V400 FIXES.txt

# MKS Robin Nano V2 By：zzcat
# STM32F103. When running "make menuconfig", enable "extra low-level
# configuration setup", select the 28KiB bootloader, and serial (on
# USART3 PB11/PB10) communication.

# Note that the "make flash" command does not work with MKS Robin
# boards. After running "make", run the following command:
#   ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano35.bin
# Copy the file out/Robin_nano35.bin to an SD card and then restart the
# printer with that SD card.
#Vol:1.0
#2022-06-15

Missing endstop phase correction 
try relative reference index this may avoid the need for "offset" 
probe add lift speed 
remove unessary tmc dump macro or hide from interface with _   
40 watt heater problems? 
double check rms current. its 0.707 in klipper compared to marlin 
stepping is quite low for klipper the norm is x64 / 128
find the max z acc define without noise. (max_z_accel: xxxxx) 





[stepper_a]
step_pin: PE3
dir_pin: PE2  #加"!"控制电机正反转 (remove all of these or make sure they are correct to doc it will come up in forums otherwise) 
enable_pin: !PE4
microsteps: 16 #电机细分数
rotation_distance: 40
endstop_pin: ^PA15
#position_endstop: 415 #打印高度
homing_speed: 40 #归零速度
#arm_length = 345 #并联臂长度

[stepper_b]
step_pin: PE0
dir_pin: PB9  #加"!"控制电机正反转
enable_pin: !PE1
microsteps: 16
rotation_distance: 40
endstop_pin: ^PA12
#position_endstop: 415
#arm_length = 345

[stepper_c]
step_pin: PB5
dir_pin: PB4  #加"!"控制电机正反转
enable_pin: !PB8
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC4
#position_endstop: 415
#arm_length = 345

[extruder]
step_pin: PD6
dir_pin: !PD3
enable_pin: !PB3
microsteps: 16
rotation_distance: 4.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PC3
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC1
min_temp: -5 #喷嘴最低温度
max_temp: 315 #喷嘴最高温度
max_extrude_cross_section: 50 # default 0.640 # overload the hotend and jam the heatbreak with random start gcodes. like the sr arc command. 
max_extrude_only_distance: 500
pressure_advance: 0.02 #挤出提前 影响拐角出料0.041改为0.02 创意提出 4-27
#pressure_advance: 0.041
control = pid
pid_kp = 18.240
pid_ki = 0.558
pid_kd = 149.109

[tmc2209 stepper_a]
uart_pin: PD5
run_current: 1.700
hold_current: 0.500 #步进电机保持电流
stealthchop_threshold: 999999

[tmc2209 stepper_b]
uart_pin: PD7
run_current: 1.700
hold_current: 0.500 #步进电机保持电流 current is not supposed to be changed to lower this leads to positioning errors according to klippers docs. 
stealthchop_threshold: 999999

[tmc2209 stepper_c]
uart_pin: PD4
run_current: 1.700
hold_current: 0.500 #步进电机保持电流
stealthchop_threshold: 999999

[tmc2209 extruder]
uart_pin: PD9
run_current: 0.900
hold_current: 0.500
stealthchop_threshold: 999999

[fan]
pin: PB1

[heater_fan heat_sink_fan] 
pin: PB0
heater_temp: 50.0

[heater_bed]
heater_pin: PA0
sensor_pin: PC0
sensor_type: EPCOS 100K B57560G104F
min_temp: -5
max_temp: 120 #热床最大温度
control = pid
pid_kp = 80.041
pid_ki = 2.422
pid_kd = 300.123

[input_shaper]
shaper_freq_x: 34.78   # frequency for the X mark of the test model
shaper_freq_y: 31.68  # frequency for the Y mark of the test model

[mcu]
serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
restart_method: command

[temperature_sensor Armv7 mcu] #pi的温度
sensor_type: temperature_host
min_temp: 10
max_temp: 100

[temperature_sensor mcu_temp] #主板的温度
sensor_type: temperature_mcu
min_temp: 0
max_temp: 100

[printer]
kinematics: delta
max_velocity: 400 #最大打印速度
max_accel: 8000 #最大加速度
max_accel_to_decel: 5000  #最大加速度到减速度
square_corner_velocity: 5 #直角速度
max_z_velocity: 400 #最大Z速度   # smash hotend into the bed at 400mms when gcode corrupts should be set to max homing speed this does not control single arm speed. it all 3 on z moves.    

add lower rms current for probing / bed mesh to avoid user damage 
  
#delta_radius: 161.75 #曲率
#print_radius: 150 #最大打印半径
print_radius: 152 #最大打印半径
minimum_z_position=-5 #最小Z高度

[virtual_sdcard]
path: ~/gcode_files

[delta_calibrate]
radius: 148
horizontal_move_z: 20
Speed: 50

[probe]  #相当于G33 This is not g33 
pin: !PA11
x_offset: 0 #x调平开关的偏移量
y_offset: 0 #y调平开关的偏移量
#z_offset: 16 #调平开关与喷准之间的Z高度
speed: 10  #速度
samples: 3 #点几下
samples_result: average  #平均
sample_retract_dist: 3 #探点上下的距离
samples_tolerance: 0.02 #精度，容忍度 要到0.02才可以
samples_tolerance_retries: 5 #重复的次数

[bed_mesh]  #相当于G29 This is fine. 
speed: 50 #速度
horizontal_move_z: 20 #抬升高度？
mesh_radius: 148  #调平半径
mesh_origin: 0,0  #原点
round_probe_count: 7 #点数5*5的网格
algorithm: bicubic

[filament_switch_sensor filament_sensor]  #断料检测
pause_on_runout: True
runout_gcode: PAUSE #没耗材执行动作
#insert_gcode: RESUME  #插入耗材执行的动作
switch_pin: PA4

[output_pin LED_pin]
pin: PE12
pwm: False
value: 0 #默认输出状态 0=关闭 1=开启
#cycle_time: 0.010

[gcode_macro led_on]
gcode:
  SET_PIN PIN=LED_pin VALUE=1

[gcode_macro led_off]
gcode:
  SET_PIN PIN=LED_pin VALUE=0

[output_pin LED_logo]
pin: PD11
pwm: False
value: 1
#cycle_time: 0.010

[gcode_macro logo_on]
gcode:
  SET_PIN PIN=LED_logo VALUE=1

[gcode_macro logo_off]
gcode:
  SET_PIN PIN=LED_logo VALUE=0

[idle_timeout] # time out should be default for fire safety reasons. 
gcode:
#   A list of G-Code commands to execute on an idle timeout. See
#   docs/Command_Templates.md for G-Code format. The default is to run
#   "TURN_OFF_HEATERS" and "M84".
timeout: 172800
#   Idle time (in seconds) to wait before running the above G-Code
#   commands. The default is 600 seconds.


[pause_resume]

[gcode_macro PAUSE] #暂停
description: Pause the actual running print
rename_existing: PAUSE_BASE
gcode:
    ##### set defaults #####
    {% set x = params.X|default(0) %}      #edit to your park position
    {% set y = params.Y|default(-140) %}      #edit to your park position
    {% set z = params.Z|default(10)|float %} #edit to your park position
    {% set e = params.E|default(1) %}        #edit to your retract length
    ##### calculate save lift position #####
    {% set max_z = printer.toolhead.axis_maximum.z|float %}
    {% set act_z = printer.toolhead.position.z|float %}
    {% set lift_z = z|abs %}
    {% if act_z < (max_z - lift_z) %}
        {% set z_safe = lift_z %}
    {% else %}
        {% set z_safe = max_z - act_z %}
    {% endif %}
    ##### end of definitions #####
    PAUSE_BASE
    G91
    {% if printer.extruder.can_extrude|lower == 'true' %}
      G1 E-{e} F2100
    {% else %}
      {action_respond_info("Extruder not hot enough")}
    {% endif %}
    {% if "xyz" in printer.toolhead.homed_axes %}    
      G1 Z{z_safe}
      G90
      G1 X{x} Y{y} F6000
    {% else %}
      {action_respond_info("Printer not homed")}
    {% endif %}

[gcode_macro RESUME]  #继续打印 
description: Resume the actual running print
rename_existing: RESUME_BASE
gcode:
    ##### set defaults #####
    {% if printer["filament_switch_sensor filament_sensor"].filament_detected == True %} #判断耗材传感器是否有耗材，true代表有耗材
      {% set e = params.E|default(1) %} #edit to your retract length
    #### get VELOCITY parameter if specified ####
      {% if 'VELOCITY' in params|upper %}
        {% set get_params = ('VELOCITY=' + params.VELOCITY)  %}
      {%else %}
        {% set get_params = "" %}
      {% endif %}
    ##### end of definitions #####
      G91
      {% if printer.extruder.can_extrude|lower == 'true' %}
        G1 E{e} F2100
      {% else %}
        {action_respond_info("Extruder not hot enough")}
      {% endif %}   
      RESUME_BASE {get_params}
    {% endif %} 

[gcode_macro CANCEL_PRINT]    
description: Cancel the actual running print
rename_existing: CANCEL_PRINT_BASE
gcode:
  M106 S0
  TURN_OFF_HEATERS
  CANCEL_PRINT_BASE
  G28

[gcode_macro ZUP]
gcode:
    SET_GCODE_OFFSET Z_ADJUST=0.025 MOVE=1

[gcode_macro ZDOWN]
gcode:
   SET_GCODE_OFFSET Z_ADJUST=-0.025 MOVE=1

[save_variables]
filename: ~/savedVariables.cfg

[gcode_macro save_time]
gcode:
    {% if printer.save_variables.variables.total_time %}
        {% set print_time = printer.save_variables.variables.total_time %}
    {% else %} 
        {% set print_time = 0 %}
    {% endif %}
    {% set print_time = print_time + printer.print_stats.print_duration/3600 %}
    SAVE_VARIABLE VARIABLE=total_time VALUE={print_time}

[gcode_macro SET_GCODE_OFFSET]  
rename_existing: _SET_GCODE_OFFSET
gcode:
    {% if printer.save_variables.variables.gcode_offsets %}
        {% set offsets = printer.save_variables.variables.gcode_offsets %}
    {% else %} 
        {% set offsets = {'x': None,'y': None,'z': None} %}
    {% endif %}
    
    {% set ns = namespace(offsets={'x': offsets.x,'y': offsets.y,'z': offsets.z}) %}
    
    _SET_GCODE_OFFSET {% for p in params %}{'%s=%s '% (p, params[p])}{% endfor %}

    {%if 'X' in params %}{% set null = ns.offsets.update({'x': params.X}) %}{% endif %}
    {%if 'Y' in params %}{% set null = ns.offsets.update({'y': params.Y}) %}{% endif %}
    {%if 'Z' in params %}{% set null = ns.offsets.update({'z': params.Z}) %}{% endif %}
    {%if 'Z_ADJUST' in params %}
        {%if ns.offsets.z == None %}{% set null = ns.offsets.update({'z': 0}) %}{% endif %}
        {% set null = ns.offsets.update({'z': (ns.offsets.z | float) + (params.Z_ADJUST | float)}) %}
    {% endif %}
    SAVE_VARIABLE VARIABLE=gcode_offsets VALUE="{ns.offsets}"

[delayed_gcode LOAD_GCODE_OFFSETS]
initial_duration: 2
gcode:  
    {% if printer.save_variables.variables.gcode_offsets %}
        {% set offsets = printer.save_variables.variables.gcode_offsets %}

        _SET_GCODE_OFFSET {% for axis, offset in offsets.items() if offsets[axis] %}{ "%s=%s " % (axis, offset) }{% endfor %}

        { action_respond_info("Loaded gcode offsets from saved variables [%s]" % (offsets)) }
    {% endif %}|
    
[gcode_arcs]

[include timelapse.cfg] #加载摄像头拍摄录制功能

[display_status]

[verify_heater extruder] If the heater can't keep up expect commplaints in the forums. 
max_error: 500
hysteresis: 20

[gcode_macro bed_level_1]
gcode:
  SET_GCODE_OFFSET Z=0
  G28
  delta_calibrate
  G1 X0 Y0 Z50 F4200
  G28
  save_config

[gcode_macro bed_level_2]
gcode:
  G28
  G1 X0 Y0 Z50 F4200
  bed_mesh_calibrate
  G1 X0 Y0 Z50 F4200
  G28
  save_config

[gcode_macro UNLOAD_FILAMENT] #退料
gcode:
    G91
#    G1 E10 F300
    G1 E-100 F800
    G90

[gcode_macro LOAD_FILAMENT] #进料
gcode:
    G91
    G1 E50 F800
    G1 E30 F300
    G90
    
[gcode_macro M600]
gcode:
  PAUSE
  
[gcode_macro _TMC] add a _ to hide diagnoistic macros from user interface. 
gcode:
  DUMP_TMC STEPPER=stepper_a
  DUMP_TMC STEPPER=stepper_b
  DUMP_TMC STEPPER=stepper_c
  DUMP_TMC STEPPER=extruder
  
#[include ADXL345.cfg] # 插入ADXL345模块后，取消此行注释将开启此功能

# EXP1 / EXP2 (display) pins
#[board_pins]
#aliases:
    # EXP1 header
#    EXP1_1=PC1, EXP1_3=PA4, EXP1_5=PA6, EXP1_7=PC4, EXP1_9=<GND>,
#    EXP1_2=PC3, EXP1_4=PA5, EXP1_6=PA7, EXP1_8=PC5, EXP1_10=<5V>,
    # EXP2 header
#    EXP2_1=PB14, EXP2_3=PB11, EXP2_5=PB0,  EXP2_7=PC10,  EXP2_9=<GND>,
#    EXP2_2=PB13, EXP2_4=PA15, EXP2_6=PB15, EXP2_8=<RST>, EXP2_10=<NC>

#*# <---------------------- SAVE_CONFIG ---------------------->
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
#*#
#*# [printer]
#*# delta_radius = 161.75
#*#
#*# [stepper_a]
#*# angle = 210.0
#*# position_endstop = 416.661193
#*# arm_length = 343.889300
#*#
#*# [stepper_b]
#*# angle = 330.0
#*# position_endstop = 417.152465
#*# arm_length = 343.889300
#*#
#*# [stepper_c]
#*# angle = 90.000000
#*# position_endstop = 417.619092
#*# arm_length = 343.133600
#*#
#*# [bed_mesh default]
#*# version = 1
#*# points =
#*# 	-0.678525, -0.678525, -0.678525, -0.678525, -0.678525, -0.678525, -0.678525
#*# 	-0.215568, -0.215568, -0.240276, -0.174837, -0.252733, -0.232356, -0.232356
#*# 	-0.063548, -0.063548, -0.068021, -0.071533, -0.031148, 0.035193, 0.035193
#*# 	-0.139710, -0.024331, 0.018951, 0.019250, 0.060462, 0.126630, 0.358450
#*# 	-0.085858, -0.085858, -0.044665, 0.001887, 0.065835, 0.178752, 0.178752
#*# 	-0.155644, -0.155644, -0.077555, -0.016801, 0.017190, 0.159568, 0.159568
#*# 	0.033712, 0.033712, 0.033712, 0.033712, 0.033712, 0.033712, 0.033712
#*# tension = 0.2
#*# min_x = -147.99
#*# algo = bicubic
#*# y_count = 7
#*# mesh_y_pps = 2
#*# min_y = -147.99
#*# x_count = 7
#*# max_y = 147.99
#*# mesh_x_pps = 2
#*# max_x = 147.99
#*#
#*# [delta_calibrate]
#*# height0 = 16.0
#*# height0_pos = 31987.000,32145.333,32142.667
#*# height1 = 16.0
#*# height1_pos = 38442.333,38600.333,28945.333
#*# height2 = 16.0
#*# height2_pos = 31534.667,42321.667,31689.000
#*# height3 = 16.0
#*# height3_pos = 28966.333,37566.333,37583.333
#*# height4 = 16.0
#*# height4_pos = 31234.667,31392.667,38976.667
#*# height5 = 16.0
#*# height5_pos = 36335.667,29175.667,36506.667
#*# height6 = 16.0
#*# height6_pos = 40253.000,31422.000,31417.000
#*#
#*# [probe]
#*# z_offset = 20.420