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  1. # This file contains common pin mappings for MKS Robin Nano V3
  2. # boards. To use this config, the firmware should be compiled for the
  3. # stm32f407. When running "make menuconfig", select the 48KiB
  4. # bootloader, and enable "USB for communication".
  5.  
  6. # The "make flash" command does not work on the MKS Robin. Instead,
  7. # after running "make", copy the generated "out/klipper.bin" file to a
  8. # file named "Robin_nano_v3.bin" on an SD card and then restart the
  9. # MKS Robin with that SD card.
  10.  
  11. # See docs/Config_Reference.md for a description of parameters.
  12.  
  13. [stepper_x]
  14. step_pin: PE3
  15. dir_pin: !PE2
  16. enable_pin: !PE4
  17. microsteps: 16
  18. rotation_distance: 40
  19. endstop_pin: !PA15
  20. position_endstop: 300
  21. position_min: 0
  22. position_max: 300
  23. homing_speed: 50
  24.  
  25. [stepper_y]
  26. step_pin: PE0
  27. dir_pin: !PB9
  28. enable_pin: !PE1
  29. microsteps: 16
  30. rotation_distance: 40
  31. endstop_pin: !PD2
  32. position_endstop: 0
  33. position_max: 300
  34. homing_speed: 50
  35.  
  36. [stepper_z]
  37. step_pin: PB5
  38. dir_pin: PB4
  39. enable_pin: !PB8
  40. microsteps: 16
  41. rotation_distance: 8
  42. endstop_pin: probe:z_virtual_endstop
  43. #position_endstop: 0.5
  44. position_max: 200
  45.  
  46. [extruder]
  47. step_pin: PD6
  48. dir_pin: !PD3
  49. enable_pin: !PB3
  50. microsteps: 16
  51. rotation_distance: 7.711
  52. nozzle_diameter: 0.400
  53. filament_diameter: 1.750
  54. heater_pin: PE5
  55. sensor_type: ATC Semitec 104GT-2
  56. sensor_pin: PC1
  57. control: pid
  58. pid_Kp: 15.523
  59. pid_Ki: 0.556
  60. pid_Kd: 106.527
  61. min_temp: 0
  62. max_temp: 280
  63.  
  64. #[extruder1]
  65. #step_pin: PD15
  66. #dir_pin: !PA1
  67. #enable_pin: !PA3
  68. #heater_pin: PB0
  69. #sensor_pin: PA2
  70. #...
  71.  
  72. [heater_bed]
  73. heater_pin: PA0
  74. sensor_type: EPCOS 100K B57560G104F
  75. sensor_pin: PC0
  76. control: pid
  77. pid_Kp: 325.10
  78. pid_Ki: 63.35
  79. pid_Kd: 417.10
  80. min_temp: 0
  81. max_temp: 130
  82.  
  83. [fan]
  84. pin: PC14   # fan1
  85. #pin: PB1 # fan2
  86.  
  87. [mcu]
  88. serial:/dev/serial/by-id/usb-Klipper_stm32f407xx_340022000451373431373036-if00
  89. #/dev/serial/by-id/usb-Klipper_stm32f407xx_000000000000000000000000-if00
  90.  
  91.  
  92.  
  93. ## AUTOLEV ###########################
  94. [bltouch]
  95. sensor_pin: !PC8
  96. control_pin: PA8
  97. pin_move_time: .680
  98. #stow_on_each_sample: True
  99. #Pin_up_reports_not_triggered: True
  100. #set_output_mode:
  101. x_offset: -15
  102. y_offset: 30
  103. z_offset: 2.405
  104.  
  105. ########################################
  106. # EXP1 / EXP2 (display) pins
  107. ########################################
  108.  
  109. [safe_z_home]
  110. home_xy_position: 150,150 # Change coordinates to the center of your print bed
  111. speed: 50
  112. z_hop: 10                 # Move up 10mm
  113. z_hop_speed: 5
  114.  
  115. #[screws_tilt_adjust]
  116. #screw1: 33,72
  117. #screw1_name: Front left screw
  118. #screw2: 272,72
  119. #screw2_name: Front right screw
  120. #screw3: 272,300
  121. #screw3_name: Rear right screw
  122. #screw4: 33,300
  123. #screw4_name: rear left screw
  124. #speed: 80
  125. #horizontal_move_z: 5
  126. #screw_thread: CW-M4
  127.  
  128. #[z_tilt]
  129. #z_positions: #Nozzle positions over leadscrews
  130. #    15,110
  131. #    260,110#
  132. #points:
  133. #    15,110
  134. #    260,110
  135. #speed:120
  136. #horizontal_move_z: 10
  137. #retries: 4
  138. #retry_tolerance: 0.01
  139.  
  140. [bed_mesh]
  141. speed: 100
  142. horizontal_move_z: 10
  143. mesh_min: 50,50
  144. mesh_max: 230,230
  145. probe_count: 5,5
  146. mesh_pps: 2,2
  147. algorithm: bicubic
  148. bicubic_tension: 0.2
  149. fade_start: 1
  150. fade_end: 60
  151. fade_target: 0
  152.  
  153. ###############
  154.  
  155. [board_pins]
  156. aliases:
  157.     # EXP1 header
  158.     EXP1_1=PC5,  EXP1_3=PD13, EXP1_5=PE14, EXP1_7=PD11, EXP1_9=<GND>,
  159.     EXP1_2=PE13, EXP1_4=PC6,  EXP1_6=PE15, EXP1_8=PD10, EXP1_10=<5V>,
  160.     # EXP2 header
  161.     EXP2_1=PA6, EXP2_3=PE8, EXP2_5=PE11, EXP2_7=PE12,  EXP2_9=<GND>,
  162.     EXP2_2=PA5, EXP2_4=PE10, EXP2_6=PA7, EXP2_8=<RST>, EXP2_10=<3.3v>
  163.     # Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus "ssp1"
  164.  
  165. # See the MKS Lcd Config path file for definitions of common LCD displays.
  166.  
  167. ######################################
  168. [static_digital_output reset_display]
  169. pins: !PC6, !PD13
  170.  
  171. ######################################
  172. [printer]
  173. kinematics: corexy
  174. max_velocity: 250
  175. max_accel: 4500
  176. max_accel_to_decel: 4500
  177. max_z_velocity: 25
  178. max_z_accel: 100
  179. square_corner_velocity: 5.0
  180.  
  181. ######################################
  182. ## IMPUT SHAPPER  ####################
  183. [input_shaper]
  184. shaper_freq_x: 47.34
  185. shaper_freq_y: 62.11
  186. shaper_type: mzv
  187.  
  188. ######################################
  189. [virtual_sdcard]
  190. path: ~/gcode_files
  191.  
  192. ######################################
  193. [display_status]
  194. [pause_resume]
  195.  
  196. ######################################
  197. [idle_timeout]
  198. gcode:
  199.    TURN_OFF_HEATERS
  200.    M84
  201. timeout: 1800
  202. #   Idle time (in seconds) to wait before running the above G-Code
  203. #   commands. The default is 600 seconds.
  204.  
  205. ######################################
  206. # Support for gcode arc (G2/G3) commands.
  207. [gcode_arcs]
  208. resolution: 1.0
  209. #   An arc will be split into segments. Each segment's length will
  210. #   equal the resolution in mm set above. Lower values will produce a
  211. #   finer arc, but also more work for your machine. Arcs smaller than
  212. #   the configured value will become straight lines. The default is
  213. #   1mm.
  214.  
  215. ######################################
  216. ## GCODES  ###########################
  217. [gcode_macro PAUSE]
  218. rename_existing: BASE_PAUSE
  219. default_parameter_X: 5    #edit to your park position
  220. default_parameter_Y: 5    #edit to your park position
  221. default_parameter_Z: 10     #edit to your park position
  222. default_parameter_E: 8.2      #edit to your retract length
  223. gcode:
  224.     SAVE_GCODE_STATE NAME=PAUSE_state
  225.     BASE_PAUSE
  226.     G91
  227.     G1 E-{E} F2100
  228.     G1 Z{Z}
  229.     G90
  230.     G1 X{X} Y{Y} F6000
  231.  
  232. [gcode_macro RESUME]
  233. rename_existing: BASE_RESUME
  234. default_parameter_E: 8.2      #edit to your retract length
  235. gcode:
  236.     G91
  237.     G1 E{E} F2100
  238.     G90
  239.     RESTORE_GCODE_STATE NAME=PAUSE_state MOVE=1
  240.     BASE_RESUME
  241.    
  242. [gcode_macro CANCEL_PRINT]
  243. rename_existing: BASE_CANCEL_PRINT
  244. gcode:
  245.     TURN_OFF_HEATERS
  246.     CLEAR_PAUSE
  247.     SDCARD_RESET_FILE
  248.     BASE_CANCEL_PRINT    
  249. ######################################
  250.  
  251. [gcode_macro START_PRINT]
  252. gcode:
  253.     {% set BED_TEMP = params.BED_TEMP|default(80)|float %}
  254.     {% set EXTRUDER_TEMP = params.EXTRUDER_TEMP|default(250)|float %}
  255.     # Start bed heating
  256.     M140 S{BED_TEMP}
  257.     # Use absolute coordinates
  258.     G90
  259.     # Reset the G-Code Z offset (adjust Z offset if needed)
  260.     SET_GCODE_OFFSET Z=-2.405
  261.     # Home the printer
  262.     G28
  263.     # Move the nozzle near the bed
  264.     G1 Z10 F3000
  265.     # Move the nozzle very close to the bed
  266.     #G1 Z0.15 F300
  267.     # Wait for bed to reach temperature
  268.     M190 S{BED_TEMP}
  269.     #M140 S{BED_TEMP}
  270.     # Set and wait for nozzle to reach temperature
  271.     M109 S{EXTRUDER_TEMP}
  272.     G92 E0
  273.     G1 Z2.0 F3000
  274.     G1 X10 Y20 Z0.2 F5000
  275.     G1 X10 Y200 Z0.2 F1500 E15
  276.     G1 X10.3 Y200 Z0.28 F5000
  277.     G1 X10.3 Y20 Z0.28 F1500 E30
  278.     G92 E0
  279.     G1 Z2.0 F3000
  280.     M82

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