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zh/Config_Reference.html

@@ -657,6 +657,13 @@
     缆绳绞盘运动学
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#generic-cartesian-kinematics" class="md-nav__link">
+    Generic Cartesian Kinematics
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -1714,6 +1721,13 @@
       </ul>
     </nav>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#load_cell_probe" class="md-nav__link">
+    [load_cell_probe]
+  </a>
+  
 </li>
         
       </ul>
@@ -2793,6 +2807,13 @@
     缆绳绞盘运动学
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#generic-cartesian-kinematics" class="md-nav__link">
+    Generic Cartesian Kinematics
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -3850,6 +3871,13 @@
       </ul>
     </nav>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#load_cell_probe" class="md-nav__link">
+    [load_cell_probe]
+  </a>
+  
 </li>
         
       </ul>
@@ -4026,8 +4054,9 @@ serial:
 <div class="highlight"><pre><span></span><code>[printer]
 kinematics:
 #   The type of printer in use. This option may be one of: cartesian,
-#   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
-#   deltesian, polar, winch, or none. This parameter must be specified.
+#   corexy, corexz, hybrid_corexy, hybrid_corexz, generic_cartesian,
+#   rotary_delta, delta, deltesian, polar, winch, or none.
+#   This parameter must be specified.
 max_velocity:
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
 #   print). This parameter must be specified.
@@ -4503,6 +4532,123 @@ anchor_z:
 #   必须提供这些参数。
 </code></pre></div>
 
+<h3 id="generic-cartesian-kinematics">Generic Cartesian Kinematics<a class="headerlink" href="#generic-cartesian-kinematics" title="Permanent link">&para;</a></h3>
+<p>See <a href="https://github.com/Klipper3d/klipper/blob/master/config/example-generic-caretesian.cfg">example-generic-cartesian.cfg</a> for an example generic Cartesian kinematics config file.</p>
+<p>This printer kinematic class allows a user to define in a pretty flexible manner an arbitrary Cartesian-style kinematics. In principle, the regular cartesian, corexy, hybrid_corexy can be defined this way too. However, more importantly, various otherwise unsupported kinematics such as inverted hybrid_corexy or corexyuv can be defined using this kinematic.</p>
+<p>Notably, the definition of a generic Cartesian kinematic deviates significantly from the other kinematic types. It follows the following convention: a user defines a set of carriages with certain range of motion that can move independently from each other (they should move over the Cartesian axes X, Y, and Z, hence the name of the kinematic) and corresponding endstops that allow the firmware to determine the position of carriages during homing, as well as a set of steppers that move those carriages. The <code>[printer]</code> section must specify the kinematic and other printer-level settings same as the regular Cartesian kinematic:</p>
+<div class="highlight"><pre><span></span><code>[printer]
+kinematics: generic_cartesian
+max_velocity:
+max_accel:
+#minimum_cruise_ratio:
+#square_corner_velocity:
+#max_accel_to_decel:
+#max_z_velocity:
+#max_z_accel:
+</code></pre></div>
+
+<p>Then a user must define the following three carriages: <code>[carriage x]</code>, <code>[carriage y]</code>, and <code>[carriage z]</code>, e.g.</p>
+<div class="highlight"><pre><span></span><code>[carriage x]
+endstop_pin:
+#   Endstop switch detection pin. If this endstop pin is on a
+#   different mcu than the stepper motor(s) moving this carriage,
+#   then it enables &quot;multi-mcu homing&quot;. This parameter must be provided.
+#position_min: 0
+#   Minimum valid distance (in mm) the user may command the carriage to
+#   move to.  The default is 0mm.
+position_endstop:
+#   Location of the endstop (in mm). This parameter must be provided.
+position_max:
+#   Maximum valid distance (in mm) the user may command the stepper to
+#   move to. This parameter must be provided.
+#homing_speed: 5.0
+#   Maximum velocity (in mm/s) of the carriage when homing. The default
+#   is 5mm/s.
+#homing_retract_dist: 5.0
+#   Distance to backoff (in mm) before homing a second time during
+#   homing. Set this to zero to disable the second home. The default
+#   is 5mm.
+#homing_retract_speed:
+#   Speed to use on the retract move after homing in case this should
+#   be different from the homing speed, which is the default for this
+#   parameter
+#second_homing_speed:
+#   Velocity (in mm/s) of the carriage when performing the second home.
+#   The default is homing_speed/2.
+#homing_positive_dir:
+#   If true, homing will cause the carriage to move in a positive
+#   direction (away from zero); if false, home towards zero. It is
+#   better to use the default than to specify this parameter. The
+#   default is true if position_endstop is near position_max and false
+#   if near position_min.
+</code></pre></div>
+
+<p>Afterwards, a user specifies the stepper motors that move these carriages, for instance</p>
+<div class="highlight"><pre><span></span><code>[stepper my_stepper]
+carriages:
+#   A string describing the carriages the stepper moves. All defined
+#   carriages can be specified here, as well as their linear combinations,
+#   e.g. x, x+y, y-0.5*z, x-z, etc. This parameter must be provided.
+step_pin:
+dir_pin:
+enable_pin:
+rotation_distance:
+microsteps:
+#full_steps_per_rotation: 200
+#gear_ratio:
+#step_pulse_duration:
+</code></pre></div>
+
+<p>See <a href="#stepper">stepper</a> section for more information on the regular stepper parameters. The <code>carriages</code> parameter defines how the stepper affects the motion of the carriages. For example, <code>x+y</code> indicates that the motion of the stepper in the positive direction by the distance <code>d</code> moves the carriages <code>x</code> and <code>y</code> by the same distance <code>d</code> in the positive direction, while <code>x-0.5*y</code> means the motion of the stepper in the positive direction by the distance <code>d</code> moves the carriage <code>x</code> by the distance <code>d</code> in the positive direction, but the carriage <code>y</code> will travel distance <code>d/2</code> in the negative direction.</p>
+<p>More than a single stepper motor can be defined to drive the same axis or belt. For example, on a CoreXY AWD setups two motors driving the same belt can be defined as</p>
+<div class="highlight"><pre><span></span><code>[carriage x]
+endstop_pin: ...
+...
+
+[carriage y]
+endstop_pin: ...
+...
+
+[stepper a0]
+carriages: x-y
+step_pin: ...
+dir_pin: ...
+enable_pin: ...
+rotation_distance: ...
+...
+
+[stepper a1]
+carriages: x-y
+step_pin: ...
+dir_pin: ...
+enable_pin: ...
+rotation_distance: ...
+...
+</code></pre></div>
+
+<p>with <code>a0</code> and <code>a1</code> steppers having their own control pins, but sharing the same <code>carriages</code> and corresponding endstops.</p>
+<p>There are situations when a user wants to have more than one endstop per axis. Examples of such configurations include Y axis driven by two independent stepper motors with belts attached to both ends of the X beam, with effectively two carriages on Y axis each having an independent endstop, and multi-stepper Z axis with each stepper having its own endstop (not to be confused with the configurations with multiple Z motors but only a single endstop). These configurations can be declared by specifying additional carriage(s) with their endstops:</p>
+<div class="highlight"><pre><span></span><code>[extra_carriage my_carriage]
+primary_carriage:
+#   The name of the primary carriage this carriage corresponds to.
+#   It also effectively defines the axis the carriage moves over.
+#   This parameter must be provided.
+endstop_pin:
+#   Endstop switch detection pin. This parameter must be provided.
+</code></pre></div>
+
+<p>and the corresponding stepper motors, for example:</p>
+<div class="highlight"><pre><span></span><code>[extra_carriage y1]
+primary_carriage: y
+endstop_pin: ...
+
+[stepper sy1]
+carriages: y1
+...
+</code></pre></div>
+
+<p>Notably, an <code>[extra_carriage]</code> does not define parameters such as <code>position_min</code>, <code>position_max</code>, and <code>position_endstop</code>, but instead inherits them from the specified <code>primary_carriage</code>, thus sharing the same range of motion with the primary carriage.</p>
+<p>For the references on how to configure IDEX setups, see the <a href="#dual-carriage">dual carriage</a> section.</p>
 <h3 id="_9">无运动学<a class="headerlink" href="#_9" title="Permanent link">&para;</a></h3>
 <p>可以定义特殊的 "none" 运动学来禁用 Klipper 中的运动学支持。可以用于控制不是 3D 打印机的设备或调试。</p>
 <div class="highlight"><pre><span></span><code>[printer]
@@ -5673,9 +5819,9 @@ calibrate_x: ...
 </code></pre></div>
 
 <h3 id="dual_carriage">[dual_carriage]<a class="headerlink" href="#dual_carriage" title="Permanent link">&para;</a></h3>
-<p>Support for cartesian and hybrid_corexy/z printers with dual carriages on a single axis. The carriage mode can be set via the SET_DUAL_CARRIAGE extended g-code command. For example, "SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined in this section (CARRIAGE=0 will return activation to the primary carriage). Dual carriage support is typically combined with extra extruders - the SET_DUAL_CARRIAGE command is often called at the same time as the ACTIVATE_EXTRUDER command. Be sure to park the carriages during deactivation. Note that during G28 homing, typically the primary carriage is homed first followed by the carriage defined in the <code>[dual_carriage]</code> config section. However, the <code>[dual_carriage]</code> carriage will be homed first if both carriages home in a positive direction and the [dual_carriage] carriage has a <code>position_endstop</code> greater than the primary carriage, or if both carriages home in a negative direction and the <code>[dual_carriage]</code> carriage has a <code>position_endstop</code> less than the primary carriage.</p>
+<p>Support for cartesian, generic_cartesian and hybrid_corexy/z printers with dual carriages on a single axis. The carriage mode can be set via the SET_DUAL_CARRIAGE extended g-code command. For example, "SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined in this section (CARRIAGE=0 will return activation to the primary carriage). Dual carriage support is typically combined with extra extruders - the SET_DUAL_CARRIAGE command is often called at the same time as the ACTIVATE_EXTRUDER command. Be sure to park the carriages during deactivation. Note that during G28 homing, typically the primary carriage is homed first followed by the carriage defined in the <code>[dual_carriage]</code> config section. However, the <code>[dual_carriage]</code> carriage will be homed first if both carriages home in a positive direction and the [dual_carriage] carriage has a <code>position_endstop</code> greater than the primary carriage, or if both carriages home in a negative direction and the <code>[dual_carriage]</code> carriage has a <code>position_endstop</code> less than the primary carriage.</p>
 <p>Additionally, one could use "SET_DUAL_CARRIAGE CARRIAGE=1 MODE=COPY" or "SET_DUAL_CARRIAGE CARRIAGE=1 MODE=MIRROR" commands to activate either copying or mirroring mode of the dual carriage, in which case it will follow the motion of the carriage 0 accordingly. These commands can be used to print two parts simultaneously - either two identical parts (in COPY mode) or mirrored parts (in MIRROR mode). Note that COPY and MIRROR modes also require appropriate configuration of the extruder on the dual carriage, which can typically be achieved with "SYNC_EXTRUDER_MOTION MOTION_QUEUE=extruder EXTRUDER=<dual_carriage_extruder>" or a similar command.</p>
-<p>Idex参考示例<a href="https://github.com/Klipper3d/klipper/blob/master/config/sample-idex.cfg">sample-idex.cfg</a></p>
+<p>See <a href="https://github.com/Klipper3d/klipper/blob/master/config/sample-idex.cfg">sample-idex.cfg</a> for an example configuration with a regular Cartesian kinematic.</p>
 <div class="highlight"><pre><span></span><code>[dual_carriage]
 axis:
 #   The axis this extra carriage is on (either x or y). This parameter
@@ -5687,7 +5833,7 @@ axis:
 #   error. If safe_distance is not provided, it will be inferred from
 #   position_min and position_max for the dual and primary carriages. If set
 #   to 0 (or safe_distance is unset and position_min and position_max are
-#   identical for the primary and dual carraiges), the carriages proximity
+#   identical for the primary and dual carriages), the carriages proximity
 #   checks will be disabled.
 #step_pin:
 #dir_pin:
@@ -5701,6 +5847,65 @@ axis:
 #   See the &quot;stepper&quot; section for the definition of the above parameters.
 </code></pre></div>
 
+<p>For an example of dual carriage configuration with <code>generic_cartesian</code> kinematic, see the following configuration <a href="https://github.com/Klipper3d/klipper/blob/master/config/example-generic-caretesian.cfg">sample</a>. Please note that in this case the <code>[dual_carriage]</code> configuration deviates from the configuration described above:</p>
+<div class="highlight"><pre><span></span><code>[dual_carriage my_dc_carriage]
+primary_carriage:
+#   Defines the matching primary carriage of this dual carriage and
+#   the corresponding IDEX axis. Valid choices are x, y, z.
+#   This parameter must be provided.
+#safe_distance:
+#   The minimum distance (in mm) to enforce between the dual and the primary
+#   carriages. If a G-Code command is executed that will bring the carriages
+#   closer than the specified limit, such a command will be rejected with an
+#   error. If safe_distance is not provided, it will be inferred from
+#   position_min and position_max for the dual and primary carriages. If set
+#   to 0 (or safe_distance is unset and position_min and position_max are
+#   identical for the primary and dual carriages), the carriages proximity
+#   checks will be disabled.
+endstop_pin:
+#position_min:
+position_endstop:
+position_max:
+#homing_speed:
+#homing_retract_dist:
+#homing_retract_speed:
+#second_homing_speed:
+#homing_positive_dir:
+...
+</code></pre></div>
+
+<p>Refer to <a href="#generic-cartesian">generic cartesian</a> section for more information on the regular <code>carriage</code> parameters.</p>
+<p>Then a user must define one or more stepper motors moving the dual carriage (and other carriages as appropriate), for instance</p>
+<div class="highlight"><pre><span></span><code>[carriage x]
+...
+
+[carriage y]
+...
+
+[dual_carriage u]
+primary_carriage: x
+...
+
+[stepper dc_stepper]
+carriages: u-y
+...
+</code></pre></div>
+
+<p><code>[dual_carriage]</code> requires special configuration for the input shaper. In general, it is necessary to run input shaper calibration twice - for the <code>dual_carriage</code> and its <code>primary_carriage</code> for the axis they share. Then the input shaper can be configured as follows, assuming the example above:</p>
+<div class="highlight"><pre><span></span><code>[input_shaper]
+# Intentionally empty
+
+[delayed_gcode init_shaper]
+initial_duration: 0.1
+gcode:
+  SET_DUAL_CARRIAGE CARRIAGE=u
+  SET_INPUT_SHAPER SHAPER_TYPE_X=&lt;dual_carriage_x_shaper&gt; SHAPER_FREQ_X=&lt;dual_carriage_x_freq&gt; SHAPER_TYPE_Y=&lt;y_shaper&gt; SHAPER_FREQ_Y=&lt;y_freq&gt;
+  SET_DUAL_CARRIAGE CARRIAGE=x
+  SET_INPUT_SHAPER SHAPER_TYPE_X=&lt;primary_carriage_x_shaper&gt; SHAPER_FREQ_X=&lt;primary_carriage_x_freq&gt; SHAPER_TYPE_Y=&lt;y_shaper&gt; SHAPER_FREQ_Y=&lt;y_freq&gt;
+</code></pre></div>
+
+<p>Note that <code>SHAPER_TYPE_Y</code> and <code>SHAPER_FREQ_Y</code> must be the same in both commands in this case, since the same motors drive Y axis when either of the <code>x</code> and <code>u</code> carriages are active.</p>
+<p>It is worth noting that <code>generic_cartesian</code> kinematic can support two dual carriages for X and Y axes. For reference, see for instance a <a href="https://github.com/Klipper3d/klipper/blob/master/config/sample-corexyuv.cfg">sample</a> of CoreXYUV configuration.</p>
 <h3 id="extruder_stepper">[extruder_stepper]<a class="headerlink" href="#extruder_stepper" title="Permanent link">&para;</a></h3>
 <p>支持额外和挤出机运动同步的步进电机（可以定义任意数量的带有“extruder_stepper”前缀的分段）。</p>
 <p>更多信息请参阅<a href="G-Codes.html#extruder">命令参考</a>。</p>
@@ -5719,25 +5924,33 @@ extruder:
 
 <h3 id="manual_stepper">[manual_stepper]<a class="headerlink" href="#manual_stepper" title="Permanent link">&para;</a></h3>
 <p>手动步进器（可以通过定义任何数量"manual_stepper"前缀的配置分段）。这些是由 MANUAL_STEPPER G代码命令控制的步进电机。例如："MANUAL_STEPPER STEPPER=my_stepper MOVE=10 SPEED=5"。参见<a href="G-Code.md#manual_stepper">G-Code</a>文档中关于 MANUAL_STEPPER 命令的描述。手动步进器械不会连接到正常的打印机运动学中。</p>
-<div class="highlight"><pre><span></span><code>[manual_stepper my_stepper]。
+<div class="highlight"><pre><span></span><code>[manual_stepper my_stepper]
 #step_pin:
 #dir_pin:
 #enable_pin:
 #microsteps:
 #rotation_distance:
-#   有关这些参数的描述请见&quot;stepper&quot;分段。
+#   See the &quot;stepper&quot; section for a description of these parameters.
 #velocity:
-#   设置步进电机的默认速度（单位：mm/s）。这个值会在 MANUAL_STEPPER
-#   命令没有指定一个 SPEED 参数时会被使用。
-#   默认为 5 mm/s。
+#   Set the default velocity (in mm/s) for the stepper. This value
+#   will be used if a MANUAL_STEPPER command does not specify a SPEED
+#   parameter. The default is 5mm/s.
 #accel:
-#   设置步进电机的默认加速度（单位：mm/s^2）。设置加速度为零将导致
-#   没有加速度。这个值会在 MANUAL_STEPPER 命令没有指定 ACCEL 参数时
-#   会被使用。
-#   默认为 0。
+#   Set the default acceleration (in mm/s^2) for the stepper. An
+#   acceleration of zero will result in no acceleration. This value
+#   will be used if a MANUAL_STEPPER command does not specify an ACCEL
+#   parameter. The default is zero.
 #endstop_pin:
-#   限位开关检测引脚。如果定义了这个参数，可以通过在 MANUAL_STEPPER
-#   运动命令中添加一个 STOP_ON_ENDSTOP 参数来执行 &quot;归位动作&quot; 。
+#   Endstop switch detection pin. If specified, then one may perform
+#   &quot;homing moves&quot; by adding a STOP_ON_ENDSTOP parameter to
+#   MANUAL_STEPPER movement commands.
+#position_min:
+#position_max:
+#   The minimum and maximum position the stepper can be commanded to
+#   move to. If specified then one may not command the stepper to move
+#   past the given position. Note that these limits do not prevent
+#   setting an arbitrary position with the `MANUAL_STEPPER
+#   SET_POSITION=x` command. The default is to not enforce a limit.
 </code></pre></div>
 
 <h2 id="_17">自定义加热器和传感器<a class="headerlink" href="#_17" title="Permanent link">&para;</a></h2>
@@ -7859,6 +8072,63 @@ data_ready_pin:
 #   and &#39;analog_supply&#39;. Default is &#39;internal&#39;.
 </code></pre></div>
 
+<h3 id="load_cell_probe">[load_cell_probe]<a class="headerlink" href="#load_cell_probe" title="Permanent link">&para;</a></h3>
+<p>Load Cell Probe. This combines the functionality of a [probe] and a [load_cell].</p>
+<div class="highlight"><pre><span></span><code>[load_cell_probe]
+sensor_type:
+#   This must be one of the supported bulk ADC sensor types and support
+#   load cell endstops on the mcu.
+#counts_per_gram:
+#reference_tare_counts:
+#sensor_orientation:
+#   These parameters must be configured before the probe will operate.
+#   See the [load_cell] section for further details.
+#force_safety_limit: 2000
+#   The safe limit for probing force relative to the reference_tare_counts on
+#   the load_cell. The default is +/-2Kg.
+#trigger_force: 75.0
+#   The force that the probe will trigger at. 75g is the default.
+#drift_filter_cutoff_frequency: 0.8
+#   Enable optional continuous taring while homing &amp; probing to reject drift.
+#   The value is a frequency, in Hz, below which drift will be ignored. This
+#   option requires the SciPy library. Default: None
+#drift_filter_delay: 2
+#   The delay, or &#39;order&#39;, of the drift filter. This controls the number of
+#   samples required to make a trigger detection. Can be 1 or 2, the default
+#   is 2.
+#buzz_filter_cutoff_frequency: 100.0
+#   The value is a frequency, in Hz, above which high frequency noise in the
+#   load cell will be igfiltered outnored. This option requires the SciPy
+#   library. Default: None
+#buzz_filter_delay: 2
+#   The delay, or &#39;order&#39;, of the buzz filter. This controle the number of
+#   samples required to make a trigger detection. Can be 1 or 2, the default
+#   is 2.
+#notch_filter_frequencies: 50, 60
+#   1 or 2 frequencies, in Hz, to filter out of the load cell data. This is
+#   intended to reject power line noise. This option requires the SciPy
+#   library.  Default: None
+#notch_filter_quality: 2.0
+#   Controls how narrow the range of frequencies are that the notch filter
+#   removes. Larger numbers produce a narrower filter. Minimum value is 0.5 and
+#   maximum is 3.0. Default: 2.0
+#tare_time:
+#   The rime in seconds used for taring the load_cell before each probe. The
+#   default value is: 4 / 60 = 0.066. This collects samples from 4 cycles of
+#   60Hz mains power to cancel power line noise.
+#z_offset:
+#speed:
+#samples:
+#sample_retract_dist:
+#lift_speed:
+#samples_result:
+#samples_tolerance:
+#samples_tolerance_retries:
+#activate_gcode:
+#deactivate_gcode:
+#   See the &quot;[probe]&quot; section for a description of the above parameters.
+</code></pre></div>
+
 <h2 id="_28">控制板特定硬件支持<a class="headerlink" href="#_28" title="Permanent link">&para;</a></h2>
 <h3 id="sx1509">[sx1509]<a class="headerlink" href="#sx1509" title="Permanent link">&para;</a></h3>
 <p>将一个 SX1509 I2C 配置为 GPIO 扩展器。由于 I2C 通信本身的延迟，不应将 SX1509 引脚用作步进电机的 enable （启用)、step（步进）或 dir （方向）引脚或任何其他需要快速 bit-banging（位拆裂）的引脚。它们最适合用作静态或G代码控制的数字输出或硬件 pwm 引脚，例如风扇。可以使用“sx1509”前缀定义任意数量的分段。每个扩展器提供可用于打印机配置的一组 16 个引脚（sx1509_my_sx1509:PIN_0 到 sx1509_my_sx1509:PIN_15）。</p>