero. This produces a 3-point spline (try the [interactive demo](//www.geogebra.org/m/WPHQ9rUt)). However, `P` and `Q` are required (otherwise you just get a linear movement)." + +parameters: + - + tag: X + optional: false + description: A destination coordinate on the X axis + values: + - + tag: pos + type: float + - + tag: Y + optional: false + description: A destination coordinate on the Y axis + values: + - + tag: pos + type: float + - + tag: E + optional: true + description: The length of filament to feed into the extruder between the start and end point + values: + - + tag: pos + type: float + - + tag: F + optional: true + description: The maximum feedrate of the move between the start and end point (in current units per second). This value applies to all subsequent moves. + values: + - + tag: rate + type: float + - + tag: I + optional: false + description: Offset from the `X` start point to first control point + values: + - + tag: pos + type: float + - + tag: J + optional: false + description: Offset from the `Y` start point to first control point + values: + - + tag: pos + type: float + - + tag: P + optional: false + description: Offset from the `X` end point to second control point + values: + - + tag: pos + type: float + - + tag: Q + optional: false + description: Offset from the `Y` end point to the second control point + values: + - + tag: pos + type: float + - + tag: S + optional: true + since: 2.0.8 + description: Set the Laser power for the move. + values: + - + tag: power + type: float + +examples: + - + pre: + - 'For example, to program a curvy "N" shape:' + code: + - G0 X0 Y0 + - G5 I0 J3 P0 Q-3 X1 Y1 + + - + pre: + - 'A second curvy "N" that attaches smoothly to this one can now be made without specifying `I` and `J`:' + code: + - G5 P0 Q-3 X2 Y2 +--- +`G5` creates a cubic B-spline in the XY plane with the `X` and `Y` axes only. `P` and `Q` parameters are required. `I` and `J` are required for the first `G5` command in a series. For subsequent `G5` commands, either both `I` and `J` must be specified, or neither. If `I` and `J` are unspecified, the starting direction of the cubic will automatically match the ending direction of the previous cubic (as if `I` and `J` are the negation of the previous `P` and `Q`). + +See [This interactive demo](//www.geogebra.org/m/WPHQ9rUt) to understand how Bézier control points work. diff --git a/systems/flexibot/docs/marlin/_gcode/G006.md b/systems/flexibot/docs/marlin/_gcode/G006.md new file mode 100644 index 000000000..65ae07851 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G006.md @@ -0,0 +1,85 @@ +--- +tag: g006 +title: Direct Stepper Move +brief: Perform a direct, uninterpolated, and non-kinematic synchronized move +author: shitcreek +contrib: colinrgodsey + +group: motion +experimental: true +requires: DIRECT_STEPPING + + +codes: [ G6 ] + +notes: + - Requires `DIRECT_STEPPING`. + - Position sync in step-daemon is not entirely finished and movements made with the control panel may be lost. At this moment, homing is required to sync step daemon and the device. Always home before issuing movement commands. + - Use with extra caution. + +parameters: + - + tag: I + optional: true + description: Set page index + values: + - + tag: index + type: int + - + tag: R + optional: true + description: Step rate per second. Last value is cached for future invocations. + values: + - + tag: rate + type: float + - + tag: S + optional: true + description: Number of steps to take. Defaults to max steps. + values: + - + tag: rate + type: float + - + tag: X + optional: true + description: 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats. + values: + - + tag: direction + type: int + - + tag: Y + optional: true + description: 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats. + values: + - + tag: direction + type: int + - + tag: Z + optional: true + description: 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats. + values: + - + tag: direction + type: int + - + tag: E + optional: true + description: 1 for positive, 0 for negative. Last value is cached for future invocations. Not used for directional formats. + values: + - + tag: direction + type: int +--- +Direct Stepping allows a host device to issue direct stepper movements in binary format, pre-written by the host device to a page in the device RAM. + +A "page manager" mechanism is provided to load the binary data onto the device. The page manager provided here uses a parallel protocol over the USB serial connection to write pages to the device RAM, and is decoupled from the normal serial G-code pipeline. This allows the host device to preload pages as fast as possible without waiting on the G-code pipeline. + +Once a page is written by the device, it can be triggered using the `G6` G-code which references the page index that should be used for that move. Depending on the page format, direction arguments may need to be provided in the `G6` code. + +- Requires [Step Daemon](//github.com/colinrgodsey/step-daemon) by [@ColinRGodsey](//github.com/colinrgodsey). +- Visit [RepRap Wiki](//reprap.org/wiki/Direct_Stepping) for more details. diff --git a/systems/flexibot/docs/marlin/_gcode/G010.md b/systems/flexibot/docs/marlin/_gcode/G010.md new file mode 100644 index 000000000..d6f11d7fd --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G010.md @@ -0,0 +1,38 @@ +--- +tag: g010 +title: Retract +brief: Retract the filament +author: thinkyhead + +since: 1.0.0-beta +requires: FWRETRACT +group: motion + +codes: [ G10 ] + +notes: + - Requires `FWRETRACT`. + - See related codes [`G11`](/docs/gcode/G011.html), [`M207`](/docs/gcode/M207.html), [`M208`](/docs/gcode/M208.html), and [`M209`](/docs/gcode/M209.html). + +parameters: + - + tag: S + optional: true + description: Use `G10 S1` to do a swap retraction, before changing extruders. The subsequent [`G11`](/docs/gcode/G011.html) (after tool change) will do a swap recover. (Requires `EXTRUDERS` > 1) + values: + - + type: bool + +example: + - + code: + - G10 ; retract +--- + +Retract the filament according to settings of [`M207`](/docs/gcode/M207.html). + +Firmware retraction allows you to tune retraction at the machine level and can significantly reduce the size of G-code files. + +Multiple consecutive `G10` or `G10 S1` commands without a corresponding [`G11`](/docs/gcode/G011.html) or `G11 S1` will be ignored. + +Performs two moves: a retract move at the retract feedrate/acceleration, and an optional Z lift at the maximum Z feedrate (travel acceleration). diff --git a/systems/flexibot/docs/marlin/_gcode/G011.md b/systems/flexibot/docs/marlin/_gcode/G011.md new file mode 100644 index 000000000..6753217f7 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G011.md @@ -0,0 +1,28 @@ +--- +tag: g011 +title: Recover +brief: Recover the filament with firmware-based retract. +author: thinkyhead + +requires: FWRETRACT +since: 1.0.0-beta +group: motion + +codes: [ G11 ] + +notes: + - Requires `FWRETRACT`. + - See related codes [`G10`](/docs/gcode/G010.html), [`M207`](/docs/gcode/M207.html), [`M208`](/docs/gcode/M208.html), and [`M209`](/docs/gcode/M209.html). + +example: + - + code: + - G11 ; recover +--- + +Unretract (i.e., recover, prime) the filament according to settings of [`M208`](/docs/gcode/M208.html). + +Multiple consecutive `G11` or `G11 S1` commands without a corresponding [`G10`](/docs/gcode/G010.html) or `G10 S1` will be ignored. + +"Performs two moves: An optional Z lower at the maximum Z feedrate (travel acceleration), and a recovery move at the recover feedrate (retract acceleration)." + diff --git a/systems/flexibot/docs/marlin/_gcode/G012.md b/systems/flexibot/docs/marlin/_gcode/G012.md new file mode 100644 index 000000000..98d69b984 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G012.md @@ -0,0 +1,91 @@ +--- +tag: g012 +title: Clean the Nozzle +brief: Perform the nozzle cleaning procedure. + +experimental: true +since: 1.1.0 +requires: NOZZLE_CLEAN_FEATURE +group: nozzle + +codes: [ G12 ] + +notes: + - Default behavior is defined by `NOZZLE_CLEAN_STROKES`, `NOZZLE_CLEAN_START_POINT`, `NOZZLE_CLEAN_END_POINT`, `NOZZLE_CLEAN_TRIANGLES`, `NOZZLE_CLEAN_CIRCLE_MIDDLE`, `NOZZLE_CLEAN_CIRCLE_RADIUS` and `NOZZLE_CLEAN_GOBACK`. + - With `NOZZLE_CLEAN_GOBACK` enabled, the nozzle automatically returns to the XYZ position before `G12`. + +parameters: + - + tag: P + optional: true + description: Pattern style selection + values: + - + tag: 0 + description: Linear move back and forth + - + tag: 1 + description: Move in a zigzag pattern + - + tag: 2 + description: Move in a circular pattern + - + tag: R + optional: true + description: Radius of nozzle cleaning circle + values: + - + tag: radius + type: float + - + tag: S + optional: true + description: Number of repetitions of the pattern + values: + - + tag: count + type: int + - + tag: T + optional: true + description: Number of triangles in the zigzag pattern + values: + - + tag: count + type: int + - + tag: X + optional: true + description: Include X motion when cleaning with limited axes. (Leave out `X`, `Y`, and `Z` for non-limited cleaning.) + values: + - + type: flag + - + tag: Y + optional: true + description: Include Y motion when cleaning with limited axes. (Leave out `X`, `Y`, and `Z` for non-limited cleaning.) + values: + - + type: flag + - + tag: Z + optional: true + description: Include Z motion when cleaning with limited axes. (Leave out `X`, `Y`, and `Z` for non-limited cleaning.) + values: + - + type: flag + +examples: + - + pre: The most basic example is to use the command without any arguments, this will default to a stroke based pattern which will be stroked `NOZZLE_CLEAN_STROKES` times. + code: G12 ; stroke pattern (default) + - + pre: To generate a three triangle zig-zag pattern which will be stroked one time use the following command. + code: G12 P1 S1 T3 ; zig-zag pattern with 3 triangles + - + pre: To generate a 10mm radius circle which will be stroked one time use the following command. + code: G12 P2 S1 R10 ; 10mm circle + +--- + +Start the nozzle cleaning process. Three types of cleaning patterns are supported: straight strokes, zigzags and circles. This feature requires a dedicated cleaning area on or outside the bed, but within reach of the nozzle. The pattern may be repeated as many times as desired. diff --git a/systems/flexibot/docs/marlin/_gcode/G017-G019.md b/systems/flexibot/docs/marlin/_gcode/G017-G019.md new file mode 100644 index 000000000..202ad597c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G017-G019.md @@ -0,0 +1,31 @@ +--- +tag: g017 +title: CNC Workspace Planes +brief: Select CNC workspace plane +author: shitcreek + +requires: CNC_WORKSPACE_PLANES +group: geometry + +codes: [ G17, G18, G19 ] +related: [ G2, G3, G5 ] + +notes: + - Requires `CNC_WORKSPACE_PLANES`. + +parameters: + +examples: + - + pre: Select Plane XY + code: G17 + - + pre: Select Plane ZX + code: G18 + - + pre: Select Plane YZ + code: G19 + +--- + +Select workspace plane XY, ZX, or YZ. Allows [`G2/G3`](/docs/gcode/G002-G003.html) and [`G5`](/docs/gcode/G005.html) to operate in the selected plane when `CNC_WORKSPACE_PLANES` is enabled. diff --git a/systems/flexibot/docs/marlin/_gcode/G020.md b/systems/flexibot/docs/marlin/_gcode/G020.md new file mode 100644 index 000000000..112056ab6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G020.md @@ -0,0 +1,20 @@ +--- +tag: g020 +title: Inch Units +brief: Set Units to Inches. +author: thinkyhead + +since: 1.1.0 +requires: INCH_MODE_SUPPORT +group: units + +codes: [ G20 ] + +example: + - + code: + - G20 ; set units to inches +--- + +Set units to inches. In this mode, all positions, offsets, rates, accelerations, etc., specified in G-code parameters are interpreted as inches. + diff --git a/systems/flexibot/docs/marlin/_gcode/G021.md b/systems/flexibot/docs/marlin/_gcode/G021.md new file mode 100644 index 000000000..8777d0099 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G021.md @@ -0,0 +1,19 @@ +--- +tag: g021 +title: Millimeter Units +brief: Set Units to Millimeters. +author: thinkyhead + +since: 1.1.0 +requires: INCH_MODE_SUPPORT +group: units + +codes: [ G21 ] + +example: + - + code: + - G21 ; set units to millimeters +--- + +Set units to millimeters. In this mode, all positions, offsets, rates, accelerations, etc., specified in G-code parameters are interpreted as millimeters. diff --git a/systems/flexibot/docs/marlin/_gcode/G026.md b/systems/flexibot/docs/marlin/_gcode/G026.md new file mode 100644 index 000000000..e2934e939 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G026.md @@ -0,0 +1,148 @@ +--- +tag: g026 +title: Mesh Validation Pattern +brief: Test the mesh and adjust. + +experimental: true +since: 1.1.0 +requires: G26_MESH_VALIDATION +group: calibration + +codes: [ G26 ] + +notes: | + - Before 1.1.6 it only works with `AUTO_BED_LEVELING_UBL`. + - Since 1.1.7 it also works with `MESH_BED_LEVELING` and `AUTO_BED_LEVELING_BILINEAR`. + +parameters: + - + tag: B + optional: true + description: Bed temperature (otherwise 60°C) to use for the test print. + values: + - + type: int + tag: temp + - + tag: C + optional: true + description: Continue with the closest point (otherwise, don't) + values: + - + type: bool + - + tag: D + optional: true + description: Disable leveling compensation (otherwise, enable) + values: + - + type: flag + - + tag: F + optional: true + description: Filament diameter (otherwise 1.75mm) + values: + - + type: float + tag: linear + - + tag: H + optional: true + description: Hot end temperature (otherwise 205°C) to use for the test print. + values: + - + type: float + tag: linear + - + tag: I + since: 2.0.6 + optional: true + description: Material preset to use for the test print. Overrides `S`. + values: + - + type: int + tag: index + - + tag: K + optional: true + description: Keep heaters on when done + values: + - + type: bool + - + tag: L + optional: true + description: Layer height to use for the test + values: + - + type: float + tag: linear + - + tag: O + optional: true + description: Ooze amount (otherwise 0.3mm). Emitted at the start of the test. + values: + - + type: float + tag: linear + - + tag: P + optional: true + description: Prime Length + values: + - + type: float + tag: linear + - + tag: Q + optional: true + description: Retraction multiplier. `G26` retract and recover are 1.0mm and 1.2mm respectively. Both retract and recover are multiplied by this value. + values: + - + type: float + - + tag: R + optional: true + description: Number of `G26` Repetitions (otherwise 999) + values: + - + type: int + - + tag: S + optional: true + description: Nozzle size (otherwise 0.4mm) + values: + - + type: float + - + tag: U + optional: true + description: Random deviation. (`U` with no value, 50). + values: + - + type: float + tag: linear + - + tag: X + optional: true + description: X position (otherwise, current X position) + values: + - + type: float + tag: linear + - + tag: Y + optional: true + description: Y position (otherwise, current Y position) + values: + - + type: float + tag: linear + +examples: + +--- + +`G26` Mesh Validation Pattern is designed to be used in conjunction with mesh-based leveling to test the accuracy of the probed mesh. + +The `G26` command prints a single-layer pattern over the entire print bed, giving a clear indication of how accurately every mesh point is defined. `G26` can be used to determine which areas of the mesh are less-than-perfect and how much to adjust each mesh point. diff --git a/systems/flexibot/docs/marlin/_gcode/G027.md b/systems/flexibot/docs/marlin/_gcode/G027.md new file mode 100644 index 000000000..262b65eed --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G027.md @@ -0,0 +1,43 @@ +--- +tag: g027 +title: Park toolhead +brief: Park the current toolhead + +experimental: true +since: 1.1.0 +requires: NOZZLE_PARK_FEATURE +group: nozzle + +codes: [ G27 ] + +notes: + - Requires `NOZZLE_PARK_FEATURE`. + - The park position is defined by `NOZZLE_PARK_POINT`. + +parameters: + - + tag: P + optional: true + description: 'Z axis action' + values: + - + tag: 0 + description: If current Z-pos is lower than Z-park then the nozzle will be raised to reach Z-park height + - + tag: 1 + description: No matter the current Z-pos, the nozzle will be raised/lowered to reach Z-park height + - + tag: 2 + description: The nozzle height will be raised by Z-park amount but never going over the machine's limit of `Z_MAX_POS` + +examples: + - + pre: The most basic example is to use the command without any arguments, which raises Z by the default distance and moves to the parking position. + code: G27 ; Raise Z if lower + - + pre: This one is useful as an end script, simply raising Z and parking. + code: G27 P2 ; Always raise Z + +--- + +Park the nozzle at a predefined XYZ position. diff --git a/systems/flexibot/docs/marlin/_gcode/G028.md b/systems/flexibot/docs/marlin/_gcode/G028.md new file mode 100644 index 000000000..f89b58291 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G028.md @@ -0,0 +1,70 @@ +--- +tag: g028 +title: Auto Home +brief: Auto home one or more axes. +author: thinkyhead + +group: calibration + +codes: [ G28 ] + +notes: + - Homing is required before [`G29`](/docs/gcode/G029.html), [`M48`](/docs/gcode/M048.html), and some other procedures. + - If homing is needed the LCD will blink the X Y Z indicators. + - "`G28` disables bed leveling. Follow with `M420 S` to turn leveling on, or use `RESTORE_LEVELING_AFTER_G28` to automatically keep leveling on after `G28`." + +parameters: + - + tag: L + type: flag + optional: true + description: Flag to restore bed leveling state after homing. (default `true`) + - + tag: O + since: 1.1.9 + type: flag + optional: true + description: Flag to skip homing if the position is already trusted + - + tag: R + since: 1.1.9 + type: float + optional: true + description: The distance to raise the nozzle before homing + - + tag: X + type: flag + optional: true + description: Flag to home the X axis + - + tag: Y + type: flag + optional: true + description: Flag to home the Y axis + - + tag: Z + type: flag + optional: true + description: Flag to home the Z axis + +examples: + - + pre: + - 'The most-used form of this command is to home all axes:' + code: + - G28 ; Home all axes + - + code: + - G28 X Z ; Home the X and Z axes + - + code: + - G28 O ; Home all "untrusted" axes +--- + +When you first start up your machine it has no idea where the toolhead is positioned, so Marlin needs to use a procedure called "homing" to establish a known position. To do this it moves each axis towards one end of its track until it triggers a switch, commonly called an "endstop." Marlin knows where the endstops are, so once all the endstops have been triggered the position is known. + +The `G28` command is used to home one or more axes. The default behavior with no parameters is to home all axes. + +In order to improve positional accuracy, the homing procedure can re-bump at a slower speed according to the `[XYZ]_HOME_BUMP_MM` and `HOMING_BUMP_DIVISOR` settings. + +The position is easy to lose when the steppers are turned off, so homing may be required or advised after the machine has been sitting idle for a period of time. See the Configuration files for all homing options. diff --git a/systems/flexibot/docs/marlin/_gcode/G029-abl-3point.md b/systems/flexibot/docs/marlin/_gcode/G029-abl-3point.md new file mode 100644 index 000000000..8819d3f6a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G029-abl-3point.md @@ -0,0 +1,125 @@ +--- +tag: g029g1 +title: Bed Leveling (3-Point) +brief: Probe the bed and enable leveling compensation. +author: thinkyhead + +requires: AUTO_BED_LEVELING_3POINT +group: calibration + +related: [ M420 ] +codes: [ G29 ] + +notes: +- Any arguments left out of `G29` will use your configured defaults. +- By default [`G28`](/docs/gcode/G028.html) disables bed leveling. Follow with `M420 S` to turn leveling on, or use `RESTORE_LEVELING_AFTER_G28` to automatically keep leveling on after [`G28`](/docs/gcode/G028.html). +- To save time and machine wear, save your matrix to EEPROM with [`M500`](/docs/gcode/M500.html) and in your slicer's "Starting G-code" replace `G29` with `M420 S1` to enable your last-saved matrix. + +parameters: +- + tag: A + optional: true + description: Abort leveling procedure in-progress (`PROBE_MANUALLY`) + values: + - + type: bool +- + tag: C + optional: true + description: Create fake points for testing. (`DEBUG_LEVELING_FEATURE`) + values: + - + type: bool +- + tag: O + type: bool + optional: true + description: Optional. If leveling is already enabled then exit without leveling. (1.1.9) +- + tag: Q + optional: true + description: Query the current leveling state (`PROBE_MANUALLY`, `DEBUG_LEVELING_FEATURE`) + values: + - + type: bool +- + tag: E + optional: true + description: | + - By default G29 will engage the Z probe, test the bed, then disengage. + - Include "E" to engage/disengage the Z probe for each sample. + - There's no extra effect if you have a fixed Z probe. (without `PROBE_MANUALLY`) + values: + - + type: bool +- + tag: D + optional: true + description: Dry-Run mode. Just probe the grid but don't update the bed leveling data + values: + - + type: bool +- + tag: J + optional: true + description: Jettison the leveling data stored in SRAM and turn off leveling compensation. Data in EEPROM is not affected. + values: + - + type: bool +- + tag: V + optional: true + description: Set the verbose level + values: + - + type: int + tag: 0-4 + +examples: +- + code: G29 ; Probe 3 points and compensate +--- + +Automatic (3-Point) Bed Leveling probes the bed at 3 points and enables bed leveling compensation using a rotation matrix to compensate for bed tilt. + +The printer must be homed with [`G28`](/docs/gcode/G028.html) before `G29`. + +#### Automatic Probing +Using an electronic probe Marlin can probe all three points with a single `G29` command. See parameter descriptions and examples below for details. + +#### Manual Probing +Auto Bed Leveling now includes a `PROBE_MANUALLY` option for systems lacking a probe. + +**`PROBE_MANUALLY` adds these parameters to `G29`:** + +- `Q` : Query leveling and `G29` state +- `A` : Abort current leveling procedure + +To do manual probing simply repeat `G29` until the procedure is complete. + +The first `G29` accepts the same parameters , shown in the [Usage](#usage-g029g1) section below. The exact parameters available will depend on which style of bed leveling is enabled. (**Note:** UBL parameters are not covered on this page unless they coincide. See the [`G29` for UBL](/docs/gcode/G029-ubl.html) page for a full list of its options.*) + +{% details Probing Procedure %} + + **Before probing the bed:** + 1. Use `G29 Q` to get the current status. If `G29` isn't idle, abort with `G29 A`. + 2. Use `M420 V` to view leveling data. You can send `M420 S1` to use the existing data. + + **To probe the bed using G-code:** + 1. Use `G29` to move to the first point for Z adjustment. + 2. Adjust Z so a piece of paper can just pass under the nozzle. + 3. Use `G29` to save the Z value and move to the next point. + 4. Repeat steps 3-4 until completed. + 5. Use [`M500`](/docs/gcode/M500.html) to save the leveling data to EEPROM, if desired. + + **To probe the bed using your LCD controller:** (Requires `LCD_BED_LEVELING`) + + 1. Select the `Level Bed` sub-menu, then choose `Level Bed` (not `Cancel`). + 2. Wait for `Homing XYZ` to complete. + 3. When `Click to Begin` appears, press the controller button to move to the first point. + 4. Use the controller wheel to adjust Z so that a piece of paper can just pass under the nozzle. + 5. Press the controller button to save the Z value and move to the next point. + 6. Repeat steps 4-5 until completed. + 7. Use `Control` > `Store memory` to save the mesh to EEPROM, if desired. + +{% enddetails %} diff --git a/systems/flexibot/docs/marlin/_gcode/G029-abl-bilinear.md b/systems/flexibot/docs/marlin/_gcode/G029-abl-bilinear.md new file mode 100644 index 000000000..df0bba65d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G029-abl-bilinear.md @@ -0,0 +1,233 @@ +--- +tag: g029m2 +title: Bed Leveling (Bilinear) +brief: Probe the bed and enable leveling compensation. +author: thinkyhead + +requires: AUTO_BED_LEVELING_BILINEAR +group: calibration + +related: [ M420, M421 ] +codes: [ G29 ] + +notes: +- Any arguments left out of `G29` will use the default values set in `Configuration.h`. +- "[`G28`](/docs/gcode/G028.html) disables bed leveling. Follow with `M420 S1` to turn leveling on, or use `RESTORE_LEVELING_AFTER_G28` to automatically keep leveling on after [`G28`](/docs/gcode/G028.html)." +- To save time and machine wear, save your mesh to EEPROM with [`M500`](/docs/gcode/M500.html) and in your slicer's "Starting G-code" replace `G29` with `M420 S1` to enable your last-saved mesh. + +parameters: +- + tag: A + optional: true + description: Abort leveling procedure in-progress (`PROBE_MANUALLY`) + values: + - + type: bool +- + tag: C + optional: true + description: Create a fake grid for testing. (`DEBUG_LEVELING_FEATURE`) + values: + - + type: bool +- + tag: O + type: bool + optional: true + description: Optional. If leveling is already enabled then exit without leveling. (1.1.9) +- + tag: Q + optional: true + description: Query the current leveling state (`PROBE_MANUALLY`, `DEBUG_LEVELING_FEATURE`) + values: + - + type: bool +- + tag: X + optional: true + description: Specify X when setting a mesh value (`PROBE_MANUALLY`). + values: + - + type: int/float +- + tag: Y + optional: true + description: Specify Y when setting a mesh value. + values: + - + type: int/float +- + tag: Z + optional: true + description: Specify the Z offset when setting a mesh value. + values: + - + type: float +- + tag: W + optional: true + description: | + Write a mesh Z offset. + - Use `X`,`Y` or `I`,`J` to specify the point. + - Use `Z` to specify the new value to set. + values: + - + type: bool +- + tag: S + optional: true + description: Set the XY travel speed between probe points. + values: + - + tag: rate + type: float +- + tag: E + optional: true + description: | + - By default G29 will engage the Z probe, test the bed, then disengage. + - Include "E" to engage/disengage the Z probe for each sample. + - There's no extra effect if you have a fixed Z probe. + values: + - + type: bool +- + tag: D + optional: true + description: Dry-Run mode. Just probe the grid but don't update the bed leveling data + values: + - + type: bool +- + tag: H + optional: true + description: Set the square width and height of the area to probe. + values: + - + tag: linear + type: float +- + tag: F + optional: true + description: Set the front limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: B + optional: true + description: Set the back limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: L + optional: true + description: Set the left limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: R + optional: true + description: Set the right limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: J + optional: true + description: (Without `W`) Jettison the leveling data stored in SRAM and turn off leveling compensation. Data in EEPROM is not affected. + values: + - + type: bool +- + tag: V + optional: true + description: Set the verbose level + values: + - + type: int + tag: 0-4 + +examples: +- + pre: Automatic Probing examples + post: '`G29` without arguments uses your default settings.' + code: G29 ; Measure the bed +- + post: 'Probe your configured N x N matrix within the bounds `X50` `Y50` to `X150` `Y150` (verbose).' + code: G29 L50 R150 F50 B150 V4 +- + pre: Manual Probing example + post: 'Each `G29` command goes to the next step until the whole procedure is done. The `V1` parameter provides a progress report.' + code: + - G29 V1 ; Ready! Go to Point 1, wait... + - G29 V1 ; Store Z, go to Point 2, wait... + - G29 V1 ; Store Z, go to Point 3, wait... + - G29 V1 ; Store Z, go to Point 4, wait... + - G29 V1 ; Store Z, go to Point 5, wait... + - G29 V1 ; Store Z, go to Point 6, wait... + - G29 V1 ; Store Z, go to Point 7, wait... + - G29 V1 ; Store Z, go to Point 8, wait... + - G29 V1 ; Store Z, go to Point 9, wait... + - G29 V1 ; Store Z. Calculate matrix. Activate. +--- + +Automatic (Bilinear) Bed Leveling probes the bed at some fixed number of points and produces a mesh representing the imperfections across the bed. + +The printer must be homed with [`G28`](/docs/gcode/G028.html) before `G29`. + +* For `AUTO_BED_LEVELING_UBL` see [G29 UBL](/docs/gcode/G029-ubl.html) and [G26 Mesh Editing](/docs/gcode/G026.html). +* For `MESH_BED_LEVELING` see the [G29 MBL](/docs/gcode/G029-mbl.html) page. + +Using an electronic probe Marlin can probe the entire bed with a single `G29` command. See parameter descriptions and examples below for details. + +#### Manual Probing +{% details %} + Auto Bed Leveling now includes a `PROBE_MANUALLY` option for systems lacking a probe. + + **`PROBE_MANUALLY` adds these parameters to `G29`:** + - `Q` : Query leveling and `G29` state + - `A` : Abort current leveling procedure + + To do manual probing simply repeat `G29` until the procedure is complete. + + The first `G29` accepts the same parameters , shown in the [Usage](#usage-g029m2) section below. The exact parameters available will depend on which style of bed leveling is enabled. (***Note:** UBL parameters are not covered on this page unless they coincide. See the [`G29` for UBL](/docs/gcode/G029-ubl.html) page for a full list of its options.*) + + **Before probing the bed:** + 1. Use `G29 Q` to get the current status. If `G29` isn't idle, abort with `G29 A`. + 2. Use `M420 V` to view leveling data. You can send `M420 S1` to use the existing data. + + **To probe the bed using G-code:** + 1. Use `G29` to move to the first point for Z adjustment. + 2. Adjust Z so a piece of paper can just pass under the nozzle. + 3. Use `G29` to save the Z value and move to the next point. + 4. Repeat steps 3-4 until completed. + 5. Use [`M500`](/docs/gcode/M500.html) to save the leveling data to EEPROM, if desired. + + **To probe the bed using your LCD controller:** (Requires `LCD_BED_LEVELING`) + + 1. Select the `Level Bed` sub-menu, then choose `Level Bed` (not `Cancel`). + 2. Wait for `Homing XYZ` to complete. + 3. When `Click to Begin` appears, press the controller button to move to the first point. + 4. Use the controller wheel to adjust Z so that a piece of paper can just pass under the nozzle. + 5. Press the controller button to save the Z value and move to the next point. + 6. Repeat steps 4-5 until completed. + 7. Use `Control` > `Store memory` to save the mesh to EEPROM, if desired. + +{% enddetails %} + +#### Mesh Editing + +`AUTO_BED_LEVELING_BILINEAR` adds these parameters to `G29` for editing mesh points: +- `W` Write a mesh point. (Ignored during leveling.) +- `I` X index for mesh point +- `J` Y index for mesh point +- `X` logical X of mesh point +- `Y` logical Y of mesh point +- `Z` Z to store in mesh. If omitted, current raw Z. diff --git a/systems/flexibot/docs/marlin/_gcode/G029-abl-linear.md b/systems/flexibot/docs/marlin/_gcode/G029-abl-linear.md new file mode 100644 index 000000000..5c4e5b8a1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G029-abl-linear.md @@ -0,0 +1,221 @@ +--- +tag: g029g2 +title: Bed Leveling (Linear) +brief: Probe the bed and enable leveling compensation. +author: thinkyhead + +requires: AUTO_BED_LEVELING_LINEAR +group: calibration + +related: [ M420 ] +codes: [ G29 ] + +notes: +- Any arguments left out of `G29` will use the default values set in `Configuration.h`. +- "[`G28`](/docs/gcode/G028.html) disables bed leveling. Follow with `M420 S` to turn leveling on, or use `RESTORE_LEVELING_AFTER_G28` to automatically keep leveling on after [`G28`](/docs/gcode/G028.html)." +- To save time and machine wear, save your matrix to EEPROM with [`M500`](/docs/gcode/M500.html) and in your slicer's "Starting G-code" replace `G29` with `M420 S1` to enable your last-saved matrix. + +parameters: +- + tag: A + optional: true + description: Abort leveling procedure in-progress (`PROBE_MANUALLY`) + values: + - + type: bool +- + tag: C + optional: true + description: Create a fake grid for testing. (`DEBUG_LEVELING_FEATURE`) + values: + - + type: bool +- + tag: O + type: bool + optional: true + description: Optional. If leveling is already enabled then exit without leveling. (1.1.9) +- + tag: Q + optional: true + description: Query the current leveling state (`PROBE_MANUALLY`, `DEBUG_LEVELING_FEATURE`) + values: + - + type: bool +- + tag: X + optional: true + description: Set the number of columns (in X) that will be probed. + values: + - + type: int +- + tag: Y + optional: true + description: Set the number of rows (in Y) that will be probed. + values: + - + type: int +- + tag: P + optional: true + description: Set the size of the square grid that will be probed - P x P points + values: + - + type: int +- + tag: S + optional: true + description: Set the XY travel speed between probe points. + values: + - + tag: rate + type: float +- + tag: E + optional: true + description: | + - By default G29 will engage the Z probe, test the bed, then disengage. + - Include "E" to engage/disengage the Z probe for each sample. + - There's no extra effect if you have a fixed Z probe. (without `PROBE_MANUALLY`) + values: + - + type: bool +- + tag: D + optional: true + description: Dry-Run mode. Just probe the grid but don't update the bed leveling data + values: + - + type: bool +- + tag: T + optional: true + description: Generate a Bed Topology Report + values: + - + type: bool +- + tag: H + optional: true + description: Set the square width and height of the area to probe. + values: + - + tag: linear + type: float +- + tag: F + optional: true + description: Set the front limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: B + optional: true + description: Set the back limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: L + optional: true + description: Set the left limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: R + optional: true + description: Set the right limit of the probing grid. + values: + - + tag: linear + type: float +- + tag: J + optional: true + description: Jettison the leveling data stored in SRAM and turn off leveling compensation. Data in EEPROM is not affected. + values: + - + type: bool +- + tag: V + optional: true + description: Set the verbose level. Level 2 and up act like 'T'. + values: + - + type: int + tag: 0-4 + +examples: +- + pre: Automatic Probing examples + post: '`G29` is most commonly used without any arguments. This uses the defaults set in `Configuration.h`.' + code: G29 ; probe and enable +- + post: Probe a 5x5 matrix. + code: G29 P5 ; 5x5 matrix +- + post: 'Probe a 4x8 matrix from `X50` `Y50` to `X150` `Y150`, printing a full report.' + code: G29 X4 Y8 L50 R150 F50 B150 T V4 +- + pre: Manual Probing example + post: 'Each `G29` command goes to the next step until the whole procedure is done. The `V1` parameter provides a progress report.' + code: + - G29 V1 ; Ready! Go to Point 1, wait... + - G29 V1 ; Store Z, go to Point 2, wait... + - G29 V1 ; Store Z, go to Point 3, wait... + - G29 V1 ; Store Z, go to Point 4, wait... + - G29 V1 ; Store Z, go to Point 5, wait... + - G29 V1 ; Store Z, go to Point 6, wait... + - G29 V1 ; Store Z, go to Point 7, wait... + - G29 V1 ; Store Z, go to Point 8, wait... + - G29 V1 ; Store Z, go to Point 9, wait... + - G29 V1 ; Store Z. Calculate matrix. Activate. +--- + +Automatic (Linear) Bed Leveling probes the bed in a grid and enables bed leveling compensation using a matrix to compensate for bed tilt, applying a "least-squares" approximation. + +The printer must be homed with [`G28`](/docs/gcode/G028.html) before `G29`. + +#### Automatic Probing +Using an electronic probe Marlin can probe the entire grid with a single `G29` command. See parameter descriptions and examples below for details. + +#### Manual Probing +{% details %} + Auto Bed Leveling now includes a `PROBE_MANUALLY` option for systems lacking a probe. + + **`PROBE_MANUALLY` adds these parameters to `G29`:** + - `Q` : Query leveling and `G29` state + - `A` : Abort current leveling procedure + + To do manual probing simply repeat `G29` until the procedure is complete. + + The first `G29` accepts the same parameters , shown in the [Usage](#usage-g029g2) section below. The exact parameters available will depend on which style of bed leveling is enabled. (***Note:** UBL parameters are not covered on this page unless they coincide. See the [`G29` for UBL](/docs/gcode/G029-ubl.html) page for a full list of its options.*) + + **Before probing the bed:** + 1. Use `G29 Q` to get the current status. If `G29` isn't idle, abort with `G29 A`. + 2. Use `M420 V` to view leveling data. You can send `M420 S1` to use the existing data. + + **To probe the bed using G-code:** + 1. Use `G29` to move to the first point for Z adjustment. + 2. Adjust Z so a piece of paper can just pass under the nozzle. + 3. Use `G29` to save the Z value and move to the next point. + 4. Repeat steps 3-4 until completed. + 5. Use [`M500`](/docs/gcode/M500.html) to save the leveling data to EEPROM, if desired. + + **To probe the bed using your LCD controller:** (Requires `LCD_BED_LEVELING`) + + 1. Select the `Level Bed` sub-menu, then choose `Level Bed` (not `Cancel`). + 2. Wait for `Homing XYZ` to complete. + 3. When `Click to Begin` appears, press the controller button to move to the first point. + 4. Use the controller wheel to adjust Z so that a piece of paper can just pass under the nozzle. + 5. Press the controller button to save the Z value and move to the next point. + 6. Repeat steps 4-5 until completed. + 7. Use `Control` > `Store memory` to save the mesh to EEPROM, if desired. + +{% enddetails %} diff --git a/systems/flexibot/docs/marlin/_gcode/G029-mbl.md b/systems/flexibot/docs/marlin/_gcode/G029-mbl.md new file mode 100644 index 000000000..3280445c5 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G029-mbl.md @@ -0,0 +1,145 @@ +--- +tag: g029m1 +title: Bed Leveling (Manual) +brief: Measure Z heights in a grid, enable leveling compensation +author: thinkyhead + +requires: MESH_BED_LEVELING +group: calibration + +related: [ M420, M421 ] +codes: [ G29 ] + +notes: +- Requires the `MESH_BED_LEVELING` option in `Configuration.h`. +- Similar to `AUTO_BED_LEVELING_BILINEAR` with `PROBE_MANUALLY` but uses less SRAM. +- For automatic probe-based leveling enable one of the [`AUTO_BED_LEVELING_*`](/docs/configuration/configuration.html#bed-leveling) options instead. +- "[`G28`](/docs/gcode/G028.html) disables bed leveling. Follow with `M420 S` to turn leveling on, or use `RESTORE_LEVELING_AFTER_G28` to automatically keep leveling on after [`G28`](/docs/gcode/G028.html)." + +parameters: +- + tag: S + optional: false + values: + - + tag: 0 + description: Produce a mesh report (see examples below). + - + tag: 1 + description: Start probing mesh points. + - + tag: 2 + description: Probe the next mesh point. + - + tag: 3 + description: Manually modify a single point with `X` `Y` `Z` parameters. (See also [`M421`](/docs/gcode/M421.html).) + - + tag: 4 + description: Set a global Z offset. Positive values are away from the bed; negative values are closer. + - + tag: 5 + description: Reset and disable mesh. +- + tag: I + optional: true + description: '**(Marlin 2.x)** With `S3`, the (0...n-1) X index of the mesh value to modify.' + values: + - + tag: index + type: int +- + tag: J + optional: true + description: '**(Marlin 2.x)** With `S3`, the (0...n-1) Y index of the mesh value to modify.' + values: + - + tag: index + type: int +- + tag: X + optional: true + description: '**(Marlin 1.x)** With `S3`, the (1...n) X count of the mesh value to modify.' + values: + - + tag: count + type: int +- + tag: Y + optional: true + description: '**(Marlin 1.x)** With `S3`, the (1...n) Y count of the mesh value to modify.' + values: + - + tag: count + type: int +- + tag: Z + optional: true + description: With `S3`, the new mesh Z value. + values: + - + tag: linear + type: float + +examples: +- + pre: 'S0 mesh report:' + code: + - | + > G29 S0 + Num X,Y: 3,3 + Z offset: 0 + Measured points: + 0 1 2 + 0 +0.011 -0.020 -0.026 + 1 +0.017 +0.002 -0.019 + 2 +0.022 -0.030 -0.013 + +- + pre: '**(Marlin 1.x)** Modify some mesh points and view the new mesh:' + code: + - | + > G29 S3 X3 Y3 Z0.042 + > G29 S3 X2 Y2 Z-0.666 + > G29 S0 + Num X,Y: 3,3 + Z offset: 0 + Measured points: + 0 1 2 + 0 +0.011 -0.020 -0.026 + 1 +0.017 -0.666 -0.019 + 2 +0.022 -0.030 +0.042 +- + pre: '**(Marlin 2.x)** Modify some mesh points and view the new mesh:' + code: + - | + > G29 S3 I2 J2 Z0.042 + > G29 S3 I1 J1 Z-0.666 + > G29 S0 + 3x3 mesh. Z offset: 0 + Measured points: + 0 1 2 + 0 +0.011 -0.020 -0.026 + 1 +0.017 -0.666 -0.019 + 2 +0.022 -0.030 +0.042 +--- + +Mesh Bed Leveling (MBL) allows interactively measuring a Z height mesh without a bed probe. The only tool required is a piece of paper or a feeler gauge. MBL uses the mesh to compensate for variations in height across the bed. + +**Mesh Bed Leveling from the host:** + +1. Use `G29 S0` to get the current status and mesh. If there’s an existing mesh, you can send M420 S1 to use it. +2. Use `G29 S1` to move to the first point for Z adjustment. +3. Adjust Z so a piece of paper can just pass under the nozzle. +4. Use `G29 S2` to save the Z value and move to the next point. +5. Repeat steps 3-4 until completed. +6. Use [`M500`](/docs/gcode/M500.html) to save the mesh to EEPROM, if desired. + +**Mesh Bed Leveling using an LCD controller:** (Requires `LCD_BED_LEVELING`) + +1. Select `Level Bed` then choose `Level Bed` (not `Cancel`) in the sub-menu. +2. Wait for `Homing XYZ` to complete. +3. When `Click to Begin` appears, press the controller button to move to the first point. +4. Use the controller wheel to adjust Z so that a piece of paper can just pass under the nozzle. +5. Press the controller button to save the Z value and move to the next point. +6. Repeat steps 4-5 until completed. +7. Use `Control` > `Store memory` to save the mesh to EEPROM, if desired. diff --git a/systems/flexibot/docs/marlin/_gcode/G029-ubl.md b/systems/flexibot/docs/marlin/_gcode/G029-ubl.md new file mode 100644 index 000000000..afc528f46 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G029-ubl.md @@ -0,0 +1,349 @@ +--- +tag: g029m3 +title: Bed Leveling (Unified) +author: Thinkyhead +contrib: Vertabreak, shitcreek +brief: Probe the bed and enable leveling compensation. + +requires: AUTO_BED_LEVELING_UBL +group: calibration + +related: [ M420, M421 ] +codes: [ G29 ] + +notes: | + - Requires `AUTO_BED_LEVELING_UBL`. + - [`G28`](/docs/gcode/G028.html) disables bed leveling. Follow with `G29 A` to turn leveling on, or use `RESTORE_LEVELING_AFTER_G28` to automatically keep leveling on after [`G28`](/docs/gcode/G028.html). + - `M420 S1` can be used to turn leveling on, but requires a valid (complete) mesh. See [`M420`](/docs/gcode/M420.html) for more details. + + ### Release Notes: + + - UBL builds on Edward Patel's "Mesh Bed Leveling" system (also included). + + - UBL does not replace 3-Point or Planar leveling. These use a 3D matrix to tilt the whole model. UBL's 3-point and Planar operations only apply to the mesh, not to the whole model. + + - It is highly recommended to enable EEPROM. Without EEPROM storage enabled, UBL is limited to 3-Point or Grid Leveling (`G29 P0 T` or `G29 P0 G`) and can't save meshes for later use. + + - For the initial [`G28`](/docs/gcode/G028.html) and `G29 P1` that automatically populates the mesh, UBL probes the mesh points in a growing spiral starting from the center of the bed. This pattern is better for Deltabots, allowing the center of the Mesh to be populated (and edited) more quickly so you can do test printing early in the process. + + - You don't need to populate the entire mesh to use it. This saves time if you need to adjust settings and probe again. + + - UBL gathers the points closest the nozzle unless you specify an (X,Y) coordinate pair. + + - Use `G29 P3` to automatically fill in unpopulated mesh points. You can also use an LCD controller with `G29 P2` to move the nozzle to each unpopulated point and manually adjust the height. See the `P2` and `P3` parameters for usage info. + + - We know it takes a lot of effort to create good working Mesh data, so UBL stores its mesh data in a separate location where it won't be affected by EEPROM errors or version changes. + +parameters: + - + tag: A + optional: true + description: '**Activate** Unified Bed Leveling (i.e., `M420 S1`)' + values: + - + type: flag + - + tag: B + optional: true + description: | + **Business Card** mode (`P2` only) + - Use the 'Business Card' mode of the Manual Probe subsystem with `P2`. A value may be given, or else it will be measured. + - In this mode of `G29 P2`, use a shim that the nozzle can grab onto as it is lowered. + In principle, the nozzle-bed distance is the same when the same resistance is felt in the shim. You can omit the numerical value on first invocation of `G29 P2 B` to measure shim thickness. Subsequent use of `B` will apply the previously-measured thickness by default. + - Note: A non-compressible Spark Gap feeler gauge is recommended over a business card. + values: + - + tag: mm/flag + type: float + - + tag: C + optional: true + description: | + - `G29 P1 C` Continue: + Continues the generation of a partially-constructed Mesh without invalidating previous measurements. + - `G29 P2 C` Constant: specifies a Constant and tells the Manual Probe subsystem to use the current location in its search for the closest unmeasured Mesh Point. + - `G29 P3 C` Constant: specifies the Constant for the fill. Otherwise, uses a "reasonable" value. + - `G29 Z C` Current: Use the Current location (instead of bed center or nearest edge). + values: + - + tag: bool/float + type: value + - + tag: D + optional: true + description: Disable Unified Bed Leveling (i.e., `M420 S0`). + values: + - + type: flag + - + tag: E + optional: true + description: Stow probe after probing `E`ach point (`P1` only). + values: + - + type: flag + - + tag: F + optional: true + description: | + **Fade** height. (UBL only! For others use `M420 Z`) + + Fade the amount of Mesh Based Compensation over a specified height. At the specified height, no correction is applied and natural printer kinematics take over. If no number is specified for the command, 10mm is assumed to be reasonable. + values: + - + unit: linear + type: float + - + tag: H + optional: true + description: | + **Height**: + - `G29 P2 H`: Height for Manual Probe raise (`P2` only). + Specify the Height to raise the nozzle after each manual probe of the bed. + If omitted, the nozzle will raise by `Z_CLEARANCE_BETWEEN_PROBES`. + - `G29 P4 H` : Offset above the mesh height to place the nozzle. + If omitted, `Z_CLEARANCE_BETWEEN_PROBES` will be used. + values: + - + unit: linear + type: float + - + tag: I + optional: true + description: | + **Invalidate** a number of mesh points (default 1). + - Invalidate Mesh Points near the given `X Y` (Default: nozzle position) + - If no `I` value is given, only the point nearest to the given position is invalidated. + Use `T` to produce a map afterward. This command is useful to invalidate a portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate an isolated bad mesh point, the `T` option shows the nozzle position in the Mesh with (#). + - You can move the nozzle around and use this feature to select the center of the area (or cell) to invalidate. + values: + - + type: int + - + tag: J + optional: true + description: | + **Grid** (or 3-Point) leveling: + - These options calculate a plane and adjust the existing mesh to the bed tilt. + - If a value is provided, probe a grid with the given number of points, squared. + - With no value, probe 3 points to find the plane of the bed. + values: + - + type: int + - + tag: K + optional: true + requires: UBL_DEVEL_DEBUGGING + description: '**Kompare**: Subtract (diff) the stored mesh with this index from the current mesh. This destructively operates on the active mesh, and the result should not be used for printing. (Requires `UBL_DEVEL_DEBUGGING`)' + values: + - + unit: index + type: int + - + tag: L + optional: true + description: | + **Load** a mesh. If no index is given, load the previously-activated mesh. + The given mesh index will be used for subsequent Load and Store operations. + values: + - + unit: index + type: int + - + tag: P + optional: true + description: "**Phase**: The `P`hase commands are used for the bulk of the work to setup a Mesh. In general, you'll start by initializing with a `G29 P0` or a `G29 P1` then do further refinement with additional Phases." + values: + - + tag: 0 + description: '**Zero Mesh Data** and turn off the Mesh Compensation System. This reverts the machine to the same state it was in before UBL Compensation was enabled. Setting the entire Mesh to Zero is a special case to allow a subsequent `G` or `T` leveling operation for backward-compatibility.' + - + tag: 1 + description: | + **Automatic Probing** invalidates the mesh and continues automatic probing using the probe. + - In most cases the probe can't reach all areas that the nozzle can due to the offsets specified by `X_PROBE_OFFSET_FROM_EXTRUDER` and `Y_PROBE_OFFSET_FROM_EXTRUDER`. + Deltabots can only probe within the area where `DELTA_PROBEABLE_RADIUS` and `DELTA_PRINTABLE_RADIUS` overlap. + - Unreachable points can be filled in later with the `P2` and `P3` phases. + - Use `C` to leave the previous mesh intact and automatically probe needed points. This allows you to invalidate parts of the mesh but still use Automatic Probing. + - The `X` and `Y` parameters prioritize where to try and measure points. If omitted, the current probe position is used. + - Use `T` (Topology) in this phase to report the probing results. + - `P1` will suspend mesh generation if the controller button is held down. Note that you may need to press and hold the switch for several seconds if moves are underway. + - + tag: 2 + description: | + **Probe Areas** of the mesh that can't be automatically handled. + - Use `H` to set the height between mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used. Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer! (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.) + - The `H` value can be negative if the mesh dips in a large area. Press and hold the controller button to terminate the current Phase 2 command. You can then re-issue `G29 P 2` with an `H` parameter more suitable for the area you're manually probing. Note that the command tries to start in a corner of the bed where movement will be predictable. Override the distance calculation location with the `X` and `Y` parameters. You can print a mesh Map (`G29 T`) to see where the mesh is invalidated and where the nozzle needs to move to complete the command. Use `C` to indicate that the search should be based on the current position. + - The `B` parameter for this command is described above. It places the manual probe subsystem into Business Card mode where the thickness of a business card is measured and then used to accurately set the nozzle height in all manual probing for the duration of the command. A Business card can be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it easier to produce similar amounts of force and get more accurate measurements. Google if you're not sure how to use a shim. + - The `T` (Map) parameter helps track mesh building progress. + - NOTE: `P2` requires an LCD controller! + - + tag: 3 + description: | + **Fill Unpopulated** regions of the mesh with a fixed value (`C`) or use 'smart fill' to extrapolate from already probed points (`no argument`). + - With a `C` constant, the closest invalid mesh points to the nozzle will be filled, and then a repeat count can also be specified with `R`. + - Without `C` it does a **Smart Fill**, which scans the mesh from the edges inward looking for invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's replaced by a value that puts all three points in a line. This version of `G29 P3` is a quick, easy and (usually) safe way to populate unprobed mesh regions before continuing to [`G26`](/docs/gcode/G026.html) Mesh Validation Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution. + - + tag: 4 + description: | + **Fine Tune** the Mesh. Generally used in the form `G29 P4 Rnn Xxxx Yyyy`. + - This phase requires an LCD Panel. To fine-tune the mesh without a controller, use [`G42`](/docs/gcode/G042.html) and [`M421`](/docs/gcode/M421.html). + - Phase 4 is meant to be used with [`G26`](/docs/gcode/G026.html) Mesh Validation to fine tune the mesh by direct editing of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable adhesion. + - `P4` moves to the closest Mesh Point (and/or the given `X` `Y`), raises the nozzle above the mesh height by the given `H` offset (or default Z_CLEARANCE_BETWEEN_PROBES), and waits while the controller is used to adjust the nozzle height. On click the displayed height is saved in the mesh. + - Start Phase 4 at a specific location with `X` and `Y`. Adjust a specific number of Mesh Points with the `R` (Repeat) parameter. (If `R` is left out, the whole matrix is assumed.) This command can be terminated early (_e.g.,_ after editing the area of interest) by pressing and holding the encoder button. + - The general form is `G29 P4 [R points] [X position] [Y position]`. + - The `H[offset]` parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the command would be `G29 P4 H0.4`. The nozzle is moved to the shim height, you adjust height to the shim, and on click the height minus the shim thickness is saved in the mesh. + - _USE WITH CAUTION, as a bad mesh can cause the nozzle to crash into the bed!_ + - + tag: 5 + description: | + **Find Mean** Mesh Height and Standard Deviation. + - Typically, it is easier to use and work with the Mesh if it is Mean-Adjusted. You can specify a `C` parameter to Correct the Mesh to a 0.00 Mean Height. With a `C` parameter this will automatically execute a `G29 P6 C[mean height]`. + - + tag: 6 + description: | + **Shift Mesh** height by the `C` value. + - The entire Mesh's height is adjusted by the height specified by the `C` parameter. It's useful to be able to adjust the height of a mesh. It can be used to compensate for a poorly-calibrated probe or other errors. Ideally, you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring 0.0 at the Z homing position. + - + tag: Q + optional: true + description: 'Test Pattern. Load the specified Test Pattern to check for correct operation. This command is intended for developers and is not required for everyday bed leveling.' + values: + - + unit: index + type: int + - + tag: R + optional: true + description: | + Repeat count. (Default `GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y`). + - `P3` Example: `G29 P3 R4 C0` will set the 4 points closest to the nozzle to `0`. + - `P4` Example: `G29 P4 R3 X80 Y80` will allow you to adjust the 3 points closest to X80 Y80. + - This parameter does not apply to Phase 1! `P1` will always attempt to probe the full grid. + values: + - + type: int + - + tag: S + optional: true + description: | + **Save** the mesh to EEPROM in the given slot. + - If no slot number is given, save to the last-activated slot. + - Use `S-1` for G-code output that can be used to restore the mesh anytime. + - Note that this command also saves the current UBL state (enabled or disabled). + values: + - + tag: slot + type: int + - + tag: T + optional: true + description: | + **Topology**: Include a Topology Map in the output. + - This parameter can be used alone (`G29 T`) or in combination with most of the other commands. + - This option works with all Phase commands (_e.g.,_ `G29 P4 R 5 T X 50 Y100 C-0.1 O`) + - A map type can also be specified: + - `T0`: Human-readable (the default) + - `T1`: Delimited. Suitable to paste into a spreadsheet to obtain a 3D graph of the mesh. + values: + - + tag: 0 + - + tag: 1 + - + tag: U + optional: true + description: | + **Unlevel**: Probe the outer perimeter to assist bed tramming. (Use with `G29 P1 O`) + - Only used with `G29 P1 T U`. This speeds up the probing of the edge of the bed. This option is useful when the entire bed doesn't need to be probed because it will be physically adjusted (tramming). + values: + - + type: flag + - + tag: V + optional: true + description: Verbosity Level (0-4) + values: + - + tag: 0 + - + tag: 1 + - + tag: 2 + - + tag: 3 + - + tag: 4 + - + tag: W + optional: true + requires: UBL_DEVEL_DEBUGGING + description: '**_What?_**: Display valuable UBL data. (Requires `UBL_DEVEL_DEBUGGING`)' + values: + - + type: flag + - + tag: X + optional: true + description: '**X position** for all phases and commands (Default: current X)' + values: + - + type: float + unit: linear + - + tag: Y + optional: true + description: '**Y position** for all phases and commands (Default: current Y)' + values: + - + type: float + unit: linear + +examples: + - + pre: This is a minimal sequence for set-up and initial probing of a UBL mesh on a machine that includes a display and z-probe + code: | + G28 ; Home XYZ. + G29 P1 ; Do automated probing of the bed. + G29 P3 ; Smart Fill Repeat until all mesh points are filled in, Used to fill unreachable points. + G29 S0 ; Save UBL mesh points to slot 0 (EEPROM). + G29 F 10.0 ; Set Fade Height for correction at 10.0 mm. + G29 A ; Activate the UBL System. + M500 ; Save current setup. WARNING - UBL will be active at power up, before any G28. + - + pre: This is a minimal sequence for set-up and initial probing of a UBL mesh on a machine that includes a display and no z-probe + code: | + G28 ; Home XYZ. + G29 P4 R255 ; Do manual probing of the bed. + G29 S0 ; Save UBL mesh points to slot 0 (EEPROM). + G29 F 10.0 ; Set Fade Height for correction at 10.0 mm. + G29 A ; Activate the UBL System. + M500 ; Save current setup. WARNING - UBL will be active at power up, before any G28. + - + pre: Optional settings + code: | + M502 ; Load configuration defaults. + M500 ; Save configuration to EEPROM. M502 followed by M500 is suggested post flash to wipe the eeprom of invalid old settings. + + M190 S65 ; Heat Bed to 65C. Not required, but having the printer at temperature may help accuracy. + M104 S210 ; Heat Hotend to 210C. Not required, but having the printer at temperature may help accuracy. + + G29 T ; View the Z compensation values. + G29 P2 B T ; Manually probe unreachable points. Requires an LCD controller. + - + pre: Use [`G26`](/docs/gcode/G026.html) and `G29` commands to fine-tune a measured mesh + code: | + G26 C P T3.0 ; Produce mesh validation pattern with primed nozzle. G26 is optional; any bed leveling stl would also work. + ; NOTE - PLA temperatures are assumed unless you specify - e.g. - B 105 H 225 for ABS Plastic + G29 P4 T ; Move nozzle to 'bad' areas and fine tune the values if needed. + ; Repeat G26 and G29 P4 T commands as needed. + G29 S0 ; Save UBL mesh values to EEPROM. + M500 ; Resave UBL's state information. + - + pre: Tilt a stored mesh; e.g. in your startup script + code: | + G29 L0 ; Load the mesh stored in slot 0 (from G29 S0) + G29 J ; Probe 3 points and tilt the mesh according to what it finds, optionally G29 J2 would do 4 points. +--- + +The Unified Bed Leveling System (UBL) provides a comprehensive set of resources to produce the best bed leveling results possible. See the full [Unified Bed Leveling](/docs/features/unified_bed_leveling.html) documentation for more details. diff --git a/systems/flexibot/docs/marlin/_gcode/G029.md b/systems/flexibot/docs/marlin/_gcode/G029.md new file mode 100644 index 000000000..fa7499167 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G029.md @@ -0,0 +1,29 @@ +--- +tag: g029 +title: Bed Leveling +brief: Probe the bed and enable leveling compensation +author: thinkyhead +pagetype: toc + +requires: AUTO_BED_LEVELING_(3POINT|LINEAR|BILINEAR|UBL)|MESH_BED_LEVELING +group: calibration +codes: [ G29 ] +--- + +When you build Marlin you have the option to include one of 5 different bed leveling systems. Each leveling system comes with its own set of options and makes `G29` behave differently, so documentation for these G-codes is divided up into 5 separate pages. + +### Mesh-based Leveling +Mesh leveling measures the height of the bed at several points to generate a 3D mesh representing bed imperfections. With compensation enabled, the nozzle follows the bed contours by dynamically adjusting the Z position (using bilinear interpolation between the measured points). The nozzle follows the contours of the bed more accurately with more mesh points and/or finer segmentation of moves. + +- [Mesh Bed Leveling](/docs/gcode/G029-mbl.html) provides an economical interactive manual mesh-based leveling system for small boards or machines without a probe. Marlin provides a UI but an LCD controller is not required. + +- [Auto Bed Leveling (Bilinear)](/docs/gcode/G029-abl-bilinear.html) provides mesh-based bilinear leveling, either with or without a probe (but not both). + +- [Unified Bed Leveling](/docs/gcode/G029-ubl.html) provides mesh-based bilinear leveling with partial probing and many options to fit a mesh to the whole bed. Planar (matrix) operations can be applied to the mesh data, but active compensation is mesh based. + +### Matrix-based Leveling +With matrix-based leveling the height of the bed is measured at three points, or in a grid, to generate a rotation matrix. This matrix is used to rotate points in 3D space relative to the tilt of the bed. So if you print an object on a tilted surface the entire object is tilted. This system assumes the bed is perfectly flat, so it is most suitable for high end machines. + +- [Auto Bed Leveling (Linear)](/docs/gcode/G029-abl-linear.html) provides matrix-based Linear (least-squares) leveling, with or without a probe. + +- [Auto Bed Leveling (3-Point)](/docs/gcode/G029-abl-3point.html) provides matrix-based 3-point leveling, with or without a probe. diff --git a/systems/flexibot/docs/marlin/_gcode/G030.md b/systems/flexibot/docs/marlin/_gcode/G030.md new file mode 100644 index 000000000..7c777e1e4 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G030.md @@ -0,0 +1,52 @@ +--- +tag: g030 +title: Single Z-Probe +brief: Probe bed at current XY location +author: thinkyhead + +since: 1.0.0-beta +requires: HAS_BED_PROBE +group: calibration + +codes: [ G30 ] + +parameters: + - + tag: C + optional: true + description: Probe with temperature compensation enabled (`PTC_PROBE`, `PTC_BED`, `PTC_HOTEND`) + values: + - + type: bool + default: 1 + - + tag: X + optional: true + description: X probe position + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: Y probe position + values: + - + tag: pos + type: float + - + tag: E + optional: true + description: Engage the probe for each point + values: + - + type: bool + default: 0 + +notes: + - Use `SERIAL_FLOAT_PRECISION` to set the number of decimal places in the output. + +--- + +Do a single Z probe at a specified position. By default probe in the current position. diff --git a/systems/flexibot/docs/marlin/_gcode/G031.md b/systems/flexibot/docs/marlin/_gcode/G031.md new file mode 100644 index 000000000..a1c8c120c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G031.md @@ -0,0 +1,23 @@ +--- +tag: g031 +title: Dock Sled +brief: Dock the Z probe sled. +author: thinkyhead + +since: 1.0.0-beta +requires: Z_PROBE_SLED +group: calibration + +related: G32 +codes: [ G31 ] + +notes: Requires `Z_PROBE_SLED`. + +example: + - + pre: Dock the sled + code: G31 + +--- + +Dock the Z probe sled. diff --git a/systems/flexibot/docs/marlin/_gcode/G032.md b/systems/flexibot/docs/marlin/_gcode/G032.md new file mode 100644 index 000000000..7674f0ef2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G032.md @@ -0,0 +1,23 @@ +--- +tag: g032 +title: Undock Sled +brief: Undock the Z probe sled. +author: thinkyhead + +since: 1.0.0-beta +requires: Z_PROBE_SLED +group: calibration + +related: G31 +codes: [ G32 ] + +notes: + +examples: + - + pre: Undock the sled + code: G32 + +--- + +Undock the Z probe sled. diff --git a/systems/flexibot/docs/marlin/_gcode/G033.md b/systems/flexibot/docs/marlin/_gcode/G033.md new file mode 100644 index 000000000..981ae84cc --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G033.md @@ -0,0 +1,190 @@ +--- +tag: g033 +title: Delta Auto Calibration +brief: Calibrate various Delta parameters + +author: LVD-AC +contrib: thinkyhead +since: 1.1.0 +requires: DELTA_AUTO_CALIBRATION +group: [ calibration, delta ] + +codes: [ G33 ] + +parameters: + - + tag: C + optional: true + description: If omitted iterations stop at best achievable precision. If set iterations will stop at the set precision. + values: + - type: float + - + tag: E + optional: true + description: Engage the probe for each point. + values: + - type: bool + - + tag: F + optional: true + description: Run ("force") this number of iterations and take the best result. + values: + - type: int + tag: 1-30 + - + tag: P + optional: true + description: Number of probe points. If not specified, uses DELTA_CALIBRATION_DEFAULT_POINTS + values: + - type: int + - + tag: 0 + description: Normalize end-stops and tower angle corrections only (no probing). + - + tag: 1 + description: Probe center and set height only. + - + tag: 2 + description: Probe center and towers. Set height, endstops, and delta radius. + - + tag: 3 + description: Probe all positions - center, towers and opposite towers. Set all. + - + tag: 4-10 + description: Probe all positions with intermediate locations, averaging them. + - + tag: T + optional: true + description: Disable tower angle corrections calibration (`P3`-`P7`) + values: + - type: bool + - + tag: V + optional: true + description: Set the verbose level + values: + - type: int + - + tag: 0 + description: Dry run, no calibration + - + tag: 1 + description: Report settings + - + tag: 2 + description: Report settings and probe results + - + tag: 3 + description: Report settings, probe results, and calibration results + - + default: 1 + - + tag: O + optional: true + since: 2.0.9.2 + description: Probe at probe-offset-relative positions instead of the required kinematic points. + values: + - type: bool + - + tag: R + optional: true + since: 2.0.9.2 + description: Temporarily reduce the size of the probe grid by the specified amount. + values: + - type: float + +notes: + +examples: + - + pre: Default (Verbose 1) + code: | + G33 + + > G33 Auto Calibrate + > Checking... AC + > .Height:295.00 Ex:+0.00 Ey:+0.00 Ez:+0.00 Radius:100.00 + > .Tower angle : Tx:+0.00 Ty:+0.00 Tz:+0.00 + > Iteration : 01 std dev:2.665 + > .Height:297.85 Ex:-0.18 Ey:-0.13 Ez:+0.00 Radius:100.68 + > .Tower angle : Tx:-0.05 Ty:+0.08 Tz:+0.00 + > Iteration : 02 std dev:0.128 + > .Height:297.77 Ex:-0.19 Ey:-0.09 Ez:+0.00 Radius:100.80 + > .Tower angle : Tx:-0.07 Ty:+0.15 Tz:+0.00 + > Iteration : 03 std dev:0.025 + > .Height:297.78 Ex:-0.17 Ey:-0.09 Ez:+0.00 Radius:100.78 + > .Tower angle : Tx:-0.09 Ty:+0.20 Tz:+0.00 + > Iteration : 04 std dev:0.022 + > .Height:297.80 Ex:-0.14 Ey:-0.07 Ez:+0.00 Radius:100.79 + > .Tower angle : Tx:-0.10 Ty:+0.22 Tz:+0.00 + > Iteration : 05 std dev:0.019 + > .Height:297.81 Ex:-0.13 Ey:-0.06 Ez:+0.00 Radius:100.80 + > .Tower angle : Tx:-0.10 Ty:+0.25 Tz:+0.00 + > Calibration OK rolling back. + > .Height:297.80 Ex:-0.14 Ey:-0.07 Ez:+0.00 Radius:100.79 + > .Tower angle : Tx:-0.10 Ty:+0.22 Tz:+0.00 + > Save with M500 and/or copy to Configuration.h + - + pre: Verbose 2 + code: | + G33 V2 + + > G33 Auto Calibrate + > Checking... AC + > .Height:297.80 Ex:-0.14 Ey:-0.07 Ez:+0.00 Radius:100.79 + > .Tower angle : Tx:-0.10 Ty:+0.22 Tz:+0.00 + > . c:+0.01 x:+0.06 y:+0.04 z:+0.01 + > . yz:-0.02 zx:-0.01 xy:+0.01 + > Iteration : 01 std dev:0.028 + > .Height:297.81 Ex:-0.10 Ey:-0.04 Ez:+0.00 Radius:100.81 + > .Tower angle : Tx:-0.10 Ty:+0.24 Tz:+0.00 + > . c:-0.03 x:-0.01 y:-0.02 z:-0.03 + > . yz:-0.05 zx:-0.05 xy:-0.06 + > Calibration OK rolling back. + > .Height:297.80 Ex:-0.14 Ey:-0.07 Ez:+0.00 Radius:100.79 + > .Tower angle : Tx:-0.10 Ty:+0.22 Tz:+0.00 + > Save with M500 and/or copy to Configuration.h + - + pre: Using `V0` for Dry Run with no calibration. + code: | + G33 V0 + + > G33 Auto Calibrate + > Checking... AC (DRY-RUN) + > .Height:295.00 Ex:+0.00 Ey:+0.00 Ez:+0.00 Radius:100.00 + > .Tower angle : Tx:+0.00 Ty:+0.00 Tz:+0.00 + > . c:-2.86 x:-2.68 y:-2.62 z:-2.56 + > . yz:-2.55 zx:-2.61 xy:-2.78 + > End DRY-RUN std dev:2.668 + - + pre: Using the `T` flag for no tower angles. + code: | + G33 T + + > G33 Auto Calibrate + > Checking... AC + > .Height:297.79 Ex:-0.13 Ey:-0.06 Ez:+0.00 Radius:100.83 + > Iteration : 01 std dev:0.024 + > .Height:297.82 Ex:-0.09 Ey:-0.05 Ez:+0.00 Radius:100.82 + > Calibration OK rolling back. + > .Height:297.79 Ex:-0.13 Ey:-0.06 Ez:+0.00 Radius:100.83 + > Save with M500 and/or copy to Configuration.h + - + pre: Use a single point (`P1`) to check the height. + code: | + G33 P1 + + > G33 Auto Calibrate + > Checking... AC + > .Height:297.79 + > Calibration OK + > .Height:297.80 + > Save with M500 and/or copy to Configuration.h +--- + +With the `G33` command you can: +- Probe a circular grid of points, +- Calibrate Delta Height, +- Calibrate endstops, +- Calibrate Delta Radius, and +- Calibrate Tower Angles. diff --git a/systems/flexibot/docs/marlin/_gcode/G034-mgc.md b/systems/flexibot/docs/marlin/_gcode/G034-mgc.md new file mode 100644 index 000000000..8d22f259e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G034-mgc.md @@ -0,0 +1,52 @@ +--- +tag: g034b +title: Mechanical Gantry Calibration +brief: Modern replacement for Průša's TMC_Z_CALIBRATION +author: thisiskeithb + +requires: MECHANICAL_GANTRY_CALIBRATION +since: 2.0.4 +group: calibration + +codes: [ G34 ] +related: [ M422, M906, M907, M915 ] + +notes: + - Requires `MECHANICAL_GANTRY_CALIBRATION`. + +parameters: + - + tag: S + optional: true + description: "Current value to use for the raise move. (Default: `GANTRY_CALIBRATION_CURRENT`)" + values: + - + unit: mA + type: int + - + tag: Z + optional: true + description: "Extra distance past `Z_MAX_POS` to move the Z axis. (Default: `GANTRY_CALIBRATION_EXTRA_HEIGHT`)" + values: + - + unit: linear + type: float + +videos: + - 3jAFQdTk8iw + +example: + - + pre: 'Mechanical gantry calibration:' + code: + - G34 +--- + +This command is used to align the ends of the X gantry. See the [video demonstration](//youtu.be/3jAFQdTk8iw?t=684) above. + +- The carriage moves to `GANTRY_CALIBRATION_SAFE_POSITION`, also called the "pounce" position. +- If possible, the Z stepper current is reduced to the value specified by `S` (or `GANTRY_CALIBRATION_CURRENT`) to prevent damage to steppers and other parts. *The reduced current should be just high enough to move the Z axis when not blocked.* +- The Z axis is jogged past the Z limit, only as far as the specified `Z` distance (or `GANTRY_CALIBRATION_EXTRA_HEIGHT`) at the `GANTRY_CALIBRATION_FEEDRATE`. +- The Z axis is moved back to the working area (also at `GANTRY_CALIBRATION_FEEDRATE`). +- Stepper current is restored back to normal. +- Finally the machine is re-homed, according to `GANTRY_CALIBRATION_COMMANDS_POST`. diff --git a/systems/flexibot/docs/marlin/_gcode/G034-zsaa.md b/systems/flexibot/docs/marlin/_gcode/G034-zsaa.md new file mode 100644 index 000000000..98455c4ad --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G034-zsaa.md @@ -0,0 +1,45 @@ +--- +tag: g034a +title: Z Steppers Auto-Alignment +brief: Align multiple Z steppers using a bed probe +author: shitcreek + +requires: Z_STEPPER_AUTO_ALIGN +experimental: true +group: calibration + +codes: [ G34 ] +related: [ M422, M906, M907 ] + +notes: + - Requires `Z_STEPPER_AUTO_ALIGN`. + +parameters: + - + tag: I + optional: true + description: Iterations - must be between 1 - 30 + - + tag: T + optional: true + description: Target accuracy - must be between 0.01 - 1.0 + - + tag: A + optional: true + description: Amplification - must be between 0.5 - 2.0 + - + tag: E + optional: true + description: Stow probe after probing each point. + +videos: + - 6UgT9YqY3UA + +example: + - + pre: 'Align Z steppers:' + code: + - G34 +--- + +Align multiple Z stepper motors using a bed probe by probing one position per stepper. See [`M422`](/docs/gcode/M422.html) for Z-Stepper automatic alignment parameter selection. diff --git a/systems/flexibot/docs/marlin/_gcode/G035.md b/systems/flexibot/docs/marlin/_gcode/G035.md new file mode 100644 index 000000000..2159c91cf --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G035.md @@ -0,0 +1,47 @@ +--- +tag: g035 +title: Tramming Assistant +brief: Run a procedure to tram the bed +author: thinkyhead + +requires: ASSISTED_TRAMMING +group: calibration + +codes: [ G35 ] + +notes: + - Requires `ASSISTED_TRAMMING`. + +parameters: + - + tag: S + optional: true + description: Screw thread type + values: + - + tag: 30 + description: M3 clockwise + - + tag: 31 + description: M3 counter-clockwise + - + tag: 40 + description: M4 clockwise + - + tag: 41 + description: M4 counter-clockwise + - + tag: 50 + description: M5 clockwise + - + tag: 51 + description: M5 counter-clockwise + +example: + - + pre: 'Tram a bed with M4 clockwise screws' + code: + - G35 S40 +--- + +This command runs an interactive procedure to help you adjust the bed corners so that the bed is as true to the machine frame as possible. This is an important step in calibrating your printer and getting the best first layer results. diff --git a/systems/flexibot/docs/marlin/_gcode/G038.md b/systems/flexibot/docs/marlin/_gcode/G038.md new file mode 100644 index 000000000..e6f610530 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G038.md @@ -0,0 +1,59 @@ +--- +tag: g038 +title: Probe target +brief: Probe towards (or away from) a workpiece +author: thinkyhead + +since: 1.1.0 +requires: G38_PROBE_TARGET +group: calibration + +codes: [ G38.2, G38.3, G38.4, G38.5 ] + +notes: + - These commands require `G38_PROBE_TARGET` and a defined probe. + - '`G38.4` and `G38.5` are only available with the `G38_PROBE_AWAY` option.' + +parameters: + - + tag: X + optional: true + description: Target X + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: Target Y + values: + - + tag: pos + type: float + - + tag: Z + optional: true + description: Target Z + values: + - + tag: pos + type: float + - + tag: F + optional: true + description: Feedrate for the move + values: + - + tag: rate + type: float +--- + +The Probe Target commands are used to probe towards (or away from) a workpiece to determine its precise position. You might, for example, use a grounded metal workpiece, with a metal probe spliced into the bed probe circuit. + +- `G38.2` probes towards a target and stops on contact, signaling an error if it reaches the target position without triggering the probe. +- `G38.3` probes towards a target and stops on contact. No error is given if it fails to trigger the probe. +- `G38.4` probes away from a target and stops on contact break. An error is signaled if the target position is reached without triggering the probe. +- `G38.5` probes away from a target and stops on contact break. No error is given if it fails to trigger the probe. + +These commands use the current homing feedrate, by default. diff --git a/systems/flexibot/docs/marlin/_gcode/G042.md b/systems/flexibot/docs/marlin/_gcode/G042.md new file mode 100644 index 000000000..e2301e52c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G042.md @@ -0,0 +1,52 @@ +--- +tag: g042 +title: Move to mesh coordinate +brief: Move to a specific point in the leveling mesh +author: ManuelMcLure + +since: 1.1.2 +requires: HAS_MESH +group: calibration + +codes: [ G42 ] + +parameters: + - + tag: I + optional: true + description: The column of the mesh coordinate + values: + - + tag: pos + type: float + - + tag: J + optional: true + description: The row of the mesh coordinate + values: + - + tag: pos + type: float + - + tag: F + optional: true + description: The maximum movement rate of the move between the start and end point. The feedrate set here applies to subsequent moves that omit this parameter. + values: + - + tag: rate + type: float + +examples: + - + pre: Move to various points on a 9x9 mesh + code: + - G42 I0 J0 ; front left corner + - G42 I4 J4 ; center + - G42 I4 J8 ; back center + - G42 I8 J8 ; back right + +--- + +The `G42` command moves the nozzle to the location corresponding to a specific coordinate in the bed leveling mesh. It operates similarly to the [`G0`](/docs/gcode/G000-G001.html) and [`G1`](/docs/gcode/G000-G001.html) commands except that the provided coordinates are a mesh row and column instead of an absolute or relative position on the bed. + +The `G42` command will determine the bed position that corresponds to the provided mesh row and column and move the nozzle to that position. diff --git a/systems/flexibot/docs/marlin/_gcode/G053.md b/systems/flexibot/docs/marlin/_gcode/G053.md new file mode 100644 index 000000000..924fddef9 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G053.md @@ -0,0 +1,30 @@ +--- +tag: g053 +title: Move in Machine Coordinates +brief: Apply native workspace to the current move. +author: shitcreek + +requires: CNC_COORDINATE_SYSTEMS +experimental: true +group: geometry + +codes: [ G53 ] + +notes: + - Requires `CNC_COORDINATE_SYSTEMS`. + +examples: + - + pre: Rapid linear move to the machine origin in native space + code: G53 G0 X0 Y0 Z0 + - + pre: Rapid linear move to absolute coordinate X20 in native space + code: G53 G1 X20 + - + pre: Use native space + code: G53 +--- + +`G53` applies native workspace to the current move. See [`G54-G59.3`](/docs/gcode/G054-G059.html) for workspace coordinate system. +In CNC G-code `G53` is a modifier. It precedes a movement command (or other modifiers) on the same line. +Marlin also accepts `G53` on a line by itself as the command to return to the native workspace. diff --git a/systems/flexibot/docs/marlin/_gcode/G054-G059.md b/systems/flexibot/docs/marlin/_gcode/G054-G059.md new file mode 100644 index 000000000..9991aedb4 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G054-G059.md @@ -0,0 +1,35 @@ +--- +tag: g054 +title: Workspace Coordinate System +brief: Select a workspace coordinate system +author: shitcreek + +requires: CNC_COORDINATE_SYSTEMS +experimental: true +group: geometry + +codes: [ G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3 ] +related: G92 + +notes: + - Requires `CNC_COORDINATE_SYSTEMS`. + +example: + - + pre: 'Use coordinate system 2 and rapid move to workspace offset origin:' + code: + - G55 ; Select workspace 1 + - G0 X0 Y0 X0 +--- + +A workspace is an XYZ offset to the native machine space. All workspaces default to 0,0,0 at start, or with EEPROM support they may be restored from a previous session. See [`G53`](/docs/gcode/G053.html) for native space. +- "[`G92`](/docs/gcode/G092.html) is used to set the current workspace's offset." +- "`G54` - use coordinate system 1" +- "`G55` - use coordinate system 2" +- "`G56` - use coordinate system 3" +- "`G57` - use coordinate system 4" +- "`G58` - use coordinate system 5" +- "`G59` - use coordinate system 6" +- "`G59.1` - use coordinate system 7" +- "`G59.2` - use coordinate system 8" +- "`G59.3` - use coordinate system 9" diff --git a/systems/flexibot/docs/marlin/_gcode/G060.md b/systems/flexibot/docs/marlin/_gcode/G060.md new file mode 100644 index 000000000..b5700ae5e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G060.md @@ -0,0 +1,33 @@ +--- +tag: g060 +title: Save Current Position +brief: Save current position to specified slot +author: shitcreek +contrib: [ Hans007a, TwoRedCells, thinkyhead ] +codes: [ G60 ] +related: [ G61 ] + +group: coordinates + +parameters: + - + tag: S + optional: true + description: Memory slot. If omitted, the first slot (0) is used. + values: + - + tag: slot + type: int + +notes: | + - The total number of slots is configured with the `SAVED_POSITIONS` option. + - All slots are initially set to 0, 0, 0. + +example: + - + pre: Save current position to slot 0 + code: + - G60 S0 +--- + +Save the current position of all axes in an SRAM buffer for later recall with [`G61`](/docs/gcode/G061.html). diff --git a/systems/flexibot/docs/marlin/_gcode/G061.md b/systems/flexibot/docs/marlin/_gcode/G061.md new file mode 100644 index 000000000..931cb68db --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G061.md @@ -0,0 +1,65 @@ +--- +tag: g061 +title: Return to Saved Position +brief: Return to saved position of specified slot +author: shitcreek +contrib: [ Hans007a, thinkyhead ] +codes: [ G61 ] +related: [ G60 ] + +group: coordinates + +parameters: + - + tag: F + optional: true + description: Move feedrate + values: + - + tag: rate + type: float + - + tag: S + optional: true + description: Memory slot (0 if omitted) + values: + - + tag: slot + type: int + - + tag: X + optional: true + description: Flag to restore the X axis + values: + - + type: flag + - + tag: Y + optional: true + description: Flag to restore the Y axis + values: + - + type: flag + - + tag: Z + optional: true + description: Flag to restore the Z axis + values: + - + type: flag + - + tag: E + optional: true + description: Flag to restore the E axis + values: + - + type: flag + +example: + - + pre: Move to the XY coordinates stored in slot 0 + code: + - G61 XY S0 +--- + +Use this command to move to a saved position. To limit the move to only some axes, include one or more axis letters. Otherwise all axes will be included. diff --git a/systems/flexibot/docs/marlin/_gcode/G076.md b/systems/flexibot/docs/marlin/_gcode/G076.md new file mode 100644 index 000000000..65d06ffb8 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G076.md @@ -0,0 +1,40 @@ +--- +tag: g076 +title: Probe temperature calibration +brief: Calibrate probe temperature compensation +author: tompe-proj +contrib: thinkyhead + +codes: [ G76 ] +related: [ M192, M871 ] + +requires: PROBE_TEMP_COMPENSATION +experimental: true +group: calibration + +notes: + - Requires `PTC_PROBE` and `PTC_BED`. + - This process can take a very long time. The timeout is currently set to 15min to allow the parts to fully heat up and cool down. + - Use [`M500`](/docs/gcode/M500.html) to save the result to EEPROM. + +parameters: + - + tag: B + optional: true + description: Calibrate bed only + - + tag: P + optional: true + description: Calibrate probe only + +example: + - + code: + - G76 ; calibrate bed, then probe + - G76 B ; calibrate bed only + - G76 P ; calibrate probe only +--- + +Calibrate temperature compensation offsets for bed and/or probe temperatures. Temperature compensation values are added to probe measurements when running [`G29`](/docs/gcode/G029.html) mesh bed leveling. Currently, calibration only heats up the bed, not the hotend. The probe is heated up by bringing it close to the heated bed and cooled down by moving it away. + +See [Probe Temperature Compensation](/docs/features/probe_temp_compensation.html) for a more detailed explanation of the process. diff --git a/systems/flexibot/docs/marlin/_gcode/G080.md b/systems/flexibot/docs/marlin/_gcode/G080.md new file mode 100644 index 000000000..14d4ec92b --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G080.md @@ -0,0 +1,25 @@ +--- +tag: g080 +title: Cancel Current Motion Mode +brief: Cancel the current motion mode +author: shitcreek + +requires: GCODE_MOTION_MODES +group: motion + +codes: [ G80 ] + +notes: + - Requires `GCODE_MOTION_MODES`. + +example: + - + pre: 'Cancel motion mode G1' + code: + - G0 ; sets motion mode to G0 + - X10 Y10 ; moves to X10 Y10 in motion mode G0 + - G80 ; cancels the current motion mode + - X20 Y20 ; returns unknown command +--- + +Cancels the current motion mode (G0 G1 G2 G3 G5 G38.X). With `GCODE_MOTION_MODES` enabled, Marlin will remember the last used motion mode which can then be canceled with `G80`. diff --git a/systems/flexibot/docs/marlin/_gcode/G090.md b/systems/flexibot/docs/marlin/_gcode/G090.md new file mode 100644 index 000000000..9c38f154b --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G090.md @@ -0,0 +1,23 @@ +--- +tag: g090 +title: Absolute Positioning +brief: Set the interpreter to absolute positions +author: thinkyhead + +since: 1.0.0-beta +group: units + +codes: [ G90 ] + +notes: + - Absolute positioning is the default. + +example: + - + pre: Enable absolute mode + code: + - G90 ; Set all axes to absolute + +--- + +In absolute mode all coordinates given in G-code are interpreted as positions in the logical coordinate space. This includes the extruder position unless overridden by [`M83`](/docs/gcode/M083.html). diff --git a/systems/flexibot/docs/marlin/_gcode/G091.md b/systems/flexibot/docs/marlin/_gcode/G091.md new file mode 100644 index 000000000..650d93afb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G091.md @@ -0,0 +1,20 @@ +--- +tag: g091 +title: Relative Positioning +brief: Set the interpreter to relative positions +author: thinkyhead + +since: 1.0.0-beta +group: units + +codes: [ G91 ] + +example: + - + pre: Enable relative mode + code: + - G91 ; Set all axes to relative + +--- + +Set relative position mode. In this mode all coordinates are interpreted as relative to the last position. This includes the extruder position unless overridden by [`M82`](/docs/gcode/M082.html). diff --git a/systems/flexibot/docs/marlin/_gcode/G092.md b/systems/flexibot/docs/marlin/_gcode/G092.md new file mode 100644 index 000000000..e0b7b62c4 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G092.md @@ -0,0 +1,71 @@ +--- +tag: g092 +title: Set Position +brief: Set the current position of one or more axes. +author: thinkyhead +contrib: shitcreek + +since: 1.0.0-beta +group: motion + +codes: [ G92 ] + +notes: + - In earlier versions of Marlin `G92` doesn't update the software endstops, so it was unsupported to set coordinates outside these boundaries. In Marlin 1.1.0 and up, the physical boundaries are maintained. This means you can no longer use `G92` to move below the bed, for example. + +parameters: + - + tag: X + optional: true + description: New X axis position + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: New Y axis position + values: + - + tag: pos + type: float + - + tag: Z + optional: true + description: New Z axis position + values: + - + tag: pos + type: float + - + tag: E + optional: true + description: New extruder position + values: + - + tag: pos + type: float + +examples: + - + pre: + - Specify that the nozzle's current X position is 10 and the current extruder position is 90. + code: + - G92 X10 E90 + - + pre: + - Specify that the nozzle's current XYZ position is 0, 0, 0. + code: + - G92 X0 Y0 Z0 + - + pre: + - Resets selected workspace is 0, 0, 0. + code: + - G92.1 + +--- + +Set the current position to the values specified. In Marlin 1.1.0 and up, the software endstops are adjusted to preserve the physical movement limits. Thus you could use `G92` to set the middle of the bed to 0,0 and then run .gcode that was sliced for a Deltabot. + +The [`CNC_COORDINATE_SYSTEMS`](/docs/gcode/G054-G059.html) option enables use of `G92.1` to reset the selected workspace to native machine space. See [`G54-G59`](/docs/gcode/G054-G059.html) and [`G53`](/docs/gcode/G053.html). diff --git a/systems/flexibot/docs/marlin/_gcode/G425.md b/systems/flexibot/docs/marlin/_gcode/G425.md new file mode 100644 index 000000000..f35ff9719 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/G425.md @@ -0,0 +1,75 @@ +--- +tag: g425 +title: Backlash Calibration +brief: Use a conductive object to calibrate XYZ backlash +author: marcio-ao + +experimental: true +requires: CALIBRATION_GCODE +group: calibration + +codes: [ G425 ] + +notes: + - | + Requires `CALIBRATION_GCODE` and the following parameters: + - `CALIBRATION_MEASUREMENT_RESOLUTION` determines the increments taken in mm when performing measurements. + - `CALIBRATION_FEEDRATE_SLOW`, `CALIBRATION_FEEDRATE_FAST` and `CALIBRATION_FEEDRATE_TRAVEL` determine the speed of motion during the calibration. + - `CALIBRATION_NOZZLE_TIP_HEIGHT` and `CALIBRATION_NOZZLE_OUTER_DIAMETER` refer to the conical part of the nozzle tip. + - `CALIBRATION_REPORTING` enables `G425 V` for reporting of measurements. + - `CALIBRATION_OBJECT_CENTER` and `CALIBRATION_OBJECT_DIMENSIONS` define the true location and dimensions of a cube/bolt/washer mounted on the bed. + - `CALIBRATION_MEASURE_RIGHT`, `CALIBRATION_MEASURE_FRONT`, `CALIBRATION_MEASURE_LEFT` and `CALIBRATION_MEASURE_BACK` define the usable touch points. Comment out any sides which are unreachable by the probe. For best results, all four sides should be reachable. + - `CALIBRATION_PIN`, `CALIBRATION_PIN_INVERTING`, `CALIBRATION_PIN_PULLDOWN` and `CALIBRATION_PIN_PULLUP` configure the pin used for calibration. For example, if the nozzle is grounded, the calibation cube would be connected to a digital input pin with a pull-up enabled. + +parameters: + - + tag: B + optional: true + description: Perform calibration of backlash only. + - + tag: T + optional: true + description: Perform calibration of one toolhead only. + values: + - + tag: index + type: int + - + tag: V + optional: true + description: Probe cube and print position, error, backlash and hotend offset. (Requires `CALIBRATION_REPORTING`) + - + tag: U + optional: true + description: 'Uncertainty: how far to start probe away from the cube (mm)' + values: + - + tag: linear + type: float + +examples: + - + pre: 'Check positional accuracy before calibration (Requires `CALIBRATION_REPORTING`):' + code: + - T1 ; Switch to second nozzle + - G425 V ; Showing positional report for T1 + - T0 ; Switch to first nozzle + - G425 V ; Showing positional report for T0 + - + pre: 'Perform automatic calibration:' + code: + - G425 ; Perform full calibration sequence + - M425 F1 S0 ; Enable backlash compensation at 100% + - + pre: 'Check positional accuracy after calibration (Requires `CALIBRATION_REPORTING`):' + code: + - T1 ; Switch to second nozzle + - G425 V ; Validate by showing report for T1 + - T0 ; Switch to first nozzle + - G425 V ; Validate by showing report for T0 + +--- + +This command performs an automatic calibration of backlash, positional errors, and nozzle offset by touching the nozzle to the sides of a bed-mounted, electrically-conductive object (_e.g.,_ a cube, washer or bolt). + +This command measures backlash but doesn't enable backlash correction. Use [`M425`](/docs/gcode/M425.html) to enable backlash correction. diff --git a/systems/flexibot/docs/marlin/_gcode/M000-M001.md b/systems/flexibot/docs/marlin/_gcode/M000-M001.md new file mode 100644 index 000000000..97f2dcdb2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M000-M001.md @@ -0,0 +1,54 @@ +--- +tag: m0000 +title: Unconditional stop +brief: Stop and wait for user +author: thinkyhead + +since: 1.0.0-beta +group: motion + +codes: [ M0, M1 ] + +notes: + - If both `S` and `P` are included, `S` takes precedence. + - Without an LCD controller or `EMERGENCY_PARSER` this command is ignored. + - With `EMERGENCY_PARSER` enabled the [`M108`](/docs/gcode/M108.html) command can be used to continue. + +parameters: + - + tag: S + optional: true + description: Expire time, in seconds + values: + - + tag: sec + type: int + - + tag: P + optional: true + description: Expire time, in milliseconds + values: + - + tag: ms + type: int + - + tag: string + optional: true + description: An optional message to display on the LCD + +examples: + - + pre: + Stop and wait + code: + - M0 + + - + pre: + Display a message, stop, and wait + code: + - M0 Click to continue + +--- + +The `M0` and `M1` commands pause after the last movement and wait for the user to continue. `M1` is a deprecated alias for `M0`. diff --git a/systems/flexibot/docs/marlin/_gcode/M003.md b/systems/flexibot/docs/marlin/_gcode/M003.md new file mode 100644 index 000000000..6fe4847c6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M003.md @@ -0,0 +1,63 @@ +--- +tag: m0003 +title: Spindle CW / Laser On +brief: Set the spindle CW speed or laser power +author: thinkyhead +contrib: shitcreek + +since: 1.1.2 +requires: SPINDLE_LASER_ENABLE +related: [ M4, M5 ] +group: control + +codes: [ M3 ] + +notes: + - 'S is interpeted as the configured value range: PWM (default), Percentage, or RPM. (See `CUTTER_POWER_UNIT`)' + - "[`M3`](/docs/gcode/M003.html) and [`M4`](/docs/gcode/M004.html) aren't needed with `LASER_POWER_INLINE` and `LASER_MOVE_POWER` enabled. Power is set directly in [`G1`](/docs/gcode/G000-G001.html)…[`G5`](/docs/gcode/G005.html)" + +parameters: + - + tag: S + optional: true + description: Spindle speed or laser power in the configured value range (see `CUTTER_POWER_DISPLAY`). (PWM 0-255 by default) + values: + - + tag: power + type: byte + - + tag: O + optional: true + description: Spindle speed or laser power in PWM 0-255 value range + values: + - + tag: power + type: byte + - + tag: I + optional: true + description: Inline mode ON / OFF. + values: + - + tag: mode + type: bool + +examples: + - + pre: Set spindle rotation clockwise at 50% with `CUTTER_POWER_UNIT` set to `PERCENT` + code: M3 S50 + - + pre: Set spindle rotation clockwise at 6K RPM with `CUTTER_POWER_UNIT` set to `RPM` + code: M3 S5000 + - + pre: Set laser power to 50% in PWM + code: M3 O128 + - + pre: Turn on the laser at full / `SPEED_POWER_STARTUP` power + code: M3 + - + pre: Fire laser at 80% on next G1,G2 and G3 move + code: M3 S204 I +--- + +Wait for moves to complete, then set the spindle speed (clockwise) or laser power. diff --git a/systems/flexibot/docs/marlin/_gcode/M004.md b/systems/flexibot/docs/marlin/_gcode/M004.md new file mode 100644 index 000000000..6c73364cb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M004.md @@ -0,0 +1,64 @@ +--- +tag: m0004 +title: Spindle CCW / Laser On +brief: Set the spindle CCW speed or laser power +author: thinkyhead +contrib: shitcreek + +since: 1.1.2 +requires: SPINDLE_LASER_ENABLE +related: [ M3, M5 ] +group: control + +codes: [ M4 ] + +notes: + - 'S is interpeted as the configured value range: PWM (default), Percentage, or RPM. (See `CUTTER_POWER_UNIT`)' + - "[`M3`](/docs/gcode/M003.html) and [`M4`](/docs/gcode/M004.html) aren't needed with `LASER_POWER_INLINE` and `LASER_MOVE_POWER` enabled. Power is set directly in [`G1`](/docs/gcode/G000-G001.html)…[`G5`](/docs/gcode/G005.html)" + +parameters: + - + tag: S + optional: true + description: Spindle speed or laser power in the configured value range (see `CUTTER_POWER_UNIT`). (PWM 0-255 by default) + values: + - + tag: power + type: byte + - + tag: O + optional: true + description: Spindle speed or laser power in PWM 0-255 value range + values: + - + tag: power + type: byte + - + tag: I + optional: true + description: Inline mode ON / OFF. + values: + - + tag: mode + type: bool + +examples: + - + pre: Set spindle rotation counter-clockwise at 50% with `CUTTER_POWER_UNIT` set to `PERCENT` + code: M4 S50 + - + pre: Set spindle rotation counter-clockwise at 50% with `CUTTER_POWER_UNIT` set to `PWM` + code: M4 S128 + - + pre: Set spindle rotation counter-clockwise at 80% in `PWM` + code: M4 O204 + - + pre: Turn on the laser at full / `SPEED_POWER_STARTUP` power + code: M4 + - + pre: Fire laser at 80% on next G1,G2 and G3 move + code: M4 S204 I + +--- + +Wait for moves to complete, then set the spindle speed (counter-clockwise) or laser power. diff --git a/systems/flexibot/docs/marlin/_gcode/M005.md b/systems/flexibot/docs/marlin/_gcode/M005.md new file mode 100644 index 000000000..e47a81c8f --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M005.md @@ -0,0 +1,26 @@ +--- +tag: m0005 +title: Spindle / Laser Off +brief: Turn off spindle or laser +author: thinkyhead +contrib: shitcreek + +since: 1.1.2 +requires: SPINDLE_LASER_ENABLE +related: [ M3, M4 ] +group: control + +codes: [ M5 ] + +notes: + - '[`G0`](/docs/gcode/G000-G001.html) and [`G28`](/docs/gcode/G028.html) will also turn the laser off' +parameters: + +examples: + - + pre: Turn off the spindle or laser + code: M5 + +--- + +Wait for moves to complete, then turn off the spindle / laser power and PWM. diff --git a/systems/flexibot/docs/marlin/_gcode/M007-M009.md b/systems/flexibot/docs/marlin/_gcode/M007-M009.md new file mode 100644 index 000000000..da2b55cfe --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M007-M009.md @@ -0,0 +1,26 @@ +--- +tag: m0007 +title: Coolant Controls +brief: Turn mist or flood coolant on / off +author: shitcreek + +group: control + +codes: [ M7, M8, M9 ] + +examples: + - + pre: Turn on mist coolant + code: + - M7 + - + pre: Turn on spindle flood coolant or laser air assist + code: + - M8 + - + pre: Turn off all coolants or air assist + code: + - M9 +--- + +This command pertains to a CNC machine with a liquid cooling system or a laser with air assist. diff --git a/systems/flexibot/docs/marlin/_gcode/M010-M011.md b/systems/flexibot/docs/marlin/_gcode/M010-M011.md new file mode 100644 index 000000000..eb283b70a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M010-M011.md @@ -0,0 +1,27 @@ +--- +tag: m0010 +title: Vacuum / Blower Control +brief: Enable and disable the Cutter Vacuum or Laser Blower Motor. +author: descipher + +group: control +since: 2.0.8 + +codes: [ M10, M11 ] + +requires: AIR_EVACUATION + +notes: These G-codes can only be enabled for use with a spindle or laser setup. + +examples: + - + pre: Turn laser blower motor on + code: + - M10 + - + pre: Turn laser blower motor off + code: + - M11 +--- + +Immediately turn the cutter's vacuum or laser's blower motor on or off. diff --git a/systems/flexibot/docs/marlin/_gcode/M016.md b/systems/flexibot/docs/marlin/_gcode/M016.md new file mode 100644 index 000000000..ea77437b1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M016.md @@ -0,0 +1,28 @@ +--- +tag: m0016 +title: Expected Printer Check +brief: Prevent G-code usage on the wrong machine +author: thinkyhead + +group: safety +since: 2.0.0 +requires: EXPECTED_PRINTER_CHECK + +codes: [ M16 ] + +notes: + +parameters: + - + tag: string + optional: false + description: The string to compare to MACHINE_NAME. + +examples: + - + pre: Halt if the MACHINE_NAME is not "Arthur" + code: M16 Arthur + +--- + +Do a case-sensitive comparison between the string argument and the configured `MACHINE_NAME`. If the machine name doesn't match, halt the printer so that a reset is required. This safety feature is meant to prevent G-code sliced for a specific machine from being used on any other machine. diff --git a/systems/flexibot/docs/marlin/_gcode/M017.md b/systems/flexibot/docs/marlin/_gcode/M017.md new file mode 100644 index 000000000..ab38a97df --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M017.md @@ -0,0 +1,62 @@ +--- +tag: m0017 +title: Enable Steppers +brief: Enable steppers +author: thinkyhead + +group: control + +codes: [ M17 ] + +notes: + +parameters: + - + tag: X + optional: true + description: X Enable + values: + - + tag: flag + type: bool + - + tag: Y + optional: true + description: Y Enable + values: + - + tag: flag + type: bool + - + tag: Z + optional: true + description: Z Enable + values: + - + tag: flag + type: bool + - + tag: E + optional: true + description: E Enable + values: + - + tag: flag + type: bool + + +examples: + - + pre: Enable power on all stepper motors + code: M17 + - + pre: Enable Z and E steppers immediately + code: M17 Z E + +--- + +This command can be used to enable one or more steppers (`X`,`Y`,`Z`,`E`). + +If no steppers are specified, this command enables all steppers immediately. + +If one or more axes are specified, this command enables the specified steppers immediately. diff --git a/systems/flexibot/docs/marlin/_gcode/M018.md b/systems/flexibot/docs/marlin/_gcode/M018.md new file mode 100644 index 000000000..3dc081f29 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M018.md @@ -0,0 +1,74 @@ +--- +tag: m0018 +title: Disable steppers +brief: Disable steppers (same as M84). +author: thinkyhead + +group: control + +codes: [ M18, M84 ] + +notes: + +parameters: + - + tag: S + optional: true + description: Inactivity Timeout. If none specified, disable now. + values: + - + tag: seconds + type: int + - + tag: X + optional: true + description: X Disable + values: + - + tag: flag + type: bool + - + tag: Y + optional: true + description: Y Disable + values: + - + tag: flag + type: bool + - + tag: Z + optional: true + description: Z Disable + values: + - + tag: flag + type: bool + - + tag: E + optional: true + description: E Disable + values: + - + tag: flag + type: bool + +examples: + - + pre: Set the stepper inactivity timeout to 1 minute + code: M18 S60 + - + pre: Disable all steppers immediately + code: M18 + - + pre: Disable Z and E steppers immediately + code: M18 Z E + +--- + +This command can be used to set the stepper inactivity timeout (`S`) or to disable one or more steppers (`X`,`Y`,`Z`,`E`). + +If a timeout is given with `S`, this command just sets the stepper inactivity timeout. + +If no steppers are specified, this command disables all steppers immediately. + +If one or more axes are specified, this command disables the specified steppers immediately. diff --git a/systems/flexibot/docs/marlin/_gcode/M020.md b/systems/flexibot/docs/marlin/_gcode/M020.md new file mode 100644 index 000000000..24ddef56d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M020.md @@ -0,0 +1,91 @@ +--- +tag: m0020 +title: List SD Card +brief: List the contents of the SD Card. +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M20 ] +related: [ M33 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + - + tag: F + since: 2.0.9.4 + optional: true + description: Only list BIN files. Used by host plugins to facilitate firmware upload. + requires: CUSTOM_FIRMWARE_UPLOAD + values: + - + type: flag + - + tag: L + since: 2.0.9 + experimental: true + optional: true + description: Include the long filename in the listing. + requires: LONG_FILENAME_HOST_SUPPORT + values: + - + type: flag + - + tag: T + since: 2.1.2 + optional: true + description: Include the file timestamp in the listing. + requires: M20_TIMESTAMP_SUPPORT + values: + - + type: flag + +examples: + - + pre: List the contents of the SD card + post: The firmware will send no other output between "Begin file list" and "End file list." + code: | + > M20 + Begin file list + MYFILE.GCO 14129 + SUBDIR~1/MORETH\~1.GCO 68447 + End file list + ok + - + pre: List files with long filename (for display) + post: This format produces a prettier File Manager in OctoPrint, but the long name is not used in selecting the file to print, nor are folder long names included. + code: | + > M20 L + Begin file list + MYFILE.GCO 14129 MyFile.gcode + SUBDIR~1/MORETH\~1.GCO 68447 Sub Directory/MoretHall.gcode + End file list + ok + - + pre: List files with file modification timestamp (for display) + post: OctoPrint 1.9+ uses the timestamp to display file upload times. + code: | + > M20 T + Begin file list + MYFILE.GCO 14129 0x5515758F + SUBDIR~1/MORETH\~1.GCO 68447 0x55195745 + End file list + ok + + > M20 L T + Begin file list + MYFILE.GCO 14129 0x5515758F MyFile.gcode + SUBDIR~1/MORETH\~1.GCO 68447 0x55195745 Sub Directory/MoretHall.gcode + End file list + ok + +--- + +List all printable files on the SD card back to the requesting serial port in compact DOS 8.3 format. Only files with `.gcode`, `.gco`, and `.g` extensions will be listed. Hidden files (beginning with `.`) will not be listed. + +Hosts or serial controllers should send `M20` to get a DOS 8.3 file listing of the active media device that includes file sizes. + +The file size is included in the output since Marlin 1.1.0. diff --git a/systems/flexibot/docs/marlin/_gcode/M021.md b/systems/flexibot/docs/marlin/_gcode/M021.md new file mode 100644 index 000000000..e23fec19d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M021.md @@ -0,0 +1,32 @@ +--- +tag: m0021 +title: Init SD card +brief: Attempt to detect an SD card in the slot. +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M21 ] + +notes: Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + +examples: + - + pre: Init card with success + code: | + > M21 + SD card ok + ok + - + pre: Init card with failure + code: | + > M21 + No SD card + ok + +--- + +Use this command to mount the last-selected SD card or thumb drive. diff --git a/systems/flexibot/docs/marlin/_gcode/M022.md b/systems/flexibot/docs/marlin/_gcode/M022.md new file mode 100644 index 000000000..197041284 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M022.md @@ -0,0 +1,23 @@ +--- +tag: m0022 +title: Release SD card +brief: Simulate ejection of the SD card +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M22 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + +examples: + +--- + +If Marlin gets confused about the state of the SD card, this command can be used to simulate an ejection of the SD card. + +Re-insert the SD card or use [`M21`](/docs/gcode/M021.html) to enable the SD card following [`M22`](/docs/gcode/M022.html). diff --git a/systems/flexibot/docs/marlin/_gcode/M023.md b/systems/flexibot/docs/marlin/_gcode/M023.md new file mode 100644 index 000000000..365bd3f53 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M023.md @@ -0,0 +1,32 @@ +--- +tag: m0023 +title: Select SD file +brief: Select an SD file to be executed +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M23 ] +related: [ M24 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + - + tag: filename + optional: false + description: The filename of the file to open. + +examples: + - + pre: Select a file and start it + code: | + > M23 /musicg\~1/jingle.gco + Now fresh file: /musicg\~1/jingle.gco + > M24 + +--- + +Select an SD file for printing or processing. Follow with [`M24`](/docs/gcode/M024.html) to run the selected file. diff --git a/systems/flexibot/docs/marlin/_gcode/M024.md b/systems/flexibot/docs/marlin/_gcode/M024.md new file mode 100644 index 000000000..bc307b15a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M024.md @@ -0,0 +1,41 @@ +--- +tag: m0024 +title: Start or Resume SD print +brief: Start or resume a file selected with [`M23`](/docs/gcode/M023.html) +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M24 ] +related: [ M23 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + - Since Marlin 2.0.0, SD printing can be aborted with [`M524`](/docs/gcode/M524.html). + +parameters: + - + tag: S + optional: true + description: Position in file to resume from (requires `POWER_LOSS_RECOVERY`) + values: + - + tag: pos + type: long + - + tag: T + optional: true + description: Elapsed time since start of print (requires `POWER_LOSS_RECOVERY`) + values: + - + tag: time + type: long + +examples: + +--- + +Start an SD print or resume the paused SD print. If `PARK_HEAD_ON_PAUSE` is enabled, unpark the nozzle. + +If `POWER_LOSS_RECOVERY` is enabled [`M24`](/docs/gcode/M024.html) accepts parameters which allow resuming the print from a specific point in the file. These parameters are usually only used in this scenario. diff --git a/systems/flexibot/docs/marlin/_gcode/M025.md b/systems/flexibot/docs/marlin/_gcode/M025.md new file mode 100644 index 000000000..f6769583b --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M025.md @@ -0,0 +1,21 @@ +--- +tag: m0025 +title: Pause SD print +brief: Pause printing from the SD card +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M25 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + +examples: + +--- + +Pause the SD print in progress. If `PARK_HEAD_ON_PAUSE` is enabled, park the nozzle. diff --git a/systems/flexibot/docs/marlin/_gcode/M026.md b/systems/flexibot/docs/marlin/_gcode/M026.md new file mode 100644 index 000000000..88fe082da --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M026.md @@ -0,0 +1,29 @@ +--- +tag: m0026 +title: Set SD position +brief: Set the SD read position +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M26 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + - + tag: S + optional: true + description: Next file read position to set + values: + - + tag: pos + type: long + +examples: + +--- + +Set the next read position in the open SD file. diff --git a/systems/flexibot/docs/marlin/_gcode/M027.md b/systems/flexibot/docs/marlin/_gcode/M027.md new file mode 100644 index 000000000..f4862901a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M027.md @@ -0,0 +1,50 @@ +--- +tag: m0027 +title: Report SD print status +brief: Print SD progress to serial +author: thinkyhead, TheSFReader + +requires: SDSUPPORT +group: sdcard + +codes: [ M27 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + - + tag: S + optional: true + description: Interval between auto-reports. `S0` to disable (requires `AUTO_REPORT_SD_STATUS`) + values: + - + tag: seconds + type: int + - + tag: C + optional: true + description: Report the filename and long filename of the current file + + +examples: + - + pre: Report current SD status + code: M27 S4 + - + pre: Report SD status every 4 seconds + code: M27 S4 + - + pre: Stop reporting SD status + code: M27 S0 + - + pre: Report currently open filename + code: M27 C + +--- + +With no parameter, report the current SD read position in the form "`SD printing byte 123/12345`." If no file is open the response is "`Not SD printing`." + +With `S`, set the SD status auto-report interval. (Requires `AUTO_REPORT_SD_STATUS`) + +With `C`, get the currently open file's name (and long filename if possible). Print "`(no file)`" if no file is open. diff --git a/systems/flexibot/docs/marlin/_gcode/M028.md b/systems/flexibot/docs/marlin/_gcode/M028.md new file mode 100644 index 000000000..7432bdf14 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M028.md @@ -0,0 +1,39 @@ +--- +tag: m0028 +title: Start SD write +brief: Start writing to a file on the SD card +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +related: [ M29, M928 ] +codes: [ M28 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + - Use [`M928`](/docs/gcode/M928.html) to log commands to a file during printing. + +parameters: + - + tag: B1 + optional : true + description: Set an optimized binary file transfer mode. (Requires `BINARY_FILE_TRANSFER`) + - + tag: filename + optional: false + description: File name to write + +example: + - + pre: Start writing to file.txt + code: M28 file.txt + - + pre: Start binary writing to file.txt + code: M28 B1 file.txt + +--- + +This command starts a file write. All commands received by Marlin are written to the file and are not executed until [`M29`](/docs/gcode/M029.html) closes the file. + +With 'B1', set an optimized binary file transfer mode. (Requires `BINARY_FILE_TRANSFER`) diff --git a/systems/flexibot/docs/marlin/_gcode/M029.md b/systems/flexibot/docs/marlin/_gcode/M029.md new file mode 100644 index 000000000..c188b6334 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M029.md @@ -0,0 +1,22 @@ +--- +tag: m0029 +title: Stop SD write +brief: Stop writing the file, end logging. +author: thinkyhead + +requires: SDSUPPORT +group: sdcard + +codes: [ M29 ] +related: [ M28, M928 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + +examples: + +--- + +Stop writing to a file that was begun with [`M28`](/docs/gcode/M028.html) or [`M928`](/docs/gcode/M928.html). Logging is disabled. diff --git a/systems/flexibot/docs/marlin/_gcode/M030.md b/systems/flexibot/docs/marlin/_gcode/M030.md new file mode 100644 index 000000000..c28bbc844 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M030.md @@ -0,0 +1,27 @@ +--- +tag: m0030 +title: Delete SD file +brief: Delete a specified file from SD. +author: thinkyhead + +group: sdcard + +codes: [ M30 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +parameters: + - + tag: filename + optional: false + description: The filename of the file to delete. + +example: + - + pre: Delete the file "/path/to/file.gco" + code: M30 /path/to/file.gco + +--- + +Delete a file from the SD card. diff --git a/systems/flexibot/docs/marlin/_gcode/M031.md b/systems/flexibot/docs/marlin/_gcode/M031.md new file mode 100644 index 000000000..6b9c42c84 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M031.md @@ -0,0 +1,24 @@ +--- +tag: m0031 +title: Print time +brief: Report the current print time. +author: thinkyhead + +group: printjob + +codes: [ M31 ] +related: [M75,M76,M77,M78] + +notes: + +parameters: + +examples: + +--- + +This command reports the time elapsed since the start of the current print job to the host. When printing from SD card, the print job timer starts as soon as SD printing starts. + +If `PRINTJOB_TIMER_AUTOSTART` is enabled then the first [`M109`](/docs/gcode/M109.html) or [`M190`](/docs/gcode/M190.html) command received from the host will also start the print job timer. + +For manual control from the host, use [`M75`](/docs/gcode/M075.html), [`M76`](/docs/gcode/M076.html), and [`M77`](/docs/gcode/M077.html) to start, pause, and stop the print job timer. diff --git a/systems/flexibot/docs/marlin/_gcode/M032.md b/systems/flexibot/docs/marlin/_gcode/M032.md new file mode 100644 index 000000000..e297b13cc --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M032.md @@ -0,0 +1,48 @@ +--- +tag: m0032 +title: Select and Start +brief: Begin an SD print from a file. +author: thinkyhead + +experimental: true +requires: SDSUPPORT +group: sdcard + +codes: [ M32 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + - This is a seldom-used beta feature that needs more testing and use-cases. + +parameters: + - + tag: P + optional: true + description: Sub-Program flag + values: + - + tag: flag + type: bool + - + tag: S + optional: true + description: Starting file offset + values: + - + tag: filepos + type: int + +examples: + - + pre: Select and start a file at offset 5022. + code: M32 S5022 !/boats/sailboat.gco + - + pre: Select and start a file from within G-code. + code: M32 P !/models/lgbust.gco# + post: The `#` suffix is needed when using `P` to "stop buffer pre-reading" so no commands after [`M32`](/docs/gcode/M032.html) will go into the buffer until after it returns. + +--- + +The [`M32`](/docs/gcode/M032.html) command exists to allow G-code to load other G-code files and run them as sub-programs. This can be useful to change the start / end G-code for a batch of files without having to edit them all. + +For legacy reasons [`M32`](/docs/gcode/M032.html) uses '`!`' (and '`#`') to delimit the filepath parameter. The filepath must be the last parameter. diff --git a/systems/flexibot/docs/marlin/_gcode/M033.md b/systems/flexibot/docs/marlin/_gcode/M033.md new file mode 100644 index 000000000..2bcb9ab6e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M033.md @@ -0,0 +1,36 @@ +--- +tag: m0033 +title: Get Long Path +brief: Convert a short pathname to a long pathname. +author: thinkyhead + +since: 1.0.2 +requires: SDSUPPORT, LONG_FILENAME_HOST_SUPPORT +group: sdcard + +codes: [ M33 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) and `LONG_FILENAME_HOST_SUPPORT` + +parameters: + - + tag: path + optional: false + description: DOS 8.3 path to a file or folder + +examples: + - + pre: + Get the long path for a file + code: + - M33 funstuff/mask.gco + - + pre: + Output + code: + - FunStuff/Mask.gcode + +--- + +Get the long name for a file based on the DOS 8.3 path. diff --git a/systems/flexibot/docs/marlin/_gcode/M034.md b/systems/flexibot/docs/marlin/_gcode/M034.md new file mode 100644 index 000000000..6572cd4cb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M034.md @@ -0,0 +1,43 @@ +--- +tag: m0034 +title: SDCard Sorting +brief: Set SDCard file sorting options. +author: thinkyhead + +since: 1.1.0 +requires: SDSUPPORT,SDCARD_SORT_ALPHA +group: sdcard + +codes: [ M34 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) and `SDCARD_SORT_ALPHA`. + +parameters: + - + tag: S + optional: true + description: Sorting on/off + values: + - + type: bool + - + tag: F + optional: true + description: Folder Sorting + values: + - + tag: -1 + description: Folders before files + - + tag: 0 + description: No folder sorting + - + tag: 1 + description: Folders after files + +examples: + +--- + +Marlin now contains support for SDCard alphabetical file sorting in the LCD menus. This feature uses free SRAM to create a sorting index for up to the first 256 files in the current folder, and (if you have _lots_ of SRAM) can optionally cache file listings for a more responsive UI. Buffering only occurs during file browsing. Otherwise the SRAM is freed. diff --git a/systems/flexibot/docs/marlin/_gcode/M042.md b/systems/flexibot/docs/marlin/_gcode/M042.md new file mode 100644 index 000000000..b39640537 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M042.md @@ -0,0 +1,70 @@ +--- +tag: m0042 +title: Set Pin State +brief: Set an analog or digital pin to a specified state. +author: thinkyhead + +requires: DIRECT_PIN_CONTROL +group: control +codes: [ M42 ] + +notes: + +parameters: + - + tag: I + optional: true + since: 1.1.9.1 + description: Ignore protection on pins that Marlin is using. + values: + - + type: bool + - + tag: T + optional: true + since: 2.0.5.2 + description: Set the pin mode. Prior to Marlin 2.0.9.4 this is set with the `M` parameter. + values: + - + tag: 0 + description: '`INPUT`' + - + tag: 1 + description: '`OUTPUT`' + - + tag: 2 + description: '`INPUT_PULLUP`' + - + tag: 3 + description: '`INPUT_PULLDOWN`' + - + tag: P + optional: true + description: A digital pin number (even for analog pins) to write to. (`LED_PIN` if omitted) + values: + - + tag: pin + type: int + - + tag: S + optional: false + description: The state to set. PWM pins may be set from 0-255. + values: + - + tag: state + type: int + +examples: + - + pre: Turn the LED pin on + code: M42 S1 + - + pre: Turn on pin 33 + code: M42 P33 S1 + - + pre: Set pin 44 to do PWM with 50% DC + code: M42 P44 S128 + +--- + +For custom hardware not officially supported in Marlin, you can often just connect up an unused pin and use [`M42`](/docs/gcode/M042.html) to control it. diff --git a/systems/flexibot/docs/marlin/_gcode/M043-T.md b/systems/flexibot/docs/marlin/_gcode/M043-T.md new file mode 100644 index 000000000..d546c39ae --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M043-T.md @@ -0,0 +1,65 @@ +--- +tag: m0043b +title: Toggle Pins +brief: Get information about pins. +author: thinkyhead +contrib: [ TwoRedCells ] +experimental: true +requires: PINS_DEBUGGING +group: debug + +codes: [ M43 T ] + +notes: + - Requires `PINS_DEBUGGING`. This feature should be disabled for production use. + - See [`M43`](/docs/gcode/M043.html) for other pins debug options. + +parameters: + - + tag: S + optional: true + description: Start Pin number. If not given, will default to 0 + values: + - + tag: pin + type: int + - + tag: L + optional: true + description: End Pin number. If not given, will default to last pin defined for this board + values: + - + tag: pin + type: int + - + tag: I + optional: true + description: Flag to ignore Marlin's pin protection. **Use with caution!!!!** + values: + - + type: bool + - + tag: R + optional: true + description: Repeat pulses on each pin this number of times before continuing to next pin. If not given will default to 1. + values: + - + tag: count + type: int + - + tag: W + optional: true + description: Wait time (in milliseconds) transitions. If not given will default to 500. + values: + - + tag: time + type: int + +examples: + - + pre: Toggle pins 3-6 five times with 1 second low and 1 second high pulses but only if the pin isn't in the protected list. + code: M43 T S3 L6 R5 W1000 + +--- + +The `M43 T` command toggles one or more pins. diff --git a/systems/flexibot/docs/marlin/_gcode/M043.md b/systems/flexibot/docs/marlin/_gcode/M043.md new file mode 100644 index 000000000..c124c7400 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M043.md @@ -0,0 +1,78 @@ +--- +tag: m0043 +title: Debug Pins +brief: Get information about pins. +author: thinkyhead + +experimental: true +requires: PINS_DEBUGGING +group: debug + +codes: [ M43 ] + +notes: + - Requires `PINS_DEBUGGING`. This feature should be disabled for production use. + +parameters: + - + tag: P + optional: true + description: Digital Pin Number + values: + - + tag: pin + type: int + - + tag: W + optional: true + description: Watch pins + - + tag: E + optional: true + description: Watch endstops + values: + - + type: bool + - + tag: T + optional: true + description: Toggle pins - see [`M43 T`](/docs/gcode/M043-T.html) for options + values: + - + tag: S + optional: true + description: Test BLTouch type servo probes. Use `P` to specify servo index (0-3). Defaults to 0 if `P` omitted + values: + - + tag: I + optional: true + description: Ignore protection when reporting values + values: + + +examples: + - + pre: Get a report on all pins + code: M43 + - + pre: Get a report on all pins, ignore pin protection list when displaying values + code: M43 I + - + pre: Watch pin 56 for changes + code: M43 P56 W + - + pre: Start watching endstops + code: M43 E1 + - + pre: Toggle pins 3-6 five times with 1 second low and 1 second high pulses but only if the pin isn't in the protected list. + code: M43 T S3 L6 R5 W1000 + - + pre: Test probe controlled by servo index 2. + code: M43 S P2 +--- + +When setting up or debugging a machine it's useful to know how pins are assigned to functions by the firmware, and to be able to find pins for use with new functions. [`M43`](/docs/gcode/M043.html) provides these tools. [`M43`](/docs/gcode/M043.html) by itself reports all pin assignments. Use `P` to specify a single pin. Use `I` to report the values on pins that are protected. Use `W` to watch the specified pin, or all pins. Use the `E` option to monitor endstops. Use `S` option to test a BLTouch type servo probe. Use `T` option to toggle pins. + +The `W` watch mode option continues looping, blocking all further commands, until the board is reset. If `EMERGENCY_PARSER` is enabled, [`M108`](/docs/gcode/M108.html) may also be used to exit the watch loop without needing to reset the board. + +See [`M43 T`](/docs/gcode/M043-T.html) for Pins Debugging toggle options. diff --git a/systems/flexibot/docs/marlin/_gcode/M048.md b/systems/flexibot/docs/marlin/_gcode/M048.md new file mode 100644 index 000000000..a367482b2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M048.md @@ -0,0 +1,88 @@ +--- +tag: m0048 +title: Probe Repeatability Test +brief: Measure Z Probe repeatability. +author: thinkyhead + +requires: Z_MIN_PROBE_REPEATABILITY_TEST +group: calibration + +codes: [ M48 ] + +notes: + - Requires `Z_MIN_PROBE_REPEATABILITY_TEST`. + +parameters: + - + tag: C + optional: true + description: Probe with temperature compensation enabled (`PTC_PROBE`, `PTC_BED`, `PTC_HOTEND`) + values: + - + type: bool + default: 1 + - + tag: E + optional: true + description: Engage for each probe + values: + - + tag: engage + type: bool + - + tag: L + optional: true + description: Number of legs to probe + values: + - + tag: legs + type: int + - + tag: P + optional: true + description: Number of probes to do + values: + - + tag: count + type: int + - + tag: S + optional: true + description: Star/Schizoid probe. By default this will do 7 points. Override with `L`. + values: + - + tag: 0 + description: Circular pattern + - + tag: 1 + description: Star-like pattern + - + tag: V + optional: true + description: Verbose Level (0-4, default=1) + values: + - + tag: level + type: int + - + tag: X + optional: true + description: X Position + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: Y Position + values: + - + tag: pos + type: float + +examples: + +--- + +Probes come in many flavors and as such have varying levels of accuracy, reliability, and repeatability, depending on several factors. This command tests the probe for repeatability (precision) and produces a standard deviation based on two or more probes of the same XY position. diff --git a/systems/flexibot/docs/marlin/_gcode/M073.md b/systems/flexibot/docs/marlin/_gcode/M073.md new file mode 100644 index 000000000..c5a3fc15a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M073.md @@ -0,0 +1,39 @@ +--- +tag: m0073 +title: Set Print Progress +brief: Set current print progress percentage for LCD. + +since: 1.1.7 +requires: LCD_SET_PROGRESS_MANUALLY +group: lcd + +codes: [ M73 ] + +parameters: + - + tag: P + optional: false + description: Current print progress percentage + values: + - + tag: percent + type: int + - + tag: R + since: 2.0.0 + requires: USE_M73_REMAINING_TIME + optional: true + description: Set remaining time. + values: + - + tag: minutes + type: int + +examples: + - + pre: Set print progress to 25% and remaining time to 43.0 minutes + code: M73 P25 R43 + +--- + +Set current print progress percentage and/or remaining time for display on the LCD. diff --git a/systems/flexibot/docs/marlin/_gcode/M075.md b/systems/flexibot/docs/marlin/_gcode/M075.md new file mode 100644 index 000000000..c140d84dc --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M075.md @@ -0,0 +1,28 @@ +--- +tag: m0075 +title: Start Print Job Timer +brief: Start the print job timer. +author: thinkyhead + +group: printjob + +codes: [ M75 ] + +notes: + - Marlin considers a print job to be in progress whenever the print job timer is running, so it should be included in your starting G-code in your slicer settings. + - When `PRINTJOB_TIMER_AUTOSTART` is enabled the print job timer will be started in response to turning on heaters. + +parameters: + - + tag: string + optional: true + description: A string to display in the LCD heading. (Requires `DWIN_CREALITY_LCD_ENHANCED`) + +example: + - + pre: Start the print job timer + code: M75 + +--- + +Start the print job timer. diff --git a/systems/flexibot/docs/marlin/_gcode/M076.md b/systems/flexibot/docs/marlin/_gcode/M076.md new file mode 100644 index 000000000..52099731d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M076.md @@ -0,0 +1,22 @@ +--- +tag: m0076 +title: Pause Print Job Timer +brief: Pause the print job timer. +author: thinkyhead + +group: printjob + +codes: [ M76 ] + +notes: + +parameters: + +example: + - + pre: Pause the print job timer + code: M76 + +--- + +Pause the print job timer. diff --git a/systems/flexibot/docs/marlin/_gcode/M077.md b/systems/flexibot/docs/marlin/_gcode/M077.md new file mode 100644 index 000000000..20b2fc785 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M077.md @@ -0,0 +1,24 @@ +--- +tag: m0077 +title: Stop Print Job Timer +brief: Stop the print job timer. +author: thinkyhead + +group: printjob + +codes: [ M77 ] + +notes: + - Marlin considers a print job to be in progress whenever the print job timer is running, so `M77` should be included in your ending G-code in your slicer settings. + - When `PRINTJOB_TIMER_AUTOSTART` is enabled the print job timer will be stopped in response to the heaters being turned off. + +parameters: + +example: + - + pre: Stop the print job timer + code: M77 + +--- + +Stop the print job timer. diff --git a/systems/flexibot/docs/marlin/_gcode/M078.md b/systems/flexibot/docs/marlin/_gcode/M078.md new file mode 100644 index 000000000..7a9951ec4 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M078.md @@ -0,0 +1,18 @@ +--- +tag: m0078 +title: Print Job Stats +brief: Print statistics about print jobs. +author: thinkyhead + +requires: PRINTCOUNTER +group: printjob + +codes: [ M78 ] + +notes: + +parameters: + +examples: + +--- diff --git a/systems/flexibot/docs/marlin/_gcode/M080.md b/systems/flexibot/docs/marlin/_gcode/M080.md new file mode 100644 index 000000000..9d40fd2ba --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M080.md @@ -0,0 +1,32 @@ +--- +tag: m0080 +title: Power On +brief: Turn on the power supply +author: thinkyhead +contrib: AnHardt, Drachenkaetzchen + +requires: PSU_CONTROL +group: control + +codes: [ M80 ] +related: [ M81 ] + +notes: + - A `PS_ON_PIN` is also required. Check your board's pins file for the default. + - For Marlin 1.1.9 and earlier this feature is enabled by `POWER_SUPPLY`. + - Some octoprint plugins filter out M80/M81. If M80 does not work, use a plain serial terminal first prior reporting a bug. + +parameters: + - + tag: S + optional: true + description: 'Report Power Supply state' + values: + +example: + - + code: M80 ; power on + +--- + +Turn on the high-voltage power supply. Requires a board that's powered from USB or another 5V source. diff --git a/systems/flexibot/docs/marlin/_gcode/M081.md b/systems/flexibot/docs/marlin/_gcode/M081.md new file mode 100644 index 000000000..5c2f9a26d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M081.md @@ -0,0 +1,23 @@ +--- +tag: m0081 +title: Power Off +brief: Turn off the power supply. +author: thinkyhead, AnHardt + +requires: PSU_CONTROL +group: control + +codes: [ M81 ] +related: [ M80 ] + +notes: + - A `PS_ON_PIN` is also required. Check your board's pins file for the default. + - For Marlin 1.1.9 and earlier this feature is enabled by `POWER_SUPPLY`. + +example: + - + code: M81 ; power off + +--- + +Turn off the high-voltage power supply. If the board is not powered from another source, this may also shut down the electronics. diff --git a/systems/flexibot/docs/marlin/_gcode/M082.md b/systems/flexibot/docs/marlin/_gcode/M082.md new file mode 100644 index 000000000..06cfe35c0 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M082.md @@ -0,0 +1,20 @@ +--- +tag: m0082 +title: E Absolute +brief: Set E to absolute positioning. +author: thinkyhead + +group: units + +codes: [ M82 ] + +notes: '[`G90`](/docs/gcode/G090.html) and [`G91`](/docs/gcode/G091.html) clear this mode.' + +example: + - + pre: Set E to Absolute Positioning + code: M82 + +--- + +This command is used to override [`G91`](/docs/gcode/G091.html) and put the E axis into absolute mode independent of the other axes. diff --git a/systems/flexibot/docs/marlin/_gcode/M083.md b/systems/flexibot/docs/marlin/_gcode/M083.md new file mode 100644 index 000000000..a40c03c1d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M083.md @@ -0,0 +1,22 @@ +--- +tag: m0083 +title: E Relative +brief: Set E to relative positioning. +author: thinkyhead + +group: units + +codes: [ M83 ] + +notes: '[`G90`](/docs/gcode/G090.html) and [`G91`](/docs/gcode/G091.html) clear this mode.' + +parameters: + +example: + - + pre: Set E to Relative Positioning + code: M83 + +--- + +This command is used to override [`G90`](/docs/gcode/G090.html) and put the E axis into relative mode independent of the other axes. diff --git a/systems/flexibot/docs/marlin/_gcode/M085.md b/systems/flexibot/docs/marlin/_gcode/M085.md new file mode 100644 index 000000000..89afc4fb0 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M085.md @@ -0,0 +1,30 @@ +--- +tag: m0085 +title: Inactivity Shutdown +brief: Set the inactivity timeout. +author: thinkyhead + +group: control + +codes: [ M85 ] + +notes: + +parameters: + - + tag: S + optional: false + description: Max inactive seconds + values: + - + tag: seconds + type: int + +example: + - + pre: Shut down the machine after 10 minutes with no activity + code: M85 S600 + +--- + +Use this command to set a maximum period of time for the machine to be inactive (with no moves). If the machine is idle for longer than the set period, the firmware will shut everything down and halt the machine. diff --git a/systems/flexibot/docs/marlin/_gcode/M092.md b/systems/flexibot/docs/marlin/_gcode/M092.md new file mode 100644 index 000000000..282a72122 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M092.md @@ -0,0 +1,71 @@ +--- +tag: m0092 +title: Set Axis Steps-per-unit +brief: Set the number of steps-per-mm, per-inch, or per-degree +author: thinkyhead + +group: motion + +codes: [ M92 ] + +notes: | + - Get the current steps-per-unit settings using `M92` with no parameters or [`M503`](/docs/gcode/M503.html) on older versions of Marlin. + + With `EEPROM_SETTINGS` enabled: + - This setting for all axes is saved with [`M500`](/docs/gcode/M500.html) and loaded with [`M501`](/docs/gcode/M501.html). + - [`M502`](/docs/gcode/M502.html) resets steps-per-unit for all axes to the values from `DEFAULT_AXIS_STEPS_PER_UNIT`. + +parameters: + - + tag: X + optional: true + description: X steps per unit + values: + - + tag: steps + type: float + - + tag: Y + optional: true + description: Y steps per unit + values: + - + tag: steps + type: float + - + tag: Z + optional: true + description: Z steps per unit + values: + - + tag: steps + type: float + - + tag: E + optional: true + description: E steps per unit + values: + - + tag: steps + type: float + - + tag: T + optional: true + description: Target extruder (Requires `DISTINCT_E_FACTORS`) + values: + - + tag: index + type: int + +example: + - + pre: Set E steps for a new extruder + code: M92 E688.4 + +--- + +Use [`M92`](/docs/gcode/M092.html) to set the steps-per-unit for one or more axes. This setting affects how many steps will be done for each unit of movement. + +Units will usually be set in steps-per-millimeter unless: +- The firmware has `INCH_MODE_SUPPORT` enabled and has been set to *Inches Mode* by [`G20`](/docs/gcode/G020.html) or by having inches as the default unit. +- The machine is a `SCARA` in which case the A and B axes are configured in ***steps-per-degree***, not steps-per-distance. diff --git a/systems/flexibot/docs/marlin/_gcode/M100.md b/systems/flexibot/docs/marlin/_gcode/M100.md new file mode 100644 index 000000000..010493197 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M100.md @@ -0,0 +1,41 @@ +--- +tag: m0100 +title: Free Memory +brief: Observe memory used by code +author: thinkyhead + +requires: M100_FREE_MEMORY_WATCHER +group: debug + +codes: [ M100 ] + +notes: + - Requires `M100_FREE_MEMORY_WATCHER`. + +parameters: + - + tag: D + optional: true + description: Dump the free memory block from `__brkval` to the stack pointer + - + tag: F + optional: true + description: Return the number of free bytes in the memory pool along with other vital statistics that define the memory pool + - + tag: I + optional: true + description: Initialize the free memory pool so it can be watched and print vital statistics that define the free memory pool + - + tag: C + optional: true + description: Corrupt 'n' locations in the free memory pool and report the locations of the corruption. This is useful to check the correctness of the `M100 D` and `M100 F` commands + values: + - + tag: n + type: int + +examples: + +--- + +Use [`M100`](/docs/gcode/M100.html) for development purposes to observe how much memory (particularly stack) is being used by code. Proper AVR code should avoid use of `new`, `malloc`, etc., and instead use either pre-allocated static variables or stack. diff --git a/systems/flexibot/docs/marlin/_gcode/M102.md b/systems/flexibot/docs/marlin/_gcode/M102.md new file mode 100644 index 000000000..5bfc381be --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M102.md @@ -0,0 +1,32 @@ +--- +tag: m0102 +title: Configure Bed Distance Sensor +brief: Set the state or trigger distance (in 0.1mm units) for the Bed Distance Sensor. +author: thinkyhead + +since: 2.1.1 +requires: BD_SENSOR +group: calibration + +codes: [ M102 ] + +notes: + - Requires `BD_SENSOR`. + +parameters: + - + tag: S + description: Set the Bed Distance Sensor state and trigger distance. + values: + - tag: -6 + description: Start Calibration + - tag: -5 + description: Read raw Calibration data + - tag: -1 + description: Read sensor information + - tag: 0 + description: Disable Adjustable Z Height + - tag: ">0" + description: Set Adjustable Z Height in 0.1mm units (e.g., `M102 S4` enables adjusting for Z <= 0.4mm.) + +--- diff --git a/systems/flexibot/docs/marlin/_gcode/M104.md b/systems/flexibot/docs/marlin/_gcode/M104.md new file mode 100644 index 000000000..d4be2187d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M104.md @@ -0,0 +1,76 @@ +--- +tag: m0104 +title: Set Hotend Temperature +brief: Set a new target hot end temperature. +author: thinkyhead + +group: thermal + +codes: [ M104 ] + +notes: | + - With `PRINTJOB_TIMER_AUTOSTART` this command will stop the print job timer if the temperature is set at or below half of `EXTRUDE_MINTEMP`. + +parameters: + - + tag: I + since: 2.0.6 + optional: true + description: Material preset index. Overrides `S`. + values: + - + type: int + tag: index + - + tag: S + optional: true + description: 'Target temperature.
`AUTOTEMP`: the min auto-temperature.' + values: + - + tag: temp + type: float + - + tag: F + optional: true + description: '`AUTOTEMP`: Autotemp flag. Omit to disable autotemp.' + values: + - + tag: flag + type: bool + - + tag: B + optional: true + description: '`AUTOTEMP`: The max auto-temperature.' + values: + - + tag: temp + type: float + - + tag: T + optional: true + description: Hotend index. If omitted, the currently active hotend will be used. + values: + - + tag: index + type: int + + +examples: + - + pre: Set target temperature for the active hotend + code: M104 S185 + - + pre: Set target temperature for E1 + code: M104 T1 S205 + - + pre: '`AUTOTEMP`: Set autotemp range' + code: M104 F S180 B190 + - + pre: '`AUTOTEMP`: Disable autotemp' + code: M104 + +--- + +Set a new target hot end temperature and continue without waiting. The firmware will continue to try to reach and hold the temperature in the background. + +Use [`M109`](/docs/gcode/M109.html) to wait for the hot end to reach the target temperature. diff --git a/systems/flexibot/docs/marlin/_gcode/M105.md b/systems/flexibot/docs/marlin/_gcode/M105.md new file mode 100644 index 000000000..f44daca52 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M105.md @@ -0,0 +1,40 @@ +--- +tag: m0105 +title: Report Temperatures +brief: Send a temperature report to the host. +author: thinkyhead + +group: thermal + +codes: [ M105 ] +related: M155 + +notes: + - Some hosts may hide the reply from [`M105`](/docs/gcode/M105.html). + - A better way for hosts to get regular temperature updates is to use [`M155`](/docs/gcode/M155.html) (requires `AUTO_REPORT_TEMPERATURES` and `EXTENDED_CAPABILITIES_REPORT`). Hosts then no longer need to run an extra process or use up slots in the command buffer to receive temperatures. + +parameters: + - + tag: R + optional: true + description: Include the Redundant temperature sensor (if any) + values: + - + type: flag + - + tag: T + optional: true + description: Hotend index + values: + - + tag: index + type: int + +examples: + - + pre: Get a temperature report + code: M105 + +--- + +Request a temperature report to be sent to the host as soon as possible. diff --git a/systems/flexibot/docs/marlin/_gcode/M106.md b/systems/flexibot/docs/marlin/_gcode/M106.md new file mode 100644 index 000000000..9eef8677c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M106.md @@ -0,0 +1,62 @@ +--- +tag: m0106 +title: Set Fan Speed +brief: Turn on the fan and set its speed +author: thinkyhead + +group: thermal +requires: EXTRA_FAN_SPEED + +codes: [ M106 ] + +notes: + - '[`M106`](/docs/gcode/M106.html) with no speed sets the fan to full speed.' + - Turn off fans with [`M107`](/docs/gcode/M107.html). + +parameters: + - + tag: I + since: 2.0.6 + optional: true + description: Material preset index. Overrides `S`. + values: + - + type: int + tag: index + - + tag: S + optional: true + description: Speed, from 0 to 255. S255 provides 100% duty cycle; S128 produces 50%. + values: + - + tag: speed + type: byte + - + tag: P + optional: true + description: Fan index + values: + - + tag: index + type: int + - + tag: T + optional: true + description: | + Secondary speed. Added in Marlin 1.1.7. (Requires `EXTRA_FAN_SPEED`) + - `M106 P T3-255` sets a secondary speed for ``. + - `M106 P T2` uses the set secondary speed. + - `M106 P T1` restores the previous fan speed. + values: + - + tag: secondary + type: int + +example: + - + pre: Turn on the fan at 200/255 DC + code: M106 S200 + +--- + +Turn on one of the fans and set its speed. If no fan index is given, the print cooling fan is selected. The fan speed applies to the next block added to the planner, so it will not take effect until previous moves in the planner are done. Under manual control with an idle machine, [`M106`](/docs/gcode/M106.html) will change the fan speed immediately. diff --git a/systems/flexibot/docs/marlin/_gcode/M107.md b/systems/flexibot/docs/marlin/_gcode/M107.md new file mode 100644 index 000000000..f1a5cc784 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M107.md @@ -0,0 +1,27 @@ +--- +tag: m0107 +title: Fan Off +brief: Turn off a fan +author: thinkyhead + +group: thermal + +codes: [ M107 ] + +notes: Turn on fans with [`M106`](/docs/gcode/M106.html). + +parameters: + - + tag: P + optional: true + description: Fan index + values: + - + tag: index + type: int + +examples: + +--- + +Turn off one of the fans. If no fan index is given, the print cooling fan. diff --git a/systems/flexibot/docs/marlin/_gcode/M108.md b/systems/flexibot/docs/marlin/_gcode/M108.md new file mode 100644 index 000000000..0ce0281a9 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M108.md @@ -0,0 +1,32 @@ +--- +tag: m0108 +title: Break and Continue +brief: Break out of the current waiting loop +author: thinkyhead + +group: control + +codes: [ M108 ] + +notes: + - | + With both `EMERGENCY_PARSER` and `HOST_KEEPALIVE_FEATURE` enabled, hosts will be able to prompt for continuation or cancellation, confirming with [`M108`](/docs/gcode/M108.html) and cancelling with [`M112`](/docs/gcode/M112.html). + +parameters: + +example: + - + pre: Use [`M108`](/docs/gcode/M108.html) as a "Continue" button in your host software. + code: + - M0 You're up, mate ; in your G-code file + - M108 ; as your "Continue" button + +--- + +The [`M108`](/docs/gcode/M108.html) command requires `EMERGENCY_PARSER` for full effectiveness. (Otherwise a full queue blocks the parser.) + +Some G-code commands cause Marlin to go into a closed loop, waiting indefinitely for a certain state or event. For example, [`M109`](/docs/gcode/M109.html) waits for the target temperature to be reached, and [`M0`](/docs/gcode/M000-M001.html) waits for an LCD click. + +In the case of [`M109`](/docs/gcode/M109.html), the [`M108`](/docs/gcode/M108.html) command stops waiting for the target temperature and continues processing G-code. This may result in "cold extrude" messages. For a full stop use [`M112`](/docs/gcode/M112.html). + +In the case of [`M0`](/docs/gcode/M000-M001.html) the [`M108`](/docs/gcode/M108.html) command acts like the LCD button, breaking out of [`M0`](/docs/gcode/M000-M001.html) and continuing to process the G-code queue. diff --git a/systems/flexibot/docs/marlin/_gcode/M109.md b/systems/flexibot/docs/marlin/_gcode/M109.md new file mode 100644 index 000000000..b743ed5b1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M109.md @@ -0,0 +1,87 @@ +--- +tag: m0109 +title: Wait for Hotend Temperature +brief: Wait for the hot end to reach its target. +author: thinkyhead + +group: thermal + +codes: [ M109 ] + +notes: + - With `PRINTJOB_TIMER_AUTOSTART` this command will start the print job if heating, and stop the print job timer if the temperature is set at or below half of `EXTRUDE_MINTEMP`. + - This command (as well as [`M190`](/docs/gcode/M190.html)) can block new commands from the host, preventing remote shutdown. However, if `EMERGENCY_PARSER` is enabled, a host can send [`M108`](/docs/gcode/M108.html) to break out of the wait loop. + - To set the hot end temperature and proceed without waiting, use [`M104`](/docs/gcode/M104.html). + +parameters: + - + tag: I + since: 2.0.6 + optional: true + description: Material preset index. Overrides `S`. + values: + - + type: int + tag: index + - + tag: S + optional: true + description: 'Target temperature (wait only when heating). Also `AUTOTEMP`: The min auto-temperature.' + values: + - + tag: temp + type: float + - + tag: R + optional: true + description: Target temperature (wait for cooling or heating). + values: + - + tag: temp + type: float + - + tag: F + optional: true + description: Autotemp flag. Omit to disable autotemp. + values: + - + tag: flag + type: bool + - + tag: B + optional: true + description: With `AUTOTEMP`, the max auto-temperature. + values: + - + tag: temp + type: float + - + tag: T + optional: true + description: Hotend index. If omitted, the currently active hotend will be used. + values: + - + tag: index + type: int + + +examples: + - + pre: Set target temperature and wait (if heating up) + code: M109 S180 + - + pre: Set target temperature, wait even if cooling + code: M109 R120 + - + pre: Set target temperature for E1 and wait (if heating up) + code: M109 T1 R205 + - + pre: '`AUTOTEMP`: Set autotemp range, wait for temp' + code: M109 F S180 B190 + - + pre: '`AUTOTEMP`: Disable autotemp, wait for temp' + code: M109 + +--- + +This command optionally sets a new target hot end temperature and waits for the target temperature to be reached before proceeding. If the temperature is set with `S` then [`M109`](/docs/gcode/M109.html) waits *only when heating*. If the temperature is set with `R` then [`M109`](/docs/gcode/M109.html) will also wait for the temperature to go down. diff --git a/systems/flexibot/docs/marlin/_gcode/M110.md b/systems/flexibot/docs/marlin/_gcode/M110.md new file mode 100644 index 000000000..17b2796de --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M110.md @@ -0,0 +1,28 @@ +--- +tag: m0110 +title: Set Line Number +brief: Set the current line number. +author: thinkyhead + +group: hosts + +codes: [ M110 ] + +notes: + - 'All these are valid: `N100 M110`, `M110 N100`, `N101 M110 N100`.' + +parameters: + - + tag: N + optional: false + description: Line number + values: + - + tag: line + type: int + +examples: + +--- + +Hosts can use [`M110`](/docs/gcode/M110.html) to set the current line number in a print job. Each line number sent by a host must be one higher than the previous line number, or the firmware will ignore the line and send an error requesting a resend of the missing line. This is one technique Marlin uses to keep in sync with hosts. diff --git a/systems/flexibot/docs/marlin/_gcode/M111.md b/systems/flexibot/docs/marlin/_gcode/M111.md new file mode 100644 index 000000000..fda57bc09 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M111.md @@ -0,0 +1,49 @@ +--- +tag: m0111 +title: Debug Level +brief: Report and optionally set the debug flags. +author: thinkyhead + +group: hosts + +codes: [ M111 ] + +notes: + +parameters: + - + tag: S + optional: true + description: Debug flag bits + values: + - + tag: flags + type: byte + +examples: + - + pre: Enable extra messages + code: M111 S38 ; LEVELING, ERRORS, INFO + - + pre: Enable dry-run mode + code: M111 S8 + - + pre: Enable everything except dry-run mode + code: M111 S247 ; 255 - 8 + - + pre: Disable previously set extra debugging output + code: M111 S0 + +--- + +Marlin has several debug bits that can be set, in combination, to help configure, troubleshoot, and debug the firmware. Add up the debug bits you need: + +Mask|Name|Description +1|ECHO|Echo all commands sent to the parser. +2|INFO|Print extra informational messages. +4|ERRORS|Print extra error messages. +8|DRYRUN|Don't extrude, don't save leveling data, etc. +16|COMMUNICATION|Not currently used. +32|LEVELING|Detailed messages for homing, probing, and leveling. (Requires `DEBUG_LEVELING_FEATURE`.) +64|Reserved|Reserved for future usage +128|Reserved|Reserved for future usage diff --git a/systems/flexibot/docs/marlin/_gcode/M112.md b/systems/flexibot/docs/marlin/_gcode/M112.md new file mode 100644 index 000000000..3ccd2c5ec --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M112.md @@ -0,0 +1,22 @@ +--- +tag: m0112 +title: Emergency Stop +brief: Shut everything down and halt the machine. +author: thinkyhead + +group: safety + +codes: [ M112 ] + +notes: '[`M112`](/docs/gcode/M112.html) is the fastest way to shut down the machine using a host, but it may need to wait for a space to open up in the command queue. Enable `EMERGENCY_PARSER` for an instantaneous [`M112`](/docs/gcode/M112.html) command.' + +parameters: + +examples: + - + pre: Shut down now! + code: M112 + +--- + +Used for emergency stopping, [`M112`](/docs/gcode/M112.html) shuts down the machine, turns off all the steppers and heaters, and if possible, turns off the power supply. A reset is required to return to operational mode. diff --git a/systems/flexibot/docs/marlin/_gcode/M113.md b/systems/flexibot/docs/marlin/_gcode/M113.md new file mode 100644 index 000000000..f9edff7fb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M113.md @@ -0,0 +1,33 @@ +--- +tag: m0113 +title: Host Keepalive +brief: Get or set the host keepalive interval. +author: thinkyhead + +requires: HOST_KEEPALIVE_FEATURE +group: hosts + +codes: [ M113 ] + +notes: Requires `HOST_KEEPALIVE_FEATURE`. + +parameters: + - + tag: S + optional: true + description: Keepalive interval (0-60). + values: + - + tag: seconds + type: int + +example: + - + pre: Set the keepalive interval to 5 seconds + code: M113 S5 + +--- + +During some lengthy processes, such as [`G29`](/docs/gcode/G029.html), Marlin may appear to the host to have "gone away." The "host keepalive" feature will send messages to the host when Marlin is busy or waiting for user response so the host won't try to reconnect. + +Send `M113` with no `S` parameter to get the current setting. diff --git a/systems/flexibot/docs/marlin/_gcode/M114.md b/systems/flexibot/docs/marlin/_gcode/M114.md new file mode 100644 index 000000000..7dc614340 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M114.md @@ -0,0 +1,55 @@ +--- +tag: m0114 +title: Get Current Position +brief: Report the current tool position to the host. +author: thinkyhead + +group: hosts +codes: [ M114 ] +related: M154 + +notes: + - Hosts should respond to the output of `M114` by updating their current position. + - G-code [`M154`](/docs/gcode/M154.html) can be used to to auto-report positions to the host, reducing serial traffic. + +parameters: + - + tag: D + optional: true + description: Detailed information (requires `M114_DETAIL`) + values: + - + type: flag + - + tag: E + optional: true + description: Report E stepper position (requires `M114_DETAIL`) + values: + - + type: flag + - + tag: R + optional: true + description: Real position information (requires `M114_REALTIME`) + values: + - + type: flag + +example: + - + pre: Get the _projected_ current position + code: | + > M114 + X:0.00 Y:127.00 Z:145.00 E:0.00 Count X: 0 Y:10160 Z:116000 + ok + +--- +Get the "current position" of the active tool. Stepper values are included. + +If `M114_LEGACY` is enabled the planner will be synchronized before reporting so that the reported position is not be ahead of the actual planner position. + +Normally `M114` reports the "projected position" which is the last position Marlin was instructed to move to. + +With the `M114_REALTIME` option you can send `R` to get the "real" current position at the moment that the request was processed. This position comes directly from the steppers in the midst of motion, so when the printer is moving you can consider this the "recent position." + +For debugging it can be useful to enable `M114_DETAIL` which adds `D` and `E` parameters to get extra details. diff --git a/systems/flexibot/docs/marlin/_gcode/M115.md b/systems/flexibot/docs/marlin/_gcode/M115.md new file mode 100644 index 000000000..a1bc0d796 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M115.md @@ -0,0 +1,49 @@ +--- +tag: m0115 +title: Firmware Info +brief: Print the firmware info and capabilities. +author: thinkyhead + +group: hosts + +codes: [ M115 ] + +notes: + +parameters: + +examples: + +--- +This command causes Marlin to output a string like this: + +``` +FIRMWARE_NAME:Marlin 1.1.0 (Github) SOURCE_CODE_URL:https://github.com/MarlinFirmware/Marlin PROTOCOL_VERSION:1.0 MACHINE_TYPE:RepRap EXTRUDER_COUNT:1 UUID:cede2a2f-41a2-4748-9b12-c55c62f367ff +``` + +When `EXTENDED_CAPABILITIES_REPORT` is enabled, Marlin also reports its capabilities: + +``` +Cap:EEPROM:1 +Cap:AUTOREPORT_TEMP:1 +Cap:PROGRESS:0 +Cap:AUTOLEVEL:1 +Cap:Z_PROBE:1 +Cap:SOFTWARE_POWER:0 +Cap:TOGGLE_LIGHTS:0 +Cap:EMERGENCY_PARSER:1 +``` + +Hosts use this information to improve interoperability, so it's a good feature to enable. + +With `EXTENDED_CAPABILITIES_REPORT` and `M115_GEOMETRY_REPORT` enabled, Marlin will also report detailed printer geometry: + +``` +area:{full:{min:{x:0,y:0,z:0,i:0,j:0,k:0,u:0,v:0,w:0},max:{x:200,y:200,z:200,i:0,j:0,k:0,u:0,v:0,w:0}},work:{min:{x:0,y:0,z:0,i:0,j:0,k:0},max:{x:200,y:200,z:200,i:0,j:0,k:0,u:0,v:0,w:0}}} +``` + +Coordinates are only reported for declared linear axes. So for a classic cartesian printer, the geometry report will look like: + +``` +area:{full:{min:{x:0,y:0,z:0},max:{x:200,y:200,z:200}},work:{min:{x:0,y:0,z:0},max:{x:200,y:200,z:200}}} +``` diff --git a/systems/flexibot/docs/marlin/_gcode/M117.md b/systems/flexibot/docs/marlin/_gcode/M117.md new file mode 100644 index 000000000..dee012cdb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M117.md @@ -0,0 +1,29 @@ +--- +tag: m0117 +title: Set LCD Message +brief: Set the message line on the LCD. +author: thinkyhead + +requires: ULTRA_LCD +group: lcd + +codes: [ M117 ] + +notes: + - Requires an LCD controller. + - The message should appear immediately, but it will depend on LCD settings. + +parameters: + - + tag: string + optional: true + description: LCD status message + +examples: + - + pre: Set the message to "Hello World!" + code: M117 Hello World! + +--- + +Set the status line message on the LCD. diff --git a/systems/flexibot/docs/marlin/_gcode/M118.md b/systems/flexibot/docs/marlin/_gcode/M118.md new file mode 100644 index 000000000..e08f9d923 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M118.md @@ -0,0 +1,54 @@ +--- +tag: m0118 +title: Serial print +brief: Send text to serial +author: thinkyhead +contrib: shitcreek, Teddyz + +group: hosts + +codes: [ M118 ] + +notes: + - The `E`, `A`, and `P` parameters must precede the message. + - Can also send message to serial port. + +parameters: + - + tag: string + optional: true + description: Message string. If omitted, a blank line will be sent. + - + tag: A1 + optional: true + description: Prepend `// ` to denote a comment or action command. Hosts like OctoPrint can interpret such commands to perform special actions. See your host's documentation. + - + tag: E1 + optional: true + description: Prepend `echo:` to the message. Some hosts will display echo messages differently when preceded by `echo:`. + - + tag: Pn + optional: true + description: Send message to host serial port (1-9). + values: + - + tag: 0 + description: Send message to all ports. + - + tag: 1 + description: Send message to main host serial port. + - + tag: 2 + description: Send message to secondary host serial port. Requires `SERIAL_PORT_2`. + +examples: + - + pre: Echo "Yello World!" in the console + code: M118 E1 Yello World! + - + pre: Tell [OctoPrint](//docs.octoprint.org/en/master/features/action_commands.html) to cancel the print job + code: M118 A1 action:cancel + +--- + +Send a message to the connected host for display in the host console or to perform a host action. diff --git a/systems/flexibot/docs/marlin/_gcode/M119.md b/systems/flexibot/docs/marlin/_gcode/M119.md new file mode 100644 index 000000000..20baa776b --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M119.md @@ -0,0 +1,33 @@ +--- +tag: m0119 +title: Endstop States +brief: Report endstop and probe states to the host. +author: thinkyhead + +group: debug + +codes: [ M119 ] + +notes: + - The `BLTOUCH` probe only sends a brief pulse, so "`TRIGGERED`" indicates the probe is in error state. + - Similarly, Trinamic's Sensorless Homing only sends a short pulse, so for these "`TRIGGERED`" is unusual. + +parameters: + +example: + - + pre: Get all endstop states + code: | + > M119 + Reporting endstop status + x_min: open + y_min: open + z_min: TRIGGERED + z_probe: open + filament: open + +--- + +Use this command to get the current state of all endstops, useful for setup and troubleshooting. Endstops are reported as either "`open`" or "`TRIGGERED`". + +The state of the Z probe and filament runout sensors are also reported with this command. diff --git a/systems/flexibot/docs/marlin/_gcode/M120.md b/systems/flexibot/docs/marlin/_gcode/M120.md new file mode 100644 index 000000000..f7260f3b7 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M120.md @@ -0,0 +1,22 @@ +--- +tag: m0120 +title: Enable Endstops +brief: Enable endstops and keep them enabled when not homing. +author: thinkyhead + +group: control + +codes: [ M120 ] + +notes: After this command endstops will be kept enabled when not homing. This may have side-effects if using `SD_ABORT_ON_ENDSTOP_HIT`. + +parameters: + +examples: + - + pre: Enable endstops + code: M120 + +--- + +Enable endstops. diff --git a/systems/flexibot/docs/marlin/_gcode/M121.md b/systems/flexibot/docs/marlin/_gcode/M121.md new file mode 100644 index 000000000..35a65f3be --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M121.md @@ -0,0 +1,22 @@ +--- +tag: m0121 +title: Disable Endstops +brief: Disable endstops and keep them enabled when not homing. +author: thinkyhead + +group: control + +codes: [ M121 ] + +notes: After this command endstops will be kept disabled when not homing. This may have side-effects if using `SD_ABORT_ON_ENDSTOP_HIT`. + +parameters: + +examples: + - + pre: Disable endstops + code: M121 + +--- + +Disable endstops. diff --git a/systems/flexibot/docs/marlin/_gcode/M122.md b/systems/flexibot/docs/marlin/_gcode/M122.md new file mode 100644 index 000000000..d7cddab62 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M122.md @@ -0,0 +1,114 @@ +--- +tag: m0122 +title: TMC Debugging +brief: Get TMC Debug Info +author: mbuc + +since: 1.1.7 +requires: HAS_TRINAMIC_CONFIG +group: debug + +codes: [ M122 ] + +notes: + - '`TMC_DEBUG` is no longer needed in Marlin 2.0.x, but enabling it produces an extended report.' + - Responses of all `LOW` (`00:00:00:00`) or all `HIGH` (`FF:FF:FF:FF`) are signs of a communication problem.
+ See [TMC Troubleshooting](/docs/hardware/tmc_drivers.html) for further information. + +parameters: + - + tag: I + since: 2.0.6 + optional: true + description: Flag to re-initialize stepper drivers with current settings. + - + tag: X + optional: true + description: Target X driver(s) only. + - + tag: Y + optional: true + description: Target Y driver(s) only. + - + tag: Z + optional: true + description: Target Z driver(s) only. + - + tag: E + optional: true + description: Target E driver(s) only. + - + tag: V + requires: TMC_DEBUG + optional: true + description: Report raw register data. Refer to the datasheet to decypher. + - + tag: S + requires: TMC_DEBUG, MONITOR_DRIVER_STATUS + type: bool + optional: true + description: Flag to enable/disable continuous debug reporting. + - + tag: P + requires: TMC_DEBUG, MONITOR_DRIVER_STATUS + optional: true + description: Interval between continuous debug reports, in milliseconds. + values: + - + tag: ms + type: int + +examples: + - + pre: 'Enable debugging output:' + code: M122 S1 + - + pre: 'Get all (supported) Trinamic driver states:' + code: | + > M122 + X Y + Enabled false false + Set current 850 850 + RMS current 826 826 + MAX current 1165 1165 + Run current 26/31 26/31 + Hold current 13/31 13/31 + CS actual 13/31 13/31 + PWM scale 41 41 + vsense 1=.18 1=.18 + stealthChop true true + msteps 16 16 + tstep 1048575 1048575 + pwm + threshold 0 0 + [mm/s] - - + OT prewarn false false + OT prewarn has + been triggered false false + off time 5 5 + blank time 24 24 + hysterisis + -end 2 2 + -start 3 3 + Stallguard thrs 0 0 + DRVSTATUS X Y + stallguard + sg_result 0 0 + fsactive + stst + olb + ola + s2gb + s2ga + otpw + ot + 'Driver registers:' + X = 0x80:0D:00:00 + Y = 0x80:0D:00:00 + +--- + +Do a communication check for configured TMC drivers. Trinamic drivers that support this feature are TMC2130, TMC2160, TMC2208, TMC2209, TMC2660, TMC5130, and TMC5160. + +- With no parameters, this command returns the current settings for all installed and supported Trinamic stepper drivers. +- Send `M122 I` to re-initialize drivers after a late power-on. Use `S[0|1]` to enable/disable continuous debugging output. diff --git a/systems/flexibot/docs/marlin/_gcode/M123.md b/systems/flexibot/docs/marlin/_gcode/M123.md new file mode 100644 index 000000000..2dabaec48 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M123.md @@ -0,0 +1,23 @@ +--- +tag: m0123 +title: Fan Tachometers +brief: Report fan speeds from tachometers +author: thinkyhead + +group: control + +codes: [ M123 ] + +parameters: + +examples: + - + pre: Report current fan speeds + code: M123 + - + pre: Report fan speeds every 5 seconds + code: M123 S5 + +--- + +If your machine has fans with tachometers this command will report their current speed readings in RPM. Marlin can also auto-report the fan speeds at regular intervals, as set by `M123 S`. diff --git a/systems/flexibot/docs/marlin/_gcode/M125.md b/systems/flexibot/docs/marlin/_gcode/M125.md new file mode 100644 index 000000000..8d742309c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M125.md @@ -0,0 +1,62 @@ +--- +tag: m0125 +title: Park Head +brief: Save current position and move to filament change position. +author: thinkyhead + +requires: PARK_HEAD_ON_PAUSE +group: nozzle + +codes: [ M125 ] + +notes: Requires `PARK_HEAD_ON_PAUSE`. + +parameters: + - + tag: L + optional: true + description: Retract length (otherwise `FILAMENT_CHANGE_RETRACT_LENGTH`) + values: + - + tag: linear + type: float + - + tag: X + optional: true + description: X position to park at (otherwise `FILAMENT_CHANGE_X_POS`) + values: + - + tag: linear + type: float + - + tag: Y + optional: true + description: Y position to park at (otherwise `FILAMENT_CHANGE_Y_POS`) + values: + - + tag: linear + type: float + - + tag: Z + optional: true + description: Z raise before park (otherwise `FILAMENT_CHANGE_Z_ADD`) + values: + - + tag: linear + type: float + - + tag: P + optional: true + description: Always show a prompt and await a response (With an LCD menu) + values: + - + type: bool + +examples: + - + pre: Retract 2cm of filament and park the nozzle + code: M125 L20 ; park and retract + +--- + +Save the current nozzle position and move to the configured park position. diff --git a/systems/flexibot/docs/marlin/_gcode/M126.md b/systems/flexibot/docs/marlin/_gcode/M126.md new file mode 100644 index 000000000..793230589 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M126.md @@ -0,0 +1,30 @@ +--- +tag: m0126 +title: Baricuda 1 Open +brief: Open the valve for Baricuda 1. +author: thinkyhead + +requires: BARICUDA +group: baricuda + +codes: [ M126 ] + +notes: Requires `BARICUDA`. + +parameters: + - + tag: S + optional: true + description: Valve pressure + values: + - + tag: pressure + type: byte + +examples: + - + code: M126 ; open valve 1 + +--- + +Open the valve for Baricuda paste extruder 1. diff --git a/systems/flexibot/docs/marlin/_gcode/M127.md b/systems/flexibot/docs/marlin/_gcode/M127.md new file mode 100644 index 000000000..928a14316 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M127.md @@ -0,0 +1,22 @@ +--- +tag: m0127 +title: Baricuda 1 Close +brief: Close the valve for Baricuda 1. +author: thinkyhead + +requires: BARICUDA +group: baricuda + +codes: [ M127 ] + +notes: Requires `BARICUDA`. + +parameters: + +examples: + - + code: M127 ; close valve 1 + +--- + +Close the valve for Baricuda paste extruder 1. diff --git a/systems/flexibot/docs/marlin/_gcode/M128.md b/systems/flexibot/docs/marlin/_gcode/M128.md new file mode 100644 index 000000000..652f169e1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M128.md @@ -0,0 +1,30 @@ +--- +tag: m0128 +title: Baricuda 2 Open +brief: Open the valve for Baricuda 2. +author: thinkyhead + +requires: BARICUDA +group: baricuda + +codes: [ M128 ] + +notes: Requires `BARICUDA`. + +parameters: + - + tag: S + optional: true + description: Valve pressure + values: + - + tag: pressure + type: byte + +examples: + - + code: M128 ; open valve 2 + +--- + +Open the valve for Baricuda paste extruder 2. diff --git a/systems/flexibot/docs/marlin/_gcode/M129.md b/systems/flexibot/docs/marlin/_gcode/M129.md new file mode 100644 index 000000000..80afbdeed --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M129.md @@ -0,0 +1,22 @@ +--- +tag: m0129 +title: Baricuda 2 Close +brief: Close the valve for Baricuda 2. +author: thinkyhead + +requires: BARICUDA +group: baricuda + +codes: [ M129 ] + +notes: Requires `BARICUDA`. + +parameters: + +examples: + - + code: M129 ; close valve 2 + +--- + +Close the valve for Baricuda paste extruder 2. diff --git a/systems/flexibot/docs/marlin/_gcode/M140.md b/systems/flexibot/docs/marlin/_gcode/M140.md new file mode 100644 index 000000000..f199da031 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M140.md @@ -0,0 +1,41 @@ +--- +tag: m0140 +title: Set Bed Temperature +brief: Set a new target bed temperature. +author: thinkyhead + +group: thermal + +codes: [ M140 ] + +notes: + +parameters: + - + tag: I + since: 2.0.6 + optional: true + description: Material preset index. Overrides `S`. + values: + - + type: int + tag: index + - + tag: S + optional: true + description: Target temperature + values: + - + tag: temp + type: float + +examples: + - + pre: Set target temperature, no waiting + code: M140 S80 + +--- + +Set a new target temperature for the heated bed and continue without waiting. The firmware manages heating in the background. + +Use [`M190`](/docs/gcode/M190.html) to wait for the bed to reach the target temperature. diff --git a/systems/flexibot/docs/marlin/_gcode/M141.md b/systems/flexibot/docs/marlin/_gcode/M141.md new file mode 100644 index 000000000..9880fad76 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M141.md @@ -0,0 +1,30 @@ +--- +tag: m0141 +title: Set Chamber Temperature +brief: Set a new target chamber temperature. +author: GMagician + +group: thermal + +codes: [ M141 ] + +notes: + +parameters: + - + tag: S + optional: true + description: 'Target temperature.
`AUTOTEMP`: the min auto-temperature.' + values: + - + tag: temp + type: float + +examples: + - + pre: Set chamber target temperature to 40°C + code: M141 S40 + +--- + +Set a new target heated chamber temperature and continue without waiting. The firmware will continue to try to reach and hold the temperature in the background. diff --git a/systems/flexibot/docs/marlin/_gcode/M143.md b/systems/flexibot/docs/marlin/_gcode/M143.md new file mode 100644 index 000000000..ad1eac824 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M143.md @@ -0,0 +1,59 @@ +--- +tag: m0143 + +title: Set Laser Cooler Temperature +brief: Set a new target laser coolant temperature. +author: descipher + +group: thermal +since: 2.0.8 + +codes: [ M143 ] + +requires: TEMP_SENSOR_COOLER, TEMP_COOLER_PIN, COOLER_PIN, LASER_FEATURE + +notes: + - Configuration settings. + - '`COOLER_MINTEMP` Provides a low end safe operating temperature, cannot be lower than 1°C. CO2 lasers tubes can be damaged with values less than 15°C.' + - '`COOLER_MAXTEMP` Provides a high end safe operating temperature, when breached the system will shutdown if `THERMAL_PROTECTION_COOLER` is defined. CO2 laser tube life degrades exponentially at temperatures above 24°C.' + - '`COOLER_DEFAULT_TEMP` LCD menu default value is 16°C.' + - '`TEMP_COOLER_HYSTERESIS` The accepatble temperature variance + or - to the target.' + - '`COOLER_PIN` Cooler on/off pin used to control power to the cooling element.' + - '`COOLER_INVERTING` Inverts the on value to 0.' + - '`TEMP_COOLER_PIN` Laser/Cooler temperature sensor pin.' + - '`COOLER_FAN` Enables a fan on the cooler.' + - '`COOLER_FAN_INDEX` Defines which fan to use 0,1,2 etc.' + - '`COOLER_FAN_BASE` Base cooler fan PWM (0-255); on when the cooler is enabled.' + - '`COOLER_FAN_FACTOR` PWM increase per °C above target.' + - '`THERMAL_PROTECTION_COOLER` Enables thermal shutdown protection.' + - '`THERMAL_PROTECTION_COOLER_PERIOD` Thermal protection check interval in seconds.' + - '`THERMAL_PROTECTION_COOLER_HYSTERESIS` Thermal variance +- limits check interval.' + - '`WATCH_COOLER_TEMP_PERIOD` Check interval in seconds before runaway condition shutdown.' + - '`WATCH_COOLER_TEMP_INCREASE` Allowable increase during check interval.' + +parameters: + - + tag: S + optional: true + + description: 'Target laser coolant temperature.' + + values: + - + tag: temp + type: float + +examples: + - + pre: Set laser coolant target temperature to 15°C + code: M143 S15 + - + pre: Turn laser cooler off + code: M143 S0 + +--- + +Set a cooler target temperature and continue without waiting. The firmware manages cooling in the background. +Any value greater than the COOLER_MAXTEMP (set in Configuratin_adv.h) will be set to the COOLER_MAXTEMP value. +Use [`M193`](/docs/gcode/M193.html) if you want to wait for the cooler to reach the target temperature. + diff --git a/systems/flexibot/docs/marlin/_gcode/M145.md b/systems/flexibot/docs/marlin/_gcode/M145.md new file mode 100644 index 000000000..53c360bfd --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M145.md @@ -0,0 +1,58 @@ +--- +tag: m0145 +title: Set Material Preset +brief: Set material presets in the LCD menu. +author: thinkyhead + +requires: NEWPANEL +group: lcd + +codes: [ M145 ] + +notes: + - Requires an LCD controller. + - View the current settings with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, these settings are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + +parameters: + - + tag: S + optional: true + description: Material index + values: + - + tag: index + type: int + - + tag: H + optional: true + description: Hotend temperature + values: + - + tag: temp + type: int + - + tag: B + optional: true + description: Bed temperature + values: + - + tag: temp + type: int + - + tag: F + optional: true + description: Fan speed + values: + - + tag: speed + type: byte + +examples: + - + pre: Set heatup presets for material 1 + code: M145 S0 H190 B70 F50 + +--- + +Set the preheating presets for materials in the LCD menu. diff --git a/systems/flexibot/docs/marlin/_gcode/M149.md b/systems/flexibot/docs/marlin/_gcode/M149.md new file mode 100644 index 000000000..caf39a530 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M149.md @@ -0,0 +1,32 @@ +--- +tag: m0149 +title: Set Temperature Units +brief: Set temperature units to Celsius, Fahrenheit, or Kelvin. +author: thinkyhead + +requires: TEMPERATURE_UNITS_SUPPORT +group: units + +codes: [ M149 ] + +notes: + +parameters: + - + tag: C + optional: true + description: Celsius + - + tag: F + optional: true + description: Fahrenheit + - + tag: K + optional: true + description: Kelvin + +examples: + +--- + +Set temperature units to Celsius, Fahrenheit, or Kelvin. Celsius is the default. diff --git a/systems/flexibot/docs/marlin/_gcode/M150.md b/systems/flexibot/docs/marlin/_gcode/M150.md new file mode 100644 index 000000000..19af08b37 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M150.md @@ -0,0 +1,104 @@ +--- +tag: m0150 +title: Set RGB(W) Color +brief: Set the color of the RGB(W) LED, backlight, or LED strip. +author: thinkyhead + +requires: BLINKM|RGB_LED|RGBW_LED|NEOPIXEL_LED|PCA9632 +group: lcd + +codes: [ M150 ] + +notes: Requires `BLINKM`, `RGB_LED`, `RGBW_LED`, `NEOPIXEL_LED` or `PCA9632`. + +parameters: + - + tag: R + optional: true + description: Red component from 0 to 255 + values: + - + tag: intensity + type: byte + - + tag: U + optional: true + description: Green component from 0 to 255 + values: + - + tag: intensity + type: byte + - + tag: B + optional: true + description: Blue component from 0 to 255 + values: + - + tag: intensity + type: byte + - + tag: W + optional: true + description: White component from 0 to 255 (`RGBW_LED` or `NEOPIXEL_LED` only) + values: + - + tag: intensity + type: byte + - + tag: P + optional: true + requires: NEOPIXEL_LED + description: Brightness from 0 to 255 (Requires `NEOPIXEL_LED`) + values: + - + tag: intensity + type: byte + - + tag: I + since: 2.0.6 + optional: true + requires: NEOPIXEL_LED + description: NeoPixel pixel index (0 .. pixels-1) (Requires `NEOPIXEL_LED`) + values: + - + tag: pixel + type: int + - + tag: S + since: 2.0.6.1 + optional: true + requires: NEOPIXEL2_SEPARATE + description: NeoPixel strip index (0 or 1) (Requires `NEOPIXEL2_SEPARATE`) + values: + - + tag: strip + type: int + - + tag: K + optional: true + requires: NEOPIXEL_LED + description: Keep all unspecified values unchanged (Requires `NEOPIXEL_LED`) + values: + - + type: flag + +examples: + - + pre: Set LEDs to blue with brightness 30 + code: M150 B30 + - + pre: Set NeoPixel 0 to red with brightness 100 + code: M150 R100 I0 + - + pre: Set NeoPixel 1 to green with brightness 45 + code: M150 U45 I1 + - + pre: Set the second NeoPixel strip full white + code: M150 W255 S1 + - + pre: Change red to 50% without changing other components + code: M150 K R127 + +--- + +If you have an RGB(W) light, either as part of a controller or installed separately, the [`M150`](/docs/gcode/M150.html) command can be used to set its color. diff --git a/systems/flexibot/docs/marlin/_gcode/M154.md b/systems/flexibot/docs/marlin/_gcode/M154.md new file mode 100644 index 000000000..f7cb44950 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M154.md @@ -0,0 +1,38 @@ +--- +tag: m0154 +title: Position Auto-Report +brief: Periodically auto-report position to serial +author: thinkyhead + +since: 2.0.8.1 +requires: AUTO_REPORT_POSITION +group: hosts + +codes: [ M154 ] +related: M114 + +notes: + - Requires `AUTO_REPORT_POSITION`. + - Also enable `EXTENDED_CAPABILITIES_REPORT` to notify hosts about this capability. + +parameters: + - + tag: S + optional: true + description: Interval in seconds between auto-reports. `S0` to disable. + values: + - + tag: seconds + type: int + +examples: + - + pre: Report current position every 4 seconds + code: M154 S4 + - + pre: Stop reporting position + code: M154 S0 + +--- + +Some host software and serial controllers use `M114` to get the current position, but polling with [`M114`](/docs/gcode/M114.html) is less than optimal, and in older versions of Marlin it would cause print stuttering. With `M154` hosts can simply set an interval and Marlin will keep sending reports automatically. This method is preferred over polling with [`M114`](/docs/gcode/M114.html). diff --git a/systems/flexibot/docs/marlin/_gcode/M155.md b/systems/flexibot/docs/marlin/_gcode/M155.md new file mode 100644 index 000000000..ed8662531 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M155.md @@ -0,0 +1,37 @@ +--- +tag: m0155 +title: Temperature Auto-Report +brief: Auto-report temperatures to host periodically. +author: thinkyhead + +requires: AUTO_REPORT_TEMPERATURES,EXTENDED_CAPABILITIES_REPORT +group: hosts + +codes: [ M155 ] +related: M105 + +notes: + - Requires `AUTO_REPORT_TEMPERATURES`. + - Also enable `EXTENDED_CAPABILITIES_REPORT` to notify hosts about this capability. + +parameters: + - + tag: S + optional: true + description: Interval in seconds between auto-reports. `S0` to disable. + values: + - + tag: seconds + type: int + +examples: + - + pre: Report temperatures every 4 seconds + code: M155 S4 + - + pre: Stop reporting temperatures + code: M155 S0 + +--- + +It can be useful for host software to track temperatures, display and graph them over time, but polling with [`M105`](/docs/gcode/M105.html) is less than optimal. With [`M155`](/docs/gcode/M155.html) hosts simply set an interval and Marlin will keep sending data automatically. This method is preferred over polling with [`M105`](/docs/gcode/M105.html). diff --git a/systems/flexibot/docs/marlin/_gcode/M163.md b/systems/flexibot/docs/marlin/_gcode/M163.md new file mode 100644 index 000000000..6d7d6ca88 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M163.md @@ -0,0 +1,48 @@ +--- +tag: m0163 +title: Set Mix Factor +brief: Set a single mix factor for a mixing extruder. +author: thinkyhead + +requires: MIXING_EXTRUDER +group: mixing + +codes: [ M163 ] + +notes: Requires `MIXING_EXTRUDER`. + +parameters: + - + tag: S + optional: true + description: Component index + values: + - + tag: index + type: int + - + tag: P + optional: true + description: Mix factor + values: + - + tag: factor + type: float + +examples: + - + pre: 'Save a 60/40 mix as tool index 5:' + code: + - M163 S0 P0.6 + - M163 S1 P0.4 + - M164 S5 + - + pre: 'Save a 3/5 mix as tool index 4:' + code: + - M163 S0 P3 + - M163 S1 P5 + - M164 S4 + +--- + +Set a single mix factor (in proportion to the sum total of all mix factors). The mix must be committed to a virtual tool by [`M164`](/docs/gcode/M164.html) before it takes effect. diff --git a/systems/flexibot/docs/marlin/_gcode/M164.md b/systems/flexibot/docs/marlin/_gcode/M164.md new file mode 100644 index 000000000..40bb6c745 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M164.md @@ -0,0 +1,38 @@ +--- +tag: m0164 +title: Save Mix +brief: Save the current mix as a virtual tool. +author: thinkyhead + +requires: MIXING_EXTRUDER,MIXING_VIRTUAL_TOOLS +group: mixing + +codes: [ M164 ] + +notes: Requires `MIXING_EXTRUDER` and `MIXING_VIRTUAL_TOOLS`. + +parameters: + - + tag: S + optional: false + description: Tool index (active virtual tool if omitted) + values: + - + tag: index + type: int + +examples: + - + pre: 'Save a 60/40 mix as tool index 5:' + code: + - M163 S0 P0.6 + - M163 S1 P0.4 + - M164 S5 + - + pre: 'Save a 3/5 mix as tool index 4:' + code: + - M163 S0 P3 + - M163 S1 P5 + - M164 S4 + +--- diff --git a/systems/flexibot/docs/marlin/_gcode/M165.md b/systems/flexibot/docs/marlin/_gcode/M165.md new file mode 100644 index 000000000..569f4647a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M165.md @@ -0,0 +1,71 @@ +--- +tag: m0165 +title: Set Mix +brief: Set all mix factors for the mixing extruder. +author: thinkyhead + +requires: MIXING_EXTRUDER,DIRECT_MIXING_IN_G1 +group: mixing + +codes: [ M165 ] + +notes: Requires `MIXING_EXTRUDER` and `DIRECT_MIXING_IN_G1`. + +parameters: + - + tag: A + optional: true + description: Mix factor 1 + values: + - + tag: factor + type: float + - + tag: B + optional: true + description: Mix factor 2 + values: + - + tag: factor + type: float + - + tag: C + optional: true + description: Mix factor 3 + values: + - + tag: factor + type: float + - + tag: D + optional: true + description: Mix factor 4 + values: + - + tag: factor + type: float + - + tag: H + optional: true + description: Mix factor 5 + values: + - + tag: factor + type: float + - + tag: I + optional: true + description: Mix factor 6 + values: + - + tag: factor + type: float + +examples: + - + pre: Set a colorful mix + code: M165 A0.2 B0.4 C0.3 D0.1 + +--- + +Set the mix for the active virtual extruder all at once. Any factors left out are set to 0.0. This is based on a reference implementation by Pìa Taubert. diff --git a/systems/flexibot/docs/marlin/_gcode/M166.md b/systems/flexibot/docs/marlin/_gcode/M166.md new file mode 100644 index 000000000..c113d237a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M166.md @@ -0,0 +1,84 @@ +--- +tag: m0166 +title: Gradient Mix +brief: Set a Gradient Mix +author: thinkyhead + +since: 2.0.0 +requires: MIXING_EXTRUDER,GRADIENT_MIX +group: mixing + +codes: [ M166 ] + +notes: Requires `MIXING_EXTRUDER` and `GRADIENT_MIX`. + +parameters: + - + tag: A + optional: false + description: Starting Z Height. (Use `Z` to set the Ending Z Height.) + values: + - + tag: linear + type: float + - + tag: Z + optional: false + description: Ending Z Height. (Use `A` to set the Starting Z Height.) + values: + - + tag: linear + type: float + - + tag: I + optional: false + description: Starting Virtual Tool. The Gradient begins with this tool-mix. Below the Starting Z Height the Starting Virtual Tool fully applies. + values: + - + tag: index + type: int + - + tag: J + optional: false + description: Ending Virtual Tool. The Gradient transitions to this tool-mix as Z approaches the Ending Z Height. Above the Ending Z Height the Ending Virtual Tool fully applies. + values: + - + tag: index + type: int + - + tag: S + optional: true + description: Enable / disable the gradient in manual mode. When using the tool index alias, tool-change commands determine whether or not the gradient is enabled. + values: + - + tag: enable + type: bool + - + tag: T + optional: true + description: A tool index to reassign to the gradient. If no index is given, cancel the tool assignment. + values: + - + tag: index + type: int + +examples: + - + pre: Gradient for a tall vase + post: In this example no tool index is assigned to the Gradient. So the Gradient is enabled using `M166 S1` and disabled with `M166 S0`. + code: M166 A0 Z250 I0 J1 S1 + - + pre: Gradient as a Virtual Tool + post: In this example the Gradient has been given a tool alias of 3. So the Gradient is selected with `T3`, and all other `Tn` commands will select a static mix. + code: + - M166 A0 Z250 I0 J1 T3 + - T3 + - + pre: To use the static mix stored in T0… + code: + - M166 T + - T0 + +--- + +Use [`M166`](/docs/gcode/M166.html) to set a gradient that will be automatically updated as the Z position changes during a print. The gradient smoothly transitions from one virtual tool to another between the given starting and ending Z heights. Below the starting height the starting virtual tool fully applies, and above the ending height the ending virtual tool fully applies. diff --git a/systems/flexibot/docs/marlin/_gcode/M190.md b/systems/flexibot/docs/marlin/_gcode/M190.md new file mode 100644 index 000000000..8c4610560 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M190.md @@ -0,0 +1,59 @@ +--- +tag: m0190 +title: Wait for Bed Temperature +brief: Wait for the bed to reach target temperature. +author: thinkyhead +contrib: shitcreek + +group: thermal + +codes: [ M190 ] +related: [ M140 ] + +notes: + - This command may block the command queue. Enable `EMERGENCY_PARSER` so that hosts can break in using [`M108`](/docs/gcode/M108.html). + - Use [`M140`](/docs/gcode/M140.html) to set the bed temperature and proceed without waiting. + - Requires one (1) of the parameters listed below. + +parameters: + - + tag: I + since: 2.0.6 + optional: true + description: Material preset index. Overrides `S`. + values: + - + type: int + tag: index + - + tag: S + optional: true + description: Target temperature (wait only when heating). + values: + - + tag: temp + type: float + - + tag: R + optional: true + description: Target temperature (wait for cooling or heating). + values: + - + tag: temp + type: float + +examples: + - + pre: + - Set target bed temperature and wait (if heating) + code: + - M190 S80 + - + pre: + - Set target bed temperature and wait even if cooling + code: + - M190 R40 + +--- + +This command optionally sets a new target temperature for the heated bed and waits for the target temperature to be reached before proceeding. If the temperature is set with `S` then it waits *only when heating*. diff --git a/systems/flexibot/docs/marlin/_gcode/M191.md b/systems/flexibot/docs/marlin/_gcode/M191.md new file mode 100644 index 000000000..47f767898 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M191.md @@ -0,0 +1,44 @@ +--- +tag: m0191 +title: Wait for Chamber Temperature +brief: Wait for the chamber to reach target temperature. +author: shitcreek +contrib: thinkyhead + +group: thermal + +codes: [ M191 ] + +notes: + - This command (as well as [`M109`](/docs/gcode/M109.html) and [`M190`](/docs/gcode/M190.html)) can block new commands from the host. To break out of wait for temperature using [`M108`](/docs/gcode/M108.html) from the host, enable `EMERGENCY_PARSER`. + - Use [`M141`](/docs/gcode/M141.html) to set the chamber temperature and proceed without waiting. + +parameters: + - + tag: S + optional: true + description: Target temperature (wait only when heating). + values: + - + tag: temp + type: float + - + tag: R + optional: true + description: Target temperature (wait for cooling or heating). + values: + - + tag: temp + type: float + +examples: + - + pre: Set target chamber temperature and wait (if heating) + code: M191 S80 + - + pre: Set target chamber temperature, wait even if cooling + code: M191 R40 + +--- + +This command optionally sets a new target chamber temperature and waits for the target temperature to be reached before proceeding. If the temperature is set with `S` then it waits *only when heating*. diff --git a/systems/flexibot/docs/marlin/_gcode/M192.md b/systems/flexibot/docs/marlin/_gcode/M192.md new file mode 100644 index 000000000..1af63fae9 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M192.md @@ -0,0 +1,39 @@ +--- +tag: m0192 +title: Wait for Probe temperature +brief: Wait for the probe temperature sensor to reach a target +author: thinkyhead + +requires: PROBE_TEMP_COMPENSATION +group: calibration +since: 2.0.6.2 + +codes: [ M192 ] +related: [ G76, M871 ] + +parameters: + - + tag: R + optional: true + description: Temperature to wait for, whether heating or cooling. + values: + - + tag: temp + type: int + - + tag: S + optional: true + description: A minimum temperature to wait for. No wait if already higher. + values: + - + tag: temp + type: int + +example: + - + code: + - M192 S44 ; Wait for probe temperature to go above 44C + - M192 R28 ; Wait for probe temperature to get close to 28C +--- + +Use this command to dwell until the probe reaches a given target temperature. diff --git a/systems/flexibot/docs/marlin/_gcode/M193.md b/systems/flexibot/docs/marlin/_gcode/M193.md new file mode 100644 index 000000000..cc415c5bb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M193.md @@ -0,0 +1,61 @@ +--- +tag: m0193 + +title: Set Laser Cooler Temperature +brief: Set a new target laser coolant temperature. +author: descipher + +group: thermal +since: 2.0.8 + +codes: [ M193 ] + +related: [ M143 ] + +requires: TEMP_SENSOR_COOLER, TEMP_COOLER_PIN, COOLER_PIN, LASER_FEATURE + +notes: + - This command may block the command queue. Enable `EMERGENCY_PARSER` so that hosts can break in using [`M108`](/docs/gcode/M108.html). + - Use [`M143`](/docs/gcode/M143.html) to set the cooler temperature and proceed without waiting. + - Configuration settings. + - '`COOLER_MINTEMP` Provides a low end safe operating temperature, cannot be lower than 1°C. CO2 lasers tubes can be damaged with values less than 15°C.' + - '`COOLER_MAXTEMP` Provides a high end safe operating temperature, when breached the system will shutdown if `THERMAL_PROTECTION_COOLER` is defined. CO2 laser tube life degrades exponentially at temperatures above 24°C.' + - '`COOLER_DEFAULT_TEMP` LCD menu default value is 16°C.' + - '`TEMP_COOLER_HYSTERESIS` The accepatble temperature variance + or - to the target.' + - '`COOLER_PIN` Cooler on/off pin used to control power to the cooling element.' + - '`COOLER_INVERTING` Inverts the on value to 0.' + - '`TEMP_COOLER_PIN` Laser/Cooler temperature sensor pin.' + - '`COOLER_FAN` Enables a fan on the cooler.' + - '`COOLER_FAN_INDEX` Defines which fan to use 0,1,2 etc.' + - '`COOLER_FAN_BASE` Base cooler fan PWM (0-255); on when the cooler is enabled.' + - '`COOLER_FAN_FACTOR` PWM increase per °C above target.' + - '`THERMAL_PROTECTION_COOLER` Enables thermal shutdown protection.' + - '`THERMAL_PROTECTION_COOLER_PERIOD` Thermal protection check interval in seconds.' + - '`THERMAL_PROTECTION_COOLER_HYSTERESIS` Thermal variance +- limits check interval.' + - '`WATCH_COOLER_TEMP_PERIOD` Check interval in seconds before runaway condition shutdown.' + - '`WATCH_COOLER_TEMP_INCREASE` Allowable increase during check interval.' + +parameters: + - + tag: S + optional: true + + description: 'Target laser coolant temperature.' + + values: + - + tag: temp + type: float + +examples: + - + pre: + - Set laser coolant target temperature to 15°C and wait until it's reached. + code: + - M193 S15 + +--- + +`M193` optionally sets the cooler target temperature and dwells until the cooler temperature is equal to or below the target. +Any value greater than the COOLER_MAXTEMP (set in Configuratin_adv.h) will be set to the COOLER_MAXTEMP value. +Use [`M143`](/docs/gcode/M143.html) if you want to set the target temperature without waiting or to turn the cooler off. diff --git a/systems/flexibot/docs/marlin/_gcode/M200.md b/systems/flexibot/docs/marlin/_gcode/M200.md new file mode 100644 index 000000000..83af20bc3 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M200.md @@ -0,0 +1,66 @@ +--- +tag: m0200 +title: Set Filament Diameter +brief: Set the diameter for volumetric extrusion. +author: thinkyhead + +group: motion + +codes: [ M200 ] + +notes: + +parameters: + - + tag: D + optional: true + description: Filament diameter + values: + - + tag: diameter + type: float + - + tag: L + optional: true + description: Set volumetric extruder limit (in mm3/sec). `L0` disables the limit. (Requires `VOLUMETRIC_EXTRUDER_LIMIT`.) + values: + - + tag: volume + type: float + - + tag: S + optional: true + description: 0 to disable volumetric extrusion mode, otherwise volumetric is enabled. + values: + - + tag: flag + type: bool + - + tag: T + optional: true + description: Extruder index. If omitted, the currently active extruder will be used. + values: + - + tag: index + type: int +examples: + - + pre: 'A common diameter close to 3mm:' + code: M200 D2.85 + - + pre: '1.75mm diameter with volumetric extrusion mode enabled' + code: M200 S1 D1.75 + - + pre: '1.75mm diameter with volumetric extrusion mode disabled' + code: M200 S0 D1.75 + - + pre: Turn off volumetric extrusion + code: + - M200 D0 + - M200 D ; ...also works + - M200 S0 ; ...also works +--- + +Set the filament's current diameter and enable volumetric extrusion. + +In volumetric extrusion mode the E axis specifies cubic mm instead of linear mm, and the firmware calculates how much length to extrude for the given volume based on the filament diameter. diff --git a/systems/flexibot/docs/marlin/_gcode/M201.md b/systems/flexibot/docs/marlin/_gcode/M201.md new file mode 100644 index 000000000..0ae332dc2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M201.md @@ -0,0 +1,82 @@ +--- +tag: m0201 +title: Print Move Limits +brief: Set acceleration and frequency limits for print moves. +author: thinkyhead + +group: motion + +codes: [ M201 ] + +notes: + - View the current setting with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, these are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + +parameters: + - + tag: X + optional: true + description: X axis max acceleration + values: + - + tag: accel + type: float + - + tag: Y + optional: true + description: Y axis max acceleration + values: + - + tag: accel + type: float + - + tag: Z + optional: true + description: Z axis max acceleration + values: + - + tag: accel + type: float + - + tag: E + optional: true + description: E axis max acceleration + values: + - + tag: accel + type: float + - + tag: T + optional: true + description: Target extruder (Requires `DISTINCT_E_FACTORS`) + values: + - + tag: index + type: int + - + tag: F + optional: true + description: Planner frequency limit (Requires `XY_FREQUENCY_LIMIT`) + values: + - + tag: Hz + type: byte + - + tag: S + optional: true + description: Planner XY frequency minimum speed percentage (Requires `XY_FREQUENCY_LIMIT`) + values: + - + tag: percent + type: float + +videos: + - Mnvj6xCzikM + +examples: + - + pre: 'Set max acceleration lower so it sounds like a robot:' + code: M201 X50 Y50 +--- + +Set the max acceleration for one or more axes (in current units-per-second squared). With `XY_FREQUENCY_LIMIT` you can also set the XY frequency limits. diff --git a/systems/flexibot/docs/marlin/_gcode/M203.md b/systems/flexibot/docs/marlin/_gcode/M203.md new file mode 100644 index 000000000..a2f9de7eb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M203.md @@ -0,0 +1,67 @@ +--- +tag: m0203 +title: Set Max Feedrate +brief: Set maximum feedrate for one or more axes. +author: thinkyhead + +group: motion + +codes: [ M203 ] + +notes: + - View the current setting with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, these are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + +parameters: + - + tag: X + optional: true + description: X axis max feedrate + values: + - + tag: units/s + type: float + - + tag: Y + optional: true + description: Y axis max feedrate + values: + - + tag: units/s + type: float + - + tag: Z + optional: true + description: Z axis max feedrate + values: + - + tag: units/s + type: float + - + tag: E + optional: true + description: E axis max feedrate + values: + - + tag: units/s + type: float + - + tag: T + optional: true + description: Target extruder (Requires `DISTINCT_E_FACTORS`) + values: + - + tag: index + type: int + +videos: + - Mnvj6xCzikM + +examples: + - + pre: 'Set max feedrate for XY to 100mm/s:' + code: M203 X100 Y100 + +--- + +Set the max feedrate for one or more axes (in current units-per-second). diff --git a/systems/flexibot/docs/marlin/_gcode/M204.md b/systems/flexibot/docs/marlin/_gcode/M204.md new file mode 100644 index 000000000..53d57f538 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M204.md @@ -0,0 +1,59 @@ +--- +tag: m0204 +title: Set Starting Acceleration +brief: Set the starting acceleration for moves by type. +author: thinkyhead + +group: motion + +codes: [ M204 ] + +notes: + - View the current setting with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, these are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + - Legacy `M204 S` is deprecated. Use separate paremeters `M204 P T` instead. + +parameters: + - + tag: P + optional: true + description: Printing acceleration. Used for moves that include extrusion (i.e., which employ the current tool). + values: + - + tag: accel + type: float + - + tag: R + optional: true + description: Retract acceleration. Used for extruder retraction moves. + values: + - + tag: accel + type: float + - + tag: T + optional: true + description: Travel acceleration. Used for moves that include no extrusion. + values: + - + tag: accel + type: float + - + tag: S + optional: true + description: Legacy parameter for move acceleration. Set both printing and travel acceleration. + values: + - + tag: accel + type: float + +videos: + - Mnvj6xCzikM + +examples: + - + pre: Set acceleration for printing moves to 2400mm/s/s + code: M204 P2400 +--- + +Set the preferred starting acceleration (in units/s/s) for moves of different types. Send `M204` with no parameters to get current settings. diff --git a/systems/flexibot/docs/marlin/_gcode/M205.md b/systems/flexibot/docs/marlin/_gcode/M205.md new file mode 100644 index 000000000..97d8a9950 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M205.md @@ -0,0 +1,91 @@ +--- +tag: m0205 +title: Set Advanced Settings +brief: Set some advanced settings related to movement. +author: thinkyhead + +group: motion + +codes: [ M205 ] + +notes: + - View the current setting with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, these are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + +parameters: + - + tag: X + optional: true + description: X max jerk (units/s) + values: + - + tag: jerk + type: float + - + tag: Y + optional: true + description: Y max jerk (units/s) + values: + - + tag: jerk + type: float + - + tag: Z + optional: true + description: Z max jerk (units/s) + values: + - + tag: jerk + type: float + - + tag: E + optional: true + description: E max jerk (units/s) + values: + - + tag: jerk + type: float + - + tag: B + optional: true + description: Minimum segment time (µs) + values: + - + tag: µs + type: int + - + tag: S + optional: true + description: Minimum feedrate for print moves (units/s) + values: + - + tag: units/s + type: float + - + tag: T + optional: true + description: Minimum feedrate for travel moves (units/s) + values: + - + tag: units/s + type: float + - + tag: J + optional: true + description: Junction deviation (requires `JUNCTION_DEVIATION`) + values: + - + tag: deviation + type: float + +videos: + - Mnvj6xCzikM + +examples: + - + pre: Set some advanced settings. + code: M205 T40 ; Travel feedrate = 40mm/s + +--- + +Set various motion settings. See parameters for details. diff --git a/systems/flexibot/docs/marlin/_gcode/M206.md b/systems/flexibot/docs/marlin/_gcode/M206.md new file mode 100644 index 000000000..adfb072f2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M206.md @@ -0,0 +1,76 @@ +--- +tag: m0206 +title: Set Home Offsets +brief: Apply a persistent offset +author: thinkyhead + +requires: HAS_HOME_OFFSET +group: motion + +codes: [ M206 ] + +notes: | + - This command isn't available on `DELTA`. (For delta use `M665 H`.) + - This G-code can be disabled with `NO_WORKSPACE_OFFSETS` to optimize movement. + - Changing the home offsets will not invalidate bed leveling or other saved data. + - View the current offsets with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, the home offsets are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + - [`M428`](/docs/gcode/M428.html) sets home offsets so the current position aligns to the native home position. + +parameters: + - + tag: P + optional: true + description: SCARA Psi offset (Requires `MORGAN_SCARA`) + values: + - + tag: offset + type: float + - + tag: T + optional: true + description: SCARA Theta offset (Requires `MORGAN_SCARA`) + values: + - + tag: offset + type: float + - + tag: X + optional: true + description: X home offset + values: + - + tag: offset + type: float + - + tag: Y + optional: true + description: Y home offset + values: + - + tag: offset + type: float + - + tag: Z + optional: true + description: Z home offset + values: + - + tag: offset + type: float + +examples: + - + pre: 'Raise Z up a little bit on the first layer:' + code: M206 Z-0.2 + - + pre: 'Shift the print area 10mm to the left:' + code: M206 X10 + +--- + +Use [`M206`](/docs/gcode/M206.html) to apply a persistent offset to the native home position and coordinate space. This effectively shifts the coordinate space in the negative direction. See examples below. + +- The current position is adjusted to align to the new home offset values. +- The home offset is persistent — added to the current position until changed. +- Some uses include fine adjustment of Z position (without moving endstops) and shifting the coordinate space to print on a different part of the bed. diff --git a/systems/flexibot/docs/marlin/_gcode/M207.md b/systems/flexibot/docs/marlin/_gcode/M207.md new file mode 100644 index 000000000..150e95bd8 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M207.md @@ -0,0 +1,54 @@ +--- +tag: m0207 +title: Set Firmware Retraction +brief: Set options for firmware-based retraction. +author: thinkyhead + +requires: FWRETRACT +group: motion + +codes: [ M207 ] + +notes: + - Requires `FWRETRACT`. + - See related codes [`G10`](/docs/gcode/G010.html), [`G11`](/docs/gcode/G010.html), [`M208`](/docs/gcode/M208.html), and [`M209`](/docs/gcode/M209.html). + +parameters: + - + tag: S + optional: true + description: Retract length + values: + - + tag: length + type: float + - + tag: W + optional: true + description: Retract swap length (multi-extruder) + values: + - + tag: length + type: float + - + tag: F + optional: true + description: Retract feedrate (units/min) + values: + - + tag: feedrate + type: float + - + tag: Z + optional: true + description: Z lift on retraction + values: + - + tag: length + type: float + +examples: + +--- + +Set lengths, feedrate, and Z lift for firmware-based retraction. See parameters below. diff --git a/systems/flexibot/docs/marlin/_gcode/M208.md b/systems/flexibot/docs/marlin/_gcode/M208.md new file mode 100644 index 000000000..73899c78f --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M208.md @@ -0,0 +1,65 @@ +--- +tag: m0208 +title: Firmware Recover +brief: Firmware-retraction recover settings. +author: thinkyhead + +requires: FWRETRACT +group: motion + +codes: [ M208 ] + +notes: + - Requires `FWRETRACT`. + - See related codes [`G10`](/docs/gcode/G010.html), [`G11`](/docs/gcode/G010.html), [`M207`](/docs/gcode/M207.html), and [`M209`](/docs/gcode/M209.html). + +parameters: + - + tag: S + optional: true + description: Additional recover length. Can be negative to reduce recover length. + values: + - + tag: length + type: float + - + tag: W + optional: true + description: Additional recover swap length. Can be negative to reduce the length. + values: + - + tag: length + type: float + - + tag: F + optional: true + description: Recover feedrate (units/min) + values: + - + tag: feedrate + type: float + - + tag: R + optional: true + description: Swap recover feedrate (units/min) + values: + - + tag: feedrate + type: float + +examples: + - + pre: Set recover extra length to 0.2mm and recover feedrate to 10mm/s + code: M208 S0.2 F600 + - + pre: Set a retract length of 2mm and *total* recover length of 2.5mm + code: + - M207 S2.0 ; 2.0mm retract + - M208 S0.5 ; 2.0mm + 0.5mm recover + + +--- + +Set the added lengths and feedrates for firmware-based retract recovery. The lengths set by [`M208`](/docs/gcode/M208.html) are applied *in addition* to the lengths set by [`M207`](/docs/gcode/M207.html) when un-retracting (aka "recovering") the filament. The new values will apply to all subsequent [`G11`](/docs/gcode/G011.html) commands. + +The "swap" values apply to firmware-based recover moves after a tool-change. diff --git a/systems/flexibot/docs/marlin/_gcode/M209.md b/systems/flexibot/docs/marlin/_gcode/M209.md new file mode 100644 index 000000000..4086dc8bd --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M209.md @@ -0,0 +1,34 @@ +--- +tag: m0209 +title: Set Auto Retract +brief: Enable / disable auto-retraction. +author: thinkyhead + +requires: FWRETRACT +group: motion + +codes: [ M209 ] + +notes: + - Requires `FWRETRACT`. + - Most slicers today can generate [`G10`](/docs/gcode/G010.html)/[`G11`](/docs/gcode/G011.html). But this option is useful for older G-code. + - Though not currently very popular, both volumetric extrusion and firmware-based retraction (and/or [`M209`](/docs/gcode/M209.html)) make G-code more immune to changes from one machine to another, and permit changing the hardware without needing to re-slice. + - See related codes [`G10`](/docs/gcode/G010.html), [`G11`](/docs/gcode/G010.html), [`M207`](/docs/gcode/M207.html), and [`M208`](/docs/gcode/M208.html). + +parameters: + - + tag: S + optional: false + description: Set Auto-Retract on/off + values: + - + tag: flag + type: bool + +examples: + +--- + +Enable or disable automatic retraction. This option is meant to help slicers that don't support [`G10`](/docs/gcode/G010.html)/[`G11`](/docs/gcode/G011.html). But it can be used to override retraction in any G-code. + +When auto-retract is enabled, all reversed E-only moves are treated as retraction. (Recover moves are also automatically overridden.) When disabled, E retraction derives from G-code. diff --git a/systems/flexibot/docs/marlin/_gcode/M211.md b/systems/flexibot/docs/marlin/_gcode/M211.md new file mode 100644 index 000000000..b3107f764 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M211.md @@ -0,0 +1,31 @@ +--- +tag: m0211 +title: Software Endstops +brief: Set and/or get the software endstops state +author: thinkyhead + +requires: (MIN|MAX)_SOFTWARE_ENDSTOPS +group: motion + +codes: [ M211 ] + +notes: + - Requires either `MIN_SOFTWARE_ENDSTOPS` or `MAX_SOFTWARE_ENDSTOPS` for the enable option. + +parameters: + - + tag: S + optional: true + description: Software endstops state (S1=enable S0=disable) + values: + - + tag: flag + type: bool + +examples: + +--- + +Optionally enable/disable software endstops, then report the current state. + +With software endstops enabled, moves will be clipped to the physical boundaries from `[XYZ]_MIN_POS` to `[XYZ]_MAX_POS`. diff --git a/systems/flexibot/docs/marlin/_gcode/M217.md b/systems/flexibot/docs/marlin/_gcode/M217.md new file mode 100644 index 000000000..20804c91b --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M217.md @@ -0,0 +1,151 @@ +--- +tag: m0217 +title: Filament swap parameters +brief: Set length and speed for filament swapping +author: thinkyhead + +since: 2.0.0 +requires: EXTRUDERS > 1 +group: calibration + +codes: [ M217 ] + +notes: + - These values are stored in EEPROM. + +parameters: + - + tag: Q + type: flag + optional: true + description: Prime active tool using TOOLCHANGE_FILAMENT_SWAP settings + - + tag: S + optional: true + description: Swap length + values: + - + tag: linear + type: float + - + tag: B + optional: true + description: Extra resume + values: + - + tag: linear + type: float + - + tag: E + optional: true + description: Extra Prime Length + values: + - + tag: linear + type: float + - + tag: P + optional: true + description: Prime feedrate + values: + - + tag: feedrate + type: int + - + tag: R + optional: true + description: Retract feedrate + values: + - + tag: feedrate + type: int + - + tag: U + optional: true + description: Unretract feedrate + values: + - + tag: linear + type: int + - + tag: F + optional: true + description: Fan speed (0-255) + values: + - + tag: linear + type: int + - + tag: G + optional: true + description: Fan Time (seconds) + values: + - + tag: linear + type: int + - + tag: A + optional: true + description: Migration Auto Mode. Requires `TOOLCHANGE_MIGRATION_FEATURE`. + values: + - + tag: linear + type: int + - + tag: L + optional: true + description: Last Migration. Requires `TOOLCHANGE_MIGRATION_FEATURE`. + values: + - + tag: linear + type: int + - + tag: W + optional: true + description: Enable Park Feature. Requires `TOOLCHANGE_PARK` - was `SINGLENOZZLE_SWAP_PARK`. + values: + - + tag: linear + type: int + - + tag: X + optional: true + description: Park X position. Requires `TOOLCHANGE_PARK` - was `SINGLENOZZLE_SWAP_PARK`. + values: + - + tag: linear + type: float + + - + tag: Y + optional: true + description: Park Y position. Requires `TOOLCHANGE_PARK` - was `SINGLENOZZLE_SWAP_PARK`. + values: + - + tag: linear + type: float + + - + tag: V + optional: true + description: Enable First Prime on uninitialized Nozzles. Requires `TOOLCHANGE_FS_PRIME_FIRST_USED`. + values: + - + tag: linear + type: int + - + tag: Z + optional: true + description: Z Raise. + values: + - + tag: feedrate + type: int + +examples: + +--- + +When changing tools on some setups, one filament may be retracted before the other is primed. This command sets the length and feedrates used for the filament swap retract and prime. + +If no parameters are given this command reports the current filament swap parameters. diff --git a/systems/flexibot/docs/marlin/_gcode/M218.md b/systems/flexibot/docs/marlin/_gcode/M218.md new file mode 100644 index 000000000..16bef1309 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M218.md @@ -0,0 +1,57 @@ +--- +tag: m0218 +title: Set Hotend Offset +brief: Set the offset of a hotend (from hotend 0). +author: thinkyhead + +requires: EXTRUDERS>1 +group: calibration + +codes: [ M218 ] + +notes: | + - Requires 2 or more nozzles. + - The default hotend offsets are set with `HOTEND_OFFSET_[XYZ]`. + - Z hotend offset only available with `DUAL_X_CARRIAGE` or `SWITCHING_NOZZLE`. + - View current hotend offsets with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, these offsets are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + +parameters: + - + tag: T + optional: true + description: Hotend index. Active extruder by default. + values: + - + tag: index + type: int + - + tag: X + optional: true + description: Hotend X offset + values: + - + tag: offset + type: float + - + tag: Y + optional: true + description: Hotend Y offset + values: + - + tag: offset + type: float + - + tag: Z + optional: true + description: Hotend Z offset. Requires `DUAL_X_CARRIAGE` or `SWITCHING_NOZZLE`. + values: + - + tag: offset + type: float + +examples: + +--- + +To keep nozzles aligned to the work area between tool-changes, the firmware needs to know how they relate to each other. diff --git a/systems/flexibot/docs/marlin/_gcode/M220.md b/systems/flexibot/docs/marlin/_gcode/M220.md new file mode 100644 index 000000000..90d237a74 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M220.md @@ -0,0 +1,49 @@ +--- +tag: m0220 +title: Set Feedrate Percentage +brief: Set the global feedrate percentage. +author: thinkyhead + +group: motion + +codes: [ M220 ] + +parameters: + - + tag: S + optional: true + description: Feedrate percentage + values: + - + tag: percent + type: int + - + tag: B + optional: true + description: Back up current factor + values: + - + tag: flag + type: bool + - + tag: R + optional: true + description: Restore the last-saved factor + values: + - + tag: flag + type: bool + +examples: + +- + pre: Set feedrate to 80% + code: M220 S80 +- + pre: Report feedrate + code: M220 +- + pre: Back up current feedrate + code: M220 B +--- +Set speed percentage factor, aka "Feed Rate" which applies to all G-code-based moves in all (X, Y, Z, and E) axes. Report the current speed percentage factor if no parameter is specified. diff --git a/systems/flexibot/docs/marlin/_gcode/M221.md b/systems/flexibot/docs/marlin/_gcode/M221.md new file mode 100644 index 000000000..e44e36075 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M221.md @@ -0,0 +1,38 @@ +--- +tag: m0221 +title: Set Flow Percentage +brief: Set the flow percentage, which applies to all E moves. +author: thinkyhead + +group: motion + +codes: [ M221 ] + +notes: + +parameters: + - + tag: S + optional: false + description: Feedrate percentage + values: + - + tag: percent + type: int + - + tag: T + optional: true + description: Target extruder (requires multi-extruder). Default is the active extruder. + values: + - + tag: index + type: int + +examples: + - + pre: Set the flow rate to 150%. + code: M221 S150 + +--- + +Set the flow percentage, which applies to all E moves added to the planner. diff --git a/systems/flexibot/docs/marlin/_gcode/M226.md b/systems/flexibot/docs/marlin/_gcode/M226.md new file mode 100644 index 000000000..99d998e71 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M226.md @@ -0,0 +1,35 @@ +--- +tag: m0226 +title: Wait for Pin State +brief: Wait for a pin to have a given state. +author: thinkyhead + +requires: DIRECT_PIN_CONTROL +group: control +codes: [ M226 ] + +notes: + +parameters: + - + tag: P + optional: false + description: Pin number + values: + - + tag: pin + type: byte + - + tag: S + optional: true + description: State 0 or 1. Default -1 for inverted. + values: + - + tag: state + type: byte + +examples: + +--- + +Wait for a pin to have a certain value or state. diff --git a/systems/flexibot/docs/marlin/_gcode/M240.md b/systems/flexibot/docs/marlin/_gcode/M240.md new file mode 100644 index 000000000..ddb4eca06 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M240.md @@ -0,0 +1,122 @@ +--- +tag: m0240 +title: Trigger Camera +brief: Trigger a camera shutter +author: thinkyhead + +requires: PHOTO_GCODE +group: extras + +codes: [ M240 ] + +notes: + - "`CHDK_PIN` or `PHOTOGRAPH_PIN` is required prior to Marlin 2.0.0." + - To use the `CHDK_PIN` or `PHOTOGRAPH_PIN` option with a digital camera see [this article](//www.doc-diy.net/photo/rc-1_hacked/). + - To use an endstop or contact switch as a shutter switch for your smartphone's camera, see [this video](//youtu.be/i5g3ziK5wpI). + +parameters: + - + tag: A + optional: true + description: Offset to the X return position. (Requires `PHOTO_POSITION`) + values: + - + tag: offset + type: float + - + tag: B + optional: true + description: Offset to the Y return position. (Requires `PHOTO_POSITION`) + values: + - + tag: offset + type: float + - + tag: D + optional: true + description: Duration to hold down the shutter switch. (Requires `PHOTO_SWITCH_POSITION` and `PHOTO_SWITCH_MS`) + values: + - + tag: ms + type: int + - + tag: F + optional: true + description: Feedrate for the main photo moves. If omitted, the homing feedrate will be used. (Requires `PHOTO_POSITION`) + values: + - + tag: feedrate + type: float + - + tag: I + optional: true + description: Shutter switch X position. If omitted, the photo move X position applies. (Requires `PHOTO_SWITCH_POSITION`) + values: + - + tag: pos + type: float + - + tag: J + optional: true + description: Shutter switch Y position. If omitted, the photo move Y position applies. (Requires `PHOTO_SWITCH_POSITION`) + values: + - + tag: pos + type: float + - + tag: P + optional: true + description: Delay after pressing the shutter switch. (Requires `PHOTO_SWITCH_POSITION` and `PHOTO_SWITCH_MS`) + values: + - + tag: ms + type: int + - + tag: R + optional: true + description: Retract/recover length. (Requires `PHOTO_POSITION`) + values: + - + tag: length + type: float + - + tag: S + optional: true + description: Retract/recover feedrate. (Requires `PHOTO_POSITION`) + values: + - + tag: feedrate + type: float + - + tag: X + optional: true + description: Main photo move X position. (Requires `PHOTO_POSITION`) + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: Main photo move Y position. (Requires `PHOTO_POSITION`) + values: + - + tag: pos + type: float + - + tag: Z + optional: true + description: Main photo move Z raise. (Requires `PHOTO_POSITION`) + values: + - + tag: length + type: float + +videos: + - i5g3ziK5wpI + +examples: + +--- + +Trigger a camera shutter using a digital pin or by bumping a physical switch. diff --git a/systems/flexibot/docs/marlin/_gcode/M250.md b/systems/flexibot/docs/marlin/_gcode/M250.md new file mode 100644 index 000000000..af7aec882 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M250.md @@ -0,0 +1,28 @@ +--- +tag: m0250 +title: LCD Contrast +brief: Set and/or get the LCD contrast. +author: thinkyhead + +requires: HAS_LCD_CONTRAST +group: lcd + +codes: [ M250 ] + +notes: Requires an LCD controller with software-controlled contrast. + +parameters: + - + tag: C + optional: true + description: Contrast value + values: + - + tag: contrast + type: int + +examples: + +--- + +Set and/or get the LCD contrast. The value is constrained based on the LCD. diff --git a/systems/flexibot/docs/marlin/_gcode/M255.md b/systems/flexibot/docs/marlin/_gcode/M255.md new file mode 100644 index 000000000..e9903a252 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M255.md @@ -0,0 +1,28 @@ +--- +tag: m0255 +title: LCD Sleep/Backlight Timeout +brief: Set and/or get the LCD Sleep Timeout. +author: thinkyhead + +requires: DISPLAY_SLEEP_MINUTES or LCD_BACKLIGHT_TIMEOUT +group: lcd +since: 2.0.9.4 + +codes: [ M255 ] + +notes: Requires an LCD controller with a software controlled backlight or sleep function. + +parameters: + - + tag: S + description: Timeout delay in minutes. + values: + - + tag: minutes + type: int + +examples: + +--- + +Set and/or get the LCD sleep / backlight timeout, in minutes. The display will go blank to save energy after your specified period has elapsed with no activity. The screen will wake up if it needs to display an important message. diff --git a/systems/flexibot/docs/marlin/_gcode/M256.md b/systems/flexibot/docs/marlin/_gcode/M256.md new file mode 100644 index 000000000..db2c23116 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M256.md @@ -0,0 +1,29 @@ +--- +tag: m0256 +title: LCD Brightness +brief: Set and/or get the LCD brightness. +author: thinkyhead + +requires: HAS_LCD_BRIGHTNESS +group: lcd +since: 2.0.9.2 + +codes: [ M256 ] + +notes: Requires an LCD controller with software-controlled brightness. This may be extended in the future to work with a NeoPixel or RGB LED backlight. + +parameters: + - + tag: B + optional: true + description: Brightness value (0 - 255) + values: + - + tag: brightness + type: int + +examples: + +--- + +Set and/or get the LCD brightness. The value is constrained based on the LCD, but typically a value of 0 is the dimmest and 255 is the brightest. diff --git a/systems/flexibot/docs/marlin/_gcode/M260.md b/systems/flexibot/docs/marlin/_gcode/M260.md new file mode 100644 index 000000000..8076a3dbb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M260.md @@ -0,0 +1,68 @@ +--- +tag: m0260 +title: I2C Send +brief: Send data to the I2C bus. +author: thinkyhead + +requires: EXPERIMENTAL_I2CBUS +group: i2c + +codes: [ M260 ] + +notes: Requires `EXPERIMENTAL_I2CBUS`. + +parameters: + - + tag: A + optional: true + description: The bus address to send to + values: + - + tag: addr + type: byte + - + tag: B + optional: true + description: The byte to add to the buffer + values: + - + tag: byte + type: byte + - + tag: R + optional: true + description: Reset and rewind the I2C buffer + values: + - + tag: flag + type: bool + - + tag: S + optional: true + description: Send flag. Flush the buffer to the bus. + values: + - + tag: flag + type: bool + +examples: + - + pre: Send "Marlin" to the slave device with address 0x63 (99) + code: | + M260 A99 ; Target slave address + M260 B77 ; M + M260 B97 ; a + M260 B114 ; r + M260 B108 ; l + M260 B105 ; i + M260 B110 ; n + M260 S1 ; Send the current buffer + - + pre: Request 6 bytes from slave device with address 0x63 (99) + code: M261 A99 B5 + - + code: 'i2c-reply: from:99 bytes:5 data:hello' + +--- + +Utility to send data over the I2C bus. diff --git a/systems/flexibot/docs/marlin/_gcode/M261.md b/systems/flexibot/docs/marlin/_gcode/M261.md new file mode 100644 index 000000000..78d13c339 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M261.md @@ -0,0 +1,58 @@ +--- +tag: m0261 +title: I2C Request +brief: Request and echo bytes from the I2C bus. +author: thinkyhead + +requires: EXPERIMENTAL_I2CBUS +group: i2c + +codes: [ M261 ] + +notes: Requires `EXPERIMENTAL_I2CBUS`. + +parameters: + - + tag: A + optional: false + description: The bus address to request bytes from + values: + - + tag: addr + type: byte + - + tag: B + optional: false + description: The number of bytes to request + values: + - + tag: count + type: byte + - + tag: S + optional: true + since: 2.0.9.3 + description: Output style. Default is 0 (raw echo) if nothing else is given. + values: + - + tag: 0 + type: style + description: Raw echo + - + tag: 1 + description: Bytes (hex) + type: style + - + tag: 2 + description: 1 or 2 byte value (decimal) + type: style + - + tag: 3 + description: Bytes (decimal) + type: style + +examples: + +--- + +Request bytes from the I2C bus and echo them to the host. To find out how to do more useful things with I2C see the I2C master / slave article. diff --git a/systems/flexibot/docs/marlin/_gcode/M280.md b/systems/flexibot/docs/marlin/_gcode/M280.md new file mode 100644 index 000000000..51ae9ef7a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M280.md @@ -0,0 +1,36 @@ +--- +tag: m0280 +title: Servo Position +brief: Set or get a servo position. +author: thinkyhead + +requires: NUM_SERVOS>0 +group: servos + +codes: [ M280 ] + +notes: Requires `NUM_SERVOS` of 1 or more. + +parameters: + - + tag: P + optional: false + description: Servo index to set or get + values: + - + tag: index + type: int + - + tag: S + optional: false + description: Servo position to set. Omit to read the current position. + values: + - + tag: pos + type: int + +examples: + +--- + +Set or get the position of a servo. diff --git a/systems/flexibot/docs/marlin/_gcode/M281.md b/systems/flexibot/docs/marlin/_gcode/M281.md new file mode 100644 index 000000000..a505380ab --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M281.md @@ -0,0 +1,47 @@ +--- +tag: m0281 +title: Edit Servo Angles +brief: Set servo deploy and/or stow angles +author: thinkyhead + +since: 2.0.0 +requires: EDITABLE_SERVO_ANGLES +group: servos + +codes: [ M281 ] + +parameters: + - + tag: P + optional: false + description: Servo index to update / report. + values: + - + tag: index + type: int + - + tag: L + optional: true + description: Deploy angle in degrees. + values: + - + tag: degrees + type: int + + - + tag: U + optional: true + description: Stow angle in degrees. + values: + - + tag: degrees + type: int + +example: + - + pre: Set 90° deploy and 0° stow angles for servo 0. + code: M281 P0 L90 U0 + +--- + +Set or get the position of a servo. Without `L` or `U` the current values will be reported. diff --git a/systems/flexibot/docs/marlin/_gcode/M282.md b/systems/flexibot/docs/marlin/_gcode/M282.md new file mode 100644 index 000000000..a4d10601e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M282.md @@ -0,0 +1,30 @@ +--- +tag: m0282 +title: Detach Servo +brief: Detach a servo until its next move +author: thinkyhead + +since: 2.0.9.2 +requires: SERVO_DETACH_GCODE +group: servos + +codes: [ M282 ] + +parameters: + - + tag: P + optional: false + description: Index of the servo to detach. + values: + - + tag: index + type: int + +example: + - + pre: Detach servo at index 1 + code: M282 P1 + +--- + +Detach a servo, which turns off its power. The servo will be attached (powered up) before its next move. diff --git a/systems/flexibot/docs/marlin/_gcode/M290.md b/systems/flexibot/docs/marlin/_gcode/M290.md new file mode 100644 index 000000000..6b5e01b3e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M290.md @@ -0,0 +1,66 @@ +--- +tag: m0290 +title: Babystep +brief: Babystep one or more axes +author: thinkyhead + +since: 1.1.7 +requires: BABYSTEPPING +group: calibration + +codes: [ M290 ] + +notes: Requires `BABYSTEP_XY` for babystepping on the XY axes. + +parameters: + - + tag: X + optional: true + description: A distance on the X axis + values: + - + tag: pos + type: float + - + tag: Y + optional: true + description: A distance on the Y axis + values: + - + tag: pos + type: float + - + tag: Z + optional: true + description: A distance on the Z axis + values: + - + tag: pos + type: float + - + tag: S + optional: true + description: Alias for Z + values: + - + tag: pos + type: float + - + tag: P + optional: true + description: Use `P0` to leave the Probe Z Offset unaffected. (Requires `BABYSTEP_ZPROBE_OFFSET`) + values: + - + type: bool + +example: + - + pre: Babystep the Z axis by 0.25mm (in mm units mode) + code: + - M290 Z0.25 ; move up 0.25mm on the Z axis + +--- + +Apply babysteps to one or more axes using current units. Offsets applied with [`M290`](/docs/gcode/M290.html) aren't added to the current coordinates, but are intended for making small adjustments, especially in the Z axis, at the start of a print. + +Note that when `BABYSTEP_ZPROBE_OFFSET` is enabled, [`M290`](/docs/gcode/M290.html) also modifies the Probe Z Offset (with no immediate effects). The new Z offset applies to successive probing operations, and can be saved with [`M500`](/docs/gcode/M500.html). This behavior is means to coincide with the LCD Menu replacing "Z Babystepping" with "Babystep Z Probe Offset." To avoid this side-effect, use `M290 P0` or leave `BABYSTEP_ZPROBE_OFFSET` disabled. diff --git a/systems/flexibot/docs/marlin/_gcode/M300.md b/systems/flexibot/docs/marlin/_gcode/M300.md new file mode 100644 index 000000000..90b7d2230 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M300.md @@ -0,0 +1,44 @@ +--- +tag: m0300 +title: Play Tone +brief: Play a single tone, buzz, or beep. +author: thinkyhead + +requires: SPEAKER +group: lcd + +codes: [ M300 ] + +notes: + - Requires `SPEAKER` to play tones (not just beeps). + - In Marlin 1.0.2, playing tones block the command queue. Marlin 1.1.0 uses a tone queue and background tone player to keep the command buffer from being blocked by playing tones. + +parameters: + - + tag: P + optional: true + description: Duration (1ms) + values: + - + tag: ms + type: int + - + tag: S + optional: true + description: Frequency (260Hz) + values: + - + tag: Hz + type: int + +examples: + - + pre: Play a tune. + code: | + M300 S440 P200 + M300 S660 P250 + M300 S880 P300 + +--- + +Add a tone to the tone queue. diff --git a/systems/flexibot/docs/marlin/_gcode/M301.md b/systems/flexibot/docs/marlin/_gcode/M301.md new file mode 100644 index 000000000..ef455b041 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M301.md @@ -0,0 +1,79 @@ +--- +tag: m0301 +title: Set Hotend PID +brief: Set PID values for a hotend. +author: thinkyhead + +requires: PIDTEMP +group: thermal + +codes: [ M301 ] + +notes: + - Requires `PIDTEMP`. + - View current PID values with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, all hotend PID values are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + +parameters: + - + tag: E + optional: true + description: Extruder index to set. Default 0. + values: + - + tag: index + type: int + - + tag: P + optional: true + description: Proportional value + values: + - + tag: value + type: float + - + tag: I + optional: true + description: Integral value + values: + - + tag: value + type: float + - + tag: D + optional: true + description: Derivative value + values: + - + tag: value + type: float + - + tag: C + optional: true + description: C term (requires `PID_EXTRUSION_SCALING`) + values: + - + tag: value + type: float + - + tag: L + optional: true + description: Extrusion scaling queue length (requires `PID_EXTRUSION_SCALING`) + values: + - + tag: value + type: float + - + tag: F + optional: true + description: F term (requires `PID_FAN_SCALING`) + values: + - + tag: value + type: float + +examples: + +--- + +Set the values that control the PID loop for a hotend. diff --git a/systems/flexibot/docs/marlin/_gcode/M302.md b/systems/flexibot/docs/marlin/_gcode/M302.md new file mode 100644 index 000000000..a3cad3c55 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M302.md @@ -0,0 +1,45 @@ +--- +tag: m0302 +title: Cold Extrude +brief: Set minimum extrusion temperature, allow cold extrusion. +author: thinkyhead + +requires: PREVENT_COLD_EXTRUSION +group: thermal + +codes: [ M302 ] + +notes: Requires `PREVENT_COLD_EXTRUSION`. + +parameters: + - + tag: S + optional: true + description: Minimum temperature for safe extrusion + values: + - + tag: temp + type: float + - + tag: P + optional: true + description: Flag to allow extrusion at any temperature + values: + - + tag: flag + type: bool + +examples: + - + pre: Some common uses... + code: | + M302 ; report current cold extrusion state + M302 P0 ; enable cold extrusion checking + M302 P1 ; disable cold extrusion checking + M302 S0 ; always allow extrusion (disable checking) + M302 S170 ; only allow extrusion above 170 + M302 S170 P1 ; set min extrude temp to 170 but leave disabled + +--- + +Set the minimum extrusion temperature, potentially allowing E movement at temperatures below the melting point of the material. diff --git a/systems/flexibot/docs/marlin/_gcode/M303.md b/systems/flexibot/docs/marlin/_gcode/M303.md new file mode 100644 index 000000000..73338ffec --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M303.md @@ -0,0 +1,77 @@ +--- +tag: m0303 +title: PID autotune +brief: Auto-tune the PID system to find stable values. +author: thinkyhead + +requires: PIDTEMP|PIDTEMPBED +group: thermal + +codes: [ M303 ] + +notes: + - Requires `PIDTEMP` or `PIDTEMPBED`. + - View current PID values with [`M503`](/docs/gcode/M503.html). + - If `EEPROM_SETTINGS` is enabled, all PID values are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + +parameters: + - + tag: E + optional: true + description: Hotend index (-1 for heated bed). Default 0. + values: + - + tag: index + type: int + - + tag: C + optional: false + description: Cycles. At least 3 cycles are required. Default 5. + values: + - + tag: count + type: int + - + tag: S + optional: false + description: Target temperature + values: + - + tag: temp + type: float + - + tag: U + optional: false + description: Use PID result. (Otherwise just print it out.) + values: + - + tag: flag + type: bool + - + tag: D + optional: false + description: Toggle activation of `PID_DEBUG` output. + values: + - + tag: flag + type: bool + - + tag: D + optional: false + description: Toggle PID debug output on / off (and take no further action). (Requires `PID_DEBUG`) + values: + - + tag: action + +examples: +- + pre: 'Auto-tune hotend at 210 °C for 8 cycles:' + code: + - M303 E0 C8 S210 +- + pre: 'Auto-tune bed at 60 °C for 8 cycles:' + code: + - M303 E-1 C8 S60 +--- + +This command initiates a process of heating and cooling to determine the proper PID values for the specified hotend or the heated bed. diff --git a/systems/flexibot/docs/marlin/_gcode/M304.md b/systems/flexibot/docs/marlin/_gcode/M304.md new file mode 100644 index 000000000..ab29e03f4 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M304.md @@ -0,0 +1,45 @@ +--- +tag: m0304 +title: Set Bed PID +brief: Set PID values for the heated bed. +author: thinkyhead + +requires: PIDTEMPBED +group: thermal + +codes: [ M304 ] + +notes: + - Requires `PIDTEMPBED`. + - View current bed PID values with [`M503`](/docs/gcode/M503.html) + - If `EEPROM_SETTINGS` is enabled, bed PID values are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html) + +parameters: + - + tag: P + optional: true + description: Proportional value + values: + - + tag: value + type: float + - + tag: I + optional: true + description: Integral value + values: + - + tag: value + type: float + - + tag: D + optional: true + description: Derivative value + values: + - + tag: value + type: float + +--- + +Set the values that control the PID loop for the heated bed. diff --git a/systems/flexibot/docs/marlin/_gcode/M305.md b/systems/flexibot/docs/marlin/_gcode/M305.md new file mode 100644 index 000000000..71291a2f2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M305.md @@ -0,0 +1,63 @@ +--- +tag: m0305 +title: User Thermistor Parameters +brief: Set (or report) custom thermistor parameters +author: shitcreek + +requires: temperature sensor `1000` +group: thermal + +codes: [ M305 ] + +notes: + - Must specify temperature sensor `1000` + +parameters: + - + tag: P + optional: true + description: Thermistor table index + values: + - + tag: index + type: int + - + tag: R + optional: true + description: Pullup resistor value + values: + - + tag: ohm + type: int + - + tag: T + optional: true + description: Resistance at 25C + values: + - + tag: ohms + type: int + - + tag: B + optional: true + description: Thermistor "beta" value + values: + - + tag: beta + type: int + - + tag: C + optional: true + description: Steinhart-Hart Coefficient 'C' + values: + - + tag: coeff + type: float + +examples: + - + pre: Set temperature sensor 0 pullup resistor value to 4.7K, resistance to 100K, thermistor beta value to 3950, and coefficient to 0 + code: M305 P0 R4700 T100000 B3950 C0.0 + +--- +Allows for custom temperature sensor. diff --git a/systems/flexibot/docs/marlin/_gcode/M306.md b/systems/flexibot/docs/marlin/_gcode/M306.md new file mode 100644 index 000000000..6900ec7f6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M306.md @@ -0,0 +1,96 @@ +--- +tag: m0306 +title: Model predictive temperature control +brief: Set MPC values for a hotend. +author: CRCinAU + +requires: MPCTEMP +group: thermal +since: 2.0.9.4 + +codes: [ M306 ] + +notes: + - Requires `MPCTEMP`. + - View current values with [`M306`](/docs/gcode/M306.html) and no parameters. + - If `EEPROM_SETTINGS` is enabled, all calibration values are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + - Heater Power (P) is related to the heater cartridge in the hotend. Most printers have 30 or 40 watt heaters. + - '`M306 T` will move your hotend to 1mm above the bed for optimal calibration. You should ensure your hotend and print bed are free from debris before running an auto-tune.' + - See [the Marlin MPC documentation](/docs/features/model_predictive_control.html) for more information about MPC parameters. + +parameters: + - + tag: A + optional: true + description: Ambient heat transfer coefficient (no fan). + values: + - + tag: value + type: float + - + tag: C + optional: true + description: Heatblock Capacity (joules/kelvin) + values: + - + tag: value + type: float + - + tag: E + optional: true + description: Extruder index. If omitted, the command applies to the active extruder. + values: + - + tag: index + type: int + - + tag: F + optional: true + description: Ambient heat transfer coefficient (fan on full). + values: + - + tag: value + type: float + - + tag: H + optional: true + description: Filament Heat Capacity (joules/kelvin/mm) + values: + - + tag: value + type: float + - + tag: P + optional: true + description: Heater power in watts + values: + - + tag: value + type: float + - + tag: R + optional: true + description: Sensor responsiveness (= transfer coefficient / heat capacity). + values: + - + tag: value + type: float + - + tag: T + optional: true + description: Autotune the selected extruder. + +examples: +- + pre: 'Configure MPCTEMP for 40W hotend heater' + code: + - M306 P40 +- + pre: 'Configure MPCTEMP for 70W hotend heater' + code: + - M306 P70 +- + pre: 'Perform MPCTEMP auto-tune - after setting heater element power' + code: + - M306 T +--- diff --git a/systems/flexibot/docs/marlin/_gcode/M350.md b/systems/flexibot/docs/marlin/_gcode/M350.md new file mode 100644 index 000000000..98b33a402 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M350.md @@ -0,0 +1,110 @@ +--- +tag: m0350 +title: Set micro-stepping +brief: Set micro-stepping for drivers that support it +author: thinkyhead + +requires: HAS_MICROSTEPS +group: control + +codes: [ M350 ] + +notes: + +parameters: + - + tag: B + optional: true + description: Set micro-stepping for the 5th stepper driver. + values: + - + tag: 1 + - + tag: 2 + - + tag: 4 + - + tag: 8 + - + tag: 16 + - + tag: S + optional: true + description: Set micro-stepping for all 5 stepper drivers. + values: + - + tag: 1 + - + tag: 2 + - + tag: 4 + - + tag: 8 + - + tag: 16 + - + tag: X + optional: true + description: Set micro-stepping for the X stepper driver. + values: + - + tag: 1 + - + tag: 2 + - + tag: 4 + - + tag: 8 + - + tag: 16 + - + tag: Y + optional: true + description: Set micro-stepping for the Y stepper driver. + values: + - + tag: 1 + - + tag: 2 + - + tag: 4 + - + tag: 8 + - + tag: 16 + - + tag: Z + optional: true + description: Set micro-stepping for the Z stepper driver. + values: + - + tag: 1 + - + tag: 2 + - + tag: 4 + - + tag: 8 + - + tag: 16 + - + tag: E + optional: true + description: Set micro-stepping for the E0 stepper driver. + values: + - + tag: 1 + - + tag: 2 + - + tag: 4 + - + tag: 8 + - + tag: 16 + +examples: + +--- + +If your board has digital micro-stepping pins (`X_MS1`, `Y_MS1`, etc.), use this command to set the micro-steps. diff --git a/systems/flexibot/docs/marlin/_gcode/M351.md b/systems/flexibot/docs/marlin/_gcode/M351.md new file mode 100644 index 000000000..afe0a663e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M351.md @@ -0,0 +1,89 @@ +--- +tag: m0351 +title: Set Microstep Pins +brief: Directly set the micro-stepping pins +author: thinkyhead + +requires: HAS_MICROSTEPS +group: control + +codes: [ M351 ] + +notes: + +parameters: + - + tag: S + optional: false + description: Select the pin to set for all specified axes. + values: + - + tag: 1 + description: Select pin MS1 for all axes being set. + - + tag: 2 + description: Select pin MS2 for all axes being set. + - + tag: B + optional: true + description: Set the MS1/2 pin for the 5th stepper driver. + values: + - + tag: 0 + - + tag: 1 + - + tag: X + optional: true + description: Set the MS1/2 pin for the X stepper driver. + values: + - + tag: 0 + - + tag: 1 + - + tag: Y + optional: true + description: Set the MS1/2 pin for the Y stepper driver. + values: + - + tag: 0 + - + tag: 1 + - + tag: Z + optional: true + description: Set the MS1/2 pin for the Z stepper driver. + values: + - + tag: 0 + - + tag: 1 + - + tag: E + optional: true + description: Set the MS1/2 pin for the E stepper driver. + values: + - + tag: 0 + - + tag: 1 + +examples: + - + pre: Set the `X_MS1` pin and clear the `E0_MS1` pin + code: M351 S1 X1 E0 +--- + +If your board has digital micro-stepping pins (`X_MS1`, `Y_MS1`, etc.), use this command to set the micro-steps. + +At the time of this writing, the only boards which have digital micro-stepping pins are: + +- MINIRAMBO +- RAMBO +- SCOOVO_X9H +- MKS_BASE_common +- ALLIGATOR_R2 +- ARCHIM1 +- PRINTRBOARD_G2 +- 5DPRINT diff --git a/systems/flexibot/docs/marlin/_gcode/M355.md b/systems/flexibot/docs/marlin/_gcode/M355.md new file mode 100644 index 000000000..731c8c089 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M355.md @@ -0,0 +1,38 @@ +--- +tag: m0355 +title: Case Light Control +brief: Turn the case light on or off, set brightness +author: thinkyhead + +requires: CASE_LIGHT_PIN +group: control + +codes: [ M355 ] + +notes: Requires a `CASE_LIGHT_PIN` to control the on/off or PWM state of the case light. The pin will need to be a 12V MOSFET pin with PWM control, or a signal pin connected to a MOSFET or relay to control the higher current required for the light. + +parameters: + - + tag: P + optional: true + description: Set the brightness factor from 0 to 255. + values: + - + type: byte + - + tag: S + optional: true + description: Turn the case light on or off. + values: + - + type: bool + + +example: + - + pre: Turn the case light on at half brightness + code: M355 S1 P128 + +--- + +Set the case light power state and/or brightness. diff --git a/systems/flexibot/docs/marlin/_gcode/M360.md b/systems/flexibot/docs/marlin/_gcode/M360.md new file mode 100644 index 000000000..2db37dd3c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M360.md @@ -0,0 +1,20 @@ +--- +tag: m0360 +title: SCARA Theta A +brief: Move to Theta A +author: thinkyhead + +requires: MORGAN_SCARA +group: control + +codes: [ M360 ] + +notes: + +parameters: + +examples: + +--- + +Move the nozzle to SCARA calibration position Theta 0 (A0 B120) for calibration of "zero degrees." diff --git a/systems/flexibot/docs/marlin/_gcode/M361.md b/systems/flexibot/docs/marlin/_gcode/M361.md new file mode 100644 index 000000000..a04bb5d5e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M361.md @@ -0,0 +1,20 @@ +--- +tag: m0361 +title: SCARA Theta-B +brief: Move to Theta-B +author: thinkyhead + +requires: MORGAN_SCARA +group: control + +codes: [ M361 ] + +notes: + +parameters: + +examples: + +--- + +Move the nozzle to SCARA Theta-B calibration position Theta 90 (A90 B130) for calibration of "90 degrees steps-per-degree." diff --git a/systems/flexibot/docs/marlin/_gcode/M362.md b/systems/flexibot/docs/marlin/_gcode/M362.md new file mode 100644 index 000000000..ba921d2d1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M362.md @@ -0,0 +1,20 @@ +--- +tag: m0362 +title: SCARA Psi-A +brief: Move to Psi-A +author: thinkyhead + +requires: MORGAN_SCARA +group: control + +codes: [ M362 ] + +notes: + +parameters: + +examples: + +--- + +Move the nozzle to SCARA Psi-A calibration position Psi 0 (A60 B180) for calibration of "zero degrees." diff --git a/systems/flexibot/docs/marlin/_gcode/M363.md b/systems/flexibot/docs/marlin/_gcode/M363.md new file mode 100644 index 000000000..fe091e7fa --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M363.md @@ -0,0 +1,20 @@ +--- +tag: m0363 +title: SCARA Psi-B +brief: Move to Psi-B +author: thinkyhead + +requires: MORGAN_SCARA +group: control + +codes: [ M363 ] + +notes: + +parameters: + +examples: + +--- + +Move the nozzle to SCARA Psi-B calibration position Psi 90 (A50 B90) for calibration of "90 degrees steps-per-degree." diff --git a/systems/flexibot/docs/marlin/_gcode/M364.md b/systems/flexibot/docs/marlin/_gcode/M364.md new file mode 100644 index 000000000..d159f3790 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M364.md @@ -0,0 +1,20 @@ +--- +tag: m0364 +title: SCARA Psi-C +brief: Move to Psi-C +author: thinkyhead + +requires: MORGAN_SCARA +group: control + +codes: [ M364 ] + +notes: + +parameters: + +examples: + +--- + +Move the nozzle to SCARA Psi-C calibration position Theta-Psi 90 (A45 B135) for calibration of "90 degrees to Theta." diff --git a/systems/flexibot/docs/marlin/_gcode/M380.md b/systems/flexibot/docs/marlin/_gcode/M380.md new file mode 100644 index 000000000..148b46bf6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M380.md @@ -0,0 +1,37 @@ +--- +tag: m0380 +title: Activate Solenoid +brief: Activate +author: thinkyhead + +requires: EXT_SOLENOID +group: none + +codes: [ M380 ] + +notes: + +parameters: + - + tag: S + optional: true + since: 2.0.0 + requires: MANUAL_SOLENOID_CONTROL + description: Solenoid index (Requires `MANUAL_SOLENOID_CONTROL`) + values: + - + tag: index + type: int + +example: + - + code: + - M381 ; Deactivate all solenoids + - T0 ; Extruder 0 + - M380 ; Activate the E0 solenoid + - + code: M381 S1 ; Activate solenoid 1 + +--- + +Activate the solenoid on the active extruder. diff --git a/systems/flexibot/docs/marlin/_gcode/M381.md b/systems/flexibot/docs/marlin/_gcode/M381.md new file mode 100644 index 000000000..47338c565 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M381.md @@ -0,0 +1,34 @@ +--- +tag: m0381 +title: Deactivate Solenoids +brief: Deactivate all extruder solenoids +author: thinkyhead + +requires: EXT_SOLENOID +group: none + +codes: [ M381 ] + +notes: + +parameters: + - + tag: S + optional: true + since: 2.0.0 + requires: MANUAL_SOLENOID_CONTROL + description: Solenoid index (Requires `MANUAL_SOLENOID_CONTROL`) + values: + - + tag: index + type: int + +examples: + - + code: M381 ; Deactivate all solenoids + - + code: M381 S1 ; Deactivate solenoid 1 + +--- + +Deactivate all solenoids on all extruders. diff --git a/systems/flexibot/docs/marlin/_gcode/M400.md b/systems/flexibot/docs/marlin/_gcode/M400.md new file mode 100644 index 000000000..f49052bcd --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M400.md @@ -0,0 +1,24 @@ +--- +tag: m0400 +title: Finish Moves +brief: Wait for all moves to finish +author: thinkyhead + +group: motion + +codes: [ M400 ] + +notes: + +parameters: + +example: + - + pre: Wait for moves to finish before playing a beep + code: + - M400 + - M300 S440 P100 + +--- + +This command causes G-code processing to pause and wait in a loop until all moves in the planner are completed. diff --git a/systems/flexibot/docs/marlin/_gcode/M401.md b/systems/flexibot/docs/marlin/_gcode/M401.md new file mode 100644 index 000000000..c3bd1bed6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M401.md @@ -0,0 +1,44 @@ +--- +tag: m0401 +title: Deploy Probe +brief: Deploy the bed probe +author: thinkyhead + +requires: HAS_BED_PROBE +group: calibration + +codes: [ M401 ] + +notes: Requires some kind of bed probe. This command has no visible effect for probes that don't move. They are just activated. + +parameters: + - + tag: H + optional: true + since: 2.0.9.4 + requires: BLTOUCH_HS_MODE + description: Report the current BLTouch High Speed (HS) Mode state and exit. + values: + - + type: flag + - + tag: S + optional: true + since: 2.0.9.3 + requires: BLTOUCH_HS_MODE + description: Set the BLTouch High Speed (HS) Mode state and exit without deploy. + values: + - + type: bool + +examples: + - + pre: Deploy the probe + code: M401 + - + pre: Enable BLTouch High Speed Mode + code: M401 S1 + +--- + +Deploy the bed probe. The Z axis may raise up to make room for the probe to deploy. diff --git a/systems/flexibot/docs/marlin/_gcode/M402.md b/systems/flexibot/docs/marlin/_gcode/M402.md new file mode 100644 index 000000000..865c02937 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M402.md @@ -0,0 +1,23 @@ +--- +tag: m0402 +title: Stow Probe +brief: Stow the bed probe +author: thinkyhead + +requires: HAS_BED_PROBE +group: calibration + +codes: [ M402 ] + +notes: Requires some kind of bed probe. This command has no visible effect for probes that don't move. They are just deactivated. + +parameters: + +examples: + - + pre: Stow the probe + code: M402 + +--- + +Stow the bed probe. The Z axis may raise up to make room for the probe to stow. diff --git a/systems/flexibot/docs/marlin/_gcode/M403.md b/systems/flexibot/docs/marlin/_gcode/M403.md new file mode 100644 index 000000000..1107fd77e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M403.md @@ -0,0 +1,51 @@ +--- +tag: m0403 +title: MMU2 Filament Type +brief: Set filament type for Multi-Material Unit 2.0 +author: revilor + +requires: PRUSA_MMU2 +group: control + +codes: [ M403 ] + +notes: + - Requires a Průša Multi-Material Unit v2.0. + - Requires [`PRUSA_MMU2`](/docs/configuration/configuration.html#prusa-mmu2) + +parameters: + - + tag: E + optional: false + description: The MMU2 slot [0..4] to set the material type for + values: + - + tag: index + type: int + - + tag: F + optional: false + description: The filament type. + values: + - + tag: 0 + description: Default (PLA, PETG, ...) + - + tag: 1 + description: Flexible filament + - + tag: 2 + description: PVA + + +examples: + - + pre: Set slot 0 to flexible + code: M403 E0 F1 + - + pre: Set slot 3 to PVA + code: M403 E3 F2 + +--- + +Set the filament type for a Průša MMU2 (or compatible) material slot. diff --git a/systems/flexibot/docs/marlin/_gcode/M404.md b/systems/flexibot/docs/marlin/_gcode/M404.md new file mode 100644 index 000000000..f0aa62fd8 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M404.md @@ -0,0 +1,38 @@ +--- +tag: m0404 +title: Set Filament Diameter +brief: Set the nominal diameter for filament width sensor auto-flow +author: thinkyhead + +requires: FILAMENT_WIDTH_SENSOR +group: control + +codes: [ M404 ] + +notes: Requires `FILAMENT_WIDTH_SENSOR`. + +parameters: + - + tag: W + optional: true + description: The new nominal width value + values: + - + tag: linear + type: float + +examples: + - + pre: Set the diameter to 1.75mm + code: M404 W1.75 + - + pre: Get the current width + code: + - M404 + - '> Filament dia (nominal mm): 1.75' + +--- + +Report or set the nominal filament width, such as 1.75 or 3.00. + +This value is used to determine the percentage difference when auto-adjusting flow in response to the measured filament width, and should match the value used for filament width in your slicer settings. diff --git a/systems/flexibot/docs/marlin/_gcode/M405.md b/systems/flexibot/docs/marlin/_gcode/M405.md new file mode 100644 index 000000000..f2bdeb004 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M405.md @@ -0,0 +1,31 @@ +--- +tag: m0405 +title: Filament Width Sensor On +brief: Enable filament width sensor flow control +author: thinkyhead + +requires: FILAMENT_WIDTH_SENSOR +group: control + +codes: [ M405 ] + +notes: Requires `FILAMENT_WIDTH_SENSOR`. + +parameters: + - + tag: D + optional: true + description: Distance from measurement point to hot end. If not given, the previous value will be used. The default startup value is set by `MEASUREMENT_DELAY_CM`. + values: + - + unit: cm + type: int + +example: + - + pre: Start measuring filament width, adjusting flow + code: M405 + +--- + +Turn on the filament width sensor and start using it to do flow control. Initially, the filament between the sensor and the hot-end will be treated as the nominal width. diff --git a/systems/flexibot/docs/marlin/_gcode/M406.md b/systems/flexibot/docs/marlin/_gcode/M406.md new file mode 100644 index 000000000..2a1729e3e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M406.md @@ -0,0 +1,23 @@ +--- +tag: m0406 +title: Filament Width Sensor Off +brief: Disable filament width sensor flow control +author: thinkyhead + +requires: FILAMENT_WIDTH_SENSOR +group: control + +codes: [ M406 ] + +notes: Requires `FILAMENT_WIDTH_SENSOR`. + +parameters: + +example: + - + pre: Stop measuring filament width + code: M406 + +--- + +Turn off the filament width sensor and stop using it to do flow control. diff --git a/systems/flexibot/docs/marlin/_gcode/M407.md b/systems/flexibot/docs/marlin/_gcode/M407.md new file mode 100644 index 000000000..df8706942 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M407.md @@ -0,0 +1,25 @@ +--- +tag: m0407 +title: Filament Width +brief: Report the measured filament width +author: thinkyhead + +requires: FILAMENT_WIDTH_SENSOR +group: control + +codes: [ M407 ] + +notes: Requires `FILAMENT_WIDTH_SENSOR`. + +parameters: + +example: + - + pre: Get the current measured filament width + code: + - M407 + - '> Filament dia (measured mm): 1.768' + +--- + +Report the current measured filament width to the host. diff --git a/systems/flexibot/docs/marlin/_gcode/M410.md b/systems/flexibot/docs/marlin/_gcode/M410.md new file mode 100644 index 000000000..0adc19a6b --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M410.md @@ -0,0 +1,24 @@ +--- +tag: m0410 +title: Quickstop +brief: Stop all steppers instantly +author: thinkyhead + +group: motion + +codes: [ M410 ] + +notes: + - This command is intended only for emergency situations. + - If `EMERGENCY_PARSER` is not enabled, this will be delayed. + +parameters: + +example: + - + pre: Stop all steppers now. + code: M410 + +--- + +Stop all steppers instantly. Since there will be no deceleration, steppers are expected to be out of position after this command. diff --git a/systems/flexibot/docs/marlin/_gcode/M412.md b/systems/flexibot/docs/marlin/_gcode/M412.md new file mode 100644 index 000000000..f85d95253 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M412.md @@ -0,0 +1,72 @@ +--- +tag: m0412 +title: Filament Runout +brief: Get/set filament runout detection parameters +author: thinkyhead + +requires: FILAMENT_RUNOUT_SENSOR +since: 2.0.0 +group: control + +codes: [ M412 ] + +notes: + - Requires `FILAMENT_RUNOUT_SENSOR`. + - Parameter `D` requires `FILAMENT_RUNOUT_DISTANCE_MM`. + - Parameter `H` requires `HOST_ACTION_COMMANDS`. + +parameters: + - + tag: D + optional: true + description: Set the filament runout distance. + values: + - + type: float + tag: linear + - + tag: H + optional: true + description: Flag to enable or disable host handling of a filament runout. + values: + - + type: bool + - + tag: S + optional: true + description: Flag to enable or disable Filament Runout Detection. If omitted, the current enabled state will be reported. + values: + - + type: bool + + - + tag: R + optional: true + description: Flag to reset the filament runout sensor. Not needed with `S`. + values: + - + type: bool + +examples: + - + pre: Enable (and reset) filament runout detection + code: M412 S1 + - + pre: Disable filament runout detection + code: M412 S0 + - + pre: Report filament runout state + code: | + M412 + Filament runout ON + - + pre: Set filament runout distance + code: | + M412 D35 ; requires FILAMENT_RUNOUT_DISTANCE_MM + M412 + Filament runout ON + Filament runout distance (mm): 35 + +--- + +Get or set filament runout status and distance. Omit all parameters to get a report of the current stats. Enable or disable filament runout detection with `S` and set distance with `D`. When filament sensors are enabled, Marlin will respond to a filament runout by running the configured G-code (usually [`M600` Filament Change](/docs/gcode/M600.html)). When filament runout detection is disabled, Marlin will take no action for filament runout. diff --git a/systems/flexibot/docs/marlin/_gcode/M413.md b/systems/flexibot/docs/marlin/_gcode/M413.md new file mode 100644 index 000000000..6a83c59a8 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M413.md @@ -0,0 +1,44 @@ +--- +tag: m0413 +title: Power-loss Recovery +brief: Enable / disable power-loss recovery +author: thinkyhead + +requires: POWER_LOSS_RECOVERY +since: 2.0.0 +group: control + +codes: [ M413 ] + +notes: + - Requires `POWER_LOSS_RECOVERY` and an LCD controller. + - Requires printing from the SD Card or Flash Drive. + - A future implementation may use the EEPROM instead of the attached media. + +parameters: + - + tag: S + optional: true + description: Flag to enable or disable Power-loss Recovery. If omitted, the current enabled state will be reported. + values: + - + type: bool + +examples: + - + pre: Enable power-loss recovery + code: M413 S1 + - + pre: Disable power-loss recovery + code: M413 S0 + - + pre: Report power-loss recovery state + code: | + M413 + Power-loss recovery ON + +--- + +`M413` is used to turn the **Power-loss Recovery** feature on and off. When Power-loss Recovery is enabled and Marlin is running a print job from the SD Card or Flash Drive, it periodically saves the print job state to the SD Card / Flash Drive. If the machine crashes or a power outage occurs, Marlin presents the option to resume the interrupted print job. + +This feature is able to operate without a power-loss detection circuit by writing the recovery file periodically (_e.g.,_ once per layer). However, with a `POWER_LOSS_PIN` Marlin only writes the recovery info when a power-loss is actually detected. This method is preferred because the print will be resumed exactly where it was interrupted (rather than repeating the last layer), and the SD card or Flash Drive will incur much less wear. diff --git a/systems/flexibot/docs/marlin/_gcode/M420.md b/systems/flexibot/docs/marlin/_gcode/M420.md new file mode 100644 index 000000000..d1c08fddc --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M420.md @@ -0,0 +1,79 @@ +--- +tag: m0420 +title: Bed Leveling State +brief: Get and/or set bed leveling state and parameters +author: thinkyhead +contrib: sustmi, shitcreek + +requires: AUTO_BED_LEVELING_(3POINT|LINEAR|BILINEAR|UBL)|MESH_BED_LEVELING +group: motion + +related: [ G29, M421 ] +codes: [ M420 ] + +notes: | + - [`G28`](/docs/gcode/G028.html) disables bed leveling. Follow with `M420 S` to turn leveling on, or use `RESTORE_LEVELING_AFTER_G28` to automatically keep leveling on after [`G28`](/docs/gcode/G028.html). + - The "current position" may change in response to `M420 Sn`. + +parameters: + - + tag: L + optional: true + description: Load mesh from EEPROM index (Requires `AUTO_BED_LEVELING_UBL` and `EEPROM_SETTINGS`) + values: + - + type: int + - + tag: S + optional: true + description: Set enabled or disabled. A valid mesh is required to enable bed leveling. If the mesh is invalid / incomplete leveling will not be enabled. + values: + - + type: bool + - + tag: V + optional: true + description: 'Verbose: Print the stored mesh / matrix data' + values: + - + type: bool + - + tag: T + optional: true + description: Format to print the mesh data + values: + - + tag: 0 + description: Human readable + - + tag: 1 + description: CSV + - + tag: 4 + description: Compact + - + tag: Z + optional: true + description: | + Set Z fade height (Requires `ENABLE_LEVELING_FADE_HEIGHT`) + - With Fade enabled, bed leveling correction is gradually reduced as the nozzle gets closer to the Fade height. Above the Fade height no bed leveling compensation is applied at all, so movement is machine true. + - Set to 0 to disable fade, and leveling compensation will be fully applied to all layers of the print. + values: + - + type: float + tag: linear + - + tag: C + optional: true + description: Center the mesh on the mean of the lowest and highest points + values: + - + type: bool + +examples: + +--- + +Get and/or set bed leveling state. For mesh-based leveling systems use `Z` parameter to set the Z Fade Height. + +With `AUTO_BED_LEVELING_UBL` you can use `L` to load a mesh from EEPROM. diff --git a/systems/flexibot/docs/marlin/_gcode/M421.md b/systems/flexibot/docs/marlin/_gcode/M421.md new file mode 100644 index 000000000..609f3cbd1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M421.md @@ -0,0 +1,92 @@ +--- +tag: m0421 +title: Set Mesh Value +brief: Set a single mesh Z height +author: thinkyhead + +requires: AUTO_BED_LEVELING_(BILINEAR|UBL)|MESH_BED_LEVELING +group: motion + +related: [ G29, M420 ] +codes: [ M421 ] + +notes: + +parameters: + - + tag: I + optional: true + description: X index into the mesh array + values: + - + type: int + - + tag: J + optional: true + description: Y index into the mesh array + values: + - + type: int + - + tag: X + optional: true + description: X position (which should be very close to a grid line) (`MESH_BED_LEVELING` only) + values: + - + tag: linear + type: float + - + tag: Y + optional: true + description: Y position (which should be very close to a grid line) (`MESH_BED_LEVELING` only) + values: + - + tag: linear + type: float + - + tag: Z + optional: true + description: The new Z value to set + values: + - + tag: linear + type: float + - + tag: Q + optional: true + description: A value to add to the existing Z value + values: + - + tag: linear + type: float + - + tag: C + optional: true + description: Set the mesh point closest to the current nozzle position (`AUTO_BED_LEVELING_UBL` only) + values: + - + type: bool + - + tag: N + optional: true + description: Set the mesh point to undefined (`AUTO_BED_LEVELING_UBL` only) + values: + - + type: bool + +examples: + - + pre: Set the Z height in the middle of a 5x5 grid + code: M421 I2 J2 Z-0.05 + - + pre: Set the same Z height using XY + code: M421 X100 Y100 Z-0.05 + - + pre: Adjust the mesh point by -0.01 + code: M421 I2 J2 Q-0.01 + +--- + +This command is used to set a single Z value for a mesh point in the stored bed leveling data. + +Allowed forms are `M421 In Jn Zn`, `M421 Xn Yn Zn` (`MESH_BED_LEVELING` only) or `M421 C Zn` (`AUTO_BED_LEVELING_UBL` only). diff --git a/systems/flexibot/docs/marlin/_gcode/M422.md b/systems/flexibot/docs/marlin/_gcode/M422.md new file mode 100644 index 000000000..b7325c6c4 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M422.md @@ -0,0 +1,77 @@ +--- +tag: m0422 +title: Set Z Motor XY +brief: Set a Z motor position for G34 Auto-Alignment +author: shitcreek +contrib: thinkyhead + +requires: Z_STEPPER_AUTO_ALIGN +since: 2.0.4 +experimental: true +group: calibration + +codes: [ M422 ] +related: [ G34 ] + +notes: + - See [`G34`](/docs/gcode/G034-zsaa.html) for further details about Z-Stepper automatic alignment. + - Requires `Z_STEPPER_AUTO_ALIGN`. + - '`M422 W` requires `Z_STEPPER_ALIGN_STEPPER_XY`.' + +parameters: + - + tag: R + optional: true + description: Reset alignment and known points to the defaults. This will also be done by [`M502`](/docs/gcode/M502.html). + values: + - + type: flag + - + tag: S + optional: true + description: One-based index of a Z-Stepper whose probing-point will be set. + values: + - + tag: index + type: int + - + tag: W + optional: true + requires: Z_STEPPER_ALIGN_STEPPER_XY + description: One-based index of a Z-Stepper whose known position will be set. + values: + - + tag: index + type: int + - + tag: X + optional: true + description: X position + values: + - + tag: linear + type: float + - + tag: Y + optional: true + description: Y position + values: + - + tag: linear + type: float + +videos: + - 6UgT9YqY3UA + +examples: + - + pre: Set a probe position for aligning the first Z stepper + code: + - M422 S1 X10 Y10 + - + pre: Set a known position for the second Z stepper + code: + - M422 W2 X10 Y10 +--- + +Set an XY probe or known position for a given Z Stepper. Either the `S` or `W` parameter must be given, along with `X` and `Y` positions. The `W` parameter exists only when `Z_STEPPER_ALIGN_STEPPER_XY` is defined, providing known stepper positions. diff --git a/systems/flexibot/docs/marlin/_gcode/M423.md b/systems/flexibot/docs/marlin/_gcode/M423.md new file mode 100644 index 000000000..66062054c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M423.md @@ -0,0 +1,79 @@ +--- +tag: m0423 +title: X Twist Compensation +brief: Modify, reset, and report X-Axis Twist Compensation data +author: thinkyhead + +requires: X_AXIS_TWIST_COMPENSATION +since: 2.0.9.4 +group: calibration + +codes: [ M423 ] +related: [ G29 ] + +notes: + +parameters: + - + tag: R + optional: true + description: Reset the Twist Compensation array to the configured default values. + values: + - + type: flag + - + tag: A + optional: true + description: Set the X-Axis Twist Compensation starting X position. + values: + - + tag: linear + type: float + - + tag: I + optional: true + description: Set the X-Axis Twist Compensation X-spacing. + values: + - + tag: linear + type: float + - + tag: X + optional: true + description: Zero-based index into the Twist Compensation array. Requires a `Z` value. + values: + - + tag: index + type: int + - + tag: Z + optional: true + description: A Z-offset value to set in the Twist Compensation array. Requires an `X` index. + values: + - + tag: index + type: int + +examples: + - + pre: Report the current X-twist data to the host console. + code: + - M423 + - + pre: Reset X-twist data to the configured defaults. + code: + - M423 R + - + pre: Set the 5th value in the Twist Compensation array to -0.03. + code: + - M423 X4 Z-0.03 + - + pre: Set the X-start position to 0 and the X-spacing distance to 50. + code: + - M423 M423 X0 I50 + +--- + +Use `M423` to reset, modify, or report X-Twist Compensation data. + +X-Twist Compensation is applied to the mesh on [`G29`](docs/gcode/G029)) to correct for a twisted X gantry. Meaningful X-Twist Compensation data is generated using a guided procedure in the LCD menu that compares measurements taken by the bed probe to readings taken manually at the nozzle. Since manual measurements are prone to inaccuracy, a metal feeler gauge is recommended over a paper test. If the first layer is still imperfect, `M423` can then be used to correct for small errors. diff --git a/systems/flexibot/docs/marlin/_gcode/M425.md b/systems/flexibot/docs/marlin/_gcode/M425.md new file mode 100644 index 000000000..44c4ccc5a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M425.md @@ -0,0 +1,106 @@ +--- +tag: m0425 +title: Backlash compensation +brief: Enable and tune backlash compensation +author: marcio-ao + +experimental: true +requires: BACKLASH_COMPENSATION,BACKLASH_GCODE +group: calibration + +codes: [ M425 ] + +notes: | + Requires `BACKLASH_COMPENSATION`, `BACKLASH_GCODE` and the following parameters: + - `BACKLASH_DISTANCE_MM` specifies the default backlash on the X, Y and Z axis. + - `BACKLASH_CORRECTION` specifies the default backlash correction (0.0 = none; 1.0 = 100%). + - `BACKLASH_SMOOTHING_MM` enables backlash smoothing over a specified distance. + - `BACKLASH_GCODE` enables [`M425`](/docs/gcode/M425.html) for run-time tuning of backlash. + - `MEASURE_BACKLASH_WHEN_PROBING` turns on Z backlash measurement when probing with [`G29`](/docs/gcode/G029.html). + - Use `BACKLASH_MEASUREMENT_LIMIT`, `BACKLASH_MEASUREMENT_RESOLUTION` and `BACKLASH_MEASUREMENT_FEEDRATE` to configure [`G29`](/docs/gcode/G029.html) backlash measurement. + +parameters: + - + tag: F + optional: true + description: Enable or disables backlash correction, or sets an intermediate fade-out (0.0 = none; 1.0 = 100%) + values: + - + tag: value + type: float + - + tag: S + optional: true + description: Distance over which backlash correction is spread + values: + - + tag: linear + type: float + - + tag: X + optional: true + description: Set the backlash distance on X (mm; 0 to disable) + values: + - + tag: linear + type: float + - + tag: Y + optional: true + description: Set the backlash distance on Y (mm; 0 to disable) + values: + - + tag: linear + type: float + - + tag: Z + optional: true + description: Set the backlash distance on Z (mm; 0 to disable) + values: + - + tag: linear + type: float + - + tag: Z + optional: true + description: When `MEASURE_BACKLASH_WHEN_PROBING` is enabled, loads the measured backlash into the backlash distance parameter + +examples: + - + pre: 'Manually configure backlash compensation:' + code: + - M425 X0.1 Y0.2 Z0.3 ; Set backlash to specific values for all axis + - M425 F1 ; Enable backlash compensation at 100% + - + pre: 'Use smoothing for best print surface quality:' + code: + - M425 F1 S3 + - + pre: 'Use no smoothing for best dimensional accuracy:' + code: + - M425 F1 S0 + - + pre: 'Automatically measure X, Y, and Z backlash using [`G425`](/docs/gcode/G425.html):' + code: + - G425 ; Perform a full calibration + - M425 F1 ; Use full measured value of backlash on X, Y and Z + post: G425 automatically loads the measured backlash into the backlash distance, but will not enable backlash compensation. + - + pre: 'To automatically measure Z backlash when probing with `MEASURE_BACKLASH_WHEN_PROBING`:' + code: + - G29 ; Perform probe and measure backlash on Z + - M425 F1 Z ; Use full measured value of backlash on Z + post: '`MEASURE_BACKLASH_WHEN_PROBING` measures backlash, but does not update the configured backlash distance. The measured value should be activated by using the `Z` argument without a value. This differs from the behavior of [`G425`](/docs/gcode/G425.html).' + - + pre: 'Report the current backlash configuration:' + code: + - M425 +--- + +Backlash compensation will add extra steps to one or more segments whenever a motor reverses direction. + +By default, steps are added to the first segment after a direction change. This gives the best dimensional accuracy but may cause marks to appear in the print. Smoothing spreads the added steps over multiple consecutive segments to prevent blemishes in the print, at the expense of dimensional accuracy. + +Backlash compensation can be configured at either compile-time or run-time. Enable `BACKLASH_GCODE` to turn on [`M425`](/docs/gcode/M425.html) and a "Backlash" menu item. + +Backlash can be measured automatically on all axes with [`G425`](/docs/gcode/G425.html) or on Z only with [`G29`](/docs/gcode/G029.html) when `MEASURE_BACKLASH_WHEN_PROBING` is enabled. diff --git a/systems/flexibot/docs/marlin/_gcode/M428.md b/systems/flexibot/docs/marlin/_gcode/M428.md new file mode 100644 index 000000000..9d000b09d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M428.md @@ -0,0 +1,36 @@ +--- +tag: m0428 +title: Home Offsets Here +brief: Set home offsets based on current position +author: thinkyhead + +requires: HAS_HOME_OFFSET +group: motion + +codes: [ M428 ] + +notes: | + - Only the Z offset can be altered on `DELTA`. + - This G-code can be disabled with `NO_WORKSPACE_OFFSETS` to optimize movement. + - Changing the home offsets will not invalidate bed leveling or other saved data. + - If `EEPROM_SETTINGS` is enabled, the home offsets are saved with [`M500`](/docs/gcode/M500.html), loaded with [`M501`](/docs/gcode/M501.html), and reset with [`M502`](/docs/gcode/M502.html). + - Use [`M206`](/docs/gcode/M206.html) to set the home offsets directly. + +parameters: + +examples: + - + pre: What was X=10 becomes X=0. So the X home offset becomes -10. + code: + - G1 X10 + - M428 + +--- + +Use [`M428`](/docs/gcode/M428.html) to set a persistent offset to the native home position and coordinate space by assigning the current position as the native home position. See the example below. + +- The current position must be within 2cm from 0 or an endstop. +- The current position is set to the native home position. +- Any previous position shift from [`G92`](/docs/gcode/G092.html) is cleared. +- The home offset is persistent — added to the current position until changed. +- Some uses include fine adjustment of Z position (without moving endstops) and shifting the coordinate space to print on a different part of the bed. diff --git a/systems/flexibot/docs/marlin/_gcode/M430.md b/systems/flexibot/docs/marlin/_gcode/M430.md new file mode 100644 index 000000000..32cf3de08 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M430.md @@ -0,0 +1,50 @@ +--- +tag: m0430 +title: Power Monitor +brief: Read and display current (A), voltage (V), and power (W) +author: shitcreek + +requires: either POWER_MONITOR_CURRENT or POWER_MONITOR_VOLTAGE +group: thermal + +codes: [ M430 ] + +notes: + - Requires either `POWER_MONITOR_CURRENT` or `POWER_MONITOR_VOLTAGE` + +parameters: + - + tag: I + optional: true + description: display current (A) on LCD + values: + - + type: bool + - + tag: V + optional: true + description: toggle display voltage (V) on LCD + values: + - + type: bool + - + tag: W + optional: true + description: display power/watts (W) on LCD + values: + - + type: bool + + +examples: + - + pre: report current LCD display power draw + code: M430 + + - + pre: Display all power monitor on LCD + code: M430 I1 V1 W1 + +--- +Enable/disable power monitor on LCD display. Report current/amps (A), voltage (V) and watts (W) if no parameters. + diff --git a/systems/flexibot/docs/marlin/_gcode/M486.md b/systems/flexibot/docs/marlin/_gcode/M486.md new file mode 100644 index 000000000..1eb8f1d63 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M486.md @@ -0,0 +1,75 @@ +--- +tag: m0486 +title: Cancel Objects +brief: Identify and cancel objects +author: thinkyhead + +requires: CANCEL_OBJECTS +group: sdcard + +codes: [ M486 ] + +notes: | + This G-code may not be widely supported by slicers for a while, but they do include helpful comments in the G-code output that includes the current object. So for now you can use a post-processing script to convert these comments into [`M486`](/docs/gcode/M486.html) commands. + #### Slicer post-processing scripts: + - [M486 for Průša Slicer](//github.com/paukstelis/PrusaSlicer-M486) by [Paul Paukstelis](//github.com/paukstelis). + - [M486 for Cura](//github.com/shinmai/cura-M486) by [Aapo Saaristo](//twitter.com/shinmai). + +parameters: + - + tag: C + optional: true + description: Cancel the current object. + values: + - + tag: flag + type: bool + - + tag: P + optional: true + description: Cancel the object with the given index. + values: + - + tag: index + type: int + - + tag: S + optional: true + description: Set the index of the current object. If the object with the given index has been canceled, this will cause the firmware to skip to the next object. The value -1 is used to indicate something that isn't an object and shouldn't be skipped. + values: + - + tag: index + type: int + - + tag: T + optional: true + description: Reset the state and set the number of objects. + values: + - + tag: count + type: int + - + tag: U + optional: true + description: Un-cancel the object with the given index. This command will be ignored if the object has already been skipped. + values: + - + tag: index + type: int + +examples: + - + pre: Typical usage in a G-code file + code: + - M486 T12 ; Total of 12 objects (otherwise the firmware must count) + - M486 S3 ; Indicate that the 4th object is starting now + - M486 S-1 ; Indicate a non-object, purge tower, or other global feature + - M486 P10 ; Cancel object with index 10 (the 11th object) + - M486 U2 ; Un-cancel object with index 2 (the 3rd object) + - M486 C ; Cancel the current object (use with care!) + +--- + +Use [`M486`](/docs/gcode/M486.html) to identify and cancel objects during a multi-object print job. + +This command was originally developed for SD card printing but it works fine when host printing too. Of course, since hosts can skip objects more efficiently, host plugins are the better choice in that scenario. diff --git a/systems/flexibot/docs/marlin/_gcode/M493.md b/systems/flexibot/docs/marlin/_gcode/M493.md new file mode 100644 index 000000000..2143e2533 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M493.md @@ -0,0 +1,166 @@ +--- +tag: m0493 +title: Fixed-Time Motion +brief: Enable/disable and configure Fixed-Time Motion, Linear Advance, and Input Shaping +author: thinkyhead + +since: 2.1.3 +requires: FT_MOTION +group: motion +experimental: true + +codes: [ M493 ] +related: [ M593, M900 ] + +parameters: +- + tag: S + optional: true + description: Set the current motion mode and/or Input Shaper. + values: + - + tag: 0 + description: Standard Motion + - + tag: 1 + description: Fixed-Time Motion + - + tag: 10 + description: ZV Input Shaping + - + tag: 11 + description: ZVD Input Shaping + - + tag: 12 + description: EI Input Shaping + - + tag: 13 + description: 2HEI Input Shaping + - + tag: 14 + description: 3HEI Input Shaping + - + tag: 15 + description: MZV Input Shaping +- + tag: P + optional: true + description: Enable / disable Linear Advance. + values: + - + type: bool + tag: state +- + tag: K + optional: true + description: Set the gain for Linear Advance. + values: + - + type: float + tag: gain +- + tag: D + optional: true + description: Set the Dynamic Frequency mode. + values: + - + tag: 0 + description: Disabled + - + tag: 1 + description: Z-based + - + tag: 2 + description: Mass-based +- + tag: A + optional: true + description: Set the Base Frequency for Input Shaping on the X axis. + values: + - + type: float + tag: Hz +- + tag: B + optional: true + description: Set the Base Frequency for Input Shaping on the Y axis. + values: + - + type: float + tag: Hz +- + tag: F + optional: true + description: Set the Frequency Scaling factor for Input Shaping on the X axis. + values: + - + type: float + tag: scale +- + tag: H + optional: true + description: Set the Frequency Scaling factor for Input Shaping on the Y axis. + values: + - + type: float + tag: scale + +example: +- + pre: Enable Fixed-Time motion with Linear Advance gain 0.22 + code: M493 S1 P1 K0.22 +- + pre: Enable Fixed-Time motion with ZVD Input Shaping + code: M493 S11 A37 B37 D0 P1 K0.18 + post: This also sets the IS Frequency to 37Hz for X and Y, disables Dynamic Frequency mode, and enables Linear Advance with a gain of 0.18. + +--- +The Fixed-Time Motion Planner is an additional motion planning system provided by [Ulendo.io](//www.ulendo.io/) as an add-on to Marlin Firmware. It currently supports Cartesian and Core kinematics. It may be extended for Delta in the future. The `FT_MOTION` feature can be enabled at the same time as Marlin's integrated ZV Input Shaper, but these features do not share settings. It has its own implementation of Linear Advance (aka Pressure Advance) with its own gain parameter separate from [`M900`](/docs/gcode/M900.html). + +One interesting feature of this add-on is that it can be enabled and disabled while the machine is running (and maybe even within a single print job). So if you prefer the integrated ZV Input Shaper for some prints and 2HEI Input Shaping for others you don't need to re-flash the firmware. + +G-code `M493` allows you to enable or disable Fixed-Time Motion, change the current Input Shaper mode, and set parameters for its own Linear Advance and Input Shaping. + +#### Input Shaper Tuning +It's not always easy to attach an accelerometer to most printer boards, so Marlin doesn't provide accelerator-based tuning. If you have that information you can use it. But the easiest way to tune Input Shaping is to print a ringing tower that goes through a range of frequencies, then examine the appearance of the ringing tower to choose the best frequencies for each axis. + +##### Get the Test Model +Download the [Ringing Tower STL](/assets/stl/ringing_tower.stl) which you will slice and use for the print test. For a CoreXY printer you should rotate the model 45 degrees, which isolates the A and B components of the motion system. + +##### Prepare the Slicer +Use a slicer that provides custom G-code macros for layer change. For example you can open [Kiri:Moto](//grid.space/kiri/) or download [Prusa Slicer](//www.prusa3d.com/page/prusaslicer_424). If you use [Cura](//ultimaker.com/software/ultimaker-cura) you may need to install the Post Processing Plugin from the Cura Marketplace if it is not already installed. + +- In the the Starting G-code enable Fixed-Time Motion with something like: + ``` + M493 S11 D0 ; Enable ZVD Input Shaping + ``` + +- In *Kiri:Moto* enable **Infill > Fill Type > Vase**. Then add the following under **Setup > Machine > Gcode Macros > Layer** to run a test range of 15Hz to 60Hz: + + ``` + M493 A{(layer < 2 ? 0 : 15 + 45.0 * (layer - 2) / 297)} ; (Hz) X Input Shaping Test + M493 B{(layer < 2 ? 0 : 15 + 45.0 * (layer - 2) / 297)} ; (Hz) Y Input Shaping Test + ``` + +- In *Prusa Slicer* you'll enable **Spiral vase**. Then add the following to your **Printer Settings > After layer change G-code** to run a test range of 15Hz to 60Hz: + + ``` + M493 A{(layer_num < 2 ? 0 : 15 + 45.0 * (layer_num - 2) / 297)} ; (Hz) X Input Shaping Test + M493 B{(layer_num < 2 ? 0 : 15 + 45.0 * (layer_num - 2) / 297)} ; (Hz) Y Input Shaping Test + ``` + +- In *Cura*, you'll first need to add the .py file in [this repository](//www.github.com/dsdanielko/cura-ringing-tower-script/) to your Cura "scripts" folder. Reopen Cura, enable **Spiralize Outer Contour** and set **Minimum Layer Time** to 0. Then go to **Extensions > Post Processing > Modify G-Code**. Click **Add a script** in the window that opens and use the dropdown menu to find **Input Shaping**. Make sure the **Motion planning type** dropdown is set to **M493**. The default frequency settings will let you test a range of 15Hz to 60Hz. + +##### Slice and Print +Slice and print the tower using 0.2mm layer height using the highest reasonable speed. When you examine the results it should be obvious where ringing is reduced the most on each axis. To get the Hz value for a given Z height, use the formula `15 + 45 * (z / 0.2 - 2) / 297`. + +##### Analyze the Result +Measure the height of the best looking layer, divide by the layer height, subtracting two layers. For example: +- The least X ringing appears at height 20mm. So we calculate `15 + 45 * (20 / 0.2 - 2) / 297` and get a result of 29.84Hz. +- Send the command `M493 A29.84` to apply the frequency to X motion. (For Y you would use `M493 B29.84`.) + +##### More Resources +TH3D Studio has created an [Input Shaper Calculator](//www.th3dstudio.com/marlin-input-shaping-calculator/) that you can use to get the Slicer G-code you need and calculate the Hz value based on the best-looking layers. + +#### Dynamic Shaping +Once you have the basic Input Shaping tuned, you may want to do further testing to see how the resonance changes as the Z height increases. Z height can affect the machine resonance whether the bed or the gantry moves in Z due to changes in the center of mass. Tuning according to the changing Z-height is more complicated than just printing a test model, and is best done with an accelerometer. Machine vendors should consider tuning at the factory and provide tuned profile settings for the popular slicers. diff --git a/systems/flexibot/docs/marlin/_gcode/M500.md b/systems/flexibot/docs/marlin/_gcode/M500.md new file mode 100644 index 000000000..f5f372fbb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M500.md @@ -0,0 +1,25 @@ +--- +tag: m0500 +title: Save Settings +brief: Save settings to EEPROM. +author: thinkyhead + +requires: EEPROM_SETTINGS +group: eeprom + +codes: [ M500 ] + +notes: + - Requires `EEPROM_SETTINGS`. + - Since Marlin 1.1.0 only changed bytes are written to prolong EEPROM life. + +parameters: + +examples: + - + pre: Save settings + code: M500 + +--- + +Save all configurable settings to EEPROM. diff --git a/systems/flexibot/docs/marlin/_gcode/M501.md b/systems/flexibot/docs/marlin/_gcode/M501.md new file mode 100644 index 000000000..ac6fad3ca --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M501.md @@ -0,0 +1,23 @@ +--- +tag: m0501 +title: Restore Settings +brief: Restore settings from EEPROM. +author: thinkyhead + +requires: EEPROM_SETTINGS +group: eeprom + +codes: [ M501 ] + +notes: Requires `EEPROM_SETTINGS`. + +parameters: + +examples: + - + pre: Restore all settings. + code: M501 + +--- + +Load all saved settings from EEPROM. diff --git a/systems/flexibot/docs/marlin/_gcode/M502.md b/systems/flexibot/docs/marlin/_gcode/M502.md new file mode 100644 index 000000000..3eb138910 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M502.md @@ -0,0 +1,27 @@ +--- +tag: m0502 +title: Factory Reset +brief: Restore all settings to factory defaults. +author: thinkyhead + +group: eeprom + +codes: [ M502 ] + +notes: + - This command can be used even if `EEPROM_SETTINGS` is disabled. + +parameters: + +examples: + - + pre: Reset settings and save them to EEPROM + code: + - M502 ; reset + - M500 ; saved + +--- + +Reset all configurable settings to their factory defaults. + +To also reset settings in EEPROM, follow with [`M500`](/docs/gcode/M500.html). diff --git a/systems/flexibot/docs/marlin/_gcode/M503.md b/systems/flexibot/docs/marlin/_gcode/M503.md new file mode 100644 index 000000000..4355e288d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M503.md @@ -0,0 +1,36 @@ +--- +tag: m0503 +title: Report Settings +brief: Report all settings that may be saved to EEPROM. +author: thinkyhead + +group: eeprom + +codes: [ M503 ] + +notes: Does not require `EEPROM_SETTINGS`. + +parameters: + - + tag: S + optional: true + description: Detailed output flag. (`true` if omitted.) + values: + - + type: flag + - + tag: C + optional: true + since: 2.0.9.3 + requires: CONFIGURATION_EMBEDDING + description: Save the embedded configuration ZIP file to the SD Card or Flash Drive. + values: + - + type: flag + +examples: + +--- + +Print a concise report of all runtime-configurable settings (in SRAM) to the host console. +This command reports the active settings which may or may not be the same as those stored in the EEPROM. diff --git a/systems/flexibot/docs/marlin/_gcode/M504.md b/systems/flexibot/docs/marlin/_gcode/M504.md new file mode 100644 index 000000000..4d6dec9e5 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M504.md @@ -0,0 +1,23 @@ +--- +tag: m0504 +title: Validate EEPROM contents +brief: Validate the contents of the EEPROM. +author: ManuelMcLure + +requires: EEPROM_SETTINGS +group: eeprom + +codes: [ M504 ] + +notes: Requires `EEPROM_SETTINGS`. + +parameters: + +examples: + - + pre: Validate EEPROM contents. + code: M504 + +--- + +Validate the contents of the EEPROM. diff --git a/systems/flexibot/docs/marlin/_gcode/M510.md b/systems/flexibot/docs/marlin/_gcode/M510.md new file mode 100644 index 000000000..ba8c152bb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M510.md @@ -0,0 +1,22 @@ +--- +tag: m0510 +title: Lock Machine +brief: Lock the machine if it has a passcode +author: shitcreek, thinkyhead + +since: 2.0.6.1 +requires: PASSWORD_FEATURE +group: security + +codes: [ M510 ] +related: [ M511, M512 ] + +notes: + - Requires `PASSWORD_FEATURE`. + +example: + - + pre: Lock the machine now + code: M510 +--- +Lock the machine. When the machine is locked a passcode is required to unlock it. Use `M511 P` with your passcode to unlock the machine.option. diff --git a/systems/flexibot/docs/marlin/_gcode/M511.md b/systems/flexibot/docs/marlin/_gcode/M511.md new file mode 100644 index 000000000..ac5a8ae4e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M511.md @@ -0,0 +1,32 @@ +--- +tag: m0511 +title: Unlock Machine +brief: Unlock the machine if it has a passcode +author: shitcreek, thinkyhead + +since: 2.0.6.1 +requires: PASSWORD_FEATURE +group: security + +codes: [ M511 ] +related: [ M510, M512 ] + +notes: + - Requires `PASSWORD_FEATURE`. + +parameters: + - + tag: P + optional: false + description: The passcode to try. + values: + - + tag: passcode + type: int + +example: + - + pre: Unlock a machine with passcode '12345' + code: M511 P12345 +--- +Check the given passcode and unlock the machine if it is correct. Otherwise, delay for a period of time before allowing another attempt. diff --git a/systems/flexibot/docs/marlin/_gcode/M512.md b/systems/flexibot/docs/marlin/_gcode/M512.md new file mode 100644 index 000000000..2c1d5cfb8 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M512.md @@ -0,0 +1,40 @@ +--- +tag: m0512 +title: Set Passcode +brief: Set a numeric passcode for locking the machine +author: shitcreek, thinkyhead + +since: 2.0.6.1 +requires: PASSWORD_FEATURE +group: security + +codes: [ M512 ] +related: [ M510, M511 ] + +notes: + - Requires `PASSWORD_FEATURE`. + - Use `PASSWORD_LENGTH` to configure the length, up to 9 digits. + +parameters: + - + tag: P + description: Current passcode. This must be correct to clear or change the passcode. + values: + - + tag: password + type: int + - + tag: S + optional: true + description: If `S` is included the new passcode will be set to this value. + values: + - + tag: password + type: int + +example: + - + pre: Change passcode from '1234' to '9090' + code: M512 P1234 S9090 +--- +Check the passcode given with `P` and if it is correct clear the passcode. If a new passcode is given with `S` then set a new passcode. diff --git a/systems/flexibot/docs/marlin/_gcode/M524.md b/systems/flexibot/docs/marlin/_gcode/M524.md new file mode 100644 index 000000000..ee2c737fd --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M524.md @@ -0,0 +1,23 @@ +--- +tag: m0524 +title: Abort SD print +brief: Abort an SD print started with [`M24`](/docs/gcode/M024.html) +author: thinkyhead + +requires: SDSUPPORT +since: 2.0.0 +group: sdcard + +codes: [ M524 ] + +notes: + - Requires [`SDSUPPORT`](/docs/configuration/configuration.html#sd-card) + +examples: + - + pre: Abort an SD print + code: M524 + +--- + +Abort an SD print in progress and turn off all heaters. diff --git a/systems/flexibot/docs/marlin/_gcode/M540.md b/systems/flexibot/docs/marlin/_gcode/M540.md new file mode 100644 index 000000000..fca764d7e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M540.md @@ -0,0 +1,30 @@ +--- +tag: m0540 +title: Endstops Abort SD +brief: Abort SD printing when an endstop is triggered. +author: thinkyhead + +requires: SDSUPPORT,SD_ABORT_ON_ENDSTOP_HIT +group: sdcard + +codes: [ M540 ] + +notes: + - Requires `SDSUPPORT` and `SD_ABORT_ON_ENDSTOP_HIT`. + - Use `ENDSTOPS_ALWAYS_ON_DEFAULT` or [`M120`](/docs/gcode/M120.html) to ensure that endstops are enabled. + +parameters: + - + tag: S + optional: false + description: Whether (1) or not (0) to abort SD printing on endstop hit. + values: + - + tag: flag + type: bool + +examples: + +--- + +Set whether SD printing should abort in the event of any endstop being triggered. This provides a fast way to abort a print in the event of mechanical failure such as loose couplings, lost steps, diverted axes, binding, etc., which lead to axes being very far out of position. diff --git a/systems/flexibot/docs/marlin/_gcode/M569.md b/systems/flexibot/docs/marlin/_gcode/M569.md new file mode 100644 index 000000000..598ee23be --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M569.md @@ -0,0 +1,66 @@ +--- +tag: m0569 +title: Set TMC stepping mode +brief: Toggle stealthChop +author: teemuatlut + +since: 2.0.0 +requires: TMC2130|TMC2208|TMC2209 +group: trinamic + +codes: [ M569 ] + +notes: + - Requires at least one stealthChop capable TMC driver, such as TMC2130, TMC2208, or TMC2209. + +parameters: + - + tag: X + optional: true + description: Stepping mode for the X stepper + - + tag: Y + optional: true + description: Stepping mode for the Y stepper + - + tag: Z + optional: true + description: Stepping mode for the Z stepper + - + tag: E + optional: true + description: Stepping mode for the E0 stepper + - + tag: I + optional: true + description: Index for multiple steppers. Use `I1` for X2, Y2, and/or Z2, and `I2` for Z3. + values: + - + unit: index + type: int + - + tag: T + optional: true + description: Index (tool) number for the E axis. If not specified, the E0 extruder. + values: + - + unit: index + type: int + +examples: + - + pre: Enable stealthChop on Z and E + code: M569 S1 Z E + - + pre: Disable stealthChop (use spreadCycle) on X and Y + code: M569 S0 X Y + - + pre: Enable stealthChop on X2 and E1 + code: M569 S1 I1 X T1 E + - + pre: Report driver modes + code: M569 + +--- + +Toggle between stealthChop and spreadCycle on supporting TMC drivers. diff --git a/systems/flexibot/docs/marlin/_gcode/M575.md b/systems/flexibot/docs/marlin/_gcode/M575.md new file mode 100644 index 000000000..bbc2dae39 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M575.md @@ -0,0 +1,50 @@ +--- +tag: m0575 +title: Serial baud rate +brief: Change the serial baud rate +author: thinkyhead + +since: 2.0.0 +requires: BAUD_RATE_GCODE +group: hosts + +codes: [ M575 ] + +notes: + - Only specified baud rates are allowed. + - Shorthand baud rates (shown below in parentheses) were added in 2.0.6.1. + +parameters: +- + tag: P + optional: true + description: Serial Port index. Omit for all serial ports. +- + tag: B + optional: false + description: | + The baud rate to set. Permitted values are: + - 2400 (24) + - 9600 (96) + - 19200 (19, 192) + - 38400 (38, 384) + - 57600 (57, 576) + - 115200 (115, 1152) + - 250000 (250) + - 500000 (500) + - 1000000 + values: + - + tag: baud + +examples: + - + pre: Set the baud rate for port 0 to 115.2K + code: M575 P0 B115200 + - + pre: Set the baud rate of all ports to 250K + code: M575 B250000 + +--- + +Change the baud rate of one serial port or all serial ports. This command will interrupt serial communication to the host and may reset the firmware when the host reconnects at the new baud rate. diff --git a/systems/flexibot/docs/marlin/_gcode/M593.md b/systems/flexibot/docs/marlin/_gcode/M593.md new file mode 100644 index 000000000..5b54bfb1e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M593.md @@ -0,0 +1,97 @@ +--- +tag: m0593 +title: Input Shaping +brief: Get or set Input Shaping parameters +author: thinkyhead + +since: 2.1.2 +requires: INPUT_SHAPING_[XY] +group: motion + +codes: [ M593 ] +related: [ M493 ] + +parameters: +- + tag: D + optional: true + description: Set the zeta/damping factor for the specified axes. If `X` and `Y` are omitted, both will be set. + values: + - + type: float + tag: zeta +- + tag: F + optional: true + description: Set the damping frequency for the specified axes. If `X` and `Y` are omitted, both will be set. + values: + - + type: float + tag: hertz +- + tag: X + optional: true + description: Flag to set the X axis value. If `X` and `Y` are omitted, both will be set. + values: + - + type: flag +- + tag: Y + optional: true + description: Flag to set the Y axis value. If `X` and `Y` are omitted, both will be set. + values: + - + type: flag + +videos: + - 7VLuz3hReYw + - 6zMNwiJX2CQ + - 2A27N8qfgZU + +examples: +- + pre: Set the frequency for X to 18.4Hz + code: M593 X F18.4 +- + pre: Set the frequency for X and Y to 36.2Hz + code: M593 F36.2 +- + pre: Disable Input Shaping + code: M593 F0 + +--- +{% alert info %}This G-code pertains to Marlin's integrated ZV Input Shaper. For the Fixed-Time Motion Planner Input Shaper see [`M493`](/docs/gcode/M493.html).{% endalert %} + +Set the Input Shaping damping factor and/or frequency (in Hertz) for axes that support it. Use `M593` with no parameters to report the current settings. + +#### Input Shaper Tuning +It's not always easy to attach an accelerometer to most printer boards, so Marlin doesn't provide accelerator-based tuning. If you have that information you can use it. But the easiest way to tune Input Shaping is to print a ringing tower that goes through a range of frequencies, then examine the appearance of the ringing tower to choose the best frequencies for each axis. + +##### Get the Test Model +Download the [Ringing Tower STL](/assets/stl/ringing_tower.stl) which you will slice and use for the print test. For a CoreXY printer you should rotate the model 45 degrees, which isolates the A and B components of the motion system. + +##### Prepare the Slicer +Use a slicer that provides custom G-code macros for layer change. For example you can open [Kiri:Moto](//grid.space/kiri/) or download [Prusa Slicer](//www.prusa3d.com/page/prusaslicer_424). If you use [Cura](//ultimaker.com/software/ultimaker-cura) you may need to install the Post Processing Plugin from the Cura Marketplace if it is not already installed. + +- In *Kiri:Moto* enable **Infill > Fill Type > Vase**. Then add the following under **Setup > Machine > Gcode Macros > Layer** to run a test range of 15Hz to 60Hz: + ``` + M593 F{(layer < 2 ? 0 : 15 + 45.0 * (layer - 2) / 297)} ; Hz Input Shaping Test + ``` + +- In *Prusa Slicer* you'll enable **Spiral vase**. Then add the following to your **Printer Settings > After layer change G-code** to run a test range of 15Hz to 60Hz: + ``` + M593 F{(layer_num < 2 ? 0 : 15 + 45.0 * (layer_num - 2) / 297)} ; Hz Input Shaping Test + ``` + +- In *Cura*, you'll first need to add the .py file in [this repository](//www.github.com/dsdanielko/cura-ringing-tower-script/) to your Cura "scripts" folder. Reopen Cura, enable **Spiralize Outer Contour** and set **Minimum Layer Time** to 0. Then go to **Extensions > Post Processing > Modify G-Code**. Click **Add a script** in the window that opens and use the dropdown menu to find **Input Shaping**. Make sure the **Motion planning type** dropdown is set to **M593**. The default frequency settings will let you test a range of 15Hz to 60Hz. + +##### Slice and Print +Slice and print the tower using 0.2mm layer height using the highest reasonable speed. When you examine the results it should be obvious where ringing is reduced the most on each axis. To get the Hz value for a given Z height, use the formula `15 + 45 * (z / 0.2 - 2) / 297`. + +##### Analyze the Result +Measure the height of the best looking layer, divide by the layer height, subtracting two layers. For example: +- The least X ringing appears at height 20mm. So we calculate `15 + 45 * (20 / 0.2 - 2) / 297` and get a result of 29.84Hz. +- Set this value with `M593 X F29.84` then save with `M500` and it will apply to all motion from now on. + +#### More Resources +TH3D Studio has created an [Input Shaper Calculator](//www.th3dstudio.com/marlin-input-shaping-calculator/) that you can use to get the Slicer G-code you need and calculate the Hz value based on the best-looking layers. diff --git a/systems/flexibot/docs/marlin/_gcode/M600.md b/systems/flexibot/docs/marlin/_gcode/M600.md new file mode 100644 index 000000000..b39905b63 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M600.md @@ -0,0 +1,102 @@ +--- +tag: m0600 +title: Filament Change +brief: Automatically change filament +author: clexpert, petrzjunior +contrib: thinkyhead + +since: 1.1.0 +requires: ADVANCED_PAUSE_FEATURE +group: filament + +codes: [ M600 ] + +notes: +- Requires `ADVANCED_PAUSE_FEATURE`. +- The settings for this command can be found in `Configuration_adv.h`. At this time [`M600`](/docs/gcode/M600.html) requires an LCD controller. + +parameters: +- + tag: T + optional: true + description: Target extruder + values: + - + tag: index + type: int +- + tag: E + optional: true + description: Retract before moving to change position (negative, default `PAUSE_PARK_RETRACT_LENGTH`) + values: + - + tag: pos + type: float +- + tag: U + optional: true + description: Amount of retraction for unload (negative) + values: + - + tag: pos + type: float +- + tag: L + optional: true + description: Load length, longer for bowden (negative) + values: + - + tag: pos + type: float +- + tag: X + optional: true + description: X position for filament change + values: + - + tag: pos + type: float +- + tag: Y + optional: true + description: Y position for filament change + values: + - + tag: pos + type: float +- + tag: Z + optional: true + description: Z relative lift for filament change position + values: + - + tag: pos + type: float +- + tag: B + optional: true + description: Number of beeps to alert user of filament change (default `FILAMENT_CHANGE_ALERT_BEEPS`) + values: + - + tag: beeps + type: int +- + tag: R + optional: true + description: "Resume temperature. (AUTOTEMP: the min auto-temperature.)" + values: + - + tag: temp + type: int + +examples: +- + pre: With no parameters [`M600`](/docs/gcode/M600.html) uses the settings in `Configuration.h`. + code: M600 ; execute filament change +- + pre: 'To set the change position:' + code: M600 X10 Y15 Z5 ; Do filament change at X:10, Y:15 and Z:+5 from current + +--- + +The [`M600`](/docs/gcode/M600.html) command initiates the filament change procedure. The basic procedure will move the print head away from the print, eject the filament, wait for new filament to be inserted and the user to confirm, load and prime the filament, and continue with the print. [`M600`](/docs/gcode/M600.html) may be initiated automatically if a filament runout sensor is installed. diff --git a/systems/flexibot/docs/marlin/_gcode/M603.md b/systems/flexibot/docs/marlin/_gcode/M603.md new file mode 100644 index 000000000..cc2774d48 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M603.md @@ -0,0 +1,49 @@ +--- +tag: m0603 +title: Configure Filament Change +brief: Configure automatic filament change parameters +author: ManuelMcLure + +since: 1.1.0 +requires: ADVANCED_PAUSE_FEATURE +group: filament + +codes: [ M603 ] + +notes: + - Requires `ADVANCED_PAUSE_FEATURE`. + +parameters: + - + tag: T + optional: true + description: Target extruder + values: + - + tag: index + type: int + - + tag: U + optional: true + description: Amount of retraction for unload (negative) + values: + - + tag: pos + type: float + - + tag: L + optional: true + description: Load length, longer for bowden (negative) + values: + - + tag: pos + type: float + +examples: + - + pre: Configure load and unload lengths for automatic filament change + code: M603 U120 L125 + +--- + +The [`M603`](/docs/gcode/M603.html) command configures automatic filament change parameters. diff --git a/systems/flexibot/docs/marlin/_gcode/M605.md b/systems/flexibot/docs/marlin/_gcode/M605.md new file mode 100644 index 000000000..851e416da --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M605.md @@ -0,0 +1,83 @@ +--- +tag: m0605 +title: Multi Nozzle Mode +brief: Set the behavior mode for a multiple nozzle setup +author: thinkyhead +contrib: pacocatech + +requires: MULTI_NOZZLE_DUPLICATION|DUAL_X_CARRIAGE +group: control + +codes: [ M605 ] + +notes: + +parameters: + - + tag: S + optional: false + description: Select the pin to set for all specified axes. + values: + - + tag: 0 + description: Full control mode. Both carriages are free to move, constrained by safe distance. (Requires `DUAL_X_CARRIAGE`) + - + tag: 1 + description: Auto-park mode. One carriage parks while the other moves. (Requires `DUAL_X_CARRIAGE`) + - + tag: 2 + description: Duplication mode. Carriages and extruders move in unison. + - + tag: 3 + description: Mirrored mode. The second extruder duplicates the motions of the first, but reversed in the X axis. + - + tag: X + optional: true + description: X distance between dual X carriages. (Requires `DUAL_X_CARRIAGE`) + values: + - + unit: linear + type: float + - + tag: R + optional: true + description: Temperature difference to apply to E1. (Requires `DUAL_X_CARRIAGE`) + values: + - + unit: temp + type: int + - + tag: P + optional: true + description: Bit-mask of nozzles to include in the duplication set. 0 disables duplication. Bit 1 is E0, Bit 2 is E1 ... Bit n is E(n-1). (Requires `MULTI_NOZZLE_DUPLICATION`) + values: + - + unit: mask + type: int + - + tag: E + optional: true + description: Last nozzle index to include in the duplication set. 0 disables duplication. (Requires `MULTI_NOZZLE_DUPLICATION`) + values: + - + unit: index + type: int + +examples: + - + pre: Set duplication mode + code: M605 S2 + - + pre: Set duplication mode and configure extruders E0,E1 and E2 as active. + code: M605 S2 E2 + - + pre: Set duplication mode and configure extruders E0 and E2 as active (This is bit pattern %101) + code: M605 S2 P5 + +--- +Set the behavior mode for multiple fixed nozzles such as a Dual Extruder or `DUAL_X_CARRIAGE` machine. + +This command behaves differently for `DUAL_X_CARRIAGE` vs. `MULTI_NOZZLE_DUPLICATION`: +- For `MULTI_NOZZLE_DUPLICATION` the `S2` parameter enables duplication mode. Any other value disables it. +- For `DUAL_X_CARRIAGE`, this command sets the Dual X mode. See the description of `S` below. +- For Mirrored Mode: `M605 S2 R0 X` and `M605 S3`. diff --git a/systems/flexibot/docs/marlin/_gcode/M665-scara.md b/systems/flexibot/docs/marlin/_gcode/M665-scara.md new file mode 100644 index 000000000..9ccf2ab8c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M665-scara.md @@ -0,0 +1,76 @@ +--- +tag: m0665b +title: SCARA Configuration +brief: Set SCARA geometry values +author: ManuelMcLure + +requires: MORGAN_SCARA|MAKERARM_SCARA +group: none + +codes: [ M665 ] + +notes: + +parameters: + - + tag: S + optional: true + description: Segments per second + values: + - + type: float + tag: segments-per-second + - + tag: P + optional: true + description: Theta-Psi offset, added to the shoulder (A/X) angle + values: + - + type: float + tag: theta-pi-offset + - + tag: T + optional: true + description: Theta offset, added to the elbow (B/Y) angle + values: + - + type: float + tag: theta-offset + - + tag: A + optional: true + description: Theta-Psi offset, alias for `P` + values: + - + type: float + tag: theta-pi-offset + - + tag: X + optional: true + description: Theta-Psi offset, alias for `P` + values: + - + type: float + tag: theta-pi-offset + - + tag: B + optional: true + description: Theta offset, alias for `T` + values: + - + type: float + tag: theta-offset + - + tag: Y + optional: true + description: Theta offset, alias for `T` + values: + - + type: float + tag: theta-offset + +examples: + +--- + +Configure SCARA geometry values diff --git a/systems/flexibot/docs/marlin/_gcode/M665.md b/systems/flexibot/docs/marlin/_gcode/M665.md new file mode 100644 index 000000000..e0cf1f22d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M665.md @@ -0,0 +1,94 @@ +--- +tag: m0665 +title: Delta Configuration +brief: Set delta geometry values +author: thinkyhead +contrib: thisiskeithb + +requires: DELTA +group: none + +codes: [ M665 ] + +notes: + +parameters: + - + tag: H + optional: true + description: Delta height + values: + - + type: float + tag: linear + - + tag: L + optional: true + description: Diagonal rod + values: + - + type: float + tag: linear + - + tag: R + optional: true + description: Delta radius + values: + - + type: float + tag: linear + - + tag: S + optional: true + description: Segments per second + values: + - + type: float + - + tag: X + optional: true + description: Alpha (Tower 1) angle trim + values: + - + type: float + - + tag: Y + optional: true + description: Beta (Tower 2) angle trim + values: + - + type: float + - + tag: Z + optional: true + description: Gamma (Tower 3) angle trim + values: + - + type: float + - + tag: A + optional: true + description: Alpha (Tower 1) diagonal rod trim + values: + - + type: float + - + tag: B + optional: true + description: Beta (Tower 2) diagonal rod trim + values: + - + type: float + - + tag: C + optional: true + description: Gamma (Tower 3) diagonal rod trim + values: + - + type: float + +examples: + +--- + +Delta machines are very fast and accurate when tuned. The first key is to make sure all your dimensions are set correctly. Even small errors in these values can lead to curved movements and failed prints. To ensure the best delta experience, use this command in conjunction with [`G33`](/docs/gcode/G033.html) to get these dimensions set perfectly before beginning to print. diff --git a/systems/flexibot/docs/marlin/_gcode/M666-dual.md b/systems/flexibot/docs/marlin/_gcode/M666-dual.md new file mode 100644 index 000000000..ba090786f --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M666-dual.md @@ -0,0 +1,42 @@ +--- +tag: m0666b +title: Set dual endstop offsets +brief: Set dual endstop offsets +author: ManuelMcLure + +group: calibration +requires: (X|Y|Z)_DUAL_ENDSTOPS + +codes: [ M666 ] + +parameters: + - + tag: X + optional: true + description: Offset for the X axis endstops + values: + - + tag: adj + type: float + - + tag: Y + optional: true + description: Offset for the Y axis endstops + values: + - + tag: adj + type: float + - + tag: Z + optional: true + description: Offset for the Z axis endstops + values: + - + tag: adj + type: float + +examples: + +--- + +Use the [`M666`](/docs/gcode/M666.html) command to adjust the offsets for dual (or multiple) endstops. diff --git a/systems/flexibot/docs/marlin/_gcode/M666.md b/systems/flexibot/docs/marlin/_gcode/M666.md new file mode 100644 index 000000000..9b796e4e2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M666.md @@ -0,0 +1,42 @@ +--- +tag: m0666a +title: Set Delta endstop adjustments +brief: Set Delta endstop adjustments +author: ManuelMcLure + +group: calibration +requires: DELTA + +codes: [ M666 ] + +parameters: + - + tag: X + optional: true + description: Adjustment for the X actuator endstop + values: + - + tag: adj + type: float + - + tag: Y + optional: true + description: Adjustment for the Y actuator endstop + values: + - + tag: adj + type: float + - + tag: Z + optional: true + description: Adjustment for the Z actuator endstop + values: + - + tag: adj + type: float + +examples: + +--- + +Use the [`M666`](/docs/gcode/M666.html) command to adjust the endstop offsets on a Delta printer. diff --git a/systems/flexibot/docs/marlin/_gcode/M672.md b/systems/flexibot/docs/marlin/_gcode/M672.md new file mode 100644 index 000000000..9ae0e5423 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M672.md @@ -0,0 +1,41 @@ +--- +tag: m0672 +title: Duet Smart Effector sensitivity +brief: Set Duet Smart Effector sensitivity +author: shitcreek + +since: 2.0.2 +requires: DUET_SMART_EFFECTOR +group: control + +codes: [ M672 ] + +notes: + - In addition to the `DUET_SMART_EFFECTOR` option, a defined `SMART_EFFECTOR_MOD_PIN` is also required. + - The format of `M672` in Marlin differs from [Duet Smart Effector documentation](//duet3d.dozuki.com/Wiki/Smart_effector_and_carriage_adapters_for_delta_printer). + - Use only one of the two parameters (`S` or `R`). + +parameters: + - + tag: S + optional: true + description: "Set sensitivity (0-255)" + values: + - + tag: sensitivity + type: int + - + tag: R + optional: true + description: "Revert sensitivity to factory settings" + values: + - + type: bool + +example: + - + pre: Set sensitivity to 255 + code: M672 S255 +--- + +Set or reset Duet Smart Effector sensitivity. diff --git a/systems/flexibot/docs/marlin/_gcode/M701.md b/systems/flexibot/docs/marlin/_gcode/M701.md new file mode 100644 index 000000000..db1e15e0a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M701.md @@ -0,0 +1,48 @@ +--- +tag: m0701 +title: Load filament +brief: Load filament +author: revilor + +requires: NOZZLE_PARK_FEATURE,ADVANCED_PAUSE_FEATURE,FILAMENT_LOAD_UNLOAD_GCODES +group: control + +codes: [ M701 ] + +notes: + - Enabled using [`FILAMENT_LOAD_UNLOAD_GCODES`](/docs/configuration/configuration.html#advanced-pause). + - Uses the minimum temperature for safe extrusion as set by [`M302`](/docs/gcode/M302.html). +parameters: + - + tag: T + optional: true + description: Optional extruder index. Current extruder if omitted. + values: + - + tag: extruder + type: int + - + tag: Z + optional: true + description: Move the Z axis by this distance + values: + - + tag: distance + type: float + - + tag: L + optional: false + description: Extrude distance for insertion (positive value) (manual reload) + values: + - + tag: distance + type: float + +examples: + - + pre: Load filament into the active extruder + code: M701 + +--- + +Load filament into the active extruder. By default this will use the configured `ADVANCED_PAUSE_FEATURE` settings. diff --git a/systems/flexibot/docs/marlin/_gcode/M702.md b/systems/flexibot/docs/marlin/_gcode/M702.md new file mode 100644 index 000000000..d5b07ac7a --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M702.md @@ -0,0 +1,48 @@ +--- +tag: m0702 +title: Unload filament +brief: Unload filament +author: revilor + +requires: NOZZLE_PARK_FEATURE,ADVANCED_PAUSE_FEATURE,FILAMENT_LOAD_UNLOAD_GCODES +group: control + +codes: [ M702 ] + +notes: + - Enabled using [`FILAMENT_LOAD_UNLOAD_GCODES`](/docs/configuration/configuration.html#advanced-pause). + - Uses the minimum temperature for safe extrusion as set by [`M302`](/docs/gcode/M302.html). +parameters: + - + tag: T + optional: true + description: Optional extruder number. If omitted, current extruder (or ALL extruders with [`FILAMENT_UNLOAD_ALL_EXTRUDERS`](/docs/configuration/configuration.html#advanced-pause)). + values: + - + tag: extruder + type: int + - + tag: Z + optional: true + description: Move the Z axis by this distance + values: + - + tag: distance + type: float + - + tag: U + optional: false + description: Retract distance for removal (manual reload) + values: + - + tag: distance + type: float + +example: + - + pre: Unload filament from current extruder + code: M702 + +--- + +Unload filament. By default this command will use the configured `ADVANCED_PAUSE_FEATURE` settings. diff --git a/systems/flexibot/docs/marlin/_gcode/M710.md b/systems/flexibot/docs/marlin/_gcode/M710.md new file mode 100644 index 000000000..30b41fcd0 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M710.md @@ -0,0 +1,66 @@ +--- +tag: m0710 +title: Controller Fan settings +brief: Set or report controller fan settings +author: thinkyhead + +requires: CONTROLLER_FAN_EDITABLE +since: 2.0.5.2 +group: thermal + +codes: [ M710 ] + +parameters: + - + tag: S + optional: true + description: Set the speed of the controller fan when motors are active. + values: + - + tag: speed + type: int + - + tag: I + optional: true + description: Set the speed of the controller fan when motors are off. + values: + - + tag: speed + type: int + - + tag: A + optional: true + description: Set whether the fan speed is set automatically. When turned off the controller fan speed will remain where it is. + values: + - + type: bool + - + tag: R + optional: true + description: Reset all settings to defaults. Other parameters can be included to override. + values: + - + type: bool + - + tag: D + optional: true + description: Set the extra duration to keep the fan speed high after motors are turned off. + values: + - + tag: seconds + type: int + +examples: + - + pre: Set the Controller Fan to full speed now + code: M710 A0 S255 + - + pre: Use full speed when motors are on, half speed when off + code: M710 A1 S255 I128 + - + pre: Reset Controller Fan settings to defaults + code: M710 R + +--- + +Set one or more Controller Fan options. Without any parameters report the current settings. diff --git a/systems/flexibot/docs/marlin/_gcode/M7219.md b/systems/flexibot/docs/marlin/_gcode/M7219.md new file mode 100644 index 000000000..52036e183 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M7219.md @@ -0,0 +1,102 @@ +--- +tag: m7219 +title: MAX7219 Control +brief: Control Max7219 Segmented LEDs +author: thinkyhead + +requires: MAX7219_DEBUG +group: debug + +codes: [ M7219 ] + +images: + - + title: Max7219 with 8x8 Matrix + caption: This single-unit Max7219 with 8x8 Matrix is commonly found online in both assembled and kit form for only a few dollars. + path: max7219-board.png + + - + title: Settings for Max7219 Orientation + caption: Use the `MAX7219_ROTATE` and `MAX7219_SIDE_BY_SIDE` settings that best suit the orientation of your matrix according to this chart. + path: max7219-rotation.svg + +notes: Requires `MAX7219_DEBUG`. + +parameters: + - + tag: C + optional: true + description: Set the column specified by `C` to bit pattern `V`. + values: + - + tag: column + type: int + - + tag: D + optional: true + description: Directly set a Max7219 native row (on the unit specified by `U`) to the 8-bit pattern `V`. + values: + - + tag: row + type: int + - + tag: R + optional: true + description: Set the row specified by `R` to bit pattern `V`. + values: + - + tag: row + type: int + - + tag: I + optional: true + description: Initialize (clear) all matrixes. + - + tag: F + optional: true + description: Fill the matrix by turning on all LEDs. + - + tag: P + optional: true + description: Print the LED array state for debugging. + - + tag: U + optional: true + description: Used with `D` to specify which matrix unit to set. + values: + - + tag: index + type: int + - + tag: V + optional: true + description: Value to apply when using the `C`, `R`, or `X`/`Y` parameters. + values: + - + tag: bits + type: long + - + tag: X + optional: true + description: Set a matrix LED at the given `X` position to the `V` value. If no `V` is given, toggle the LED state. + values: + - + tag: index + type: int + - + tag: Y + optional: true + description: Set a matrix LED at the given `Y` position to the `V` value. If no `V` is given, toggle the LED state. + values: + - + tag: index + type: int + +videos: + - JXMEKXsmTpA + +examples: + +--- + +Set the state of one or more Max7219 matrix displays or 7-segment digital displays. diff --git a/systems/flexibot/docs/marlin/_gcode/M808.md b/systems/flexibot/docs/marlin/_gcode/M808.md new file mode 100644 index 000000000..88e058899 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M808.md @@ -0,0 +1,38 @@ +--- +tag: m0808 +title: Repeat Marker +brief: Set or go to a marker for looping G-code +author: thinkyhead + +since: 2.0.8 +requires: GCODE_REPEAT_MARKERS +group: none + +codes: [ M808 ] + +notes: + - At this time repeat markers only apply during SD printing. + +parameters: + - + tag: L + optional: true + description: Loop counter. Use `L` or `L0` for an infinite loop. + values: + - + unit: count + type: int + +example: + - + pre: Say "Hello World" 5 times + code: + - M808 L5 + - M118 Hello World + - M808 + +--- + +The Repeat Marker command is used to define regions of a G-code file that will be repeated during SD printing. A marker is first set with `M808 L[count]`, and later in the file a plain `M808` command is used count down and loop. (By default up to 10 start markers can be nested.) + +In slicer software put `M808 L` to the "**Start G-code**" and `M808` to the "**End G-code**." But this command is not the only requirement. Before starting each whole object it's important to actually clear the print area of obstacles and to reset the coordinate system with `G92` or `G28`, so this command is best used with belt printers or other systems with automatic print removal. diff --git a/systems/flexibot/docs/marlin/_gcode/M810-M819.md b/systems/flexibot/docs/marlin/_gcode/M810-M819.md new file mode 100644 index 000000000..645403967 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M810-M819.md @@ -0,0 +1,31 @@ +--- +tag: m0810 +title: G-code macros +brief: Set/execute one of ten G-code macros +author: Speaka + +codes: [ M810, M811, M812, M813, M814, M815, M816, M817, M818, M819 ] + +requires: GCODE_MACROS + +notes: + - Requires `GCODE_MACROS`. + +parameters: + - + tag: string + optional: true + description: Set Macro to the given commands, separated by the pipe character. + +example: + - + pre: Define Macro 5 to do some moves and make a beep + code: + - M815 G0 X0 Y0|G0 Z10|M300 S440 P50 + - + pre: Run Macro 5 + code: + - M815 +--- + +Use the `M810`-`M819` commands to set and execute 10 distinct G-code "macros." Put anything after the command to define its macro. To run the macro just send `M810`-`M819` by itself. Multiple commands in one macro are separated by the pipe character ('`|`'). diff --git a/systems/flexibot/docs/marlin/_gcode/M851.md b/systems/flexibot/docs/marlin/_gcode/M851.md new file mode 100644 index 000000000..a0ee04529 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M851.md @@ -0,0 +1,94 @@ +--- +tag: m0851 +title: XYZ Probe Offset +brief: Set the Z probe XYZ offset from nozzle +author: thinkyhead + +requires: HAS_BED_PROBE +group: none + +codes: [ M851 ] + +notes: + - The default (factory) values are set by + - | + - (version 1.x) + - `X_PROBE_OFFSET_FROM_EXTRUDER` + - `Y_PROBE_OFFSET_FROM_EXTRUDER` + - `Z_PROBE_OFFSET_FROM_EXTRUDER` + + - (version 2.x) + - `NOZZLE_TO_PROBE_OFFSET` + + and are integer values. + + Positions: + X offset: -left +right [of the nozzle] + Y offset: -front +behind [the nozzle] + Z offset: -below +above [the nozzle] + + ``` +   +-- BACK ---+ +   |     | + L | (+) P | R <-- probe (20,20) + E | | I + F | (-) N (+) | G <-- nozzle (10,10) + T | | H +   | (-) | T +   | | +   O-- FRONT --+ +  (0,0) + ``` + +parameters: + - + tag: X + optional: true + description: Z probe X offset + values: + - + unit: linear + type: float + - + tag: Y + optional: true + description: Z probe Y offset + values: + - + unit: linear + type: float + - + tag: Z + optional: true + description: Z probe Z offset + values: + - + unit: linear + type: float + +examples: + - + pre: Set a reasonable offset for an inductive probe + code: M851 Z-2.0 + - + pre: A probe that is triggered by the nozzle itself + code: M851 Z1.2 + - + pre: Set the XY distance (probe left front of nozzle) + code: M851 X-1.70 Y-1.30 + - + pre: Set the XY distance (probe right back of nozzle) + code: M851 X0.20 Y.40 + +--- + +Set the XYZ distance from the nozzle to the probe trigger-point. + +The easiest way to get the Z offset value is to: + - Home the Z axis. + - Raise Z and deploy the probe. + - Move Z down slowly until the probe triggers. + - Take the current Z value and negate it. (`5.2` => `-5.2`) + - Set with `M851 Z-5.2` and `#define Z_PROBE_OFFSET_FROM_EXTRUDER -5.2`. + +For X and Y you have to measure the distance. diff --git a/systems/flexibot/docs/marlin/_gcode/M852.md b/systems/flexibot/docs/marlin/_gcode/M852.md new file mode 100644 index 000000000..3e2659597 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M852.md @@ -0,0 +1,39 @@ +--- +tag: m0852 +title: Bed Skew Compensation +brief: Misalignment in the XYZ axes. +author: HekTron802 + +experimental: true +group: calibration + +codes: [ M852 ] + +notes: + - Correction factors have a range of -1 to 1. + - See Bed Skew Compensation section in the configuration file for more information on calculating the correction factors. + +parameters: + - + tag: I + type: float + optional: true + description: Skew correction factor for XY axis. + - + tag: J + type: float + optional: true + description: Skew correction factor for XZ axis + - + tag: K + type: float + optional: true + description: Skew correction factor for YZ axis + - + tag: S + type: float + optional: true + description: Alias for `I` when only XY skew correction is enabled +--- + +Bed Skew Compensation corrects for misalignment in the XY, XZ, and ZY axes through the use of correction factors. diff --git a/systems/flexibot/docs/marlin/_gcode/M860-M869.md b/systems/flexibot/docs/marlin/_gcode/M860-M869.md new file mode 100644 index 000000000..579ea036e --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M860-M869.md @@ -0,0 +1,122 @@ +--- +tag: m0860 +title: I2C Position Encoders +brief: I2C position encoders for closed loop control +author: shitcreek + +since: 1.0.0-beta +requires: I2C_POSITION_ENCODERS +group: encoder + +codes: [ M860, M861, M862, M863, M864, M865, M866, M867, M868, M869 ] + +notes: + - Requires `I2C_POSITION_ENCODERS`. + - See [this wiki article](//wiki.aus3d.com.au/Magnetic_Encoder) for more info. + +parameters: + - + tag: I + optional: true + description: Module index. [0, I2CPE_ENCODER_CNT - 1] + values: + - + tag: index + type: int + - + tag: O + optional: true + description: Include homed zero-offset in returned position + values: + - + type: bool + - + tag: X + optional: true + description: Report on X axis encoder if present. (If A or I not specified) + values: + - + tag: axis + type: char + - + tag: Y + optional: true + description: Report on Y axis encoder if present. (If A or I not specified) + values: + - + tag: axis + type: char + - + tag: Z + optional: true + description: Report on Z axis encoder if present. (If A or I not specified) + values: + - + tag: axis + type: char + - + tag: E + optional: true + description: Report on E axis encoder if present. (If A or I not specified) + values: + - + tag: axis + type: char + - + tag: U + optional: true + description: Units in mm or raw step count. (for M860 only) + values: + - + type: bool + - + tag: P + optional: true + description: Number of rePeats/iterations. (for M863 only) + values: + - + type: int + - + tag: S + optional: true + description: Module new I2C address. [30, 200]. (for M864 only) + values: + - + tag: addr + type: int + - + tag: R + optional: true + description: Reset error counter. (for M866 only) + values: + - + type: bool + - + tag: S + optional: true + description: Enable/disable error correction. 1 enables, 0 disables. If not supplied, toggle. (for M867 only) + values: + - + type: bool + - + tag: T + optional: true + description: New error correction threshold. (for M868 only) + values: + - + type: float +--- +- M860 - Report the position(s) of position encoder module(s). +- M861 - Report the status of position encoder modules. +- M862 - Perform an axis continuity test for position encoder modules. +- M863 - Perform steps-per-mm calibration for position encoder modules. +- M864 - Change position encoder module I2C address. +- M865 - Check position encoder module firmware version. +- M866 - Report or reset position encoder module error count. +- M867 - Enable/disable or toggle error correction for position encoder modules. +- M868 - Report or set position encoder module error correction threshold. +- M869 - Report position encoder module error. + +I2C position encoders for closed loop control. Developed by Chris Barr at Aus3D. +[Wiki: https://wiki.aus3d.com.au/Magnetic_Encoder](//wiki.aus3d.com.au/Magnetic_Encoder) +[Github: https://github.com/Aus3D/MagneticEncoder](//github.com/Aus3D/MagneticEncoder) diff --git a/systems/flexibot/docs/marlin/_gcode/M871.md b/systems/flexibot/docs/marlin/_gcode/M871.md new file mode 100644 index 000000000..0ccebc89d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M871.md @@ -0,0 +1,81 @@ +--- +tag: m0871 +title: Probe temperature config +brief: Configure probe temperature compensation +author: tompe-proj +contrib: thinkyhead + +requires: PROBE_TEMP_COMPENSATION +experimental: true +group: calibration + +codes: [ M871 ] +related: [ G76, M192 ] + +notes: + - Requires `PROBE_TEMP_COMPENSATION`. + - Values at index zero are constant (zero). + - Compensation values are stored in µm (micrometers). + - Use [`M500`](/docs/gcode/M500.html) to save the values to EEPROM. + +parameters: + - + tag: V + optional: true + description: Z adjustment value, in micrometers. + values: + - + tag: µm + type: int + - + tag: I + optional: true + description: Index at which to store the given Z adjustment value. + values: + - + tag: flag + type: bool + - + tag: B + optional: true + description: Store the value `V` as the Z adjustment at index `I` for the Bed. + values: + - + tag: flag + type: bool + - + tag: P + optional: true + description: Store the value `V` as the Z adjustment at index `I` for the Probe. + values: + - + tag: flag + type: bool + - + tag: E + optional: true + description: Store the value `V` as the Z adjustment at index `I` for the Extruder. + values: + - + tag: flag + type: bool + - + tag: R + optional: true + description: Reset all Z adjustment values to factory defaults (zero). + values: + - + tag: flag + type: bool + +example: + - + code: + - M871 ; print current values + - M871 R ; reset all values factory default (zero, effectively disabling compensation) + - M871 P I1 V-5 ; set probe compensation value at index 1 to -5µm + - M871 B I2 V20 ; set bed compensation value at index 2 to 20µm + - M871 E I4 V-13 ; set extruder compensation value at index 4 to -13µm +--- + +Read/write probe temperature compensation values. Values for bed and/or probe can be calibrated using the [`G76`](/docs/gcode/G076.html) command. diff --git a/systems/flexibot/docs/marlin/_gcode/M876.md b/systems/flexibot/docs/marlin/_gcode/M876.md new file mode 100644 index 000000000..809f1fda8 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M876.md @@ -0,0 +1,34 @@ +--- +tag: m0876 +title: Handle Prompt Response +brief: Handle Host prompt responses +author: shitcreek + +requires: HOST_PROMPT_SUPPORT +group: hosts + +codes: [ M876 ] + +notes: + - When `EMERGENCY_PARSER` is enabled the `M876` command is handled as soon as the command arrives. + +parameters: + - + tag: S + optional: false + description: "Response to prompt" + values: + - + tag: response + type: int + +example: + - + pre: Respond `Purge More` to `FILAMENT_RUNOUT` prompt + code: M876 S0 +--- +Handle responses from the host, such as: + - Filament runout responses: Purge More, Continue + - General "Continue" response + - Resume Print response + - Dismissal of info diff --git a/systems/flexibot/docs/marlin/_gcode/M900.md b/systems/flexibot/docs/marlin/_gcode/M900.md new file mode 100644 index 000000000..83346d8f6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M900.md @@ -0,0 +1,85 @@ +--- +tag: m0900 +title: Linear Advance Factor +brief: Get and set Linear Advance K value +author: thinkyhead + +requires: LIN_ADVANCE +group: control + +codes: [ M900 ] + +notes: See [Linear Advance](/docs/features/lin_advance.html) for details on how to determine the K factor and a link to our calibration tool. + +parameters: + - + tag: K + optional: true + description: | + The K factor to set for the specified extruder. Unchanged if omitted. Set this value higher for more flexible filament or a longer filament path. + + With `EXTRA_LIN_ADVANCE_K` this sets the *primary* K factor. Note that this factor may be inactive and won't take effect until the next `M900 S0`. + values: + - + tag: kfactor + type: float + - + tag: L + since: 2.0.0 + optional: true + description: Set the second K factor for the specified extruder. Requires `EXTRA_LIN_ADVANCE_K`. Note that this factor may be inactive and won't take effect until the next `M900 S1`. + values: + - + tag: kfactor + type: float + - + tag: S + since: 2.0.0 + optional: true + description: Select slot and activate the last stored value. Requires `EXTRA_LIN_ADVANCE_K`. + values: + - + tag: slot + type: int + - + tag: T + since: 2.0.0 + optional: true + description: Extruder to which `K`, `L`, and `S` will apply. Requires `EXTRA_LIN_ADVANCE_K`. + values: + - + tag: index + type: int + +videos: + - n3yK0lJ8TWM + - _BiqlXPPfu4 + +examples: + - + pre: Fetch the K factor + code: M900 + - + pre: Set the K factor + code: M900 K0.18 + - + pre: Disable Linear Advance + code: M900 K0 + - + pre: "`EXTRA_LIN_ADVANCE_K` adds an extra storage slot." + code: | + M900 S0 ; Select main K factor and apply it + M900 T2 K0.22 L0.4 ; Set both T2 K factors. K0.22 will be applied. + M900 T2 S1 ; Select extra K factor. L0.4 will be applied. + M900 T2 S1 ; (does nothing this time) + M900 T2 L0.3 ; Set T2 extra (and active) K factor + ... + M900 T2 S0 ; Select main K factor (0.22) + +--- + +This command sets and/or reports the Linear Advance K factors. + +Setting the K factor to 0 disables Linear Advance. + +With the `EXTRA_LIN_ADVANCE_K` option Marlin maintains two slots for each extruder. The first slot is set with `K` and the second slot is set with `L`, then select the first using `S0` and the second using `S1`. diff --git a/systems/flexibot/docs/marlin/_gcode/M906.md b/systems/flexibot/docs/marlin/_gcode/M906.md new file mode 100644 index 000000000..69a3833ff --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M906.md @@ -0,0 +1,79 @@ +--- +tag: m0906 +title: Stepper Motor Current +brief: Set the motor current (in milliamps) +author: thinkyhead + +requires: TMC2130|TMC2208|TMC2660|L64xx +group: none + +codes: [ M906 ] + +notes: Requires one or more compatible Trinamic or L64xx stepper drivers. + +parameters: + - + tag: E + optional: true + description: Current for the E0 stepper + values: + - + unit: mA + type: int + - + tag: I + optional: false + since: 1.1.9 + description: Index for multiple steppers. (i.e., `I1` for X2, Y2, Z2; `I2` for Z3; `I3` for Z4). + values: + - + unit: index + type: int + - + tag: T + optional: true + since: 1.1.9 + description: Index (tool) number for the E axis. If not specified, the E0 extruder. + values: + - + unit: index + type: int + - + tag: X + optional: true + description: Current for the X stepper + values: + - + unit: mA + type: int + - + tag: Y + optional: true + description: Current for the Y stepper + values: + - + unit: mA + type: int + - + tag: Z + optional: true + description: Current for the Z stepper + values: + - + unit: mA + type: int + +examples: + - + pre: Set the XYZ motor currents to 5mA + code: M906 X5 Y5 Z5 + - + pre: Set the E1 motor current to 10mA + code: M906 T1 E10 + - + pre: Set the X2 motor current to 5mA + code: M906 I1 X5 + +--- + +Set stepper motor currents in milliamps units. diff --git a/systems/flexibot/docs/marlin/_gcode/M907.md b/systems/flexibot/docs/marlin/_gcode/M907.md new file mode 100644 index 000000000..46e458a3c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M907.md @@ -0,0 +1,76 @@ +--- +tag: m0907 +title: Set Motor Current +brief: Set motor current via digital trimpot +author: thinkyhead + +requires: DIGIPOTSS_PIN|HAS_MOTOR_CURRENT_PWM|DIGIPOT_I2C|DAC_STEPPER_CURRENT +group: control + +codes: [ M907 ] + +notes: + +parameters: + - + tag: B + optional: true + description: Current for the E1 stepper (Requires `DIGIPOTSS_PIN` or `DIGIPOT_I2C`) + values: + - + tag: current + - + tag: C + optional: true + description: Current for the E2 stepper (Requires `DIGIPOT_I2C`) + values: + - + tag: current + - + tag: D + optional: true + description: Current for the E3 stepper (Requires `DIGIPOT_I2C`) + values: + - + tag: current + - + tag: E + optional: true + description: Current for the E0 stepper + values: + - + tag: current + - + tag: S + optional: true + description: Set this current on all steppers (Requires `DIGIPOTSS_PIN` or `DAC_STEPPER_CURRENT`) + values: + - + tag: current + - + tag: X + optional: true + description: Current for the X stepper (and the Y stepper with `MOTOR_CURRENT_PWM_XY`) + values: + - + tag: current + - + tag: Y + optional: true + description: Current for the Y stepper (Use `X` with `MOTOR_CURRENT_PWM_XY`) + values: + - + tag: current + - + tag: Z + optional: true + description: Current for the Z stepper + values: + - + tag: current + +examples: + +--- + +Set digital trimpot motor current using axis codes `X`, `Y`, `Z`, `E`, plus `B` and `S`. The unit used for current depends on the type of stepper driver. diff --git a/systems/flexibot/docs/marlin/_gcode/M908.md b/systems/flexibot/docs/marlin/_gcode/M908.md new file mode 100644 index 000000000..741b063bc --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M908.md @@ -0,0 +1,36 @@ +--- +tag: m0908 +title: Set Trimpot Pins +brief: Set a digital trimpot directly +author: thinkyhead + +requires: DAC_STEPPER_CURRENT|DIGIPOTSS_PIN +group: control + +codes: [ M908 ] + +notes: Requires `DAC_STEPPER_CURRENT` or `DIGIPOTSS_PIN`. + +parameters: + - + tag: P + optional: false + description: Pin (i.e., Address, Channel) + values: + - + tag: address + type: int + - + tag: S + optional: false + description: Current value + values: + - + tag: current + type: int + +examples: + +--- + +Set the digital trimpot current directly by address/channel/pin index. `DAC_STEPPER_CURRENT` pertains to the MCP4728. diff --git a/systems/flexibot/docs/marlin/_gcode/M909.md b/systems/flexibot/docs/marlin/_gcode/M909.md new file mode 100644 index 000000000..1837d6b8d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M909.md @@ -0,0 +1,22 @@ +--- +tag: m0909 +title: DAC Print Values +brief: Report DAC current values to host +author: thinkyhead + +requires: DAC_STEPPER_CURRENT +group: control + +codes: [ M909 ] + +notes: Requires `DAC_STEPPER_CURRENT`. + +parameters: + +examples: + - + code: M909 + +--- + +Print the DAC stepper current values in the format "`% (Amps)`". diff --git a/systems/flexibot/docs/marlin/_gcode/M910.md b/systems/flexibot/docs/marlin/_gcode/M910.md new file mode 100644 index 000000000..6c698c7c6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M910.md @@ -0,0 +1,20 @@ +--- +tag: m0910 +title: Commit DAC to EEPROM +brief: Commit digipot/DAC value to external EEPROM +author: thinkyhead + +requires: DAC_STEPPER_CURRENT +group: control + +codes: [ M910 ] + +notes: Requires `DAC_STEPPER_CURRENT`. + +parameters: + +examples: + +--- + +Commit digipot/DAC value to external EEPROM via I2C. diff --git a/systems/flexibot/docs/marlin/_gcode/M911.md b/systems/flexibot/docs/marlin/_gcode/M911.md new file mode 100644 index 000000000..2d9eaf85b --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M911.md @@ -0,0 +1,20 @@ +--- +tag: m0911 +title: TMC OT Pre-Warn Condition +brief: Driver overtemperature pre-warn condition +author: thinkyhead + +requires: TMC2130|TMC2208|TMC2209|TMC2660, MONITOR_DRIVER_STATUS +group: trinamic + +codes: [ M911 ] + +notes: Requires one or more TMC stepper drivers. + +parameters: + +examples: + +--- + +Report the TMC stepper driver overtemperature pre-warn condition to the host. diff --git a/systems/flexibot/docs/marlin/_gcode/M912.md b/systems/flexibot/docs/marlin/_gcode/M912.md new file mode 100644 index 000000000..f6b5140fc --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M912.md @@ -0,0 +1,73 @@ +--- +tag: m0912 +title: Clear TMC OT Pre-Warn +brief: Clear overtemperature pre-warn condition flag +author: thinkyhead + +requires: TMC2130|TMC2208|TMC2209|TMC2660, MONITOR_DRIVER_STATUS +group: control + +codes: [ M912 ] + +notes: Requires one or more TMC stepper drivers. + +parameters: + - + tag: I + optional: true + since: 1.1.9 + description: Stepper number to set. If omitted, all specified axes. + values: + - + tag: 0 + description: Both. + - + tag: 1 + description: Base (X, Y, Z) steppers. + - + tag: 2 + description: Second (X2, Y2, Z2) steppers. + - + tag: 3 + description: Third (Z3) steppers. + - + tag: X + type: int + optional: true + description: Clear `X` and/or `X2` stepper driver Over Temperature Pre-warn flag. + - + tag: Y + type: int + optional: true + description: Clear `Y` and/or `Y2` stepper driver Over Temperature Pre-warn flag. + - + tag: Z + type: int + optional: true + description: Clear `Z` and/or `Z2` and/or `Z3` stepper driver Over Temperature Pre-warn flag. + - + tag: E + type: int + optional: true + description: Clear all or one `E` stepper driver Over Temperature Pre-warn flag. + values: + - + tag: "-" + description: All E. + - + tag: 0-4 + description: E index. + +examples: + - + code: | + M912 ; clear all + M912 X ; clear X and X2 + M912 X1 ; clear X1 only + M912 X2 ; clear X2 only + M912 X E ; clear X, X2, and all E + M912 E1 ; clear E1 only + +--- + +Clear the stepper driver overtemperature pre-warn condition flag. diff --git a/systems/flexibot/docs/marlin/_gcode/M913.md b/systems/flexibot/docs/marlin/_gcode/M913.md new file mode 100644 index 000000000..79c4227cb --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M913.md @@ -0,0 +1,68 @@ +--- +tag: m0913 +title: Set Hybrid Threshold Speed +brief: TMC driver switching to spreadCycle +author: mbuc + +requires: TMC2130|TMC2208|TMC2209, HYBRID_THRESHOLD +group: control + +codes: [ M913 ] + +notes: + - At least one parameter must be used. + - Setting `X`, `Y`, `Z`, or `E` will set the hybrid threshold for all motors that fall under that category that have the `_IS_TRINAMIC` flag set. See examples below. + +parameters: + - + tag: I + optional: true + since: 1.1.9 + description: Index for multiple steppers. (i.e., `I1` for X2, Y2, Z2; `I2` for Z3; `I3` for Z4). + values: + - + unit: index + type: int + - + tag: T + optional: true + since: 1.1.9 + description: Index (tool) number for the E axis. If not specified, the E0 extruder. + values: + - + unit: index + type: int + - + tag: X + type: int + optional: true + description: Set Hybrid Threshold for X to the given value. + - + tag: Y + type: int + optional: true + description: Set Hybrid Threshold for Y to the given value. + - + tag: Z + type: int + optional: true + description: Set Hybrid Threshold for Z to the given value. + - + tag: E + type: int + optional: true + description: Set Hybrid Threshold for E to the given value. + +examples: + - + pre: Set Hybrid Threshold for X and X2 to 100… + post: …assuming that X and X2 are both Trinamic drivers. + code: M913 X100 + - + pre: Hybrid Threshold for X and X2 are set to 100; Y is set to 120; E0 and E2 are set to 30… + post: …assuming that X, X2, Y, E0, and E2 are all Trinamic drivers, but E1 is not. + code: M913 X100 Y120 E30 + +--- + +When `HYBRID_THRESHOLD` is enabled, the TMC driver is switched from the quieter StealthChop to spreadCycle when the feed rate for a given stepper motor is over its `_HYBRID_THRESHOLD`. diff --git a/systems/flexibot/docs/marlin/_gcode/M914.md b/systems/flexibot/docs/marlin/_gcode/M914.md new file mode 100644 index 000000000..b25abbeb2 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M914.md @@ -0,0 +1,67 @@ +--- +tag: m0914 +title: TMC Bump Sensitivity +brief: Set sensorless homing sensitivity +author: thinkyhead,mbuc +contrib: saikek, shitcreek + +requires: SENSORLESS_HOMING +group: trinamic + +codes: [ M914 ] + +notes: + - Set all `*_HOME_BUMP_MM` values to 0 for best results. + - Set the default stall thresholds with `*_STALL_SENSITIVITY`. + - | + Compatible with TMC2130 and TMC2209. + + |Sensitivity|TMC2209|Others| + |--|--|--| + |LOWEST|0|+63| + |HIGHEST|255|-64| + + - High sensitivity may produce false positives. + - Low sensitivity may fail to trigger. + +parameters: + - + tag: I + optional: true + since: 1.1.9 + description: Index for multiple steppers. (i.e., `I1` for X2, Y2, Z2; `I2` for Z3; `I3` for Z4). + values: + - + unit: index + type: int + - + tag: X + optional: true + description: Sensitivity of the X stepper driver. + values: + - + type: int + - + tag: Y + optional: true + description: Sensitivity of the Y stepper driver. + values: + - + type: int + - + tag: Z + optional: true + description: Sensitivity of the Z stepper driver. + values: + - + type: int + +Value Ranges: + - TMC2208: from 0..255 + - TCM2130: from -64..+63 + +examples: + +--- + +Some TMC stepper drivers can detect when they bump into something that causes them to stop moving. This feature is so sensitive that it can actually take the place of traditional endstops. Use this command to set the bump sensitivity for the X, Y, and Z stepper drivers. diff --git a/systems/flexibot/docs/marlin/_gcode/M915.md b/systems/flexibot/docs/marlin/_gcode/M915.md new file mode 100644 index 000000000..eb21c23fd --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M915.md @@ -0,0 +1,52 @@ +--- +tag: m0915 +title: TMC Z axis calibration +brief: Align ends of the Z axis and test torque +author: thinkyhead + +deprecated: 2.0.0 +requires: TMC2130,TMC_Z_CALIBRATION +group: control + +codes: [ M915 ] + +notes: + - This command is deprecated. Use `G34` ([`Z_STEPPER_AUTO_ALIGN`](/docs/gcode/G034-zsaa.html) or [`MECHANICAL_GANTRY_CALIBRATION`](/docs/gcode/G034-mgc.html)) instead. + - Requires `TMC_Z_CALIBRATION` and at least one TMC driver for Z axis. + - If `Z_DUAL_STEPPER_DRIVERS` is used, both should be TMC drivers. + +parameters: + - + tag: S + optional: true + description: "Current value to use for the raise move. (Default: `CALIBRATION_CURRENT`)" + values: + - + unit: mA + type: int + - + tag: Z + optional: true + description: "Extra distance past `Z_MAX_POS` to move the Z axis. (Default: `CALIBRATION_EXTRA_HEIGHT`)" + values: + - + unit: linear + type: float + +videos: + - JqH41K2vq0g + +example: + - + pre: Set a 300mA current and press the gantry against the top for 5 extra mm. + code: + - G21 ; Units to mm + - M915 S300 Z5 + +--- + +The command aims to align the ends of the X gantry (for a Průša i3-style printer). See the [video demonstration](//youtu.be/JqH41K2vq0g?t=300) above. + +Using the given current, Marlin will move the Z axis (at homing speed) to the top plus a given extra distance. _Since this intentionally stalls the Z steppers, you should use the minimum current required to move the axis._ + +Z is then re-homed to correct the position. diff --git a/systems/flexibot/docs/marlin/_gcode/M916.md b/systems/flexibot/docs/marlin/_gcode/M916.md new file mode 100644 index 000000000..25bd43a75 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M916.md @@ -0,0 +1,111 @@ +--- +tag: m0916 +title: L6474 Thermal Warning Test +brief: Find L6474 drive level (KVAL_HOLD) threshold +author: shitcreek + +requires: MONITOR_L6470_DRIVER_STATUS +group: L6474 + +codes: [ M916 ] +related: [ M917, M918 ] + +notes: + - Requires `MONITOR_L6470_DRIVER_STATUS`. + - All tests assume each axis uses matching driver chips. + - On the L6474 the TVAL is used instead of KVAL. + +parameters: + - + tag: J + optional: true + description: Select which driver(s) to monitor on multi-driver axis + values: + - + tag: 0 + description: (default) Monitor all drivers on the axis + - + tag: 1 + description: Monitor only X, Y, Z, E1 + - + tag: 2 + description: Monitor only X2, Y2, Z2, E2 + - + tag: 3 + description: Monitor only Z3, E3 + - + tag: 4 + description: Monitor only Z4, E4 + - + tag: 5 + description: Monitor only Z5, E5 + - + tag: 6 + description: Monitor only Z6, E6 + - + tag: 7 + description: Monitor only Z7, E7 + - + tag: X + optional: true + description: Monitor X with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: Y + optional: true + description: Monitor Y with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: Z + optional: true + description: Monitor Z with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: E + optional: true + description: Monitor E with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: F + optional: true + description: Feedrate for the moves. (Default max feedrate if unspecified.) + values: + - + tag: feedrate + type: int + - + tag: T + optional: true + description: Current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only. If unspecified, report current value from driver. + values: + - + tag: current + type: int + - + tag: K + optional: true + description: Value for KVAL_HOLD (0 - 255) (ignored for L6474). If unspecified, report current value from driver. + values: + - + tag: Kvalue + type: int + - + tag: D + optional: true + description: Time (in seconds) to run each setting of KVAL_HOLD/TVAL. (Default zero, to run each setting once.) + values: + - + tag: second + type: int +--- + +`M916`: increase KVAL_HOLD until thermal warning. +This routine is also useful for determining the approximate KVAL_HOLD where the stepper stops losing steps. The sound will get noticeably quieter as it stops losing steps. diff --git a/systems/flexibot/docs/marlin/_gcode/M917.md b/systems/flexibot/docs/marlin/_gcode/M917.md new file mode 100644 index 000000000..26f607252 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M917.md @@ -0,0 +1,113 @@ +--- +tag: m0917 +title: L6474 Overcurrent Warning Test +brief: Find L6474 minimum current thresholds +author: shitcreek + +requires: MONITOR_L6470_DRIVER_STATUS +group: L6474 + +codes: [ M917 ] +related: [ M916, M918] + +notes: + - Requires `MONITOR_L6470_DRIVER_STATUS`. + - All tests assume each axis uses matching driver chips. + +parameters: + - + tag: J + optional: true + description: Select which driver(s) to monitor on multi-driver axis. + values: + - + tag: 0 + description: (default) Monitor all drivers on the axis or E0. + - + tag: 1 + description: Monitor only X, Y, Z, E1. + - + tag: 2 + description: Monitor only X2, Y2, Z2, E2. + - + tag: 3 + description: Monitor only Z3, E3 + - + tag: 4 + description: Monitor only Z4, E4 + - + tag: 5 + description: Monitor only Z5, E5 + - + tag: 6 + description: Monitor only Z6, E6 + - + tag: 7 + description: Monitor only Z7, E7 + - + tag: X + optional: true + description: Monitor X with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: Y + optional: true + description: Monitor Y with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: Z + optional: true + description: Monitor Z with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: E + optional: true + description: Monitor E with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: F + optional: true + description: Feedrate for the moves. If unspecified, uses the max feedrate. + values: + - + tag: feedrate + type: int + - + tag: I + optional: true + description: Starting overcurrent threshold. Report current value from driver if not specified. If there are multiple drivers on the axis then all will be set the same. + values: + - + tag: current + type: int + - + tag: T + optional: true + description: Current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only. Report current value from driver if not specified. + values: + - + tag: current + type: int + - + tag: K + optional: true + description: Value for KVAL_HOLD (0 - 255) (ignored for L6474). Report current value from driver if not specified + values: + - + tag: Kvalue + type: int +--- + +The `M917` command runs a test procedure to find the minimum stepper current thresholds. +- Decrease OCD current until overcurrent error +- Increase OCD until overcurrent error goes away +- Decrease stall threshold until stall (not done on L6474) +- Increase stall until stall error goes away (not done on L6474) diff --git a/systems/flexibot/docs/marlin/_gcode/M918.md b/systems/flexibot/docs/marlin/_gcode/M918.md new file mode 100644 index 000000000..866b99f6c --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M918.md @@ -0,0 +1,109 @@ +--- +tag: m0918 +title: L6474 Speed Warning Test +brief: Find L6474 speed threshold +author: shitcreek + +requires: MONITOR_L6470_DRIVER_STATUS +group: L6474 + +codes: [ M918 ] +related: [ M916, M917 ] + +notes: + - Requires `MONITOR_L6470_DRIVER_STATUS`. + - All tests assume each axis uses matching driver chips. + +parameters: + - + tag: J + optional: true + description: Select which driver(s) to monitor on a multi-driver axis. + values: + - + tag: 0 + description: (default) Monitor all drivers on the axis or E0 + - + tag: 1 + description: Monitor only X, Y, Z, E1 + - + tag: 2 + description: Monitor only X2, Y2, Z2, E2 + - + tag: 3 + description: Monitor only Z3, E3 + - + tag: 4 + description: Monitor only Z4, E4 + - + tag: 5 + description: Monitor only Z5, E5 + - + tag: 6 + description: Monitor only Z6, E6 + - + tag: 7 + description: Monitor only Z7, E7 + - + tag: X + optional: true + description: Monitor X with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: Y + optional: true + description: Monitor Y with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: Z + optional: true + description: Monitor Z with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: E + optional: true + description: Monitor E with the given displacement (1 - 255mm) on either side of the current position. + values: + - + type: mm + - + tag: I + optional: true + description: Overcurrent threshold. Report current value from driver if not specified. + values: + - + tag: current + type: int + - + tag: T + optional: true + description: Current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only. Report current value from driver if not specified. + values: + - + tag: current + type: int + - + tag: K + optional: true + description: Value for KVAL_HOLD (0 - 255) (ignored for L6474). Report current value from driver if not specified. + values: + - + tag: Kvalue + type: int + - + tag: M + optional: true + description: Value for microsteps (1 - 128). Report current value from driver if not specified. + values: + - + tag: microsteps + type: int +--- + +`M918`: Increase speed until error or max feedrate achieved. diff --git a/systems/flexibot/docs/marlin/_gcode/M919.md b/systems/flexibot/docs/marlin/_gcode/M919.md new file mode 100644 index 000000000..fd6295036 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M919.md @@ -0,0 +1,148 @@ +--- +tag: m0919 +title: TMC Chopper Timing +brief: Set Chopper Timing values for TMC stepper drivers +author: thinkyhead +contrib: magnificu + +requires: TMC2130|TMC2160|TMC2208|TMC2209|TMC2660|TMC5130|TMC5160 +since: 2.0.9.4 +group: trinamic + +codes: [ M919 ] + +notes: Requires one or more TMC stepper drivers supporting stealthChop™ mode. + +parameters: + - + tag: O + optional: true + description: Time-Off value (1..15). If omitted, use configured defaults for the axes. + values: + - + type: int + - + tag: P + optional: true + description: Hysteresis End value (-3..12). If omitted, use configured defaults for the axes. + values: + - + type: int + - + tag: S + optional: true + description: Hysteresis Start value (1..8). If omitted, use configured defaults for the axes. + values: + - + type: int + - + tag: I + optional: true + description: Index for multiple steppers. (i.e., `I1` for X2, Y2, Z2; `I2` for Z3; `I3` for Z4). If omitted, all steppers for the selected axes. + values: + - + unit: index + type: int + - + tag: T + optional: true + description: Index (tool) number for the E axis. If omitted, all extruders. + values: + - + unit: index + type: int + - + tag: X + optional: true + description: Apply the given chopper timing to the X stepper(s). + values: + - + type: flag + - + tag: Y + optional: true + requires: Y_DRIVER_TYPE + description: Apply the given chopper timing to the Y stepper(s). (Requires 2 or more axes.) + values: + - + type: flag + - + tag: Z + optional: true + requires: Z_DRIVER_TYPE + description: Apply the given chopper timing to the Z stepper(s). (Requires 3 or more axes.) + values: + - + type: flag + - + tag: A + optional: true + requires: I_DRIVER_TYPE + description: Apply the given chopper timing to the A stepper. (Requires 4 or more axes.) + values: + - + type: flag + - + tag: B + optional: true + requires: J_DRIVER_TYPE + description: Apply the given chopper timing to the B stepper. (Requires 5 or more axes.) + values: + - + type: flag + - + tag: C + optional: true + requires: K_DRIVER_TYPE + description: Apply the given chopper timing to the C stepper. (Requires 6 or more axes.) + values: + - + type: flag + - + tag: U + optional: true + requires: U_DRIVER_TYPE + since: 2.1 + description: Apply the given chopper timing to the U stepper. (Requires 7 or more axes.) + values: + - + type: flag + - + tag: V + optional: true + requires: V_DRIVER_TYPE + since: 2.1 + description: Apply the given chopper timing to the V stepper. (Requires 8 or more axes.) + values: + - + type: flag + - + tag: W + optional: true + requires: W_DRIVER_TYPE + since: 2.1 + description: Apply the given chopper timing to the W stepper. (Requires 9 axes.) + values: + - + type: flag + +videos: + - Q0sJlGh9WNY + +examples: + - + pre: Report Chopper Timing for all axes. + code: M919 + - + pre: Set XYZE Chopper Timing suitable for 12V steppers + code: M919 XYZE O3 P-1 S1 + - + pre: Set Z, Z2, Z3 and Z4 Chopper Timing + code: M919 Z O3 P-1 S1 + - + pre: Set Z2 Chopper Timing only + code: M919 Z I1 O3 P-1 S1 + +--- + +Set / report the TMC Chopper Timing values for one or more stepper drivers. diff --git a/systems/flexibot/docs/marlin/_gcode/M928.md b/systems/flexibot/docs/marlin/_gcode/M928.md new file mode 100644 index 000000000..7101fba55 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M928.md @@ -0,0 +1,27 @@ +--- +tag: m0928 +title: Start SD Logging +brief: Log serial input to an SD file +author: thinkyhead + +group: sdcard + +codes: [ M928 ] +related: [ M29 ] + +notes: Stop logging with [`M29`](/docs/gcode/M029.html). + +parameters: + - + tag: filename + optional: false + description: File name of log file + +examples: + - + pre: Start logging to log.txt + code: M928 log.txt + +--- + +Use this command to start logging all console and host input to an SD file while still operating the machine. diff --git a/systems/flexibot/docs/marlin/_gcode/M951.md b/systems/flexibot/docs/marlin/_gcode/M951.md new file mode 100644 index 000000000..ef74e88c5 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M951.md @@ -0,0 +1,73 @@ +--- +tag: m0951 +title: Magnetic Parking Extruder +brief: Set / report Magnetic Parking Extruder settings +author: shitcreek + +requires: MAGNETIC_PARKING_EXTRUDER +group: calibration + +codes: [ M951 ] + +notes: + - Requires `MAGNETIC_PARKING_EXTRUDER`. + +parameters: + - + tag: L + optional: true + description: Set X[0] position. (Default `PARKING_EXTRUDER_PARKING_X`) + values: + - + unit: linear + type: float + - + tag: R + optional: true + description: Set X[1] position. (Default `PARKING_EXTRUDER_PARKING_X`) + values: + - + unit: linear + type: float + - + tag: I + optional: true + description: Set grab distance. (Default `PARKING_EXTRUDER_GRAB_DISTANCE`) + values: + - + unit: linear + type: float + - + tag: J + optional: true + description: Set slow feedrate. (Default `MPE_SLOW_SPEED`) + values: + - + unit: linear + type: float + - + tag: H + optional: true + description: Set fast feedrate. (Default `MPE_FAST_SPEED`) + values: + - + unit: linear + type: float + - + tag: D + optional: true + description: Set travel feedrate. (Default `MPE_TRAVEL_DISTANCE`) + values: + - + unit: linear + type: float + - + tag: C + optional: true + description: Set compensation factor. (Default `MPE_COMPENSATION`) + values: + - + type: float +--- + +Set `MAGNETIC_PARKING_EXTRUDER` settings. With no parameters, report the current settings. diff --git a/systems/flexibot/docs/marlin/_gcode/M993.md b/systems/flexibot/docs/marlin/_gcode/M993.md new file mode 100644 index 000000000..b1ccdd185 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M993.md @@ -0,0 +1,17 @@ +--- +tag: m0993 +title: SD / SPI Flash +brief: load or back up SPI Flash and SD +author: shitcreek + +requires: HAS_SPI_FLASH, SDSUPPORT, MARLIN_DEV_MODE +group: sdcard + +codes: [ M993, M994 ] + +notes: + - Requires `HAS_SPI_FLASH`, `SDSUPPORT`, and `MARLIN_DEV_MODE`. + +--- +`M993`: backup SPI Flash to SD +`M994`: load a backup from SD to SPI Flash diff --git a/systems/flexibot/docs/marlin/_gcode/M995.md b/systems/flexibot/docs/marlin/_gcode/M995.md new file mode 100644 index 000000000..faf78843d --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M995.md @@ -0,0 +1,16 @@ +--- +tag: m0995 +title: Touch Screen Calibration +brief: Touch screen calibration for TFT display +author: shitcreek + +requires: TOUCH_SCREEN_CALIBRATION +group: calibration + +codes: [ M995 ] + +notes: + - Requires touch screen display and `TOUCH_SCREEN_CALIBRATION` + +--- +Trigger touch screen calibration menu on display diff --git a/systems/flexibot/docs/marlin/_gcode/M997.md b/systems/flexibot/docs/marlin/_gcode/M997.md new file mode 100644 index 000000000..a6b3708f7 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M997.md @@ -0,0 +1,31 @@ +--- +tag: m0997 +title: Firmware update +brief: Perform in-application firmware update +author: thinkyhead +contrib: reloxx13, p3p, shitcreek +since: 2.0.0 + +group: control + +codes: [ M997 ] + +notes: | + [`M997`](/docs/gcode/M997.html) is not supported by all platforms! + + The following platforms will restart to trigger the update via bootloader\: + - LPC176x + - STM32 + - STM32F1 + + +parameters: + +examples: + - + pre: Trigger firmware update + code: M997 + +--- + +Can be used to trigger a firmware update from the SD card after the firmware binary has been uploaded remotely. diff --git a/systems/flexibot/docs/marlin/_gcode/M999.md b/systems/flexibot/docs/marlin/_gcode/M999.md new file mode 100644 index 000000000..8d77208bd --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/M999.md @@ -0,0 +1,30 @@ +--- +tag: m0999 +title: STOP Restart +brief: Return the machine to Running state +author: thinkyhead + +group: control + +codes: [ M999 ] + +notes: + +parameters: + - + tag: S + description: Resume without flushing the command buffer. The default behavior is to flush the serial buffer and request a resend to the host starting on the last `N` line received. + values: + - + type: bool + +examples: + - + pre: Restart the machine + code: M999 + +--- + +If a **STOP** occurs you can use [`M999`](/docs/gcode/M999.html) to restart the "stopped" machine after resolving the issue. + +Marlin will call **STOP** if any error occurs that would make continuing the current process problematic. For example, if the probe fails to deploy, it will abort probing and STOP. Note that this disables all heaters. diff --git a/systems/flexibot/docs/marlin/_gcode/T001-T002.md b/systems/flexibot/docs/marlin/_gcode/T001-T002.md new file mode 100644 index 000000000..4412a8f95 --- /dev/null +++ b/systems/flexibot/docs/marlin/_gcode/T001-T002.md @@ -0,0 +1,17 @@ +--- +tag: t000 +title: Select Tool +brief: Switch to the specified tool +author: shitcreek + +group: control + +codes: [ T0, T1, T2, T3, T4, T5, T6 ] + +examples: + - + pre: Switch to tool head number 1 + code: + - T1 +--- +`T0`, `T1`, etc. switches to the respective physical/virtual tool head. See [Universal Tool Change Settings](/docs/configuration/configuration.html#universal-tool-change-settings) in `Configuration_adv.h` for more details. diff --git a/systems/flexibot/docs/marlin/_hardware/boards.md b/systems/flexibot/docs/marlin/_hardware/boards.md new file mode 100644 index 000000000..f7f23c136 --- /dev/null +++ b/systems/flexibot/docs/marlin/_hardware/boards.md @@ -0,0 +1,73 @@ +--- +title: 'Boards' +description: 'Complete list of hardware supported by Marlin' +tag: info + +author: jbrazio +contrib: thinkyhead +category: [ development, hardware ] +--- + +### General information + +Marlin supports a wide variety of 3D printers, including all RAMPS variants, and is adaptable to virtually any Arduino/Genuino-based electronics through pin-mapping - associating pins with their functions. +Originally Marlin was designed to run on low-powered 8-bit AVR boards, but starting with Marlin 1.1.9 it has gained support for dozens of ARM-based boards. The Hardware Abstraction Layer created for Marlin 2.0 provides a consistent set of interfaces, making it much easier to add support for new platforms. + +Several files in the Marlin source code provide hardware support, but the files supporting the core electronics are: + +{:.pretty-list.headless} +File|Description +----|----------- +`boards.h`|Contains the full list of boards supported by Marlin. Set `MOTHERBOARD` to one of the boards listed here. +`pins.h`|Manages pin definitions, including the appropriate `pins_BOARD.h` file for the specified `MOTHERBOARD`. +`pins_BOARDNAME.h`|Pins files define which Marlin functions use which board pins. Most pins files stand alone, but some form the basis for related pins files. +`platformio.ini`|Some boards will need a new [PlatformIO environment](//docs.platformio.org/en/latest/projectconf/) with custom build settings. + +To build Marlin for a specific board, set the `MOTHERBOARD` option in `Configuration.h`. This example selects a RAMPS 1.4 board with the 12V power MOSFET connectors arranged in Extruder, Fan, Bed (EFB) order: + +```cpp +#define MOTHERBOARD BOARD_RAMPS_EFB +``` + +See the [boards list](#board_list) at the bottom of this page for a complete list of boards supported in the latest release of Marlin. + +### FastIO and Pin Mapping + +FastIO is a set of macros that allows Marlin to read and write pins quickly, using the same code on all processors. Marlin uses FastIO macros whenever possible because [direct port manipulation](//www.arduino.cc/en/Reference/PortManipulation) is many times faster than the pin functions provided by `Arduino.h`. + +Pin Mapping refers to the relationship between assigned "pin numbers" and the actual hardware ports on the CPU. For example, pins might be mapped starting with 0 to represent **Port A Pin 0**, then numbered sequentially up to **Port L Pin 15**. + +FastIO allows Marlin to use any pin mapping imaginable, but we've decided that the "Arduino mapping" as used by the Arduino headers is the best choice for several reasons. Most importantly, all standard Arduino code uses this mapping, and the mapping smartly uses the documented DIO pin numbers. + +_**Note: When writing code for Marlin, never use `digitalRead` or `digitalWrite`.**_ + +#### AT90USB pins + +Since version 1.1.4, Marlin also uses Arduino pin mapping for Teensy++, Sanguino, and other AT90USB-based processors, so we can still use the documented digital pin numbers even in the Teenyduino build environment. Previous versions of Marlin provided an option to use either Teensyduino or Arduino mapping, depending on the what the active pins file supported. + +#### Analog pins + +Analog inputs are always assigned using an index from 0-15. Marlin doesn't need to know their digital pin numbers. + +### Adding a new board + +The easiest way to add a new board to Marlin is to start with one of the existing pins files that has pin mappings similar to the new board, make a copy, and modify the pins that differ. Once your pins file is ready, simply add a new define to the `boards.h` file and a conditional include to `pins.h`. And you're done! [Submit a PR](/docs/development/getting_started_pull_requests.html) to share it with the world. + +{% alert warning %} +If you're developing a custom board, try to use common pinouts as much as possible, or choose a pin-mapping similar to another board Marlin supports. The more a new board resembles an existing board, the easier it will be to integrate. +{% endalert %} + +### Board list + +
+{% for item in site.data.boards %} +

{{ item.group }}

+{% if item.long %}

{{ item.long | markdownify }}

{% endif %} + + +{% for board in item.boards %} + +{% endfor %} +
NameDescription
BOARD_{{ board.name }}{{ board.brief }}
+{% endfor %} +
diff --git a/systems/flexibot/docs/marlin/_hardware/endstops.md b/systems/flexibot/docs/marlin/_hardware/endstops.md new file mode 100644 index 000000000..fc5616671 --- /dev/null +++ b/systems/flexibot/docs/marlin/_hardware/endstops.md @@ -0,0 +1,266 @@ +--- +title: 'Endstops' +description: 'Endstop purpose, types and EMI effects' + +author: Sineos +contrib: edwilliams16 +category: hardware +--- + +Endstops or limit switches are used on every moving axes of a 3D printer. The following chapter will provide information on: + +- Purpose of the endstop +- Types of endstops +- Configuring endstops and probes +- Electromagnetic Interference / Electric Noise impact on endstops + +# Endstops purpose +Endstops fulfill two important functions in a 3D printer: Reference system for the axes system and safety. +
+ +## Reference for the axes system +After powering up a 3D printer the printer's controller board does not know at which position its axes are. Marlin indicates this by blinking question-marks in place of X, Y and Z on the LCD screen (v1.1.8 and older) or blinking '?' in place of the coordinates besides X,Y and Z (Marlin v1.1.9 / v2.0.0 and newer). + +This means the system needs first to establish its starting point of the physical (machine) coordinate system, a process called *Homing*. Homing can be initiated either via the [G28 G-code](/docs/gcode/G028.html) or via the LCD controller. + +![real](/assets/images/docs/hardware/endstops/not_homed.jpg) +{: style="text-align: center;"} + +Figure 1: LCD indication not homed axes (Marlin <= v1.1.8) +{: style="color:gray; font-size: 80%; text-align: center;"} + +## Safety +The other important aspect of an endstop is protecting the hardware from damage. Should any movement try to exceed the physical limits of the machine, the endstop will cut the movement. + +
+ +# Types of endstops +There are two main types of endstops. Hardware endstops and software endstops. + +
+ +## Hardware endstops +Hardware endstops are electrically connected to the endstop ports of the printer control board and will provide a signal when the endstop condition is met. + +![endstop_types](/assets/images/docs/hardware/endstops/endstop_types.png) +{: style="text-align: center;"} + +Figure 2: Most common endstops (left to right): Micro switch, optical endstop (light barrier), hall sensor (magnetic) +{: style="color:gray; font-size: 80%; text-align: center;"} + +Regardless of the type the basic way of working is the same: + + - A typically 5 Volt signal (HIGH) drops to 0 Volt (LOW): Normally closed (NC) switch + - A 0 Volt signal (LOW) rises to 5 Volts (HIGH): Normally open (NO) switch + +{% panel info Note %} +Since endstops are a safety feature NC switches are recommended as they will halt the machine should the switch be damaged, e.g. by a broken cable etc. +{% endpanel %} + +### Probe as Z-Endstop +Probes can act like an endstop for the minimum Z-axis. While the typical endstop has a fixed position, the probe is mounted on the print-head and can freely move around the bed. + +![probes](/assets/images/docs/hardware/endstops/probes.png) +{: style="text-align: center;"} + +Figure 3: Common probe types: Inductive (left), solenoid touch probe (right) +{: style="color:gray; font-size: 80%; text-align: center;"} + +Some aspects of probe configuration are considered in this endstop introduction. Further reading is provided in the Chapter [Probes Configuration](/docs/configuration/probes.html), [Auto Bed Leveling](/docs/features/auto_bed_leveling.html) and [Unified Bed Leveling](/docs/features/unified_bed_leveling.html). + +## Software Endstops +Typically 3D printers are only equipped with hardware endstops on one side of each axis (Minimum or Maximum of the respective axis). As discussed above this is used to determine the starting point (origin) of the machine coordinate system. + +In order to also protect the other side of the axes software endstops should be defined in the firmware via the `#define MAX_SOFTWARE_ENDSTOPS` / `#define MIN_SOFTWARE_ENDSTOPS` directive. This then uses the value from `#define [XYZ]_MAX_POS` / `#define [XYZ]_MIN_POS` to determine the maximum distance between the physical endstop and the software commanded stop of the axis. Software endstops can be (de-)activated via the [M211 G-code](/docs/gcode/M211.html). + +
+ +# Configuring endstops and probes. +## Background + +By default, slicers generate G-code that places the base of a printed model at z=0 and build upwards from there. The result of homing the z-axis should thus place the build surface at the z=0 plane. After homing in z, the hardware z endstop is deactivated (unless you have set `ENDSTOPS_ALWAYS_ON_DEFAULT` in Configuration_adv.h, which can be overridden by [M120](/docs/gcode/M120.html), [M121](/docs/gcode/M121.html)), but to protect the hardware a software endstop is activated (which in turn can be overridden by [M211](/docs/gcode/M211.html) S0). This software endstop is located at `Z_MIN_POS` (defined in Configuration.h) . This is normally at z=0 at the nominal location of the bed. Note that when using bed-leveling, this software endstop is applied to the *uncorrected* slicer generated z-values. This allows printing into the hollows of the bed, where z < 0. + +We now describe some common Cartesian printer configurations, with and without bed-leveling probes. + +## Microswitch endstop - no bed leveling probe. + +Here we mechanically adjust the bed and possibly additionally the microswitch trigger point to level the bed surface as close as we can to the z=`Z_MIN_POS` (normally = 0) plane. The z location of the hardware (microswitch) trigger point defaults to the value of `Z_MIN_POS`. It is possible however to use a microswitch trigger point above the bed by setting `MANUAL_Z_HOME_POS` to the z-coordinate of the trigger point. See [here](#measure_offsets). Having the trigger point below the bed makes little sense as the nozzle would crash into the bed before the microswitch triggered on homing. + +## Probe used for homing and bed-leveling. + +The probe should be mounted so that its trigger point lies below the extruder nozzle. `Z_PROBE_OFFSET_FROM_EXTRUDER` (negative!) is this vertical offset. This offset is applied by the firmware when homing in order to properly reference the coordinate system to the nozzle position. To measure this see [here](#measure_offsets). For a mechanical probe like a BL-Touch, this offset is geometrically fixed. For a remote sensing probe (e. g. inductive or capacitive), the offset might vary with bed material. You can tweak it using [M851](/docs/gcode/M851.html). + +![Fig. 1](/assets/images/docs/hardware/endstops/bltouchwithbltouch.png) +{: style="text-align: center;"} +Figure 1: Example configuration using BL-Touch for both homing and probing. +{: style="color:gray; font-size: 80%; text-align: center;"} + +The process of bed-leveling generates an array of z-values of the bed heights at the probed points. Marlin interpolates these values to estimate the bed height at any given x/y location. Figure 1 illustrates the situation. While probing, all endstops are turned off so that the probe can reach into the valleys of the bed. To protect the machine in case of the probe failure during probing set `Z_PROBE_LOW_POINT` to limit the probing depth. + +## Microswitch used for homing, probe for bed leveling. + +When homing, the printer is not protected against hardware endstop failure. This configuration uses a perhaps more reliable microswitch for homing, reserving the probe for bed leveling, where `Z_PROBE_LOW_POINT` provides failure protection. The configuration is illustrated in Fig. 2, requiring the use of both `MANUAL_Z_HOME_POS` and `Z_PROBE_OFFSET_FROM_EXTRUDER` Ideally, with an uneven bed, `MANUAL_Z_HOME_POS` should be adjusted so that z=0 lies halfway between the highest and lowest parts of the bed. This makes the maximum bed correction as small as possible. + +![Fig. 2](/assets/images/docs/hardware/endstops/bltouchwithmicroswitch.png) +{: style="text-align: center;"} +Figure 2: Example configuration using a microswitch for homing, BL-Touch for bed-leveling probe. +{: style="color:gray; font-size: 80%; text-align: center;"} + + + +## Measuring offsets. +To measure an offset between a trigger point and the bed, lower the nozzle to the trigger point (by homing, if it's the homing device), and note the z-value. Now turn off the software endstop temporarily (with M211 S0) to enable lowering the nozzle further down to the bed. Note the z again. The difference is the height of the respective trigger point above the bed. + +# Endstops and Electromagnetic Interference (EMI) + +Electromagnetic Interference (EMI) or electric noise, is an effect which can ruin the clean signal needed to properly and precisely measure electronically, be it temperature, endstop hits or any other value. + +
+ +## Sources and effect of EMI +In today's life an abundance of sources for Electric Noise exists: Mobile phones, microwaves, WIFI, power supplies etc. There are also some prominent and strong sources of such noise in the 3D printer itself: + + - Heated beds + - Hot ends + - Stepper motors + - PWM modulation + +The Electromagnetic Interference created by these sources are picked up by other components, either because they are directly connected or via radiation. The useful signal needed by the other components will be disturbed or even altered so much that it is no longer useful. + +
+ +## Effect on endstops / limit switches +In the following *HIGH = Logic 1 = 5 Volt* will be used for a pressed switch and *LOW = Logic 0 = 0 Volt* for a not triggered switch. + +
+ +### Ideal endstop characteristic + +![ideal](/assets/images/docs/hardware/endstops/switch_ideal.png) +{: style="text-align: center;"} + +Figure 4: Ideal Endstop +{: style="color:gray; font-size: 80%; text-align: center;"} + +The above Figure 4 shows an ideal endstop characteristic: Once pressed it jumps from LOW to HIGH and the printer control board realizes this in virtually no time. + +
+ +### Real endstop characteristic with low noise + +![real](/assets/images/docs/hardware/endstops/switch_real.png) +{: style="text-align: center;"} + +Figure 5: Real endstop characteristic +{: style="color:gray; font-size: 80%; text-align: center;"} + +Figure 5 shows: + + - There is no clean LOW or HIGH. Both states are somewhat unclean. + - Around the trigger point (marked in orange) a "bouncing" effect is shown: Due to mechanical influences the switch bounces between LOW and HIGH a few times before settling at HIGH. + - Bouncing is unwanted but in case of endstops not a show stopper + +
+ +### Real endstop characteristic with peak noise + +![noise](/assets/images/docs/hardware/endstops/switch_noise.png) +{: style="text-align: center;"} + +Figure 6: Real endstop with EMI +{: style="color:gray; font-size: 80%; text-align: center;"} + +This Figure 6 shows: + + - Same characteristic as above but with a peak caused by EMI (marked in red) + - The peak is high enough to be falsely detected by the printer control board as pressed switch, potentially ruining a running print + +## Countermeasures +There are numerous countermeasures you can take to reduce noise: + + 1. Use shielded cables / twisted cable pairs + 2. Apply careful cable routing (i.e., keep signal cables far away from power cables) + 3. Enable software "debounce" filtering + 4. Add hardware filtering, such as a diode or capacitor + +Options 3 and 4 are discussed further below. + +### Software Filtering +The code to deal with endstop noise is improved and exposed as a setting beginning in Marlin v1.1.9 and v2.0. In previous versions filtering is always active. To aid precision this is now exposed as a user setting in `Configuration.h`, deactivated by default. + +```cpp +/** + * Endstop Noise Filter + * + * Enable this option if endstops falsely trigger due to noise. + * NOTE: Enabling this feature means adds an error of +/-0.2mm, so homing + * will end up at a slightly different position on each G28. This will also + * reduce accuracy of some bed probes. + * For mechanical switches, the better approach to reduce noise is to install + * a 100 nanofarads ceramic capacitor in parallel with the switch, making it + * essentially noise-proof without sacrificing accuracy. + * This option also increases MCU load when endstops or the probe are enabled. + * So this is not recommended. USE AT YOUR OWN RISK. + * (This feature is not required for common micro-switches mounted on PCBs + * based on the Makerbot design, since they already include the 100nF capacitor.) + */ +//#define ENDSTOP_NOISE_FILTER +``` + +Activating this option produces the following endstop characteristics: + +![software](/assets/images/docs/hardware/endstops/switch_software.png) +{: style="text-align: center;"} + +Figure 7: Endstop with software filtering +{: style="color:gray; font-size: 80%; text-align: center;"} + +The area marked in yellow in Figure 7 shows where software compensation is active. The first yellow area is a noise effect where the algorithm decides no endstop is triggered since the signal falls back to a LOW state. + +The second yellow area shows a real, desired endstop trigger. The algorithm "watches" the situation for a few milliseconds before deciding if the endstop is really triggered or if an EMI / Noise effect needs to be compensated. This leads to a delay and some loss of precision in endstop detection. + +{% panel danger Note %} +Depending on the printer's geometry and the affected endstop, loss of precision may result in issues such as inconsistent bed leveling, so this feature is not recommended. Instead, try to apply some kind of hardware filtering. +{% endpanel %} + +### Hardware Filtering +Hardware filtering can range from an RC-unit (a simple capacitor in parallel to the switch over a resistor / capacitor combination) to opto-couplers and flip-flops. + +#### Board +Some printer controller boards have built-in filters in the endstop connectors. Unfortunately the popular RAMPS v1.4 design does not, an oversight that's been corrected with RAMPS v1.4.2: + +![ramps](/assets/images/docs/hardware/endstops/ramps_endstop_compare.png) +{: style="text-align: center;"} + +Figure 8: RAMPS v1.4 vs v1.4.2 +{: style="color:gray; font-size: 80%; text-align: center;"} + +#### Endstop PCB +For 3D printing ready made filtered endstops are available, e.g. according to the Makerbot design: + +![ramps](/assets/images/docs/hardware/endstops/makerbot_endstop.png) +{: style="text-align: center;"} + +Figure 9: Endstop PCB with RC unit +{: style="color:gray; font-size: 80%; text-align: center;"} + +#### Endstop with capacitor +A simpler variant –easily fitted to endstops– is a 100nF capacitor, soldered over the two endstop connector pins (in parallel): + +![filter](/assets/images/docs/hardware/endstops/switch_cap.png) +{: style="text-align: center;"} + +Figure 10: Endstop with 100nF capacitor +{: style="color:gray; font-size: 80%; text-align: center"} + +#### The Effect of Hardware Filtering +Figure 11 below shows the effect of hardware filtering: The noise level is smoothed and peaks are reduced so much that they no longer cause false readings. And the fast-bouncing signal at the initial trigger is dampened. + +![filter](/assets/images/docs/hardware/endstops/switch_filter.png) +{: style="text-align: center;"} + +Figure 11: Endstop characteristic with hardware filter +{: style="color:gray; font-size: 80%; text-align: center"} + +## Conclusion +Never underestimate electrical noise. It may be invisible but it can lead to strange and spurious effects that are tricky to diagnose. Simple measures (like adding a capacitor) will improve the situation a lot, improving the overall reliability of the machine. diff --git a/systems/flexibot/docs/marlin/_hardware/tmc_drivers.md b/systems/flexibot/docs/marlin/_hardware/tmc_drivers.md new file mode 100644 index 000000000..4b4025b73 --- /dev/null +++ b/systems/flexibot/docs/marlin/_hardware/tmc_drivers.md @@ -0,0 +1,187 @@ +--- +title: Trinamic drivers +description: Using Trinamic TMC based stepper drivers. + +author: teemuatlut +contrib: shitcreek +category: [ features, hardware ] +--- + +Stepper motors in a 3D printer are controlled by a variety of driver chips such as the common A4988 and DRV8825. These provide signals to the stepper motors to control the magnets and move them by micro-steps. Typically the motor is divided into 3200 steps per revolution, with 80 steps per millimeter of motion. At the movement rates of 3D printers, and due to the ringing produced by stepper motors, the vibrations from these steps can be very loud to the human ear. + +Trinamic stepper drivers control stepper motors with greater finesse and interpolate the micro-steps to produce extremely quiet motion. Through SPI or serial control, you can change how the drivers manage motor current as well as the manner of current delivery. These drivers can even detect when a motor hits an obstruction, so they can act as endstops for simplified wiring. You can also set the driver current with Marlin G-code commands, removing the need to adjust physical trimpots. + +## Supported TMC drivers and features + +Driver | Control | StealthChop | Sensorless
homing/probing | Driver monitoring | Hybrid threshold | Notes +:------:|:-------:|:-----------:|:----------------------------:|:-----------------:|:----------------:|:--------- +TMC2100 | none | yes | no | no | no | Standalone mode only +TMC2130 | SPI | yes | yes | yes | yes | +TMC2160 | SPI | ??? | ??? | ??? | ??? | +TMC5130 | SPI | ??? | ??? | ??? | ??? | +TMC5160 | SPI |yes | yes | yes | yes | +TMC2208
TMC2225 | UART | yes | no | yes | yes | UART RX line requires an interrupt capable pin.
Software UART not support on all platforms, such as DUE based boards. +TMC2209
TMC2226 | UART | yes | yes | yes | yes | +TMC2660 | SPI | no | not implemented | yes | no | + +All configurable Trinamic stepper drivers can also be operated in standalone mode if they are pre-configured in hardware, either by hard connections or jumpers. + +## Installing the library +The TMC stepper drivers require an external library that allows Marlin to communicate with each driver. + +### For PlatformIO +PlatformIO will automatically download all libraries it requires, so skip directly to **Wiring** below. + +### Installing from Arduino IDE library manager +- Open up the Arduino IDE +- Go to Sketch -> Include Library -> Manage Libraries... +- Marlin 1.1.9 and up: + - Search for **TMCStepper** +- Older versions of Marlin + - Search for **TMC2130Stepper** or **TMC2208Stepper** +- Click `Install` + +### Installing from a zip file +- Marlin 1.1.9 and up: + - Go to [TMC library homepage](//github.com/teemuatlut/TMCStepper) +- Older versions of Marlin + - Go to the [TMC2130 library page](//github.com/teemuatlut/TMC2130Stepper) + - Go to the [TMC2208 library page](//github.com/teemuatlut/TMC2208Stepper) +- Click **Clone or download** -> **Download ZIP** +- In Arduino IDE and go to **Sketch** -> **Include Library** -> **Add .ZIP Library**… +- Navigate to the downloaded file and click the **Open** button. + +## Wiring +TMC drivers (except in standalone mode) require some extra wiring (Serial or SPI) to communicate with and configure the drivers. Boards like the SKR from BigTreeTech actually integrate this wiring directly into the motherboard. + +### SPI Control +The SPI bus requires 4 wires for communication. The `SCK`, `MOSI`, and `MISO` wires can be shared across all the drivers, while `CK` must be wired to a separate pin for each driver. These pins are labeled differently on the motherboard versus the driver: + +Motherboard | Driver +-----------:|:------- +SCK | SCK +MOSI | SDI +MISO | SDO +CS | CS + +#### Software SPI +You can use pins other than the HW SPI pins by enabling `TMC_USE_SW_SPI` and defining the required pins: +```cpp +TMC_SW_MOSI +TMC_SW_MISO +TMC_SW_SCK +``` + +### UART (Serial) CONTROL +A 1K resistor is required between `TX` and `PD_UART`. + +Motherboard | | Driver +-----------:|---------|:-------- +RX | | PD_UART +TX | (1kohm) | PD_UART + +The serial port on master is selected in the pins file for your board. Alternatively you can use the slower software serial by not selecting any of the hardware serial ports. Typically one port per one driver is needed. + +### Software UART +You can use free pins for UART by disabling all of the hardware serial options in your board's pins file and by defining the `_SERIAL_TX_PIN` and `_SERIAL_RX_PIN` pins. + +**Note:** The receive (RX) pins must be interrupt-capable pins. Transmit (TX) pins don't have this limitation. + +## FYSETC drivers +As of this writing, we recommend getting the original Watterott drivers or the revised FYSETC v1.1 drivers to avoid additional headaches. + +The FYSETC v1.0 drivers come pre-configured in standalone mode. So the drivers should work for moving the axes but you won't be able to configure them or take advantage of their extra features. For full-featured drivers you'll need to modify three solder bridges on the driver PCB. + +![FYSETC_TMC2130](/assets/images/features/FYSETC_tmc2130._SPI.jpg) + +Some versions of the FYSETC v1.0 drivers come with a solder bridge left of the chip, some come with a bridging resistor. This connection needs to be opened for SPI connection to work. +The two smaller bridges need to be configured as shown. + +## Features and configuration options +Several Trinamic-specific technologies are supported by Marlin. +- [stealthChop](//www.trinamic.com/technology/adv-technologies/stealthchop/) is a technology that drives the motors using PWM voltage instead of current. The result is nearly inaudible stepping at low velocities. StealthChop has a lower stepping speed limit and if you need to move faster, for example travel moves, you may want to use spreadCycle or configure Hybrid Mode. +- [spreadCycle](//www.trinamic.com/technology/adv-technologies/spreadcycle/) is an alternative stepping mode. The driver will use four stages to drive the desired current into the stepper motor. SpreadCycle provides greater torque which might be useful if you're experiencing skipped steps. The downside is slightly higher noise levels. +- [stallGuard](//www.trinamic.com/technology/adv-technologies/stallguard/) measures the load that is applied to the motor. If the load is sufficiently high, Marlin can react to the event. Such an event can be when we drive an axis to its physical limit and the signal provided by the driver can be detected just like an endstop. That way you can use the driver itself as an axis sensor negating the need to an additional endstop and the wiring needed. StallGuard is only active when the driver is in spreadCycle mode. +* Hybrid Mode: Marlin can configure the driver to automatically change between stepping modes using a user configured switching velocity. If the velocity is lower than the threshold the stepper is in quiet stealthChop mode. When the axis velocity increases the driver will automatically switch to spreadCycle. + +Option | Description +---:|:--- +R_SENSE | The current sense resistor used in your product.
* Watterott SilentStepSticks typically use 0.11ohm values.
* Ultimachine Archim2 board has 0.22ohms.
* Panucatt TMC2660 BigFoot drivers use 0.1ohms. +HOLD_MULTIPLIER | After the stepper hasn't been moving for a short while, the driver can decrease the current and let the driver cool down. The multiplier is expressed as a decimal value in the range of 0.0 to 1.0. +INTERPOLATE | TMC drivers can take lower microstepping inputs, like the typical 16 and interpolate that to 256 microsteps which provides smoother movement. +CURRENT | Driver current expressed in milliamps. Higher current values will need active cooling and a heatsink. Low current values may warrant lower acceleration values to prevent skipping steps. +MICROSTEPS | Configures the driver to divide a full step into smaller microsteps which provide smoother movement. +SOFTWARE_DRIVER_ENABLE | Some drivers do not have a dedicated enable (EN) line and require the same function to be handled through software commands. +STEALTHCHOP | Default state for stepping mode on supporting TMC drivers. +CHOPPER_TIMING | Fine tune the *spreadCycle* chopper timings to optimize noise performance.
A set of presets has been provided according to used driver voltage level, but a customized set can be used by specifying
`{ , , hysteresis_start[1..8] }` +MONITOR_DRIVER_STATUS | Periodically poll the drivers to determine their status. Marlin can automatically reduce the driver current if the driver report overtemperature prewarn condition. The firmware can also react to error states like short to ground or open load conditions. +CURRENT_STEP | Reduce current value when Marlin sees OTPW error. +REPORT_CURRENT_CHANGE | Report to the user when automatically changing current setting. +STOP_ON_ERROR | If Marlin detects an error where the driver has shut down to protect itself, it can stop the print to save both time and material. +HYBRID_THRESHOLD | Configure the axis speed when the driver should switch between stealthChop and spreadCycle modes. +SENSORLESS_HOMING | Use the TMC drivers that support this feature to act as endstops by using stallGuard to detect a physical limit. +SENSORLESS_PROBING | Use stallGuard on supporting TMC drivers to replace a bed probe.
Recommended to be used on delta printers only. +HOMING_SENSITIVITY | The Sensorless Homing sensitivity can be tuned to suit the specific machine.
A **higher** value will make homing **less** sensitive.
A **lower** value will make homing **more** sensitive. +TMC_DEBUG | Extend the information [`M122`](/docs/gcode/M122.html) reports. This will give you _a lot_ of additional information about the status of your TMC drivers. +TMC_ADV | You can use this to add your own configuration settings. The requirement is that the command used must be part of the respective TMC stepper library. Remember to add a backslash (\) after each command! +AUTOMATIC_CURRENT_CONTROL | Replaced by `MONITOR_DRIVER_STATUS`.
Marlin will poll the driver twice a second to see if the driver is in an error state. Such an error can be overtemperature pre-warn condition (OTPW) or short to ground or open load. Marlin can react to the temperature warning and automatically reduce the driver current. Short to ground error will disable the driver and Marlin can terminate the print to save time and material. + +## G-codes + +Command | Configuration
required | Description +-------:|:-------------------------:|:----------- +[`M122`](/docs/gcode/M122.html) | none | Test driver communication line and get debugging information of your drivers. `TMC_DEBUG` adds more reported information. +[`M569`](/docs/gcode/M569.html) | `TMC2130` or `TMC2208` | Toggle between stealthChop and spreadCycle on supporting drivers. +[`M906`](/docs/gcode/M906.html) | none | Set the driver current using axis letters X/Y/Z/E. +[`M911`](/docs/gcode/M911.html) | `MONITOR_DRIVER_STATUS` | Report TMC prewarn triggered flags held by the library. +[`M912`](/docs/gcode/M912.html) | `MONITOR_DRIVER_STATUS` | Clear TMC prewarn triggered flags. +[`M913`](/docs/gcode/M913.html) | `HYBRID_THRESHOLD` | Set HYBRID_THRESHOLD speed. +[`M914`](/docs/gcode/M914.html) | `SENSORLESS_HOMING` | Set SENSORLESS_HOMING sensitivity. +[`M915`](/docs/gcode/M915.html) | `TMC_Z_CALIBRATION` | (Deprecated in Marlin 2.0.)
Level your X axis by trying to move the Z axis past its physical limit. The movement is done at a reduced motor current to prevent breaking parts and promote skipped steps. Marlin will then rehome Z axis and restore normal current setting. + +## Troubleshooting + +- Some SilentStepSticks with variable 3-5V logic voltage (VIO) [might get damaged](//github.com/MarlinFirmware/Marlin/issues/10162#issuecomment-397844847) if only powered over USB. +- Test driver communication status with [`M122`](/docs/gcode/M122.html). +- Test Marlin's **bugfix** branch (on GitHub) to see if your issue is fixed. +- Test the latest TMCStepper library to see if your issue is fixed. +- Check all wiring and wire crimps. + - **SPI**: Use a multimeter to check connectivity all the way down the chain on all the communication lines. + - **SPI** conflict with the **SD card**? Solutions vary. + - **UART**: + - Make sure your receive (RX) pin is interrupt capable + - Check the resistance value between receive (RX) and transmit (TX) lines. You should see 1kOhm. + - Check connectivity from RX to the TMC chip +- Check **12V** (**24V**) power in the **Vm** pin and **5V** (**3.3V**) in the **Vio** pin. +- Check that configured pins match your firmware configuration. +- Enable `TMC_DEBUG` and send [`M122`](/docs/gcode/M122.html) to see further debugging output. + - Reported register values of either `0x00000000` or `0xFFFFFFFF` are bad responses. +- Try the examples provided by the respective library. Please detach any belts beforehand however, as the examples will not respect any endstop signals or physical limits. You may need to change the pin definitions. +- If you're experiencing skipped steps there are a few things you can try + - First check for mechanical obstructions and that the parts move freely and do not bind + - Check that your nozzle doesn't bump into your print if it starts curling upwards (cooling issue) + - Lower acceleration and jerk values + - Increase driver cooling + - Increase motor current + - Disable `INTERPOLATE` + +## External resources + +- [Arduino library for TMC drivers](//github.com/teemuatlut/TMCStepper) (Replaces the following two) +- For older Marlin you may need [TMC2130 Arduino library](//github.com/teemuatlut/TMC2130Stepper) or [TMC2208 Arduino library](//github.com/teemuatlut/TMC2208Stepper) + +- [SilentStepStick TMC2130 schematic and pinout](//github.com/watterott/SilentStepStick/blob/master/hardware/ +SlentStepStick-TMC2130_v11.pdf) +- [SilentStepStick TMC2208 schematic and pinout](//github.com/watterott/SilentStepStick/blob/master/hardware/SlentStepStick-TMC2208_v12.pdf) + +- [Trinamic](//www.trinamic.com) +- [Watterott documentation](//learn.watterott.com/silentstepstick/) +- [stallGuard](//www.trinamic.com/technology/adv-technologies/stallguard/) +- [stealthChop](//www.trinamic.com/technology/adv-technologies/stealthchop/) +- [spreadCycle](//www.trinamic.com/technology/adv-technologies/spreadcycle/) +- Datasheets for [TMC2130](//www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf) and [TMC2208](//www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TC220x_TMC2224_Datasheet_Rev1.10.pdf) + +- [TMC2130 Hackaday article by Moritz Walter](//hackaday.com/2016/09/30/3-printering-trinamic-tmc2130-stepper-motor-drivers-shifting-the-gears/) + +- [Video guide by Thomas Sanladerer](//youtu.be/sPvTB3irCxQ) +- [TMC2208 Torque testing by Alex Kenis](//youtu.be/GVs2d-TOims) diff --git a/systems/flexibot/docs/marlin/_setting/coming_soon.md b/systems/flexibot/docs/marlin/_setting/coming_soon.md new file mode 100644 index 000000000..537ccb2d3 --- /dev/null +++ b/systems/flexibot/docs/marlin/_setting/coming_soon.md @@ -0,0 +1,39 @@ +--- +name: COMING_SOON +type: bool +label: Coming Soon! +brief: This option is coming soon +author: thinkyhead +category: [ wip ] +tags: [ draft ] +eeprom: true + +since: 1.1.0 +until: 2.0.9 + +requires: MY_PARENT +child: [] +type: switch +gcodes: [] +options: + - value: 1 + brief: one + - value: 2 + brief: two + - value: 3 + brief: three + +preview: | + /** + * COMING_SOON - Coming Soon + * + * More details about Coming Soon + */ + //#define COMING_SOON + #if ENABLED(COMING_SOON) + #define SETTING_SUBOPTION // This makes COMING_SOON better + #endif + if (var == 123) { printf("It equals: %d", var); } + +--- +Marlin Settings pages are under construction. It's a lot of work to convert Marlin configurations into web pages, but we'll get there! diff --git a/systems/flexibot/docs/marlin/_setting/config_info.md b/systems/flexibot/docs/marlin/_setting/config_info.md new file mode 100644 index 000000000..143ed2cd9 --- /dev/null +++ b/systems/flexibot/docs/marlin/_setting/config_info.md @@ -0,0 +1,37 @@ +--- +label: Configuration Info +brief: Information about the configuration itself. +category: [ wip ] +tags: [ info ] + +settings: +- name: CONFIGURATION_H_VERSION + type: hexver + since: 1.1.0 + + brief: Configuration version. + long: This option is used to check that the correct Configurations files match the version of Marlin being built. + example: + - value: '02010200' + +- name: STRING_CONFIG_H_AUTHOR + type: string + + brief: Author of the configuration file. + long: This option exists to provide information about who last modified the configuration. It is displayed in the identifier string sent to the host when Marlin first boots up, and it may also be displayed on the LCD Info Screen. + tags: [ info ] + example: + - value: '"(Sam Smith, My Prusa i3)"' + +- name: CUSTOM_VERSION_FILE + disabled: true + default: Version.h + type: path + since: 2.0.0 + + brief: Customized versioning. + long: The full path from the root directory (no quotes) to a custom version file to override Marlin's base version info. + example: + - value: 'Version.h' +--- +Use these options to set Human-readable information about the machine, which may also be displayed on the host or LCD. diff --git a/systems/flexibot/docs/marlin/_setting/extruder.md b/systems/flexibot/docs/marlin/_setting/extruder.md new file mode 100644 index 000000000..ea9ea14a7 --- /dev/null +++ b/systems/flexibot/docs/marlin/_setting/extruder.md @@ -0,0 +1,318 @@ +--- +label: Extruders +brief: Extruder settings. +category: [ wip ] +tags: [ hardware, extruder ] +pagetype: toc + +settings: + +- name: EXTRUDERS + type: int + default: 1 + since: 1.0.0 + brief: Total number of extruders. + long: The number of addressable extruder tools that can be selected with `T0`, `T1`, etc. + options: [0, 1, 2, 3, 4, 5, 6, 7,8] + example: + - value: 2 + +- name: DEFAULT_NOMINAL_FILAMENT_DIA + type: float + since: 1.1.9 + brief: Default nominal filament diameter + long: The expected filament diameter (1.75, 2.85, 3.0, ...). Used for Volumetric, Filament Width Sensor, etc. + example: + - value: 1.75 + +- name: SINGLENOZZLE + disabled: true + brief: Single nozzle with multiple steppers. + long: Enable this option for a Cyclops extruder or any "multi-extruder" that shares a single nozzle. This option may be enabled automatically for certain types of extruder. + subopts: + - name: SINGLENOZZLE_STANDBY_TEMP + since: 2.0.0 + disabled: true + brief: Single nozzle standby temperature. + long: 'Save and restore the nozzle temperature when doing a tool-change. Set standby temperature for the unselected tool using `M104 T` or `M109 T`.' + - name: SINGLENOZZLE_STANDBY_FAN + since: 2.0.0 + disabled: true + brief: Single nozzle standby fan speed. + long: 'Save and restore the fan speed when doing a tool-change. Set standby fan speed for the unselected tool using `M106 T`.' + +- name: SWITCHING_EXTRUDER + since: 1.1.0 + disabled: true + brief: Dual extruder sharing a single stepper motor. + long: Various extruder designs exist allowing a single stepper motor to be shared with more than one extruder, usually by using a servo to move a pinch-wheel so that it engages a different filament input. Enable this option if you have one of these devices. + subopts: + - name: SWITCHING_EXTRUDER_SERVO_NR + type: int + brief: Switching Extruder servo number. + default: 0 + long: The servo used to switch extruder stepper motors. + - name: SWITCHING_EXTRUDER_SERVO_ANGLES + type: '{ angle, angle … }' + brief: Angles for E0, E1[, E2, E3] + long: The servo angles applying to each E stepper motor. + default: '{ 0, 90 }' + - name: SWITCHING_EXTRUDER_E23_SERVO_NR + type: int + brief: Switching Extruder servo number for E2 and E3. + long: The servo used to switch extruder E2 and E3 stepper motors, if separate. + default: 1 + requires: EXTRUDERS > 3 + +- name: MECHANICAL_SWITCHING_EXTRUDER + brief: Switching extruder using movement. + long: Switch extruders by bumping the toolhead. Requires `EVENT_GCODE_TOOLCHANGE_#`. + +- name: SWITCHING_NOZZLE + since: 1.1.2 + brief: Switching Nozzle + long: A dual-nozzle that uses a servomotor to raise/lower one (or both) of the nozzles. Can be combined with `SWITCHING_EXTRUDER`. + subopts: + - name: SWITCHING_NOZZLE_SERVO_NR + type: index + default: 0 + - name: SWITCHING_NOZZLE_E1_SERVO_NR + type: index + disabled: true + default: 1 + long: If two servos are used, the index of the second. + - name: SWITCHING_NOZZLE_SERVO_ANGLES + type: '{ angle, angle … }' + disabled: true + default: '{ 0, 90 }' + long: Angles for E0, E1 (single servo) or lowered/raised (dual servo). + - name: SWITCHING_NOZZLE_SERVO_DWELL + type: ms + disabled: true + default: 2500 + long: Dwell time to wait for servo to make physical move. + +- name: MECHANICAL_SWITCHING_NOZZLE + brief: Mechanical Switching Nozzle + long: Switch nozzles by bumping the toolhead. Requires `EVENT_GCODE_TOOLCHANGE_#`. + +- name: PARKING_EXTRUDER + brief: Parking Extruder + disabled: true + long: Two separate X-carriages with extruders that connect to a moving part via a solenoid docking mechanism. Requires `SOL1_PIN` and `SOL2_PIN`. + subopts: + - name: PARKING_EXTRUDER_PARKING_X + type: '{ mm, mm … }' + default: '{ -78, 184 }' + brief: X positions for parking the extruders. + - name: PARKING_EXTRUDER_GRAB_DISTANCE + type: mm + default: 1 + brief: Distance to move beyond the parking point to grab the extruder. + - name: PARKING_EXTRUDER_SOLENOIDS_INVERT + brief: If enabled, the solenoid is NOT magnetized with applied voltage. + - name: PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE + type: state + default: LOW + brief: LOW or HIGH pin signal energizes the coil. + - name: PARKING_EXTRUDER_SOLENOIDS_DELAY + type: ms + default: 250 + brief: Delay for magnetic field. No delay if 0 or not defined. + - name: MANUAL_SOLENOID_CONTROL + brief: Manual control of docking solenoids with `M380 S` / `M381`. + disabled: true + +- name: MAGNETIC_PARKING_EXTRUDER + brief: Magnetic Parking Extruder + disabled: true + long: Two separate X-carriages with extruders that connect to a moving part via a magnetic docking mechanism using movements and no solenoid. + links: + - label: Project + url: https://www.thingiverse.com/thing:3080893 + - label: Movements Video 1 + url: https://youtu.be/0xCEiG9VS3k + - label: Movements Video 2 + url: https://youtu.be/Bqbcs0CU2FE + subopts: + - name: PARKING_EXTRUDER_PARKING_X + type: '{ mm, mm … }' + default: '{ -78, 184 }' + brief: X positions for parking the extruders. + - name: PARKING_EXTRUDER_GRAB_DISTANCE + type: mm + default: 1 + brief: Distance to move beyond the parking point to grab the extruder. + - name: MPE_FAST_SPEED + type: mm/min + default: 9000 + brief: Speed for travel before last distance point. + - name: MPE_SLOW_SPEED + type: mm/min + default: 4500 + brief: Speed for last distance travel to park and couple. + - name: MPE_TRAVEL_DISTANCE + type: mm + default: 10 + brief: Last distance point. + - name: MPE_COMPENSATION + type: int + default: 0 + brief: Offset Compensation -1 , 0 , 1 (multiplier) only for coupling. + +- name: SWITCHING_TOOLHEAD + disabled: true + brief: Switching Toolhead + long: Support for swappable and dockable toolheads, such as the E3D Tool Changer. Toolheads are locked with a servo. + subopts: + - name: SWITCHING_TOOLHEAD_Y_POS + type: mm + default: 235 + brief: Y position of the toolhead dock. + - name: SWITCHING_TOOLHEAD_Y_SECURITY + type: mm + default: 10 + brief: Security distance Y axis. + - name: SWITCHING_TOOLHEAD_Y_CLEAR + type: mm + default: 60 + brief: Minimum distance from dock for unobstructed X axis. + - name: SWITCHING_TOOLHEAD_X_POS + type: '{ mm, mm }' + default: '{ 215, 0 }' + brief: X positions for parking the extruders. + - name: SWITCHING_TOOLHEAD_SERVO_NR + type: index + default: 2 + brief: Index of the servo connector. + - name: SWITCHING_TOOLHEAD_SERVO_ANGLES + type: '{ angle, angle }' + default: '{ 0, 180 }' + brief: Angles for Lock, Unlock. + +- name: MAGNETIC_SWITCHING_TOOLHEAD + disabled: true + brief: Magnetic Switching Toolhead + long: Support swappable and dockable toolheads with a magnetic docking mechanism using movement and no servo. + subopts: + - name: SWITCHING_TOOLHEAD_Y_POS + type: mm + default: 235 + brief: Y position of the toolhead dock. + - name: SWITCHING_TOOLHEAD_Y_SECURITY + type: mm + default: 10 + brief: Security distance Y axis. + - name: SWITCHING_TOOLHEAD_Y_CLEAR + type: mm + default: 60 + brief: Minimum distance from dock for unobstructed X axis. + - name: SWITCHING_TOOLHEAD_X_POS + type: '{ mm, mm }' + default: '{ 215, 0 }' + brief: X positions for parking the extruders. + - name: SWITCHING_TOOLHEAD_Y_RELEASE + type: mm + default: 5 + brief: Security distance Y axis. + - name: SWITCHING_TOOLHEAD_X_SECURITY + type: '{ mm, mm }' + default: '{ 90, 150 }' + brief: Security distance X axis (T0,T1). + - name: PRIME_BEFORE_REMOVE + brief: Prime the nozzle before release from the dock. + disabled: true + subopts: + - name: SWITCHING_TOOLHEAD_PRIME_MM + type: mm + default: 20 + brief: Extruder prime length. + - name: SWITCHING_TOOLHEAD_RETRACT_MM + type: mm + default: 10 + brief: Retract after priming length. + - name: SWITCHING_TOOLHEAD_PRIME_FEEDRATE + type: mm/min + default: 300 + brief: Extruder prime feedrate. + - name: SWITCHING_TOOLHEAD_RETRACT_FEEDRATE + type: mm/min + default: 2400 + brief: Extruder retract feedrate. + +- name: ELECTROMAGNETIC_SWITCHING_TOOLHEAD + disabled: true + brief: Electromagnetic Switching Toolhead + long: Parking for CoreXY / HBot kinematics. Toolheads are parked at one edge and held with an electromagnet. Supports more than 2 Toolheads. ([Video Demonstration](https://youtu.be/JolbsAKTKf4)). + subopts: + - name: SWITCHING_TOOLHEAD_Z_HOP + type: mm + default: 2 + brief: Z raise for switching. + +- name: MIXING_EXTRUDER + since: 1.1.0 + disabled: true + brief: Mixing Extruder + long: | + - Adds G-codes `M163` and `M164` to set and "commit" the current mix factors. + - Extends the stepping routines to move multiple steppers in proportion to the mix. + - Optional support for Repetier Firmware's '`M164 S`' supporting virtual tools. + - This implementation supports up to two mixing extruders. + - Enable `DIRECT_MIXING_IN_G1` for `M165` and mixing in `G1` (from Pia Taubert's reference implementation). + subopts: + - name: MIXING_STEPPERS + type: int + default: 2 + brief: Number of stepper motors in the mixing extruder. + - name: MIXING_VIRTUAL_TOOLS + type: int + default: 16 + brief: Use the Virtual Tool method with `M163` and `M164`. + - name: DIRECT_MIXING_IN_G1 + disabled: true + brief: Allow ABCDHI mix factors in `G1` movement commands. + - name: MIXING_PRESETS + disabled: true + brief: Assign 8 default V-tool presets for 2 or 3 `MIXING_STEPPERS`. + - name: GRADIENT_MIX + disabled: true + brief: Support for gradient mixing with `M166` and LCD. + subopts: + - name: GRADIENT_VTOOL + disabled: true + brief: Add `M166 T` to use a V-tool index as a Gradient alias. + +- name: HOTEND_OFFSET_X + type: '{ mm, mm … }' + disabled: true + requires: EXTRUDERS > 1 + default: '{ 0.0, 20.00 }' + long: | + (mm) Relative X-offset for each nozzle. + - Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). + - The offset has to be 0 for the extruder 0 hotend (default extruder). + - For the other hotends it is their distance from the extruder 0 hotend. +- name: HOTEND_OFFSET_Y + type: '{ mm, mm … }' + disabled: true + requires: EXTRUDERS > 1 + default: '{ 0.0, 5.00 }' + long: | + (mm) Relative Y-offset for each nozzle. + - Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). + - The offset has to be 0 for the extruder 0 hotend (default extruder). + - For the other hotends it is their distance from the extruder 0 hotend. +- name: HOTEND_OFFSET_Z + type: '{ mm, mm … }' + disabled: true + requires: EXTRUDERS > 1 + default: '{ 0.0, 0.00 }' + long: | + (mm) Relative Z-offset for each nozzle. Used to precisely align Z with extruders that move out of the way. + - Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). + - The offset has to be 0 for the extruder 0 hotend (default extruder). + - For the other hotends it is their distance from the extruder 0 hotend. + +--- +An extruder is a combination of one or more motors and heaters that push molten plastic to build objects. diff --git a/systems/flexibot/docs/marlin/_setting/hardware.md b/systems/flexibot/docs/marlin/_setting/hardware.md new file mode 100644 index 000000000..fe2866eb3 --- /dev/null +++ b/systems/flexibot/docs/marlin/_setting/hardware.md @@ -0,0 +1,88 @@ +--- +label: Hardware +brief: Machine electronics and main components. +category: [ wip ] +tags: [ hardware ] +pagetype: toc + +settings: +- name: MOTHERBOARD + type: board + since: 1.0.0 + brief: Motherboard of the machine. + long: | + Set the motherboard ID using one of the `BOARD_...` constants defined in `boards.h`. + + This option provides Marlin with the pin definitions it needs to control the onboard components and connected peripherals. + tags: [ hardware ] + example: + - value: BOARD_RAMPS_14_EFB + +- name: SERIAL_PORT + type: int + since: 1.0.0 + brief: Main serial port. + long: The main serial port is used to communicate with the host. This is usually the serial port connected to USB. + examples: # Examples can use 'value' for a basic define or 'code' for a fancier example. + - value: ' 0' + comment: Set the first serial port to UART0 + - value: '-1' + comment: Set the first serial port to Native USB + subopts: + - name: BAUDRATE + type: int + long: Default baud rate for the main serial port. (USB ports always run at full speed.) + +- name: SERIAL_PORT_2 + type: int + since: 2.0.0 + disabled: true + brief: Secondary serial port + long: The secondary serial port can be used to communicate with a host, serial controller, or WiFi interface. + + subopts: + - name: BAUDRATE_2 + type: int + disabled: true + long: Default baud rate for the secondary serial port. If not specified then `BAUDRATE` is used. + +- name: SERIAL_PORT_3 + type: int + since: 2.0.0 + disabled: true + brief: Secondary serial port + long: The secondary serial port can be used to communicate with a host, serial controller, or WiFi interface. + subopts: + - name: BAUDRATE_3 + type: int + disabled: true + long: Default baud rate for the third serial port. If not specified then `BAUDRATE` is used. + +- name: BLUETOOTH + since: 1.1.0 + disabled: true + brief: Bluetooth wireless interface. + long: Enable the Bluetooth serial interface on AT90USB devices. + +- name: CUSTOM_MACHINE_NAME + type: string + since: 1.1.0 + disabled: true + default: '"3D Printer"' + brief: A unique name for your machine. + long: Enable this option and set a unique name such as "Ralph" or "Printy McPrintface" to identify your 3D printer. + example: + - value: '"X5 Endeavour"' + +- name: MACHINE_UUID + type: string + since: 1.1.0 + disabled: true + default: '"00000000-0000-0000-0000-000000000000"' + brief: A unique ID for your machine. + long: This unique ID can be used by some programs to differentiate between machines. + example: + - value: '"A34F2190-C84E-F553-97C3-12A4DA78A01B"' + +--- +Use these options to define the machine hardware, including the mainboard, serial ports, etc. These are the most basic settings for every type of machine that Marlin supports. diff --git a/systems/flexibot/docs/marlin/_setting/machine_info.md b/systems/flexibot/docs/marlin/_setting/machine_info.md new file mode 100644 index 000000000..bd9f622e6 --- /dev/null +++ b/systems/flexibot/docs/marlin/_setting/machine_info.md @@ -0,0 +1,19 @@ +--- +label: Machine Info +brief: Human-readable machine information. +category: [ wip ] +tags: [ info ] +pagetype: toc + +settings: +- name: CUSTOM_MACHINE_NAME + type: string + since: 1.0.0 + until: + + brief: Machine name and/or model. + long: Use this option to provide the name or model of the machine. This is displayed in the message sent to the host when Marlin first boots up, and it may also be displayed on the LCD Info Screen. + example: + - value: '"3D Printer"' +--- +Use these options to set Human-readable information about the machine, which may also be displayed on the host or LCD. diff --git a/systems/flexibot/docs/marlin/_setting/stepper_drivers.md b/systems/flexibot/docs/marlin/_setting/stepper_drivers.md new file mode 100644 index 000000000..dd7756c21 --- /dev/null +++ b/systems/flexibot/docs/marlin/_setting/stepper_drivers.md @@ -0,0 +1,261 @@ +--- +label: Stepper Drivers +brief: Basic Stepper Driver settings +category: [ wip ] +tags: [ hardware ] +pagetype: toc + +shared: + - + options: + - value: A4988 + brief: Allegro A4988 + - value: A5984 + brief: Allegro A5984 + - value: DRV8825 + brief: DRV8825 high-current driver with up to 32x micro-stepping + - value: LV8729 + brief: LV8729 with up to 128x micro-stepping + - value: TB6560 + brief: Toshiba TB6560 stepper driver board + - value: TB6600 + brief: Toshiba TB6600 stepper driver board + - value: TMC2100 + brief: Trinamic TMC2100 + - value: TMC2130 + brief: Trinamic TMC2130 (SPI) + - value: TMC2130_STANDALONE + brief: Trinamic TMC2130 (standalone) + - value: TMC2160 + brief: Trinamic TMC2160 (SPI) + - value: TMC2160_STANDALONE + brief: Trinamic TMC2160 (standalone) + - value: TMC2208 + brief: Trinamic TMC2208 (UART) + - value: TMC2208_STANDALONE + brief: Trinamic TMC2208 (standalone) + - value: TMC2209 + brief: Trinamic TMC2209 (UART) + - value: TMC2209_STANDALONE + brief: Trinamic TMC2209 (standalone) + - value: TMC26X + brief: Trinamic TMC26X (SPI) + - value: TMC26X_STANDALONE + brief: Trinamic TMC26X (standalone) + - value: TMC2660 + brief: Trinamic TMC2660 (SPI) + - value: TMC2660_STANDALONE + brief: Trinamic TMC2660 (standalone) + - value: TMC5130 + brief: Trinamic TMC5130 (SPI) + - value: TMC5130_STANDALONE + brief: Trinamic TMC5130 (standalone) + - value: TMC5160 + brief: Trinamic TMC5160 (SPI) + - value: TMC5160_STANDALONE + brief: Trinamic TMC5160 (standalone) + - value: TMC2209 + brief: Trinamic TMC2209 +settings: +- name: X_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the X axis. + options: 0 + example: + - value: TMC2209 + +- name: Y_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the Y axis. + options: 0 + +- name: Z_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the Z axis. + options: 0 + +- name: X2_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the X2 axis. + options: 0 + +- name: Y2_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the Y2 axis. + options: 0 + +- name: Z2_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the Z2 axis. + options: 0 + +- name: Z3_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the Z3 axis. + options: 0 + +- name: Z4_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the Z4 axis. + options: 0 + +- name: I_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the I axis. + options: 0 + subopts: + - name: AXIS4_NAME + type: char + default: "'A'" + options: [ "'A'", "'B'", "'C'", "'U'", "'V'", "'W'" ] + - name: AXIS4_ROTATES + brief: Specify whether this axis is rotational. + +- name: J_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the J axis. + options: 0 + subopts: + - name: AXIS5_NAME + type: char + default: "'B'" + options: [ "'B'", "'C'", "'U'", "'V'", "'W'" ] + - name: AXIS5_ROTATES + brief: Specify whether this axis is rotational. + +- name: K_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the K axis. + options: 0 + subopts: + - name: AXIS6_NAME + type: char + default: "'C'" + options: [ "'C'", "'U'", "'V'", "'W'" ] + - name: AXIS6_ROTATES + brief: Specify whether this axis is rotational. + +- name: U_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the U axis. + options: 0 + subopts: + - name: AXIS7_NAME + type: char + disabled: true + default: "'U'" + options: [ "'U'", "'V'", "'W'" ] + - name: AXIS7_ROTATES + brief: Specify whether this axis is rotational. + +- name: V_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the V axis. + options: 0 + subopts: + - name: AXIS8_NAME + type: char + disabled: true + default: "'V'" + options: [ "'V'", "'W'" ] + - name: AXIS8_ROTATES + brief: Specify whether this axis is rotational. + +- name: W_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the W axis. + options: 0 + subopts: + - name: AXIS9_NAME + type: char + disabled: true + default: "'W'" + options: [ "'W'" ] + - name: AXIS9_ROTATES + brief: Specify whether this axis is rotational. + +- name: E0_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E0 axis. + options: 0 + +- name: E1_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E1 axis. + options: 0 + +- name: E2_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E2 axis. + options: 0 + +- name: E3_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E3 axis. + options: 0 + +- name: E4_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E4 axis. + options: 0 + +- name: E5_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E5 axis. + options: 0 + +- name: E6_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E6 axis. + options: 0 + +- name: E7_DRIVER_TYPE + type: name + default: A4988 + since: 2.0.0 + brief: Stepper Driver for the E7 axis. + options: 0 +--- +Marlin is able to tune signal timing and provide extra options based on the type of Stepper Driver. These settings are used to specify the type of Stepper Driver for each axis. \ No newline at end of file diff --git a/systems/flexibot/docs/marlin/_tmp/bed-auto-leveling.md b/systems/flexibot/docs/marlin/_tmp/bed-auto-leveling.md new file mode 100644 index 000000000..dbf38f426 --- /dev/null +++ b/systems/flexibot/docs/marlin/_tmp/bed-auto-leveling.md @@ -0,0 +1,142 @@ +--- +layout: articles + +title: 'Automatic bed leveling' +description: 'Tutorial on how to use the automatic bed leveling feature of Marlin' + +category: [ howto, in-review ] +--- +There are three options for Automatic Bed Leveling. You may choose to use a servo mounted on the X carriage or you may use a sled that mounts on the X axis and can be docked when not in use or you may use a fixed proximity sensor. +See the section for each option below for specifics about installation and configuration. Also included are instructions that apply to both options. The Z probe switch can replace the Z end stop or wired in parallel/series or defined as a separate pin on the Arduino board. + +## Common settings + +Uncomment the `AUTO_BED_LEVELING_FEATURE` option (disabled by default). + +The following options define the probing positions. These are good starting values for a smaller print-bed. It's recommended to use more clearance from borders on the first run, then move the probe points as close as possible to borders: + +``` +#define LEFT_PROBE_BED_POSITION 30 +#define RIGHT_PROBE_BED_POSITION 140 +#define BACK_PROBE_BED_POSITION 140 +#define FRONT_PROBE_BED_POSITION 30 +``` + +X and Y axis travel speed between probes, in mm/min. Bear in mind that really fast moves may render step skipping. 6000 mm/min (100mm/s) is a good value: + +`#define XY_TRAVEL_SPEED 6000` + +The Z axis is lifted when traveling to the first probe point by `Z_RAISE_BEFORE_PROBING` value and then lifted when traveling from first to second and second to third point by `Z_RAISE_BETWEEN_PROBINGS`. All values are in mm as usual. Some members have suggested that lift travel should be as minimum as possible since this influences the accuracy of the measuring: + +``` +#define Z_RAISE_BEFORE_PROBING 10 +#define Z_RAISE_BETWEEN_PROBINGS 10 +``` + +## Servo options + +You will probably need to attach a swivel Z-MIN endstop to the extruder (aka Allen key shaped swivel). An RC servo does a great job. Check the [system working here](//youtu.be/xp46DTeC1ag). + +In order to get the servo working, you need to enable the following options: + +``` +#define NUM_SERVOS 1 // Servo index starts with 0 for [`M280`](/docs/gcode/M280.html) command +#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1 +#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 165,60} // X,Y,Z Axis Extend and Retract angles +``` + +`NUM_SERVOS` tells the firmware how many servos are attached. `SERVO_ENDSTOPS` is a list that tells the firmware which axes (X, Y, Z) have servos attached. The default setting (shown above) is for a servo on the Z axis. `SERVO_ENDSTOP_ANGLES` provides two angles for each servo. The first is the deployed angle (_e.g.,_ 165º) and the second is the stowed angle (_e.g.,_ 60º). You can use [`M280`](/docs/gcode/M280.html) to figure out these angles (For example `M280 P0 S60` rotates the servo to 60º). + +Next you need to define the Z endstop (probe) offset from hot-end. My preferred method: + + - Make a small mark in the bed with a marker or felt-tip pen. + - Move the tip of the hot-end as close as possible to the mark, touching the bed. Raise the hot-end 0.1mm (about the thickness of a sheet of paper) and zero all axes with `G92 X0 Y0 Z0`. + - Raise the hot-end 10mm (or more) for probe clearance, lower the Z probe (Z-Endstop) with [`M401`](/docs/gcode/M401.html) and place it on the mark by moving X, Y and Z with your host software or LCD controller. + - Lower the Z in 0.1mm steps, keeping the probe touching the mark. It may be necessary to adjust X and Y as well. When you hear the switch make a click, the endstop is trigged. Confirm this with [`M119`](/docs/gcode/M119.html). + - Now the probe is in the same position where the hot-end tip was. Use [`M114`](/docs/gcode/M114.html) to get the current position and write it down. Example output: `X:24.3 Y:-31.4 Z:5.1`. + - Raise the Z probe with [`M402`](/docs/gcode/M402.html). (Note that this may not work properly until you've flashed the new configuration.) + - Fill in the defines below, multiplying the values by -1 (i.e., use the opposite sign). For example: + +``` +// X and Y-Offset must be Integers! +#define X_PROBE_OFFSET_FROM_EXTRUDER -24 +#define Y_PROBE_OFFSET_FROM_EXTRUDER 31 +#define Z_PROBE_OFFSET_FROM_EXTRUDER -5.1 +``` + +## Sled options + +The sled option uses an electromagnet to attach and detach to/from the X carriage. See for more details on how to print and install this feature. It uses the same connections as the servo option. + +To use the sled option, you must define two additional things in Configuration.h: + +``` +#define Z_PROBE_SLED +#define SLED_DOCKING_OFFSET 5 +``` + +Uncomment the `Z_PROBE_SLED` option to define to enable the sled (this is disabled by default). + +Uncomment the `SLED_DOCKING_OFFSET` to set the extra distance the X axis must travel to dock the sled. This value can be found by moving the X axis to its maximum position then measure the distance to the right X end and subtract the width of the sled (23mm if you printed the sled from Thingiverse). + +## Z Probe Offset + +Next you need to define the Z probe's offset from the hot end. My preferred method: + + 1. Home the X and Y axes. + 2. Move the X axis to about the center of the print bed. Make a mark on the print bed. + 3. Move the Y axis to the maximum position. Make another mark. + 4. Home the X axis and use a straight edge to make a line between the two points. + 5. Repeat (2) to (4) reversing the X and Y. When you are done you will have two lines on the print bed. We will use these to measure the offset for the Z probe endstop. + 6. Move the nozzle so that it is positioned on the center point of the two lines. You can use fine movement of 0.1mm to get it as close as possible. Note the position of X and Y. + 7. Zero the Z axis with the [`G92`](/docs/gcode/G092.html) Z0 command. + 8. Raise the Z axis about 20mmm. + 9. Use the [`G32`](/docs/gcode/G032.html) command to retrieve the sled. + 10. Now more the X and Y axis to the position recorded in (6). + 11. Lower the Z axis in 0.1mm steps until you hear the "click" meaning the mechanical endstop was trigged. You can confirm with the [`M119`](/docs/gcode/M119.html) command. Note the position of the Z axis. + 12. Make a mark on the print bed where the endstop lever has touched the print bed. Raise the Z-axis about 30mm to give yourself some room. + 13. Now measure the distance from the center point to the endstop impact site along the X and Y axis using the lines drawn previously. + 14. Fill in the values below. If the endstop mark is in front of the line running left-to-right, use positive values. If it is behind, use negative values. For the Z axis use the value from (11) and subtract 0.1mm. (Note: you can adjust z probe offset via [`M851`](/docs/gcode/M851.html)) + +For example, suppose you measured the endstop position and it was 20mm to the right of the line running front-to-back, 10mm toward the front of the line running left-to-right, and the value from (11) was 2.85. The values for the defines would be: + +``` +#define X_PROBE_OFFSET_FROM_EXTRUDER 20 +#define Y_PROBE_OFFSET_FROM_EXTRUDER 10 +#define Z_PROBE_OFFSET_FROM_EXTRUDER 2.75 +``` + +Test the auto bed leveling sequence after set up via: + + - [`G28`](/docs/gcode/G028.html) safe homing and clearing the matrix + - [`G29`](/docs/gcode/G029.html) run the auto bed leveling + - `G1 Z10` move z to 10mm above the bed and start manually lowering via the Pronterface or CURA user interface + +Does the head hit the bed at Z0? If it does hit the bed before or does not (a gap remains) then use [`M114`](/docs/gcode/M114.html) to read out the height difference between the probed z and actual printer head i.e. 0.2mm. Use [`M851`](/docs/gcode/M851.html) to adjust the length Z probe (`M851 Z-6.80` if it was -7). Store in EEPROM with [`M500`](/docs/gcode/M500.html) and repeat the sequence [`G28`](/docs/gcode/G028.html), [`G29`](/docs/gcode/G029.html), [`M114`](/docs/gcode/M114.html) again. Is the gap bigger then you adjusted the Z probe offset in the opposite direction. So redo [`M851`](/docs/gcode/M851.html) Z-something, [`M500`](/docs/gcode/M500.html) and repeat [`G28`](/docs/gcode/G028.html), [`G29`](/docs/gcode/G029.html), [`M114`](/docs/gcode/M114.html) and measure (read Z from [`M114`](/docs/gcode/M114.html)) z at 0. If you cannot get this reliable adjusted than it might be an unreliable Z probe which you can test via [`M48`](/docs/gcode/M048.html). This test the probe via a series of probing measurements on one spot at the bed and returns the standard deviation (i.e. 0.02mm). + +Note: if you haven't enabled the EEPROM then you need to re-flash the MEGA. If you use a fixed proximity sensor then you can just adjust the height of the sensor to get it adjusted. + +Configure G-start up sequence code of your slicer to include [`G28`](/docs/gcode/G028.html), [`G29`](/docs/gcode/G029.html). +Every print will start with an auto bed leveling. + +## Example start G-code + +``` +M190 S{print_bed_temperature} ;Uncomment to add your own bed temperature line +M109 S{print_temperature} ;Uncomment to add your own temperature line +G21 ;metric values +G90 ;absolute positioning +M82 ;set extruder to absolute mode +M107 ;start with the fan off +G28 ;home the printer head +G29 ; auto bed leveling +G1 Z15.0 F{travel_speed} ;move the platform down 15mm +G92 E0 ;zero the extruded length +G1 F200 E3 ;extrude 3mm of feed stock (prime the printer head) +G92 E0 ;zero the extruded length again +G1 F{travel_speed} +;Put printing message on LCD screen +M117 Printing... +``` + +That's it! Enjoy never having to calibrate your Z endstop or level your bed by hand again! diff --git a/systems/flexibot/docs/marlin/_tmp/bed_leveling.md b/systems/flexibot/docs/marlin/_tmp/bed_leveling.md new file mode 100644 index 000000000..b73eed8b1 --- /dev/null +++ b/systems/flexibot/docs/marlin/_tmp/bed_leveling.md @@ -0,0 +1,68 @@ +--- +title: 'Bed Leveling' +description: 'Bed leveling procedures to probe the bed and compensate for an irregular or tilted bed' +tag: leveling + +author: shitcreek +contrib: thinkyhead +category: [ features, leveling ] +--- + + + +Marlin provides serveral ways to level your bed for improved print quality and bed adhesion - with or without a probe. This article breaks down the kinamtics of each approach. + +# Types of Bed Leveling + - [Mesh Bed Leveling](/docs/gcode/G029-mbl.html): allows for leveling the bed manually without the use of a probe. + - [Three-Point](auto_bed_leveling.html): Probe the bed at 3 arbitrary points and apply a matrix to the bed's overall tilt. + - [Planar Grid](auto_bed_leveling.html): Probe the bed in a grid and (like three-point) apply a matrix to the bed's overall tilt. + - [Bilinear Grid](auto_bed_leveling.html): Probe the bed in a grid and apply mesh-based compensation. Best for an irregular bed. + - [Unified Bed Leveling](unified_bed_leveling.html): A superset of the above leveling systems with optimized line-splitting algorithm and allows for fine tuning mesh results. + + +## Three-Point and Planar Grid (Linear) + +Ideal for perfectly flat beds that may be tilted, Three-Point and Planar Grid (linear) bed leveling apply a single plane to compensate for bed tilt. + +Three-Point is the quickest option and saves on memory. + +![3 Point](/assets/images/features/bed leveling/BL-3_point.png) + +Planar Grid uses "least squares" to produce a single flat plane. + +![Planar Grid](/assets/images/features/bed leveling/BL-planar_grid.png) + +## Mesh Bed Leveling (Manual) + +Bed leveling can be accomplished without a probe by manually probing each point with the nozzle and using a sheet of paper, business card or a feeler guage. Bilinear Interpolation is then applied to the entire bed to compensate for any irregularities. + +![Mesh Bed Leveling](/assets/images/features/bed leveling/BL-mesh.png) + +The advantage with using the nozzle to probe the bed is that it garantees that the nozzle can reach the given probe point. + +## Bi-Linear + +Using a [probe](/docs/configuration/probes.html), the process of leveling is automated and produces very accurate results. Bilinear Interpolation is then applied to the entire bed to compensate for any irregularities. + +![Bi - Linear](/assets/images/features/bed leveling/BL-bi-linear.png) + +Since the bed probe is often not exactly where the nozzle is, areas of the bed cannot be reach by it. To compensate for this, Marlin maintains the height of the nearest edge by default (option 1). With `EXTRAPOLATE_BEYOND_GRID`, Marlin extends the implied tilt beyond the probed grid (option 2). + +![Interpolation beyond probe](/assets/images/features/bed leveling/BL-interpolation.png) + +## Unified Bed Leveling + +[Unified Bed Leveling](/docs/configuration/probes.html) provides comprehensive bed leveling with: + - Optimized line-splitting algorithm. + - Optimized boundary-splitting with pre-calculation + - Optimized handling of special cases, and avoiding recursion. + - Allows for 'tilting' of probed mesh with either 3-Point or Planar Grid to compensate for slight changes in bed orientation. + - Ability to fill in the portions of the mesh that can’t be reached by automated probing. This allows the entire bed to be compensated. + - Mesh fine tuning based on print results. + +With UBL, areas beyond the reach of the probe can be probed by the nozzle like Mesh Beb Leveling (manual), manually inputted or interpolated like Bi-Linear Bed Leveling. + +For further information, see [Unified Bed Leveling](unified_bed_leveling.html). + +# Types of Probe + diff --git a/systems/flexibot/docs/marlin/_tools/lin_advance/.eslintrc.js b/systems/flexibot/docs/marlin/_tools/lin_advance/.eslintrc.js new file mode 100644 index 000000000..cb8ad9648 --- /dev/null +++ b/systems/flexibot/docs/marlin/_tools/lin_advance/.eslintrc.js @@ -0,0 +1,242 @@ +module.exports = { + "env": { + "node": false, + "browser": true, + "commonjs": true, + "jquery": true + }, + "extends": "eslint:recommended", + "parserOptions": { + "ecmaVersion": 7, + "sourceType": "script" + }, + "rules": { + "accessor-pairs": "error", + "array-bracket-spacing": "error", + "array-callback-return": "error", + "arrow-body-style": "error", + "arrow-parens": "error", + "arrow-spacing": "error", + "block-scoped-var": "error", + "block-spacing": "error", + "brace-style": ["error", "1tbs"], + "callback-return": "error", + "camelcase": [ + "error", + { + "properties": "never" + } + ], + "comma-dangle": "error", + "comma-spacing": "error", + "comma-style": "error", + "complexity": "off", + "computed-property-spacing": "error", + "consistent-return": "off", + "consistent-this": "off", + "curly": "off", + "default-case": "off", + "dot-location": [ + "error", + "object" + ], + "dot-notation": "off", + "eol-last": "error", + "eqeqeq": ["error", "smart"], + "func-names": [ + "error", + "never" + ], + "func-style": [ + "error", + "declaration" + ], + "generator-star-spacing": "error", + "global-require": "off", + "guard-for-in": "error", + "handle-callback-err": "error", + "id-blacklist": "error", + "id-length": "off", + "id-match": "error", + "indent": [ + "error", + 2, { "VariableDeclarator": 2 } + ], + "init-declarations": "off", + "jsx-quotes": "error", + "key-spacing": "off", + "keyword-spacing": "off", + "linebreak-style": [ + "error", + "unix" + ], + "lines-around-comment": "error", + "max-depth": "error", + "max-len": "off", + "max-lines": "off", + "max-nested-callbacks": "error", + "max-params": "off", + "max-statements": "off", + "max-statements-per-line": "error", + "multiline-ternary": "off", + "new-parens": "error", + "newline-after-var": "off", + "newline-before-return": "off", + "newline-per-chained-call": "error", + "no-alert": "off", + "no-array-constructor": "error", + "no-bitwise": "warn", + "no-caller": "error", + "no-catch-shadow": "error", + "no-confusing-arrow": "error", + "no-console": "off", + "no-continue": "error", + "no-div-regex": "error", + "no-duplicate-imports": "error", + "no-else-return": "error", + "no-empty-function": "error", + "no-eq-null": "off", + "no-eval": "error", + "no-extend-native": "error", + "no-extra-bind": "error", + "no-extra-label": 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"error", + "no-with": "error", + "object-curly-newline": [ + "error", + { "multiline": true, + "consistent": true} + ], + "object-curly-spacing": [ + "error", + "never" + ], + "object-property-newline": [ + "error", + { "allowMultiplePropertiesPerLine": true } + ], + "object-shorthand": "off", + "one-var": "off", + "one-var-declaration-per-line": "error", + "operator-assignment": [ + "warn", + "always" + ], + "operator-linebreak": "error", + "padded-blocks": "off", + "prefer-arrow-callback": "off", + "prefer-const": "error", + "prefer-reflect": "error", + "prefer-rest-params": "error", + "prefer-spread": "error", + "prefer-template": "off", + "quote-props": "off", + "quotes": [ + "error", + "single", + { "allowTemplateLiterals": true } + ], + "radix": [ + "error", + "as-needed" + ], + "require-jsdoc": "off", + "rest-spread-spacing": "error", + "semi": "error", + "semi-spacing": "error", + "sort-imports": "error", + "sort-vars": "off", + "space-before-blocks": "off", + "space-before-function-paren": [ + "error", + "never" + ], + "space-in-parens": [ + "error", + "never" + ], + "space-infix-ops": "off", + "space-unary-ops": "error", + "spaced-comment": "off", + "strict": ["warn", "global"], + "template-curly-spacing": "error", + "unicode-bom": [ + "error", + "never" + ], + "valid-jsdoc": "error", + "vars-on-top": "off", + "wrap-iife": "error", + "wrap-regex": "error", + "yield-star-spacing": "error", + "yoda": [ + "error", + "never" + ] + } +}; diff --git a/systems/flexibot/docs/marlin/_tools/lin_advance/k-factor.js b/systems/flexibot/docs/marlin/_tools/lin_advance/k-factor.js new file mode 100644 index 000000000..837c9fdce --- /dev/null +++ b/systems/flexibot/docs/marlin/_tools/lin_advance/k-factor.js @@ -0,0 +1,1051 @@ +/** + * K-Factor Calibration Pattern + * Copyright (C) 2019 Sineos [https://github.com/Sineos] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ +'use strict'; + +// Settings version of localStorage +// Increase if default settings are changed / amended +const SETTINGS_VERSION = '1.1'; + +function genGcode() { + + // get the values from the HTML elements + var PRINTER = $('#PRINTER').val(), + FILAMENT = $('#FILAMENT').val(), + FILENAME = $('#FILENAME').val(), + FILAMENT_DIAMETER = parseFloat($('#FIL_DIA').val()), + NOZZLE_DIAMETER = parseFloat($('#NOZ_DIA').val()), + NOZZLE_TEMP = parseInt($('#NOZZLE_TEMP').val()), + NOZZLE_LINE_RATIO = parseFloat($('#NOZ_LIN_R').val()), + BED_TEMP = parseInt($('#BED_TEMP').val()), + SPEED_SLOW = parseInt($('#SLOW_SPEED').val()), + SPEED_FAST = parseInt($('#FAST_SPEED').val()), + SPEED_MOVE = parseInt($('#MOVE_SPEED').val()), + SPEED_RETRACT = parseInt($('#RETRACT_SPEED').val()), + SPEED_UNRETRACT = parseInt($('#UNRETRACT_SPEED').val()), + ACCELERATION = parseInt($('#PRINT_ACCL').val()), + RETRACT_DIST = parseFloat($('#RETRACTION').val()), + BED_SHAPE = $('#SHAPE_BED').val(), + BED_X = parseInt($('#BEDSIZE_X').val()), + BED_Y = parseInt($('#BEDSIZE_Y').val()), + NULL_CENTER = $('#CENTER_NULL').prop('checked'), + HEIGHT_LAYER = parseFloat($('#LAYER_HEIGHT').val()), + TOOL_INDEX = parseFloat($('#TOOL_INDEX').val()), + FAN_SPEED = parseFloat($('#FAN_SPEED').val()), + EXT_MULT = parseFloat($('#EXTRUSION_MULT').val()), + VERSION_LIN = $('#LIN_VERSION').val(), + PATTERN_TYPE = $('#TYPE_PATTERN').val(), + K_START = parseFloat($('#K_START').val()), + K_END = parseFloat($('#K_END').val()), + K_STEP = parseFloat($('#K_STEP').val()), + X_JERK = parseFloat($('#X_JERK').val()), + Y_JERK = parseFloat($('#Y_JERK').val()), + Z_JERK = parseFloat($('#Z_JERK').val()), + E_JERK = parseFloat($('#E_JERK').val()), + PRINT_DIR = $('#DIR_PRINT').val(), + LINE_SPACING = parseFloat($('#SPACE_LINE').val()), + USE_FRAME = $('#FRAME').prop('checked'), + USE_PRIME = $('#PRIME').prop('checked'), + BED_LEVELING = $('#SELECT_BED_LEVELING').val(), + USE_MMS = $('#MM_S').prop('checked'), + USE_FWR = $('#USE_FWR').prop('checked'), + EXT_MULT_PRIME = parseFloat($('#PRIME_EXT').val()), + SPEED_PRIME = parseFloat($('#PRIME_SPEED').val()), + PRIME_DWELL = parseFloat($('#DWELL_PRIME').val()), + LENGTH_SLOW = parseFloat($('#SLOW_LENGTH').val()), + LENGTH_FAST = parseFloat($('#FAST_LENGTH').val()), + Z_OFFSET = parseFloat($('#OFFSET_Z').val()), + USE_LINENO = $('#LINE_NO').prop('checked'), + DO_Z_ALIGNMENT = $('#Z_ALIGNMENT').prop('checked'); + + if (BED_SHAPE === 'Round') { + BED_Y = BED_X; + } + + if (USE_MMS) { + SPEED_SLOW *= 60; + SPEED_FAST *= 60; + SPEED_MOVE *= 60; + SPEED_PRIME *= 60; + SPEED_RETRACT *= 60; + SPEED_UNRETRACT *= 60; + } + + var RANGE_K = K_END - K_START, + PRINT_SIZE_Y = (RANGE_K / K_STEP * LINE_SPACING) + 25, // +25 with ref marking + PRINT_SIZE_X = (2 * LENGTH_SLOW) + LENGTH_FAST + (USE_PRIME ? 10 : 0) + (USE_LINENO ? 8 : 0), + CENTER_X = (NULL_CENTER ? 0 : BED_X / 2), + CENTER_Y = (NULL_CENTER ? 0 : BED_Y / 2), + PAT_START_X = CENTER_X - (0.5 * LENGTH_FAST) - LENGTH_SLOW + (USE_PRIME ? 5 : 0) - (USE_LINENO ? 4 : 0), + PAT_START_Y = CENTER_Y - (PRINT_SIZE_Y / 2), + LINE_WIDTH = NOZZLE_DIAMETER * NOZZLE_LINE_RATIO, + EXTRUSION_RATIO = LINE_WIDTH * HEIGHT_LAYER / (Math.pow(FILAMENT_DIAMETER / 2, 2) * Math.PI), + printDirRad = PRINT_DIR * Math.PI / 180, + FIT_WIDTH = Math.abs(PRINT_SIZE_X * Math.cos(printDirRad)) + Math.abs(PRINT_SIZE_Y * Math.sin(printDirRad)), + FIT_HEIGHT = Math.abs(PRINT_SIZE_X * Math.sin(printDirRad)) + Math.abs(PRINT_SIZE_Y * Math.cos(printDirRad)), + gcodeOut = document.getElementById('gcode-out'); + + var basicSettings = { + 'slow': SPEED_SLOW, + 'fast': SPEED_FAST, + 'move': SPEED_MOVE, + 'centerX': CENTER_X, + 'centerY': CENTER_Y, + 'printDir': PRINT_DIR, + 'lineWidth': LINE_WIDTH, + 'extRatio': EXTRUSION_RATIO, + 'extMult': EXT_MULT, + 'extMultPrime': EXT_MULT_PRIME, + 'retractDist': RETRACT_DIST, + 'retractSpeed' : SPEED_RETRACT, + 'unretractSpeed' : SPEED_UNRETRACT, + 'fwRetract' : USE_FWR + }; + + var patSettings = { + 'lengthSlow' : LENGTH_SLOW, + 'lengthFast': LENGTH_FAST, + 'kStart' : K_START, + 'kEnd' : K_END, + 'kStep' : K_STEP, + 'lineSpacing' : LINE_SPACING + }; + + // Start G-code for pattern + var k_script = '; ### Marlin K-Factor Calibration Pattern ###\n' + + '; -------------------------------------------\n' + + ';\n' + + '; Printer: ' + PRINTER + '\n' + + '; Filament: ' + FILAMENT + '\n' + + '; Created: ' + new Date() + '\n' + + ';\n' + + '; Settings Printer:\n' + + '; Filament Diameter = ' + FILAMENT_DIAMETER + ' mm\n' + + '; Nozzle Diameter = ' + NOZZLE_DIAMETER + ' mm\n' + + '; Nozzle Temperature = ' + NOZZLE_TEMP + ' °C\n' + + '; Bed Temperature = ' + BED_TEMP + ' °C\n' + + '; Retraction Distance = ' + RETRACT_DIST + ' mm\n' + + '; Layer Height = ' + HEIGHT_LAYER + ' mm\n' + + '; Extruder = ' + TOOL_INDEX + ' \n' + + '; Fan Speed = ' + FAN_SPEED + ' %\n' + + '; Z-axis Offset = ' + Z_OFFSET + ' mm\n' + + ';\n' + + '; Settings Print Bed:\n' + + '; Bed Shape = ' + BED_SHAPE + '\n' + + (BED_SHAPE === 'Round' ? '; Bed Diameter = ' + BED_X + ' mm\n' : '; Bed Size X = ' + BED_X + ' mm\n') + + (BED_SHAPE === 'Round' ? '' : '; Bed Size Y = ' + BED_Y + ' mm\n') + + '; Origin Bed Center = ' + (NULL_CENTER ? 'true' : 'false') + '\n' + + ';\n' + + '; Settings Speed:\n' + + '; Slow Printing Speed = ' + SPEED_SLOW + ' mm/min\n' + + '; Fast Printing Speed = ' + SPEED_FAST + ' mm/min\n' + + '; Movement Speed = ' + SPEED_MOVE + ' mm/min\n' + + '; Retract Speed = ' + SPEED_RETRACT + ' mm/min\n' + + '; Unretract Speed = ' + SPEED_UNRETRACT + ' mm/min\n' + + '; Printing Acceleration = ' + ACCELERATION + ' mm/s^2\n' + + '; Jerk X-axis = ' + (X_JERK !== -1 ? X_JERK + '\n': ' firmware default\n') + + '; Jerk Y-axis = ' + (Y_JERK !== -1 ? Y_JERK + '\n': ' firmware default\n') + + '; Jerk Z-axis = ' + (Z_JERK !== -1 ? Z_JERK + '\n': ' firmware default\n') + + '; Jerk Extruder = ' + (E_JERK !== -1 ? E_JERK + '\n': ' firmware default\n') + + ';\n' + + '; Settings Pattern:\n' + + '; Linear Advance Version = ' + VERSION_LIN + '\n' + + '; Starting Value Factor = ' + K_START + '\n' + + '; Ending Value Factor = ' + K_END + '\n' + + '; Factor Stepping = ' + K_STEP + '\n' + + '; Test Line Spacing = ' + LINE_SPACING + ' mm\n' + + '; Test Line Length Slow = ' + LENGTH_SLOW + ' mm\n' + + '; Test Line Length Fast = ' + LENGTH_FAST + ' mm\n' + + '; Print Pattern = ' + (PATTERN_TYPE === 'alt' ? 'Alternate' : 'Standard') + '\n' + + '; Print Frame = ' + (USE_FRAME ? 'true' : 'false') + '\n' + + '; Number Lines = ' + (USE_LINENO ? 'true' : 'false') + '\n' + + '; Print Size X = ' + FIT_WIDTH + ' mm\n' + + '; Print Size Y = ' + FIT_HEIGHT + ' mm\n' + + '; Print Rotation = ' + PRINT_DIR + ' degree\n' + + ';\n' + + '; Settings Advance:\n' + + '; Nozzle / Line Ratio = ' + NOZZLE_LINE_RATIO + '\n' + + '; Bed leveling = ' + BED_LEVELING + '\n' + + '; Use FWRETRACT = ' + (USE_FWR ? 'true' : 'false') + '\n' + + '; Extrusion Multiplier = ' + EXT_MULT + '\n' + + '; Prime Nozzle = ' + (USE_PRIME ? 'true' : 'false') + '\n' + + '; Prime Extrusion Multiplier = ' + EXT_MULT_PRIME + '\n' + + '; Prime Speed = ' + SPEED_PRIME + '\n' + + '; Dwell Time = ' + PRIME_DWELL + ' s\n' + + ';\n' + + '; prepare printing\n' + + ';\n' + + 'G21 ; Millimeter units\n' + + 'G90 ; Absolute XYZ\n' + + 'M83 ; Relative E\n' + + 'G28 ; Home all axes\n' + + (DO_Z_ALIGNMENT ? 'G34 ; Align Z\n' : '') + + 'T' + TOOL_INDEX + ' ; Switch to tool ' + TOOL_INDEX + '\n' + + 'G1 Z10 F100 ; Z raise\n' + + 'M104 S' + NOZZLE_TEMP + ' ; Set nozzle temperature (no wait)\n' + + 'M190 S' + BED_TEMP + ' ; Set bed temperature (wait)\n' + + 'M109 S' + NOZZLE_TEMP + ' ; Wait for nozzle temp\n' + + (BED_LEVELING !== '0' ? BED_LEVELING + '; Activate bed leveling compensation\n' : '') + + 'M204 P' + ACCELERATION + ' ; Acceleration\n' + + (X_JERK !== -1 ? 'M205 X' + X_JERK + ' ; X Jerk\n' : '') + + (Y_JERK !== -1 ? 'M205 Y' + Y_JERK + ' ; Y Jerk\n' : '') + + (Z_JERK !== -1 ? 'M205 Z' + Z_JERK + ' ; Z Jerk\n' : '') + + (E_JERK !== -1 ? 'M205 E' + E_JERK + ' ; E Jerk\n' : '') + + 'G92 E0 ; Reset extruder distance\n' + + 'M106 P' + TOOL_INDEX + ' S' + Math.round(FAN_SPEED * 2.55) + '\n'; + + //move to center and layer Height + k_script += moveTo(CENTER_X, CENTER_Y, basicSettings) + + 'G1 Z' + (HEIGHT_LAYER + Z_OFFSET) + ' F' + SPEED_SLOW + ' ; Move to layer height\n'; + + // Prime nozzle if activated + if (USE_PRIME) { + var primeStartX = CENTER_X - LENGTH_SLOW - (0.5 * LENGTH_FAST) - (USE_LINENO ? 4 : 0) - 5, + primeStartY = CENTER_Y - (PRINT_SIZE_Y / 2); + + k_script += ';\n' + + '; prime nozzle\n' + + ';\n' + + moveTo(primeStartX, primeStartY, basicSettings) + + createLine(primeStartX, primeStartY + PRINT_SIZE_Y, PRINT_SIZE_Y, basicSettings, {'extMult': EXT_MULT_PRIME, 'speed': SPEED_PRIME}) + + moveTo(primeStartX + (LINE_WIDTH * 1.5), primeStartY + PRINT_SIZE_Y, basicSettings) + + createLine(primeStartX + (LINE_WIDTH * 1.5), primeStartY, -PRINT_SIZE_Y, basicSettings, {'extMult': EXT_MULT_PRIME, 'speed': SPEED_PRIME}) + + doEfeed('-', basicSettings, (USE_FWR ? 'FWR' : 'STD')); + } + + // if selected, print an anchor frame around test line start and end points + if (USE_FRAME) { + var frameStartX1 = PAT_START_X, + frameStartX2 = PAT_START_X + (2 * LENGTH_SLOW) + LENGTH_FAST, + frameStartY = PAT_START_Y - 3, + frameLength = PRINT_SIZE_Y - 19; + + k_script += ';\n' + + '; print anchor frame\n' + + ';\n' + + moveTo(frameStartX1, frameStartY, basicSettings) + + (USE_PRIME ? doEfeed('+', basicSettings, (USE_FWR ? 'FWR' : 'STD')) : '') + + createLine(frameStartX1, frameStartY + frameLength, frameLength, basicSettings, {'extMult': EXT_MULT * 1.1}) + + moveTo(frameStartX1 + LINE_WIDTH, frameStartY + frameLength, basicSettings) + + createLine(frameStartX1 + LINE_WIDTH, frameStartY, -frameLength, basicSettings, {'extMult': EXT_MULT * 1.1}) + + doEfeed('-', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + moveTo(frameStartX2, frameStartY, basicSettings) + + doEfeed('+', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + createLine(frameStartX2, frameStartY + frameLength, frameLength, basicSettings, {'extMult': EXT_MULT * 1.1}) + + moveTo(frameStartX2 - LINE_WIDTH, frameStartY + frameLength, basicSettings) + + createLine(frameStartX2 - LINE_WIDTH, frameStartY, -frameLength, basicSettings, {'extMult': EXT_MULT * 1.1}) + + doEfeed('-', basicSettings, (USE_FWR ? 'FWR' : 'STD')); + } + + // insert a retract if no prime and no frame + if (!USE_PRIME && !USE_FRAME) + k_script += doEfeed('-', basicSettings, (USE_FWR ? 'FWR' : 'STD')); + + // generate the k-factor Test pattern + k_script += ';\n' + + '; start the Test pattern\n' + + ';\n' + + (PRIME_DWELL ? 'G4 P' + (PRIME_DWELL * 1000) + ' ; Pause (dwell) for 2 seconds\n' : '') + + moveTo(PAT_START_X, PAT_START_Y, basicSettings); + + if (PATTERN_TYPE === 'std') + k_script += createStdPattern(PAT_START_X, PAT_START_Y, basicSettings, patSettings); + else if (PATTERN_TYPE === 'alt') + k_script += createAltPattern(PAT_START_X, PAT_START_Y, basicSettings, patSettings); + + // mark area of speed changes + var refStartX1 = CENTER_X - (0.5 * LENGTH_FAST) + (USE_PRIME ? 5 : 0) - (USE_LINENO ? 4 : 0), + refStartX2 = CENTER_X + (0.5 * LENGTH_FAST) + (USE_PRIME ? 5 : 0) - (USE_LINENO ? 4 : 0), + refStartY = CENTER_Y + (PRINT_SIZE_Y / 2) - 20; + + k_script += ';\n' + + '; Mark the test area for reference\n' + + 'M117 K0\n' + + 'M900 K0 ; Set K-factor 0\n' + + moveTo(refStartX1, refStartY, basicSettings) + + doEfeed('+', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + createLine(refStartX1, refStartY + 20, 20, basicSettings) + + doEfeed('-', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + moveTo(refStartX2, refStartY, basicSettings) + + doEfeed('+', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + createLine(refStartX2, refStartY + 20, 20, basicSettings) + + doEfeed('-', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + zHop((HEIGHT_LAYER + Z_OFFSET) + 0.1, basicSettings); + + // print K values beside the test lines + if (USE_LINENO) { + var numStartX = CENTER_X + (0.5 * LENGTH_FAST) + LENGTH_SLOW + (USE_PRIME ? 5 : 0) - 2, + numStartY = PAT_START_Y - 2, + stepping = 0; + + k_script += ';\n' + + '; print K-values\n' + + ';\n'; + + for (var i = K_START; i <= K_END; i += K_STEP) { + if (stepping % 2 === 0) { + k_script += moveTo(numStartX, numStartY + (stepping * LINE_SPACING), basicSettings) + + zHop((HEIGHT_LAYER + Z_OFFSET), basicSettings) + + doEfeed('+', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + createGlyphs(numStartX, numStartY + (stepping * LINE_SPACING), basicSettings, Math.round10(i, -3)) + + doEfeed('-', basicSettings, (USE_FWR ? 'FWR' : 'STD')) + + zHop((HEIGHT_LAYER + Z_OFFSET) + 0.1, basicSettings); + } + stepping += 1; + } + } + + k_script += ';\n' + + '; FINISH\n' + + ';\n' + + 'M107 ; Turn off fan\n' + + 'M400 ; Finish moving\n' + + 'M104 S0 ; Turn off hotend\n' + + 'M140 S0 ; Turn off bed\n' + + 'G1 Z30 X' + (NULL_CENTER ? 0 : BED_X) + ' Y' + (NULL_CENTER ? 0 : BED_Y) + ' F' + SPEED_MOVE + ' ; Move away from the print\n' + + 'M84 ; Disable motors\n' + + 'M501 ; Load settings from EEPROM\n' + + ';'; + + gcodeOut.value = k_script; +} + +// Save content of textarea to file using +// https://github.com/eligrey/FileSaver.js +function saveTextAsFile() { + var gcodeText = document.getElementById('gcode-out').value, + textFileAsBlob = new Blob([gcodeText], {type: 'text/plain'}), + usersFilename = document.getElementById('FILENAME').value, + filename = usersFilename || '', + fileNameToSaveAs = filename + 'kfactor.gcode'; + if (gcodeText) { + saveAs(textFileAsBlob, fileNameToSaveAs); + } else { + alert('Generate G-code first'); + return; + } +} + +// https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Math/round +(function() { + + /** + * Decimal adjustment of a number. + * + * @param {String} type The type of adjustment. + * @param {Number} value The number. + * @param {Integer} exp The exponent (the 10 logarithm of the adjustment base). + * @returns {Number} The adjusted value. + */ + + function decimalAdjust(type, value, exp) { + // If the exp is undefined or zero... + if (typeof exp === 'undefined' || Number(exp) === 0) { + return Math[type](value); + } + value = Number(value); + exp = Number(exp); + // If the value is not a number or the exp is not an integer... + if (value === null || isNaN(value) || !(typeof exp === 'number' && exp % 1 === 0)) { + return NaN; + } + // If the value is negative... + if (value < 0) { + return -decimalAdjust(type, -value, exp); + } + // Shift + value = value.toString().split('e'); + value = Math[type](Number(value[0] + 'e' + (value[1] ? (Number(value[1]) - exp) : -exp))); + // Shift back + value = value.toString().split('e'); + return Number(value[0] + 'e' + (value[1] ? (Number(value[1]) + exp) : exp)); + } + + // Decimal round + if (!Math.round10) { + Math.round10 = function(value, exp) { + return decimalAdjust('round', value, exp); + }; + } + // Decimal floor + if (!Math.floor10) { + Math.floor10 = function(value, exp) { + return decimalAdjust('floor', value, exp); + }; + } + // Decimal ceil + if (!Math.ceil10) { + Math.ceil10 = function(value, exp) { + return decimalAdjust('ceil', value, exp); + }; + } +}()); + +// get the number of decimal places of a float +function getDecimals(num) { + var match = (String(num)).match(/(?:\.(\d+))?(?:[eE]([+-]?\d+))?$/); + if (!match) { + return num; + } + var decimalPlaces = Math.max(0, (match[1] ? match[1].length : 0) - (match[2] ? Number(match[2]) : 0)); + return decimalPlaces; +} + +// print a line between current position and target +function createLine(coordX, coordY, length, basicSettings, optional) { + var ext = 0, + gcode = ''; + + //handle optional function arguements passed as object + var defaults = { + speed: basicSettings['slow'], + extMult: basicSettings['extMult'], + comment: ' ; print line\n' + }; + var optArgs = $.extend({}, defaults, optional); + + ext = Math.round10(basicSettings['extRatio'] * optArgs['extMult'] * Math.abs(length), -4); + + gcode += 'G1 X' + Math.round10(rotateX(coordX, basicSettings['centerX'], coordY, basicSettings['centerY'], basicSettings['printDir']), -4) + + ' Y' + Math.round10(rotateY(coordX, basicSettings['centerX'], coordY, basicSettings['centerY'], basicSettings['printDir']), -4) + + ' E' + ext + ' F' + optArgs['speed'] + optArgs['comment']; + + return gcode; +} + +// move print head to coordinates +function moveTo(coordX, coordY, basicSettings) { + var gcode = ''; + + gcode += 'G1 X' + Math.round10(rotateX(coordX, basicSettings['centerX'], coordY, basicSettings['centerY'], basicSettings['printDir']), -4) + + ' Y' + Math.round10(rotateY(coordX, basicSettings['centerX'], coordY, basicSettings['centerY'], basicSettings['printDir']), -4) + + ' F' + basicSettings['move'] + ' ; move to start\n'; + return gcode; +} + +// create retract / un-retract gcode +function doEfeed(dir, basicSettings, type) { + var gcode = ''; + + switch (true) { + case (type === 'STD' && dir === '+'): + gcode += 'G1 E' + basicSettings['retractDist'] + ' F' + basicSettings['unretractSpeed'] + ' ; un-retract\n'; + break; + case (type === 'STD' && dir === '-'): + gcode += 'G1 E-' + basicSettings['retractDist'] + ' F' + basicSettings['retractSpeed'] + ' ; retract\n'; + break; + case (type === 'FWR' && dir === '+'): + gcode += 'G11 ; un-retract\n'; + break; + case (type === 'FWR' && dir === '-'): + gcode += 'G10 ; retract\n'; + break; + } + + return gcode; +} + +// create alternat test pattern +function createAltPattern(startX, startY, basicSettings, patSettings) { + var j = 0, + k = 0, + gcode = ''; + + gcode += doEfeed('+', basicSettings, (basicSettings['fwRetract'] ? 'FWR' : 'STD')); + + for (var i = patSettings['kStart']; i <= patSettings['kEnd']; i += patSettings['kStep']) { + if (k % 2 === 0) { + gcode += 'M900 K' + Math.round10(i, -3) + ' ; set K-factor\n' + + 'M117 K' + Math.round10(i, -3) + ' ; \n' + + createLine(startX + patSettings['lengthSlow'], startY + j, patSettings['lengthSlow'], basicSettings, {'speed': basicSettings['slow']}) + + createLine(startX + patSettings['lengthSlow'] + patSettings['lengthFast'], startY + j, patSettings['lengthFast'], basicSettings, {'speed': basicSettings['fast']}) + + createLine(startX + (2 * patSettings['lengthSlow']) + patSettings['lengthFast'], startY + j, patSettings['lengthSlow'], basicSettings, {'speed': basicSettings['slow']}) + + createLine(startX + (2 * patSettings['lengthSlow']) + patSettings['lengthFast'], startY + j + patSettings['lineSpacing'], patSettings['lineSpacing'], basicSettings, {'speed': basicSettings['fast']}); + j += patSettings['lineSpacing']; + k += 1; + } else if (k % 2 !== 0) { + gcode += 'M900 K' + Math.round10(i, -3) + ' ; set K-factor\n' + + 'M117 K' + Math.round10(i, -3) + ' ; \n' + + createLine(startX + patSettings['lengthSlow'] + patSettings['lengthFast'], startY + j, patSettings['lengthSlow'], basicSettings, {'speed': basicSettings['slow']}) + + createLine(startX + patSettings['lengthSlow'], startY + j, patSettings['lengthFast'], basicSettings, {'speed': basicSettings['fast']}) + + createLine(startX, startY + j, patSettings['lengthSlow'], basicSettings, {'speed': basicSettings['slow']}) + + createLine(startX, startY + j + patSettings['lineSpacing'], patSettings['lineSpacing'], basicSettings, {'speed': basicSettings['fast']}); + j += patSettings['lineSpacing']; + k += 1; + } + } + gcode += doEfeed('-', basicSettings, (basicSettings['fwRetract'] ? 'FWR' : 'STD')); + return gcode; +} + +// create standard test pattern +function createStdPattern(startX, startY, basicSettings, patSettings) { + var j = 0, + gcode = ''; + + for (var i = patSettings['kStart']; i <= patSettings['kEnd']; i += patSettings['kStep']) { + gcode += 'M900 K' + Math.round10(i, -3) + ' ; set K-factor\n' + + 'M117 K' + Math.round10(i, -3) + ' ; \n' + + doEfeed('+', basicSettings, (basicSettings['fwRetract'] ? 'FWR' : 'STD')) + + createLine(startX + patSettings['lengthSlow'], startY + j, patSettings['lengthSlow'], basicSettings, {'speed': basicSettings['slow']}) + + createLine(startX + patSettings['lengthSlow'] + patSettings['lengthFast'], startY + j, patSettings['lengthFast'], basicSettings, {'speed': basicSettings['fast']}) + + createLine(startX + (2 * patSettings['lengthSlow']) + patSettings['lengthFast'], startY + j, patSettings['lengthSlow'], basicSettings, {'speed': basicSettings['slow']}) + + doEfeed('-', basicSettings, (basicSettings['fwRetract'] ? 'FWR' : 'STD')) + + (i !== patSettings['kEnd'] ? moveTo(startX, startY + j + patSettings['lineSpacing'], basicSettings) : ''); + j += patSettings['lineSpacing']; + } + return gcode; +} + +// create digits for K line numbering +function createGlyphs(startX, startY, basicSettings, value) { + var glyphSegHeight = 2, + glyphSegHeight2 = 0.4, + glyphSpacing = 3.0, + glyphString = '', + xCount = 0, + yCount = 0, + sNumber = value.toString(), + glyphSeg = { + '1': ['up', 'up'], + '2': ['mup', 'mup', 'right', 'down', 'left', 'down', 'right'], + '3': ['mup', 'mup', 'right', 'down', 'down', 'left', 'mup', 'right'], + '4': ['mup', 'mup', 'down', 'right', 'mup', 'down', 'down'], + '5': ['right', 'up', 'left', 'up', 'right'], + '6': ['mup', 'right', 'down', 'left', 'up', 'up', 'right'], + '7': ['mup', 'mup', 'right', 'down', 'down'], + '8': ['mup', 'right', 'down', 'left', 'up', 'up', 'right', 'down'], + '9': ['right', 'up', 'left', 'up', 'right', 'down'], + '0': ['right', 'up', 'up', 'left', 'down', 'down'], + '.': ['dot'] + }; + + for (var i = 0, len = sNumber.length; i < len; i += 1) { + for (var key in glyphSeg[sNumber.charAt(i)]) { + if(glyphSeg[sNumber.charAt(i)].hasOwnProperty(key)) { + var up = createLine(startX + (xCount * glyphSegHeight), startY + (yCount * glyphSegHeight) + glyphSegHeight, glyphSegHeight, basicSettings, {'speed': basicSettings['slow'], 'comment': ' ; ' + sNumber.charAt(i) + '\n'}), + down = createLine(startX + (xCount * glyphSegHeight), startY + (yCount * glyphSegHeight) - glyphSegHeight, glyphSegHeight, basicSettings, {'speed': basicSettings['slow'], 'comment': ' ; ' + sNumber.charAt(i) + '\n'}), + right = createLine(startX + (xCount * glyphSegHeight) + glyphSegHeight, startY + (yCount * glyphSegHeight), glyphSegHeight, basicSettings, {'speed': basicSettings['slow'], 'comment': ' ; ' + sNumber.charAt(i) + '\n'}), + left = createLine(startX + (xCount * glyphSegHeight) - glyphSegHeight, startY + (yCount * glyphSegHeight), glyphSegHeight, basicSettings, {'speed': basicSettings['slow'], 'comment': ' ; ' + sNumber.charAt(i) + '\n'}), + mup = moveTo(startX + (xCount * glyphSegHeight), startY + (yCount * glyphSegHeight) + glyphSegHeight, basicSettings), + dot = createLine(startX, startY + glyphSegHeight2, glyphSegHeight2, basicSettings, {speed: basicSettings['slow'], comment: ' ; dot\n'}); + if (glyphSeg[sNumber.charAt(i)][key] === 'up') { + glyphString += up; + yCount += 1; + } else if (glyphSeg[sNumber.charAt(i)][key] === 'down') { + glyphString += down; + yCount -= 1; + } else if (glyphSeg[sNumber.charAt(i)][key] === 'right') { + glyphString += right; + xCount += 1; + } else if (glyphSeg[sNumber.charAt(i)][key] === 'left') { + glyphString += left; + xCount -= 1; + } else if (glyphSeg[sNumber.charAt(i)][key] === 'mup') { + glyphString += mup; + yCount += 1; + } else if (glyphSeg[sNumber.charAt(i)][key] === 'dot') { + glyphString += dot; + } + } + } + if (sNumber.charAt(i) === '1' || sNumber.charAt(i) === '.') { + startX += 1; + } else { + startX += glyphSpacing; + } + if (i !== sNumber.length - 1) { + glyphString += doEfeed('-', basicSettings, (basicSettings['fwRetract'] ? 'FWR' : 'STD')) + + moveTo(startX, startY, basicSettings) + + doEfeed('+', basicSettings, (basicSettings['fwRetract'] ? 'FWR' : 'STD')); + } + yCount = 0; + xCount = 0; + } + return glyphString; +} + +// gcode for small z hop +function zHop(hop, basicSettings) { + var gcode = ''; + + gcode += 'G1 Z' + Math.round10(hop, -3) + ' F' + basicSettings['slow'] + ' ; zHop\n'; + + return gcode; +} + +// rotate x around a defined center xm, ym +function rotateX(x, xm, y, ym, a) { + a = a * Math.PI / 180; // Convert to radians + var cos = Math.cos(a), + sin = Math.sin(a); + + // Subtract midpoints, so that midpoint is translated to origin + // and add it in the end again + //var xr = (x - xm) * cos - (y - ym) * sin + xm; //CCW + var xr = (cos * (x - xm)) + (sin * (y - ym)) + xm; //CW + return xr; +} + +// rotate y around a defined center xm, ym +function rotateY(x, xm, y, ym, a) { + a = a * Math.PI / 180; // Convert to radians + var cos = Math.cos(a), + sin = Math.sin(a); + + // Subtract midpoints, so that midpoint is translated to origin + // and add it in the end again + //var yr = (x - xm) * sin + (y - ym) * cos + ym; //CCW + var yr = (cos * (y - ym)) - (sin * (x - xm)) + ym; //CW + return yr; +} + +// save current settings as localStorage object +function setLocalStorage() { + var FILAMENT_DIAMETER = parseFloat($('#FIL_DIA').val()), + NOZZLE_DIAMETER = parseFloat($('#NOZ_DIA').val()), + NOZZLE_TEMP = parseInt($('#NOZZLE_TEMP').val()), + NOZZLE_LINE_RATIO = parseFloat($('#NOZ_LIN_R').val()), + BED_TEMP = parseInt($('#BED_TEMP').val()), + SPEED_SLOW = parseInt($('#SLOW_SPEED').val()), + SPEED_FAST = parseInt($('#FAST_SPEED').val()), + SPEED_MOVE = parseInt($('#MOVE_SPEED').val()), + SPEED_RETRACT = parseInt($('#RETRACT_SPEED').val()), + ACCELERATION = parseInt($('#PRINT_ACCL').val()), + RETRACT_DIST = parseFloat($('#RETRACTION').val()), + BED_SHAPE = $('#SHAPE_BED').val(), + BED_X = parseInt($('#BEDSIZE_X').val()), + BED_Y = parseInt($('#BEDSIZE_Y').val()), + NULL_CENTER = $('#CENTER_NULL').prop('checked'), + HEIGHT_LAYER = parseFloat($('#LAYER_HEIGHT').val()), + TOOL_INDEX = parseFloat($('#TOOL_INDEX').val()), + FAN_SPEED = parseFloat($('#FAN_SPEED').val()), + EXT_MULT = parseFloat($('#EXTRUSION_MULT').val()), + VERSION_LIN = $('#LIN_VERSION').val(), + PATTERN_TYPE = $('#TYPE_PATTERN').val(), + K_START = parseFloat($('#K_START').val()), + K_END = parseFloat($('#K_END').val()), + K_STEP = parseFloat($('#K_STEP').val()), + X_JERK = parseFloat($('#X_JERK').val()), + Y_JERK = parseFloat($('#Y_JERK').val()), + Z_JERK = parseFloat($('#Z_JERK').val()), + E_JERK = parseFloat($('#E_JERK').val()), + PRINT_DIR = $('#DIR_PRINT').val(), + LINE_SPACING = parseFloat($('#SPACE_LINE').val()), + USE_FRAME = $('#FRAME').prop('checked'), + USE_PRIME = $('#PRIME').prop('checked'), + EXT_MULT_PRIME = parseFloat($('#PRIME_EXT').val()), + SPEED_PRIME = parseFloat($('#PRIME_SPEED').val()), + PRIME_DWELL = parseFloat($('#DWELL_PRIME').val()), + LENGTH_SLOW = parseFloat($('#SLOW_LENGTH').val()), + LENGTH_FAST = parseFloat($('#FAST_LENGTH').val()), + Z_OFFSET = parseFloat($('#OFFSET_Z').val()), + USE_FWR = $('#USE_FWR').prop('checked'), + USE_MMS = $('#MM_S').prop('checked'), + USE_LINENO = $('#LINE_NO').prop('checked'); + + var settings = { + 'Version' : SETTINGS_VERSION, + 'FILAMENT_DIAMETER': FILAMENT_DIAMETER, + 'NOZZLE_DIAMETER': NOZZLE_DIAMETER, + 'NOZZLE_TEMP': NOZZLE_TEMP, + 'NOZZLE_LINE_RATIO': NOZZLE_LINE_RATIO, + 'BED_TEMP': BED_TEMP, + 'SPEED_SLOW': SPEED_SLOW, + 'SPEED_FAST': SPEED_FAST, + 'SPEED_MOVE': SPEED_MOVE, + 'SPEED_RETRACT': SPEED_RETRACT, + 'ACCELERATION': ACCELERATION, + 'RETRACT_DIST': RETRACT_DIST, + 'BED_SHAPE': BED_SHAPE, + 'BED_X': BED_X, + 'BED_Y': BED_Y, + 'NULL_CENTER': NULL_CENTER, + 'HEIGHT_LAYER': HEIGHT_LAYER, + 'TOOL_INDEX' : TOOL_INDEX, + 'FAN_SPEED' : FAN_SPEED, + 'EXT_MULT': EXT_MULT, + 'VERSION_LIN': VERSION_LIN, + 'PATTERN_TYPE': PATTERN_TYPE, + 'K_START': K_START, + 'K_END': K_END, + 'K_STEP': K_STEP, + 'X_JERK': X_JERK, + 'Y_JERK': Y_JERK, + 'Z_JERK': Z_JERK, + 'E_JERK': E_JERK, + 'PRINT_DIR': PRINT_DIR, + 'LINE_SPACING': LINE_SPACING, + 'USE_FRAME': USE_FRAME, + 'USE_PRIME': USE_PRIME, + 'EXT_MULT_PRIME': EXT_MULT_PRIME, + 'SPEED_PRIME' : SPEED_PRIME, + 'PRIME_DWELL': PRIME_DWELL, + 'LENGTH_SLOW': LENGTH_SLOW, + 'LENGTH_FAST': LENGTH_FAST, + 'Z_OFFSET': Z_OFFSET, + 'USE_FWR': USE_FWR, + 'USE_MMS': USE_MMS, + 'USE_LINENO': USE_LINENO + }; + + const lsSettings = JSON.stringify(settings); + window.localStorage.setItem('LIN_SETTINGS', lsSettings); +} + +// toggle between mm/s and mm/min speed settings +function speedToggle() { + var SPEED_SLOW = $('#SLOW_SPEED').val(), + SPEED_FAST = $('#FAST_SPEED').val(), + SPEED_MOVE = $('#MOVE_SPEED').val(), + SPEED_RETRACT = $('#RETRACT_SPEED').val(), + SPEED_PRIME = $('#PRIME_SPEED').val(); + if ($('#MM_S').is(':checked')) { + SPEED_SLOW = $('#SLOW_SPEED').val(); + SPEED_FAST = $('#FAST_SPEED').val(); + SPEED_MOVE = $('#MOVE_SPEED').val(); + SPEED_RETRACT = $('#RETRACT_SPEED').val(); + SPEED_PRIME = $('#PRIME_SPEED').val(); + $('#SLOW_SPEED').val(SPEED_SLOW / 60); + $('#FAST_SPEED').val(SPEED_FAST / 60); + $('#MOVE_SPEED').val(SPEED_MOVE / 60); + $('#RETRACT_SPEED').val(SPEED_RETRACT / 60); + $('#PRIME_SPEED').val(SPEED_PRIME / 60); + } else { + SPEED_SLOW = $('#SLOW_SPEED').val(); + SPEED_FAST = $('#FAST_SPEED').val(); + SPEED_MOVE = $('#MOVE_SPEED').val(); + SPEED_RETRACT = $('#RETRACT_SPEED').val(); + SPEED_PRIME = $('#PRIME_SPEED').val(); + $('#SLOW_SPEED').val(SPEED_SLOW * 60); + $('#FAST_SPEED').val(SPEED_FAST * 60); + $('#MOVE_SPEED').val(SPEED_MOVE * 60); + $('#RETRACT_SPEED').val(SPEED_RETRACT * 60); + $('#PRIME_SPEED').val(SPEED_PRIME * 60); + } +} + +// toggle between round and rectangular bed shape +function toggleBedShape() { + if ($('#SHAPE_BED').val() === 'Round') { + $('label[for=\'BEDSIZE_X\']').text('Bed Diameter:'); + $('#shape').text('Diameter (mm) of the bed'); + $('#BEDSIZE_Y').prop('disabled', true); + $('label[for=BEDSIZE_Y]').css({opacity: 0.5}); + if (!$('#CENTER_NULL').is(':checked')) { + $('#CENTER_NULL').prop('checked', !$('#CENTER_NULL').prop('checked')); + } + } else { + $('label[for=\'BEDSIZE_X\']').text('Bed Size X:'); + $('#shape').text('Size (mm) of the bed in X'); + $('#BEDSIZE_Y').prop('disabled', false); + $('label[for=BEDSIZE_Y]').css({opacity: 1}); + } +} + +// toggle between standard and alternate pattern type +function patternType() { + if ($('#TYPE_PATTERN').val() === 'alt') { + if ($('#FRAME').is(':checked')) { + $('#FRAME').prop('checked', false); + $('#FRAME').prop('disabled', true); + $('label[for=FRAME]').css({opacity: 0.5}); + } else { + $('#FRAME').prop('disabled', true); + $('label[for=FRAME]').css({opacity: 0.5}); + } + } else if ($('#TYPE_PATTERN').val() === 'std'){ + $('#FRAME').prop('disabled', false); + $('label[for=FRAME]').css({opacity: 1}); + } +} + +// toggle prime relevant options +function togglePrime() { + if ($('#PRIME').is(':checked')) { + $('#PRIME_EXT').prop('disabled', false); + $('label[for=PRIME_EXT]').css({opacity: 1}); + } else { + $('#PRIME_EXT').prop('disabled', true); + $('label[for=PRIME_EXT]').css({opacity: 0.5}); + } +} + +// toggle options for LIN_ADVANCE v1.0 and v1.5 +function toggleVersion() { + if ($('#LIN_VERSION').val() === '1.5') { + $('#K_START').attr('step', 'any').val('0'); + $('#K_END').attr('step', 'any').val('2'); + $('#K_STEP').attr('step', 'any').val('0.2'); + $('#start_factor').text('Starting value for the K-factor'); + $('#end_factor').text('Ending value of the K-factor'); + $('#step_factor').text('Stepping of the K-factor in the test pattern. Needs to be an exact divisor of the K-factor Range (End - Start)'); + } else { + $('#K_START').attr('step', '1').val('0'); + $('#K_END').attr('step', '1').val('100'); + $('#K_STEP').attr({ step: '1', value: '5' }).val('5'); + $('#start_factor').text('Starting value for the K-factor. Usually 0 but for bowden setups you might want to start higher, e.g. 30'); + $('#end_factor').text('Ending value of the K-factor. Bowden setups may be higher than 100'); + $('#step_factor').text('Stepping of the K-factor in the test pattern. Needs to be an exact divisor of the K-factor Range (End - Start)'); + } +} + +// toggle between standard and firmware retract +function toggleRetract() { + if ($('#USE_FWR').is(':checked')) { + $('#RETRACT_SPEED').prop('disabled', true); + $('label[for=RETRACT_SPEED]').css({opacity: 0.5}); + } else { + $('#RETRACT_SPEED').prop('disabled', false); + $('label[for=RETRACT_SPEED]').css({opacity: 1.0}); + } +} + +// sanity checks for pattern / bed size +function validateInput() { + var testNaN = { + // do not use parseInt or parseFloat for validating, since both + // functions will have special parsing characteristics leading to + // false numeric validation + BEDSIZE_X: $('#BEDSIZE_X').val(), + BEDSIZE_Y: $('#BEDSIZE_Y').val(), + K_START: $('#K_START').val(), + K_END: $('#K_END').val(), + K_STEP: $('#K_STEP').val(), + SPACE_LINE: $('#SPACE_LINE').val(), + SLOW_SPEED: $('#SLOW_SPEED').val(), + FAST_SPEED: $('#FAST_SPEED').val(), + SLOW_LENGTH: $('#SLOW_LENGTH').val(), + FAST_LENGTH: $('#FAST_LENGTH').val(), + FIL_DIA: $('#FIL_DIA').val(), + NOZ_DIA: $('#NOZ_DIA').val(), + NOZ_LIN_R: $('#NOZ_LIN_R').val(), + LAYER_HEIGHT: $('#LAYER_HEIGHT').val(), + FAN_SPEED: $('#FAN_SPEED').val(), + EXTRUSION_MULT: $('#EXTRUSION_MULT').val(), + PRIME_EXT: $('#PRIME_EXT').val(), + OFFSET_Z: $('#OFFSET_Z').val(), + X_JERK: $('#X_JERK').val(), + Y_JERK: $('#Y_JERK').val(), + Z_JERK: $('#Z_JERK').val(), + E_JERK: $('#E_JERK').val(), + NOZZLE_TEMP: $('#NOZZLE_TEMP').val(), + BED_TEMP: $('#BED_TEMP').val(), + MOVE_SPEED: $('#MOVE_SPEED').val(), + RETRACT_SPEED: $('#RETRACT_SPEED').val(), + PRINT_ACCL: $('#PRINT_ACCL').val(), + RETRACTION: $('#RETRACTION').val(), + PRIME_SPEED: $('#PRIME_SPEED').val(), + DWELL_PRIME: $('#DWELL_PRIME').val() + }, + selectShape = $('#SHAPE_BED'), + bedShape = selectShape.val(), + selectDir = $('#DIR_PRINT'), + printDir = selectDir.val(), + usePrime = $('#PRIME').prop('checked'), + useLineNo = $('#LINE_NO').prop('checked'), + sizeY = ((parseFloat(testNaN['K_END']) - parseFloat(testNaN['K_START'])) / parseFloat(testNaN['K_STEP']) * parseFloat(testNaN['SPACE_LINE'])) + 25, // +25 with ref marking + sizeX = (2 * parseFloat(testNaN['SLOW_LENGTH'])) + parseFloat(testNaN['FAST_LENGTH']) + (usePrime ? 10 : 0) + (useLineNo ? 8 : 0), + printDirRad = printDir * Math.PI / 180, + fitWidth = Math.round10(Math.abs(sizeX * Math.cos(printDirRad)) + Math.abs(sizeY * Math.sin(printDirRad)), 0), + fitHeight = Math.round10(Math.abs(sizeX * Math.sin(printDirRad)) + Math.abs(sizeY * Math.cos(printDirRad)), 0), + decimals = getDecimals(parseFloat(testNaN['K_STEP'])), + invalidDiv = 0; + + // Start clean + $('#K_START,#K_END,#K_STEP,#SPACE_LINE,#SLOW_LENGTH,#FAST_LENGTH,#FIL_DIA,#NOZ_DIA,#LAYER_HEIGHT,#EXTRUSION_MULT,#PRIME_EXT,#OFFSET_Z,#NOZ_LIN_R,' + + '#NOZZLE_TEMP,#BED_TEMP,#MOVE_SPEED,#RETRACT_SPEED,#UNRETRACT_SPEED,#PRINT_ACCL,#RETRACTION,#PRIME_SPEED,#DWELL_PRIME,#FAST_SPEED,#SLOW_SPEED,#X_JERK,#Y_JERK,#Z_JERK,#E_JERK').each((i,t) => { + t.setCustomValidity(''); + const tid = $(t).attr('id'); + $(`label[for=${tid}]`).removeClass(); + }); + $('#warning1').hide(); + $('#warning2').hide(); + $('#warning3').hide(); + $('#button').prop('disabled', false); + + // Check for proper numerical values + Object.keys(testNaN).forEach((k) => { + if ((isNaN(testNaN[k]) && !isFinite(testNaN[k])) || testNaN[k].trim().length === 0) { + $('label[for=' + k + ']').addClass('invalidNumber'); + $('#' + k)[0].setCustomValidity('The value is not a proper number.'); + $('#warning3').text('Some values are not proper numbers. Check highlighted Settings.'); + $('#warning3').addClass('invalidNumber'); + $('#warning3').show(); + $('#button').prop('disabled', true); + } + }); + + // Check if K-Factor Stepping is a multiple of the K-Factor Range + if ((Math.round10(parseFloat(testNaN['K_END']) - parseFloat(testNaN['K_START']), -3) * Math.pow(10, decimals)) % (parseFloat(testNaN['K_STEP']) * Math.pow(10, decimals)) !== 0) { + $('label[for=K_START]').addClass('invalidDiv'); + $('#K_START')[0].setCustomValidity('K-Factor range cannot be cleanly divided.'); + $('label[for=K_END]').addClass('invalidDiv'); + $('#K_END')[0].setCustomValidity('K-Factor range cannot be cleanly divided.'); + $('label[for=K_STEP]').addClass('invalidDiv'); + $('#K_STEP')[0].setCustomValidity('K-Factor range cannot be cleanly divided.'); + $('#warning1').text('Your K-Factor range cannot be cleanly divided. Check highlighted Pattern Settings.'); + $('#warning1').addClass('invalidDiv'); + $('#warning1').show(); + $('#button').prop('disabled', true); + invalidDiv = 1; + } + + // Check if pattern settings exceed bed size + if (bedShape === 'Round' && (Math.sqrt(Math.pow(fitWidth, 2) + Math.pow(fitHeight, 2)) > (parseInt(testNaN['BEDSIZE_X']) - 5)) && fitHeight > fitWidth) { + $('label[for=K_START]').addClass('invalidSize'); + $('#K_START')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter.'); + $('label[for=K_END]').addClass('invalidSize'); + $('#K_END')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter.'); + $('label[for=K_STEP]').addClass('invalidSize'); + $('#K_STEP')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter.'); + $('label[for=SPACE_LINE]').addClass('invalidSize'); + $('#SPACE_LINE')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter.'); + $((invalidDiv ? '#warning2' : '#warning1')).text('Your Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter. Check highlighted Pattern Settings.'); + $((invalidDiv ? '#warning2' : '#warning1')).addClass('invalidSize'); + $((invalidDiv ? '#warning2' : '#warning1')).show(); + } + + if (bedShape === 'Round' && (Math.sqrt(Math.pow(fitWidth, 2) + Math.pow(fitHeight, 2)) > (parseInt(testNaN['BEDSIZE_X']) - 5)) && fitWidth > fitHeight) { + $('label[for=SLOW_LENGTH]').addClass('invalidSize'); + $('#SLOW_LENGTH')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter.'); + $('label[for=FAST_LENGTH]').addClass('invalidSize'); + $('#FAST_LENGTH')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter.'); + $((invalidDiv ? '#warning2' : '#warning1')).text('Your Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your bed\'s diameter. Check highlighted Pattern Settings.'); + $((invalidDiv ? '#warning2' : '#warning1')).addClass('invalidSize'); + $((invalidDiv ? '#warning2' : '#warning1')).show(); + } + + if (bedShape === 'Rect' && fitWidth > (parseInt(testNaN['BEDSIZE_X']) - 5)) { + $('label[for=SLOW_LENGTH]').addClass('invalidSize'); + $('#SLOW_LENGTH')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your X bed size.'); + $('label[for=FAST_LENGTH]').addClass('invalidSize'); + $('#FAST_LENGTH')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your X bed size.'); + $((invalidDiv ? '#warning2' : '#warning1')).text('Your Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your X bed size. Check highlighted Pattern Settings.'); + $((invalidDiv ? '#warning2' : '#warning1')).addClass('invalidSize'); + $((invalidDiv ? '#warning2' : '#warning1')).show(); + } + + if (bedShape === 'Rect' && fitHeight > (parseInt(testNaN['BEDSIZE_Y']) - 5)) { + $('label[for=K_START]').addClass('invalidSize'); + $('#K_START')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your Y bed size.'); + $('label[for=K_END]').addClass('invalidSize'); + $('#K_END')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your Y bed size.'); + $('label[for=K_STEP]').addClass('invalidSize'); + $('#K_STEP')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your Y bed size.'); + $('label[for=SPACE_LINE]').addClass('invalidSize'); + $('#SPACE_LINE')[0].setCustomValidity('Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your Y bed size.'); + $((invalidDiv ? '#warning2' : '#warning1')).text('Your Pattern size (x: ' + fitWidth + ', y: ' + fitHeight + ') exceeds your Y bed size. Check highlighted Pattern Settings.'); + $((invalidDiv ? '#warning2' : '#warning1')).addClass('invalidSize'); + $((invalidDiv ? '#warning2' : '#warning1')).show(); + } +} + +$(window).load(() => { + // create tab index dynamically + $(':input:not(:hidden)').each(function(i) { + $(this).attr('tabindex', i + 1); + }); + + // Get localStorage data + var lsSettings = window.localStorage.getItem('LIN_SETTINGS'); + + if (lsSettings) { + var settings = jQuery.parseJSON(lsSettings); + if (!settings['Version'] || settings['Version'] != SETTINGS_VERSION) { + window.localStorage.removeItem('LIN_SETTINGS'); + alert('Script settings have been updated. Saved settings are reset to default values'); + } + else { + $('#FIL_DIA').val(settings['FILAMENT_DIAMETER']); + $('#NOZ_DIA').val(settings['NOZZLE_DIAMETER']); + $('#NOZZLE_TEMP').val(settings['NOZZLE_TEMP']); + $('#NOZ_LIN_R').val(settings['NOZZLE_LINE_RATIO']); + $('#BED_TEMP').val(settings['BED_TEMP']); + $('#SLOW_SPEED').val(settings['SPEED_SLOW']); + $('#FAST_SPEED').val(settings['SPEED_FAST']); + $('#MOVE_SPEED').val(settings['SPEED_MOVE']); + $('#RETRACT_SPEED').val(settings['SPEED_RETRACT']); + $('#PRINT_ACCL').val(settings['ACCELERATION']); + $('#RETRACTION').val(settings['RETRACT_DIST']); + $('#SHAPE_BED').val(settings['BED_SHAPE']); + $('#BEDSIZE_X').val(settings['BED_X']); + $('#BEDSIZE_Y').val(settings['BED_Y']); + $('#CENTER_NULL').prop('checked', settings['NULL_CENTER']); + $('#LAYER_HEIGHT').val(settings['HEIGHT_LAYER']); + $('#TOOL_INDEX').val(settings['TOOL_INDEX']); + $('#FAN_SPEED').val(settings['FAN_SPEED']); + $('#EXTRUSION_MULT').val(settings['EXT_MULT']); + $('#LIN_VERSION').val(settings['VERSION_LIN']); + $('#TYPE_PATTERN').val(settings['PATTERN_TYPE']); + $('#K_START').val(settings['K_START']); + $('#K_END').val(settings['K_END']); + $('#K_STEP').val(settings['K_STEP']); + $('#X_JERK').val(settings['X_JERK']); + $('#Y_JERK').val(settings['Y_JERK']); + $('#Z_JERK').val(settings['Z_JERK']); + $('#E_JERK').val(settings['E_JERK']); + $('#DIR_PRINT').val(settings['PRINT_DIR']); + $('#SPACE_LINE').val(settings['LINE_SPACING']); + $('#FRAME').prop('checked', settings['USE_FRAME']); + $('#PRIME').prop('checked', settings['USE_PRIME']); + $('#PRIME_EXT').val(settings['EXT_MULT_PRIME']); + $('#PRIME_SPEED').val(settings['SPEED_PRIME']); + $('#DWELL_PRIME').val(settings['PRIME_DWELL']); + $('#SLOW_LENGTH').val(settings['LENGTH_SLOW']); + $('#FAST_LENGTH').val(settings['LENGTH_FAST']); + $('#OFFSET_Z').val(settings['Z_OFFSET']); + $('#USE_FWR').prop('checked', settings['USE_FWR']); + $('#MM_S').prop('checked', settings['USE_MMS']); + $('#LINE_NO').prop('checked', settings['USE_LINENO']); + + //toggleBedShape(); + //patternType(); + //togglePrime(); + //toggleVersion(); + //toggleRetract(); + } + } + + // toggle between mm/s and mm/min speeds + $('#MM_S').change(speedToggle); + + // Toggle Bed Shape + $('#SHAPE_BED').change(() => { + toggleBedShape(); + validateInput(); + }); + + // toggle prime relevant html elements + $('#PRIME').change(togglePrime); + + // frame and alternate pattern are mutually exclusive + $('#TYPE_PATTERN').change(patternType); + + // Change factor type + $('#LIN_VERSION').change(() => { + toggleVersion(); + validateInput(); + }); + + // Change retract type + $('#USE_FWR').change(toggleRetract); + + // Focus the first field + $('#kfactor input:first').focus(); + +}); diff --git a/systems/flexibot/docs/marlin/_tools/rgb565/converter.js b/systems/flexibot/docs/marlin/_tools/rgb565/converter.js new file mode 100644 index 000000000..6b209c85a --- /dev/null +++ b/systems/flexibot/docs/marlin/_tools/rgb565/converter.js @@ -0,0 +1,422 @@ +/** + * RGB565 image converter, 2022 Peter Ellens [https://github.com/ellensp] + * Original U8Glib bitmap converter, Copyright (C) 2016 João Brázio [https://github.com/jbrazio] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +"use strict"; + +/** + * By : @dust + * + * Heavily based on original u8glib converter.js + * By : @jbrazio + * : @thinkyhead + * : @shitcreek + */ + +var bitmap_converter = function() { + + // Extend jQuery.event.fix for copy/paste to fix clipboardData + $.event.fix = (function(originalFix) { + return function(e) { + e = originalFix.apply(this, arguments); + if (e.type.indexOf('copy') === 0 || e.type.indexOf('paste') === 0) { + e.clipboardData = e.originalEvent.clipboardData; + } + return e; + }; + })($.event.fix); + + var paste_message = 'Paste image or C/C++ here.'; + + if (typeof $('canvas')[0].getContext == 'undefined') return; + + var $img = $(''), + $large = $('#preview-lg'), + cnv = $large[0], + ctx = cnv.getContext('2d', {willReadFrequently: true}), + $filein = $('#file-input'), + $err = $('#err-box'), + $outdiv = $('#cpp-container'), + $output = $('#output'), + $pasted = $('#pasted'), + tobytes = function(n) { return Math.ceil(n / 8); }, + tohex = function(b) { return '0x' + ('0000' + (b & 0xFFFF).toString(16)).toUpperCase().slice(-4); }, + data_source, + + error_message = function(msg) { + $err.text(msg).show(); console.log(msg); + }, + + restore_pasted_cpp_field = function() { + $pasted.val(paste_message).css('color', ''); + }, + + /** + * Set the image src to some new data. + * On $img.load it will call generate_cpp. + */ + load_url_into_image = function(data_url, w, h) { + $img = $(''); + + if (w) $img.width(w); + if (h) $img.height(h); + + $img.one('load', generate_cpp) // Generate when the image loads + .attr('src', data_url); // Start loading image data + }, + + /** + * Read a Blob of image data given a file reference + * + * Called by: + * - File input field, passing the first selected file. + * - Image pasted directly into a textfield. + */ + load_file_into_image = function(fileref) { + var reader = new FileReader(); + $(reader).one('load', function() { + load_url_into_image(this.result); + }); + // Load from the given source 'file' + reader.readAsDataURL(fileref); + }, + + /** + * Draw the given image into one or both canvases. + */ + render_image_into_canvases = function($i, notlarge) { + var img = $i[0], iw = img.width, ih = img.height; + + // The large image needs no update if not changing + if (!notlarge) { + // Scaled view so you can actually see the pixels + ctx.canvas.width = iw; + ctx.canvas.height = ih; + //ctx.mozImageSmoothingEnabled = false; + ctx.imageSmoothingQuality = 'medium'; + ctx.webkitImageSmoothingEnabled = false; + ctx.msImageSmoothingEnabled = false; + ctx.imageSmoothingEnabled = false; + ctx.drawImage(img, 0, 0, ctx.canvas.width, ctx.canvas.height); + } + }, + + /** + * When anything changes the C++ is regenerated here. + * Use no_render to indicate the preview won't change. + * + * - Draw the original $img into the source canvas. + * - Draw the converted image into the Preview canvas. + * - Convert the image data into C text. + * - Display the image and converted text. + */ + generate_cpp = function(e,no_render) { + + // Get the image width and height in pixels. + var iw = $img[0].width, ih = $img[0].height; + + var bytewidth = tobytes(iw), // Bytes wide is important + tobase = tohex; + + // Render the last-loaded image into the Source canvas. + // Render Preview only if the image won't be modified. + render_image_into_canvases($img, no_render); + + // A reference to the Source canvas image data + var data = ctx.getImageData(0, 0, iw, ih).data; + + // Temporary canvas and related vars + var $tcnv, tctx, tref, tdat = []; + + // Need to re-render the Preview? + if (!no_render) { + // Make a new offscreen Canvas for the modified Source image. + $tcnv = $('').attr({ 'width':iw, 'height':ih }); + tctx = $tcnv[0].getContext('2d'); + tref = tctx.createImageData(iw, ih); + tdat = tref.data; + } + + // + // Convert the image to C++ suitable for Marlin + // + + if (data_source == 'paste') + data_source = iw + 'x' + ih + ' pasted image'; + + var cpp = '/**\n' + + ' * Made with Marlin RGB565 Converter\n' + + ' * https://marlinfw.org/tools/rgb565/converter.html\n' + + ' *\n' + + ' * This bitmap from ' + data_source + '\n' + + ' */\n' + + '#include "../../../inc/MarlinConfigPre.h"\n\n' + + '#if HAS_GRAPHICAL_TFT\n\n'; + + cpp += 'extern const uint16_t image_data_' + iw + 'x' + ih + 'x16[' + iw * ih + '] = {\n'; + + /** + * Print the data as hex. + */ + + for (var y = 0; y < ih; y++) { // loop Y + for (var x = 0; x < iw * 4; x += 4) { // loop the width + var i = y * iw * 4 + x; + var r_data = data[i] >> 3; + var g_data = data[i+1] >> 2; + var b_data = data[i+2] >> 3; + var word = (r_data << 11) | (g_data << 5) | b_data; + //cpp += tobase(word) + ','; + cpp += tobase(word) + (y != ih - 1 || x < (iw * 4) - 4 ? ',' : ''); + } + cpp += '\n'; + } + + cpp += '};\n\n#endif // HAS_GRAPHICAL_TFT\n'; + + /** + * Set the output value. + * Make the field tall enough to show all lines. + * Show the preview image and output fields. + */ + $output.val(cpp) + .attr('rows', (cpp.match(/\n/g)||[]).length + 1); + $outdiv.show(); + $large.css('display','block'); + + return false; + }, + + /** + * Get ready to evaluate incoming data + */ + prepare_for_new_image = function() { + $err.hide(); + + /** + * Kill most form actions until an image exists. + * + * Since the previous image isn't cleared until + * the final step after loading successfully, + * this may not be needed. + */ + $img.off(); + }, + + /** + * Convert C++ text representation back into an image. + * + * Finds the correct line-length before scanning for data. + * Does well screening out most extraneous text. + */ + process_pasted_cpp = function(cpp) { + + prepare_for_new_image(); + restore_pasted_cpp_field(); + + // Get the split up bytes on all lines + var lens = [], mostlens = []; + $.each(cpp.split('\n'), function(i,s) { + var pw = 0; + $.each(s.replace(/[ \t]/g,'').split(','), function(i,s) { + if (s.match(/0x[0-9a-f]+/i) || s.match(/[0-9]+/)) + ++pw; + }); + lens.push(pw); + mostlens[pw] = 0; + }); + + var wide = 0, high = 0; + + // Find the length with the most instances + var most_so_far = 0; + mostlens.fill(0); + $.each(lens, function(i,v){ + if (++mostlens[v] > most_so_far) { + most_so_far = mostlens[v]; + wide = v; + } + }); + + if (!wide) return error_message("No bitmap found in pasted text."); + + // Split up lines and iterate + var bitmap = [], bitstr = ''; + $.each(cpp.split('\n'), function(i,s) { + s = s.replace(/[ \t]/g,''); + // Split up bytes and iterate + var wordline = [], len = 0; + $.each(s.split(','), function(i,s) { + //console.log("s value:",s); + var b; + if (s.match(/0x[0-9a-f]+/i)) // Hex + b = parseInt(s.substring(2), 16); + else if (s.match(/[0-9]+/)) // Decimal + b = s * 1; + else + return true; // Skip this item + + var r_data = (b & 0xF800) >> 6+5-3; + var g_data = (b & 0x07E0) >> 5-2; + var b_data = (b & 0x001F) << 3; + + Array.prototype.push.apply(wordline, [ r_data , g_data, b_data, 0xFF ]); + len += 1; + }); + if (len == wide) { + Array.prototype.push.apply(bitmap, wordline); + high++; + } + }); + + if (high < 4) return true; + + // Make a shiny new imagedata for the pasted CPP + ctx.canvas.width = wide; + ctx.canvas.height = high; + var image_data = ctx.createImageData(wide, high); + for (var i = 0; i < bitmap.length; i++) + image_data.data[i] = bitmap[i]; + ctx.putImageData(image_data, 0, 0); + + data_source = wide + 'x' + high + ' C/C++ data'; + load_url_into_image(cnv.toDataURL('image/png'), wide, high); + $filein.val(''); + }, + + /** + * Prep the form for a pasted image. + * Call to load and process the image data. + */ + process_pasted_image = function(fileref) { + $filein.val(''); + + prepare_for_new_image(); + + data_source = 'paste'; + load_file_into_image(fileref); + }, + + /** + * Handle a paste into the code/image input field. + * May be C++ code or a pasted image. + * For image data call process_pasted_image to process it. + * Call process_pasted_cpp to parse the code into an image. + */ + convert_clipboard_to_image = function(e) { + var clipboardData = e.clipboardData || window.clipboardData, + items = clipboardData.items, + found, data; + + // If the browser supports "items" then use it + if (items) { + $.each(items, function(){ + switch (this.kind) { + case 'string': + found = 'text'; + return false; + case 'file': + found = 'image'; + data = this; + return false; + } + }); + } + else { + // Try the 'types' array for Safari / Webkit + $.each(clipboardData.types, function(i,type) { + switch (type) { + case 'text/plain': + found = type; + return false; + case 'image/png': + found = 'webkit'; + return false; + } + }); + } + + switch (found) { + case 'text/plain': + case 'text': + process_pasted_cpp(clipboardData.getData(found)); + break; + case 'image': + process_pasted_image(data.getAsFile()); // blob + break; + //case 'image/png': + // process_pasted_image(data); + // break; + case 'webkit': + error_message("No image paste in this browser."); + break; + default: error_message("Couldn't processed pasted " + found + " data!"); + } + }; + + /** + * File Input Change Event + * + * If the file input value changes try to read the data from the file. + * The reader.load() handler will fire on successful load. + */ + $filein.change(function() { + + prepare_for_new_image(); + + var fileref = $filein[0].files[0]; + if (fileref) { + data_source = "the file '" + fileref.name + "'"; + load_file_into_image(fileref); + } + else + error_message("Error opening file."); + + //return false; // No default handler + }); + + // Enable standard form field events + prepare_for_new_image(); + + // Set a friendly message for C++ data paste + restore_pasted_cpp_field(); + + // If the output is clicked, select all + $output + .on('mousedown mouseup', function(){ return false; }) + .on('focus click', function(e){ this.select(); return false; }); + + // Paste old C++ code to see the image and reformat + $pasted + .focus(function() { + var $this = $(this); + $this + .val('') + .css('color', '#F80') + .one('blur', restore_pasted_cpp_field) + .one('paste', function(e) { + $this.css('color', '#FFFFFF00'); + convert_clipboard_to_image(e); + $this.trigger('blur'); + return false; + }); + }) + .keyup(function(){ $(this).val(''); return false; }) + .keydown(function(){ $(this).val(''); }); +}; + +head.ready(bitmap_converter); diff --git a/systems/flexibot/docs/marlin/_tools/u8glib/converter.js b/systems/flexibot/docs/marlin/_tools/u8glib/converter.js new file mode 100644 index 000000000..4034e7b2b --- /dev/null +++ b/systems/flexibot/docs/marlin/_tools/u8glib/converter.js @@ -0,0 +1,613 @@ +/** + * U8Glib bitmap converter + * Copyright (C) 2016 João Brázio [https://github.com/jbrazio] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +"use strict"; + +/** + * By : @jbrazio + * @thinkyhead + * @shitcreek + * Todo: + * - Composite status image from logo, nozzle, bed, fan + * - Slider for threshold (jQuery.ui) + * - Buttons to shift the image + * - Show preview image in B/W converted + * - Show original image (float right) + * + */ + +var bitmap_converter = function() { + + // Extend jQuery.event.fix for copy/paste to fix clipboardData + $.event.fix = (function(originalFix) { + return function(e) { + e = originalFix.apply(this, arguments); + if (e.type.indexOf('copy') === 0 || e.type.indexOf('paste') === 0) { + e.clipboardData = e.originalEvent.clipboardData; + } + return e; + }; + })($.event.fix); + + var paste_message = 'Paste image or C/C++ here.', + preview_scale = 4, + max_size = [ 128, 64 ], + pix_on = [ 0, 0, 0, 255 ], + pix_off = [ 255, 255, 255, 0 ], + lcd_off = [ 0, 30, 253, 255 ], + lcd_on = [ 116, 241, 255, 255 ]; + + if (typeof $('canvas')[0].getContext == 'undefined') return; + + var $img = $(''), + $large = $('#preview-lg'), + $small = $('#preview-sm'), + cnv = $large[0], + cnv_sm = $small[0], + ctx = cnv.getContext('2d'), + ctx_sm = cnv_sm.getContext('2d'), + $filein = $('#file-input'), + $err = $('#err-box'), + $outdiv = $('#cpp-container'), + $output = $('#output'), + $lit = $('#lit-on'), + $invert = $('#inv-on'), + $binary = $('#bin-on'), + $ascii = $('#ascii-on'), + $skinny = $('#skinny-on'), + $hotends = $('#hotends'), + $rj = $('#rj-on'), + $bed = $('#bed-on'), + $fan = $('#fan-on'), + $vers = $('input[name=marlin-ver]'), + $type = $('input[name=bitmap-type]'), + $statop = $('#stat-sub'), + $pasted = $('#pasted'), + $field_arr = $('#bin-on, #ascii-on, #skinny-on, #hotends, #rj-on, #bed-on, #fan-on, input[name=marlin-ver], input[name=bitmap-type]'), + tobytes = function(n) { return Math.ceil(n / 8); }, + tohex = function(b) { return '0x' + ('0' + (b & 0xFF).toString(16)).toUpperCase().slice(-2); }, + tobin = function(b) { return 'B' + ('0000000' + (b & 0xFF).toString(2)).slice(-8); }, + random_name = function(prefix) { return (prefix||'') + Math.random().toString(36).substring(7); }, + grayscale = function(rgb) { return rgb[0] * 0.3 + rgb[1] * 0.59 + rgb[2] * 0.11; }, + rnd_name, data_source, + + error_message = function(msg) { + $err.text(msg).show(); console.log(msg); + }, + + restore_pasted_cpp_field = function() { + $pasted.val(paste_message).css('color', ''); + }, + + /** + * Set the image src to some new data. + * On $img.load it will call generate_cpp. + */ + load_url_into_image = function(data_url, w, h) { + $img = $(''); + + if (w) $img.width(w); + if (h) $img.height(h); + + $img.one('load', generate_cpp) // Generate when the image loads + .attr('src', data_url); // Start loading image data + + $field_arr.change(function(e){ generate_cpp(e, true); }); + $lit.change(generate_cpp); + $invert.change(generate_cpp); + + rnd_name = random_name(); // A new bitmap name on each file load + }, + + /** + * Read a Blob of image data given a file reference + * + * Called by: + * - File input field, passing the first selected file. + * - Image pasted directly into a textfield. + */ + load_file_into_image = function(fileref) { + var reader = new FileReader(); + $(reader).one('load', function() { + load_url_into_image(this.result); + }); + // Load from the given source 'file' + reader.readAsDataURL(fileref); + }, + + /** + * Draw the given image into one or both canvases. + */ + render_image_into_canvases = function($i, notsmall, notlarge) { + var img = $i[0], iw = img.width, ih = img.height; + + // The small image needs no update if not changing + if (!notsmall) { + // Prepare the small hidden canvas to receive the image + ctx_sm.canvas.width = iw; + ctx_sm.canvas.height = ih; + ctx_sm.drawImage(img, 0, 0, ctx_sm.canvas.width, ctx_sm.canvas.height); + } + + // The large image needs no update if not changing + if (!notlarge) { + // Scaled view so you can actually see the pixels + ctx.canvas.width = iw * preview_scale; + ctx.canvas.height = ih * preview_scale; + //ctx.mozImageSmoothingEnabled = false; + ctx.imageSmoothingQuality = 'medium'; + ctx.webkitImageSmoothingEnabled = false; + ctx.msImageSmoothingEnabled = false; + ctx.imageSmoothingEnabled = false; + ctx.drawImage(img, 0, 0, ctx.canvas.width, ctx.canvas.height); + } + }, + + /** + * When anything changes the C++ is regenerated here. + * Use no_render to indicate the preview won't change. + * + * - Draw the original $img into the source canvas. + * - Draw the converted image into the Preview canvas. + * - Convert the image data into C text. + * - Display the image and converted text. + */ + generate_cpp = function(e,no_render) { + + // Get the image width and height in pixels. + var iw = $img[0].width, ih = $img[0].height; + + // Reject images that are too big + // TODO: Scale images down if needed + // TODO: Threshold sliders for luminance range to capture. + if (iw > max_size[0] || ih > max_size[1]) + return error_message('Image too large for display. Maximum ' + max_size[0] + ' x ' + max_size[1] + '.'); + + var bytewidth = tobytes(iw), // Bytes wide is important + + type = $type.filter(':checked').val(), // The selected output type + vers = $vers.filter(':checked').val(), + name = type == 'boot' ? 'custom_start_bmp' : + type == 'stat' ? 'status_logo_bmp' : + 'bitmap_' + rnd_name, + + is_bin = $binary[0].checked, // Flags for binary, ascii, and narrow ascii + + tobase = is_bin ? tobin : tohex, + + is_inv = $invert[0].checked, + zero = is_inv ? (is_bin ? 'B11111111' : '0xFF') : (is_bin ? 'B00000000' : '0x00'), + + is_asc = $ascii[0].checked, // Include ASCII version of the bitmap? + is_thin = $skinny[0].checked, // A skinny ASCII output with blocks. + + is_stat = type == 'stat', // "Status" has extra options + is_lpad = is_stat && !$rj[0].checked, // Right justify? + + rjust_add = tobytes(max_size[0]) - bytewidth; + + /** + * Convert to grayscale, perform threshold. + * + * Dark and light solid pixels are counted to determine + * whether the 'Light' checkbox should be hard-set or + * should be changeable. + */ + + // Render the last-loaded image into the Source canvas. + // Render Preview only if the image won't be modified. + render_image_into_canvases($img, false, no_render); + + // A reference to the Source canvas image data + var data = ctx_sm.getImageData(0, 0, iw, ih).data; + + // Count up solid light and dark pixels. + var lite = 0, dark = 0; + for (var i = 0; i < data.length; i += 4) { + if (data[i+3] > 63) { + var islit = 127 < grayscale(data.slice(i, i+3)); + lite += islit; dark += !islit; + } + } + + // Set and disable 'Light' checkbox if + // only one setting produces an image. + var is_lit = $lit[0].checked; + if (lite) { if (!dark) is_lit = true; } + else if (dark) is_lit = false; + $lit.prop('checked', is_lit) + .prop('disabled', !lite != !dark); + + // Temporary canvas and related vars + var $tcnv, tctx, tref, tdat = []; + + // Need to re-render the Preview? + if (!no_render) { + // Make a new offscreen Canvas for the modified Source image. + $tcnv = $('').attr({ 'width':iw, 'height':ih }); + tctx = $tcnv[0].getContext('2d'); + tref = tctx.createImageData(iw, ih); + tdat = tref.data; + } + + // + // Convert the image to B/W by threshold. + // If rendering also update the ImageData.data. + // + + var lo_thr = 127, hi_thr = 127; + for (var i = 0; i < data.length; i += 4) { + var gray = grayscale(data.slice(i, i+3)); + if (gray < lo_thr) lo_thr = gray; + if (gray > hi_thr) hi_thr = gray; + } + var mid_thr = (lo_thr + hi_thr) / 2; + + var out = []; + for (var i = 0; i < data.length; i += 4) { + var gray = grayscale(data.slice(i, i+3)), + pixon = data[i+3] > 63 && is_lit == (gray > mid_thr), + pixel = is_inv != pixon, + c = pixel ? lcd_on : lcd_off; + out.push(pixel); + if (!no_render) { + tdat[i ] = c[0]; tdat[i+1] = c[1]; + tdat[i+2] = c[2]; tdat[i+3] = c[3]; + } + } + + if (!no_render) { + // Render the modified Preview Image + tctx.putImageData(tref, 0, 0); + var $vimg = $('').width(iw).height(ih) + .one('load', function(){ render_image_into_canvases($(this), true, false); }) + .attr('src', $tcnv[0].toDataURL('image/png')); + } + + // + // Convert the B/W image to C++ suitable for Marlin + // + + if (data_source == 'paste') + data_source = iw + 'x' + ih + ' pasted image'; + + var cpp = '/**\n' + + ' * Made with Marlin Bitmap Converter\n' + + ' * https://marlinfw.org/tools/u8glib/converter.html\n' + + ' *\n' + + ' * This bitmap from ' + data_source + '\n' + + ' */\n' + + '#pragma once\n\n'; + + if (is_stat) { + if (!is_lpad && rjust_add) // Right-justified and not full width + cpp += '#define STATUS_SCREEN_X ' + (rjust_add * 8) + '\n'; + cpp += '#define ' + (vers == 2 ? 'STATUS_LOGO_WIDTH' : 'STATUS_SCREENWIDTH') + ' ' + (bytewidth * 8) + '\n'; + } + else if (type == 'boot') { + cpp += '#define CUSTOM_BOOTSCREEN_BMPWIDTH ' + iw + '\n'; + if (vers != 2) cpp += '#define CUSTOM_BOOTSCREEN_BMPHEIGHT ' + ih + '\n'; + } + else { + var rn = rnd_name.toUpperCase(); + cpp += '#define ' + rn + '_BMPWIDTH ' + iw + '\n'; + if (vers != 2) cpp += '#define ' + rn + '_BMPHEIGHT ' + ih + '\n'; + } + + cpp += '\nconst unsigned char ' + name + '[] PROGMEM = {\n'; + + /** + * Print the data as hex or binary, + * appending ASCII art if selected. + */ + var lastx = (iw - 1) - ((iw + 7) % 8); // last item in each line + + for (var y = 0; y < ih; y++) { // loop Y + var bitline = ' // '; + cpp += ' '; + var xx = 0; // pixel X + for (var x = 0; x < iw; x += 8) { // loop the width, step by 8 + var byte = 0; + for (var b = 0; b < 8; b++) { // loop 8 bits + var i = y * iw + xx, // pixel index in the bitmap data + bb = xx < iw ? out[i] : is_inv; // a set bit? + byte = (byte << 1) | bb; // add to the byte + bitline += is_thin + ? b % 2 ? ['·','▐','▌','█'][byte & 3] : '' + : bb ? '#' : '.'; + xx++; + } + // Append the byte and optional comma or space + cpp += tobase(byte) + (y != ih - 1 || x < lastx ? ',' : is_asc ? ' ' : ''); + } + + // Append ASCII art comment, if any + cpp += (is_asc ? bitline : '') + '\n'; + } + + cpp += '};\n'; + + /* + if (is_stat) + if ($fan[0].checked) + cpp += '\n// TODO: Add a second array with FAN FRAME 2 included.\n' + else + cpp += '\nconst unsigned char *status_screen1_bmp = status_screen0_bmp;\n' + */ + + /** + * Set the output value. + * Make the field tall enough to show all lines. + * Show the preview image and output fields. + */ + $output.val(cpp) + .attr('rows', (cpp.match(/\n/g)||[]).length + 1); + $outdiv.show(); + $large.css('display','block'); + + // Show the appropriate text above the output + $('#where').html( + type == 'boot' ? '_Bootscreen.h' : + type == 'stat' ? '_Statusscreen.h' : + 'program' + ); + + return false; + }, + + /** + * Get ready to evaluate incoming data + */ + prepare_for_new_image = function() { + $err.hide(); + + /** + * Kill most form actions until an image exists. + * + * Since the previous image isn't cleared until + * the final step after loading successfully, + * this may not be needed. + */ + $img.off(); + $lit.off(); + $invert.off(); + $field_arr.off(); + + // Restore cosmetic 'ASCII Art' behavior + $ascii.change(function(){ $skinny.prop('disabled', !this.checked); return false; }); + + // Restore cosmetic 'Status' behavior + $type.change(function() { + if ($(this).val() == 'stat') $statop.show(); else $statop.hide(); + }); + }, + + /** + * Convert C++ text representation back into an image. + * + * Finds the correct line-length before scanning for data. + * Does well screening out most extraneous text. + */ + process_pasted_cpp = function(cpp) { + + prepare_for_new_image(); + restore_pasted_cpp_field(); + + // Get the split up bytes on all lines + var lens = [], mostlens = []; + $.each(cpp.split('\n'), function(i,s) { + var pw = 0; + $.each(s.replace(/[ \t]/g,'').split(','), function(i,s) { + if (s.match(/0x[0-9a-f]+/i) || s.match(/0b[01]+/) || s.match(/B[01]+/) || s.match(/[0-9]+/)) + ++pw; + }); + lens.push(pw); + mostlens[pw] = 0; + }); + + var wide = 0, high = 0; + + // Find the length with the most instances + var most_so_far = 0; + mostlens.fill(0); + $.each(lens, function(i,v){ + if (++mostlens[v] > most_so_far) { + most_so_far = mostlens[v]; + wide = v * 8; + } + }); + + if (!wide) return error_message("No bitmap found in pasted text."); + + // Split up lines and iterate + var bitmap = [], bitstr = ''; + $.each(cpp.split('\n'), function(i,s) { + s = s.replace(/[ \t]/g,''); + // Split up bytes and iterate + var byteline = [], len = 0; + $.each(s.split(','), function(i,s) { + var b; + if (s.match(/0x[0-9a-f]+/i)) // Hex + b = parseInt(s.substring(2), 16); + else if (s.match(/0b[01]+/)) // Binary + b = parseInt(s.substring(2), 2); + else if (s.match(/B[01]+/)) // Binary + b = parseInt(s.substring(1), 2); + else if (s.match(/[0-9]+/)) // Decimal + b = s * 1; + else + return true; // Skip this item + + for (var i = 0; i < 8; i++) { + Array.prototype.push.apply(byteline, b & 0x80 ? pix_on : pix_off); + b <<= 1; + } + len += 8; + }); + if (len == wide) { + Array.prototype.push.apply(bitmap, byteline); + high++; + } + }); + + if (high < 4) return true; + + // Make a shiny new imagedata for the pasted CPP + ctx_sm.canvas.width = wide; + ctx_sm.canvas.height = high; + var image_data = ctx_sm.createImageData(wide, high); + for (var i = 0; i < bitmap.length; i++) + image_data.data[i] = bitmap[i]; + ctx_sm.putImageData(image_data, 0, 0); + + data_source = wide + 'x' + high + ' C/C++ data'; + load_url_into_image(cnv_sm.toDataURL('image/png'), wide, high); + $filein.val(''); + }, + + /** + * Prep the form for a pasted image. + * Call to load and process the image data. + */ + process_pasted_image = function(fileref) { + $invert.prop('checked', 0); + $filein.val(''); + + prepare_for_new_image(); + + data_source = 'paste'; + // if (typeof fileref == 'string') + // load_url_into_image(fileref); + // else + load_file_into_image(fileref); + }, + + /** + * Handle a paste into the code/image input field. + * May be C++ code or a pasted image. + * For image data call process_pasted_image to process it. + * Call process_pasted_cpp to parse the code into an image. + */ + convert_clipboard_to_image = function(e) { + var clipboardData = e.clipboardData || window.clipboardData, + items = clipboardData.items, + found, data; + + // If the browser supports "items" then use it + if (items) { + $.each(items, function(){ + switch (this.kind) { + case 'string': + found = 'text'; + return false; + case 'file': + found = 'image'; + data = this; + return false; + } + }); + } + else { + // Try the 'types' array for Safari / Webkit + $.each(clipboardData.types, function(i,type) { + switch (type) { + case 'text/plain': + found = type; + return false; + case 'image/png': + found = 'webkit'; + //data = clipboardData.getData(type); + // console.log('Got ' + (typeof data) + ' for ' + type + ' with length ' + data.length); + // $('').attr('src', 'blob:'+clipboardData.types[i-1]); + return false; + } + }); + } + + switch (found) { + case 'text/plain': + case 'text': + process_pasted_cpp(clipboardData.getData(found)); + break; + case 'image': + process_pasted_image(data.getAsFile()); // blob + break; + //case 'image/png': + // process_pasted_image(data); + // break; + case 'webkit': + error_message("No image paste in this browser."); + break; + default: error_message("Couldn't processed pasted " + found + " data!"); + } + + }; + + /** + * File Input Change Event + * + * If the file input value changes try to read the data from the file. + * The reader.load() handler will fire on successful load. + */ + $filein.change(function() { + + prepare_for_new_image(); + + var fileref = $filein[0].files[0]; + if (fileref) { + $invert.prop('checked', 0); + data_source = "the file '" + fileref.name + "'"; + load_file_into_image(fileref); + } + else + error_message("Error opening file."); + + //return false; // No default handler + }); + + // Enable standard form field events + prepare_for_new_image(); + + // Set a friendly message for C++ data paste + restore_pasted_cpp_field(); + + // If the output is clicked, select all + $output + .on('mousedown mouseup', function(){ return false; }) + .on('focus click', function(e){ this.select(); return false; }); + + // Paste old C++ code to see the image and reformat + $pasted + .focus(function() { + var $this = $(this); + $this + .val('') + .css('color', '#F80') + .one('blur', restore_pasted_cpp_field) + .one('paste', function(e) { + $this.css('color', '#FFFFFF00'); + convert_clipboard_to_image(e); + $this.trigger('blur'); + return false; + }); + }) + .keyup(function(){ $(this).val(''); return false; }) + .keydown(function(){ $(this).val(''); }); +}; + +head.ready(bitmap_converter); diff --git a/systems/flexibot/docs/marlin/_tools/u8glib/converter2.js b/systems/flexibot/docs/marlin/_tools/u8glib/converter2.js new file mode 100644 index 000000000..a0e1ebf44 --- /dev/null +++ b/systems/flexibot/docs/marlin/_tools/u8glib/converter2.js @@ -0,0 +1,643 @@ +/** + * U8Glib bitmap converter + * Copyright (C) 2016 João Brázio [https://github.com/jbrazio] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +"use strict"; + +/** + * By : @jbrazio + * @thinkyhead + * + * Todo: + * - Composite status image from logo, nozzle, bed, fan + * - Slider for threshold (jQuery.ui) + * - Buttons to shift the image + * - Show preview image in B/W converted + * - Show original image (float right) + * + */ + +/* + // + // Marlin 2.0 Status Screen Options + // + //#define STATUS_COMBINE_HEATERS // Use combined heater images instead of separate ones + //#define STATUS_HOTEND_NUMBERLESS // Use plain hotend icons instead of numbered ones (with 2+ hotends) + #define STATUS_HOTEND_INVERTED // Show solid nozzle bitmaps when heating (Requires STATUS_HOTEND_ANIM) + #define STATUS_HOTEND_ANIM // Use a second bitmap to indicate hotend heating + #define STATUS_BED_ANIM // Use a second bitmap to indicate bed heating + //#define STATUS_ALT_BED_BITMAP // Use the alternative bed bitmap + //#define STATUS_ALT_FAN_BITMAP // Use the alternative fan bitmap + //#define STATUS_FAN_FRAMES 3 // :[0,1,2,3,4] Number of fan animation frames + //#define STATUS_HEAT_PERCENT // Show heating in a progress bar + + //#if ENABLED(STATUS_COMBINE_HEATERS) + // #undef STATUS_HOTEND_ANIM + // #undef STATUS_BED_ANIM + //#endif + + STATUS_COMBINE_HEATERS + All heaters are in a single image, + +*/ + +var bitmap_converter = function() { + + // Extend jQuery.event.fix for copy/paste to fix clipboardData + $.event.fix = (function(originalFix) { + return function(e) { + e = originalFix.apply(this, arguments); + if (e.type.indexOf('copy') === 0 || e.type.indexOf('paste') === 0) + e.clipboardData = e.originalEvent.clipboardData; + return e; + }; + })($.event.fix); + + var paste_message = 'Paste image or C/C++ here.', + preview_scale = 4, + max_size = [ 128, 64 ], + pix_on = [ 0, 0, 0, 255 ], + pix_off = [ 255, 255, 255, 0 ], + lcd_off = [ 0, 30, 253, 255 ], + lcd_on = [ 116, 241, 255, 255 ]; + + if (typeof $('canvas')[0].getContext == 'undefined') return; + + var $img = $(''), + $large = $('#preview-lg'), + $small = $('#preview-sm'), + cnv = $large[0], + cnv_sm = $small[0], + ctx = cnv.getContext('2d'), + ctx_sm = cnv_sm.getContext('2d'), + $filein = $('#file-input'), + $err = $('#err-box'), + $outdiv = $('#cpp-container'), + $output = $('#output'), + $lit = $('#lit-on'), + $invert = $('#inv-on'), + $binary = $('#bin-on'), + $ascii = $('#ascii-on'), + $skinny = $('#skinny-on'), + $hotends = $('#hotends'), + $rj = $('#rj-on'), + $bed = $('#bed-on'), + $fan = $('#fan-on'), + $type = $('#bitmap-type'), + $opt2 = $('#options2'), + $opt3 = $('#options3'), + $pasted = $('#pasted'), + $field_arr = $('#bin-on, #ascii-on, #skinny-on, #hotends, #rj-on, #bed-on, #fan-on, input[name=bitmap-type]'), + tobytes = function(n) { return Math.ceil(n / 8); }, + tohex = function(b) { return '0x' + ('0' + (b & 0xFF).toString(16)).toUpperCase().slice(-2); }, + tobin = function(b) { return 'B' + ('0000000' + (b & 0xFF).toString(2)).slice(-8); }, + random_name = function(prefix) { return (prefix||'') + Math.random().toString(36).substring(7); }, + grayscale = function(rgb) { return rgb[0] * 0.3 + rgb[1] * 0.59 + rgb[2] * 0.11; }, + rnd_name, data_source, + + error_message = function(msg) { + $err.text(msg).show(); console.log(msg); + }, + + restore_pasted_cpp_field = function() { + $pasted.val(paste_message).css('color', ''); + }, + + /** + * Set the image src to some new data. + * On $img.load it will call generate_cpp. + */ + load_url_into_image = function(data_url, w, h) { + $img = $(''); + + if (w) $img.width(w); + if (h) $img.height(h); + + $img.one('load', generate_cpp) // Generate when the image loads + .attr('src', data_url); // Start loading image data + + $field_arr.change(function(e){ generate_cpp(e, true); }); + $lit.change(generate_cpp); + $invert.change(generate_cpp); + $type.change(generate_cpp); + + rnd_name = random_name(); // A new bitmap name on each file load + }, + + /** + * Read a Blob of image data given a file reference + * + * Called by: + * - File input field, passing the first selected file. + * - Image pasted directly into a textfield. + */ + load_file_into_image = function(fileref) { + var reader = new FileReader(); + $(reader).one('load', function() { + load_url_into_image(this.result); + }); + // Load from the given source 'file' + reader.readAsDataURL(fileref); + }, + + /** + * Draw the given image into one or both canvases. + */ + render_image_into_canvases = function($i, notsmall, notlarge) { + var img = $i[0], iw = img.width, ih = img.height; + + // The small image needs no update if not changing + if (!notsmall) { + // Prepare the small hidden canvas to receive the image + ctx_sm.canvas.width = iw; + ctx_sm.canvas.height = ih; + ctx_sm.drawImage(img, 0, 0, ctx_sm.canvas.width, ctx_sm.canvas.height); + } + + // The large image needs no update if not changing + if (!notlarge) { + // Scaled view so you can actually see the pixels + ctx.canvas.width = iw * preview_scale; + ctx.canvas.height = ih * preview_scale; + //ctx.mozImageSmoothingEnabled = false; + ctx.imageSmoothingQuality = 'medium'; + ctx.webkitImageSmoothingEnabled = false; + ctx.msImageSmoothingEnabled = false; + ctx.imageSmoothingEnabled = false; + ctx.drawImage(img, 0, 0, ctx.canvas.width, ctx.canvas.height); + } + }, + + /** + * When anything changes the C++ is regenerated here. + * Use no_render to indicate the preview won't change. + * + * - Draw the original $img into the source canvas. + * - Draw the converted image into the Preview canvas. + * - Convert the image data into C text. + * - Display the image and converted text. + */ + generate_cpp = function(e,no_render) { + + // Get the image width and height in pixels. + var iw = $img[0].width, ih = $img[0].height; + + // Reject images that are too big + // TODO: Scale images down if needed + // TODO: Threshold sliders for luminance range to capture. + if (iw > max_size[0] || ih > max_size[1]) + return error_message('Image too large for display. Maximum ' + max_size[0] + ' x ' + max_size[1] + '.'); + + var bytewidth = tobytes(iw), // Bytes wide is important + + type = $type.val(), // The selected output type + name = type == 'boot' ? 'custom_start_bmp' : + type == 'stat1' ? 'status_screen0_bmp' : + type == 'stat2' ? 'status_logo_bmp' : + 'bitmap_' + rnd_name, + + is_bin = $binary[0].checked, // Flags for binary, ascii, and narrow ascii + + tobase = is_bin ? tobin : tohex, + + is_inv = $invert[0].checked, + zero = is_inv ? (is_bin ? 'B11111111' : '0xFF') : (is_bin ? 'B00000000' : '0x00'), + + is_asc = $ascii[0].checked, // Include ASCII version of the bitmap? + is_thin = $skinny[0].checked, // A skinny ASCII output with blocks. + + is_stat1 = type == 'stat1', // "Status 1.1" has extra options + is_stat2 = type == 'stat2', // "Status 2.0" has extra options + is_lpad = is_stat1 && !$rj[0].checked, // Right justify? + + rjust_add = tobytes(max_size[0]) - bytewidth, + extra_x = /* is_stat1 ? rjust_add : */ 0; // TODO: Status screen composer. + + if (extra_x < 0) extra_x = 0; + + /** + * Convert to grayscale, perform threshold. + * + * Dark and light solid pixels are counted to determine + * whether the 'Light' checkbox should be hard-set or + * should be changeable. + */ + + // Render the last-loaded image into the Source canvas. + // Render Preview only if the image won't be modified. + render_image_into_canvases($img, false, no_render); + + // A reference to the Source canvas image data + var data = ctx_sm.getImageData(0, 0, iw, ih).data; + + // Count up solid light and dark pixels. + var lite = 0, dark = 0; + for (var i = 0; i < data.length; i += 4) { + if (data[i+3] > 63) { + var islit = 127 < grayscale(data.slice(i, i+3)); + lite += islit; dark += !islit; + } + } + + // Set and disable 'Light' checkbox if + // only one setting produces an image. + var is_lit = $lit[0].checked; + if (lite) { if (!dark) is_lit = true; } + else if (dark) is_lit = false; + $lit.prop('checked', is_lit) + .prop('disabled', !lite != !dark); + + // Temporary canvas and related vars + var $tcnv, tctx, tref, tdat = []; + + // Need to re-render the Preview? + if (!no_render) { + // Make a new offscreen Canvas for the modified Source image. + $tcnv = $('').attr({ 'width':iw, 'height':ih }); + tctx = $tcnv[0].getContext('2d'); + tref = tctx.createImageData(iw, ih); + tdat = tref.data; + } + + // + // Convert the image to B/W by threshold. + // If rendering also update the ImageData.data. + // + + var lo_thr = 127, hi_thr = 127; + for (var i = 0; i < data.length; i += 4) { + var gray = grayscale(data.slice(i, i+3)); + if (gray < lo_thr) lo_thr = gray; + if (gray > hi_thr) hi_thr = gray; + } + var mid_thr = (lo_thr + hi_thr) / 2; + + var out = []; + for (var i = 0; i < data.length; i += 4) { + var gray = grayscale(data.slice(i, i+3)), + pixon = data[i+3] > 63 && is_lit == (gray > mid_thr), + pixel = is_inv != pixon, + c = pixel ? lcd_on : lcd_off; + out.push(pixel); + if (!no_render) { + tdat[i ] = c[0]; tdat[i+1] = c[1]; + tdat[i+2] = c[2]; tdat[i+3] = c[3]; + } + } + + if (!no_render) { + // Render the modified Preview Image + tctx.putImageData(tref, 0, 0); + var $vimg = $('').width(iw).height(ih) + .one('load', function(){ render_image_into_canvases($(this), true, false); }) + .attr('src', $tcnv[0].toDataURL('image/png')); + } + + // + // Convert the B/W image to C++ suitable for Marlin + // + + if (data_source == 'paste') + data_source = iw + 'x' + ih + ' pasted image'; + + var cpp = '/**\n' + + ' * Made with Marlin Bitmap Converter\n' + + ' * https://marlinfw.org/tools/u8glib/converter.html\n' + + ' *\n' + + ' * This bitmap from ' + data_source + '\n' + + ' */\n'; + + if (is_stat1) { + if (!is_lpad && rjust_add) { // Right-justified and not full width + cpp += '#define STATUS_SCREEN_X ' + (rjust_add * 8) + '\n'; + extra_x = 0; + } + cpp += '#define STATUS_SCREENWIDTH ' + ((bytewidth + extra_x) * 8) + '\n'; + } + else if (type == 'boot') { + cpp += '#define CUSTOM_BOOTSCREEN_BMPWIDTH ' + iw + '\n' + + '#define CUSTOM_BOOTSCREEN_BMPHEIGHT ' + ih + '\n'; + } + else { + var rn = rnd_name.toUpperCase(); + cpp += '#define ' + rn + '_BMPWIDTH ' + iw + '\n' + + '#define ' + rn + '_BMPHEIGHT ' + ih + '\n'; + } + + cpp += 'const unsigned char ' + name + '[] PROGMEM = {\n'; + + /** + * Print the data as hex or binary, + * appending ASCII art if selected. + */ + var lastx = iw - (iw % 8); // last item in each line + console.log('iw is ' + iw); + console.log('last is ' + lastx); + for (var y = 0; y < ih; y++) { // loop Y + var bitline = ' // '; + cpp += ' '; + for (var x = 0; x <= iw; x += 8) { // loop X + var byte = 0; + for (var b = 0; b < 8; b++) { // loop 8 bits + var xx = x + b, i = y * iw + xx, + bb = xx < iw ? out[i] : is_inv; // a set bit? + byte = (byte << 1) | bb; // add to the byte + bitline += is_thin + ? b % 2 ? ['·','▐','▌','█'][byte & 3] : '' + : bb ? '#' : '.'; + } + cpp += tobase(byte) + + (x == lastx && y == ih - 1 && !extra_x ? ' ' : ','); + } + // Fill out stat lines + for (var x = extra_x; x--;) cpp += zero + (x || y < ih - 1 ? ',' : ' '); + cpp += (is_asc ? bitline : '') + '\n'; + } + + cpp += '};\n'; + + /* + if (is_stat1) + if ($fan[0].checked) + cpp += '\n// TODO: Add a second array with FAN FRAME 2 included.\n' + else + cpp += '\nconst unsigned char *status_screen1_bmp = status_screen0_bmp;\n' + */ + + /** + * Set the output value. + * Make the field tall enough to show all lines. + * Show the preview image and output fields. + */ + $output.val(cpp) + .attr('rows', (cpp.match(/\n/g)||[]).length + 1); + $outdiv.show(); + $large.css('display','block'); + + // Show the appropriate text above the output + $('#where').html( + type == 'boot' ? '_Bootscreen.h' : + type == 'stat1' || type == 'stat2' ? '_Statusscreen.h' : + 'program' + ); + + return false; + }, + + /** + * Get ready to evaluate incoming data + */ + prepare_for_new_image = function() { + $err.hide(); + + /** + * Kill most form actions until an image exists. + * + * Since the previous image isn't cleared until + * the final step after loading successfully, + * this may not be needed. + */ + $img.off(); + $lit.off(); + $invert.off(); + $field_arr.off(); + + // Restore cosmetic 'ASCII Art' behavior + $ascii.change(function(){ $skinny.prop('disabled', !this.checked); return false; }); + + // Restore cosmetic 'Status' behavior + $type.change(function() { + let v = $(this).val(); + if (v == 'stat1' || v == 'stat2') $opt2.show(); else $opt2.hide(); + if (v == 'stat2') $opt3.show(); else $opt3.hide(); + }); + }, + + /** + * Convert C++ text representation back into an image. + * + * Finds the correct line-length before scanning for data. + * Does well screening out most extraneous text. + */ + process_pasted_cpp = function(cpp) { + + prepare_for_new_image(); + restore_pasted_cpp_field(); + + // Get the split up bytes on all lines + var lens = [], mostlens = []; + $.each(cpp.split('\n'), function(i,s) { + var pw = 0; + $.each(s.replace(/[ \t]/g,'').split(','), function(i,s) { + if (s.match(/0x[0-9a-f]+/i) || s.match(/0b[01]+/) || s.match(/B[01]+/) || s.match(/[0-9]+/)) + ++pw; + }); + lens.push(pw); + mostlens[pw] = 0; + }); + + var wide = 0, high = 0; + + // Find the length with the most instances + var most_so_far = 0; + mostlens.fill(0); + $.each(lens, function(i,v){ + if (++mostlens[v] > most_so_far) { + most_so_far = mostlens[v]; + wide = v * 8; + } + }); + + if (!wide) return error_message("No bitmap found in pasted text."); + + // Split up lines and iterate + var bitmap = [], bitstr = ''; + $.each(cpp.split('\n'), function(i,s) { + s = s.replace(/[ \t]/g,''); + // Split up bytes and iterate + var byteline = [], len = 0; + $.each(s.split(','), function(i,s) { + var b; + if (s.match(/0x[0-9a-f]+/i)) // Hex + b = parseInt(s.substring(2), 16); + else if (s.match(/0b[01]+/)) // Binary + b = parseInt(s.substring(2), 2); + else if (s.match(/B[01]+/)) // Binary + b = parseInt(s.substring(1), 2); + else if (s.match(/[0-9]+/)) // Decimal + b = s * 1; + else + return true; // Skip this item + + for (var i = 0; i < 8; i++) { + Array.prototype.push.apply(byteline, b & 0x80 ? pix_on : pix_off); + b <<= 1; + } + len += 8; + }); + if (len == wide) { + Array.prototype.push.apply(bitmap, byteline); + high++; + } + }); + + if (high < 4) return true; + + // Make a shiny new imagedata for the pasted CPP + ctx_sm.canvas.width = wide; + ctx_sm.canvas.height = high; + var image_data = ctx_sm.createImageData(wide, high); + for (var i = 0; i < bitmap.length; i++) + image_data.data[i] = bitmap[i]; + ctx_sm.putImageData(image_data, 0, 0); + + data_source = wide + 'x' + high + ' C/C++ data'; + load_url_into_image(cnv_sm.toDataURL('image/png'), wide, high); + $filein.val(''); + }, + + /** + * Prep the form for a pasted image. + * Call to load and process the image data. + */ + process_pasted_image = function(fileref) { + $invert.prop('checked', 0); + $filein.val(''); + + prepare_for_new_image(); + + data_source = 'paste'; + // if (typeof fileref == 'string') + // load_url_into_image(fileref); + // else + load_file_into_image(fileref); + }, + + /** + * Handle a paste into the code/image input field. + * May be C++ code or a pasted image. + * For image data call process_pasted_image to process it. + * Call process_pasted_cpp to parse the code into an image. + */ + convert_clipboard_to_image = function(e) { + var clipboardData = e.clipboardData || window.clipboardData, + items = clipboardData.items, + found, data; + + // If the browser supports "items" then use it + if (items) { + $.each(items, function(){ + switch (this.kind) { + case 'string': + found = 'text'; + return false; + case 'file': + found = 'image'; + data = this; + return false; + } + }); + } + else { + // Try the 'types' array for Safari / Webkit + $.each(clipboardData.types, function(i,type) { + switch (type) { + case 'text/plain': + found = type; + return false; + case 'image/png': + found = 'webkit'; + //data = clipboardData.getData(type); + // console.log('Got ' + (typeof data) + ' for ' + type + ' with length ' + data.length); + // $('').attr('src', 'blob:'+clipboardData.types[i-1]); + return false; + } + }); + } + + switch (found) { + case 'text/plain': + case 'text': + process_pasted_cpp(clipboardData.getData(found)); + break; + case 'image': + process_pasted_image(data.getAsFile()); // blob + break; + //case 'image/png': + // process_pasted_image(data); + // break; + case 'webkit': + error_message("No image paste in this browser."); + break; + default: error_message("Couldn't processed pasted " + found + " data!"); + } + + }; + + /** + * File Input Change Event + * + * If the file input value changes try to read the data from the file. + * The reader.load() handler will fire on successful load. + */ + $filein.change(function() { + + prepare_for_new_image(); + + var fileref = $filein[0].files[0]; + if (fileref) { + $invert.prop('checked', 0); + data_source = "the file '" + fileref.name + "'"; + load_file_into_image(fileref); + } + else + error_message("Error opening file."); + + //return false; // No default handler + }); + + // Enable standard form field events + prepare_for_new_image(); + + // Set a friendly message for C++ data paste + restore_pasted_cpp_field(); + + // If the output is clicked, select all + $output + .on('mousedown mouseup', function(){ return false; }) + .on('focus click', function(e){ this.select(); return false; }); + + // Paste old C++ code to see the image and reformat + $pasted + .focus(function() { + var $this = $(this); + $this + .val('') + .css('color', '#F80') + .one('blur', restore_pasted_cpp_field) + .one('paste', function(e) { + $this.css('color', '#FFFFFF00'); + convert_clipboard_to_image(e); + $this.trigger('blur'); + 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