diff --git a/README.md b/README.md index fb2c18968..3fd246345 100644 --- a/README.md +++ b/README.md @@ -1,222 +1,22 @@ WARNING: -------- -THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0 +This is an experimental modification to allow PID on your bed heater. -The configuration is now split in two files -Configuration.h for the normal settings -Configuration_adv.h for the advanced settings +This will run at the same frequency as the main PID loop. Make sure you heater FET or SSR can do this. I use a fotek SSR-10DA and it's fine -Gen7T is not supported. +add something like this to you configuration (pulling this branch will get you this -Quick Information -=================== -This RepRap firmware is a mashup between Sprinter, grbl and many original parts. +~~~~~~~~~~~~~~~~~~~~ +#define PIDTEMPBED -Derived from Sprinter and Grbl by Erik van der Zalm. -Sprinters lead developers are Kliment and caru. -Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl -A fork by bkubicek for the Ultimaker was merged, and further development was aided by him. -Some features have been added by: -Lampmaker, Bradley Feldman, and others... +//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10) + #define DEFAULT_bedKp 10.00 + #define DEFAULT_bedKi .023 + #define DEFAULT_bedKd 305.4 +~~~~~~~~~~~~~~~~~~~~ -Features: - -* Interrupt based movement with real linear acceleration -* High steprate -* Look ahead (Keep the speed high when possible. High cornering speed) -* Interrupt based temperature protection -* preliminary support for Matthew Roberts advance algorithm - For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html -* Full endstop support -* SD Card support -* SD Card folders (works in pronterface) -* SD Card autostart support -* LCD support (ideally 20x4) -* LCD menu system for autonomous SD card printing, controlled by an click-encoder. -* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables -* many small but handy things originating from bkubicek's fork. -* Arc support -* Temperature oversampling -* Dynamic Temperature setpointing aka "AutoTemp" -* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin -* Endstop trigger reporting to the host software. -* Updated sdcardlib -* Heater power reporting. Useful for PID monitoring. -* PID tuning -* CoreXY kinematics (www.corexy.com/theory.html) - -The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments. - - -Differences and additions to the already good Sprinter firmware: -================================================================ - -*Look-ahead:* - -Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, -lookahead will only decelerate and accelerate to a velocity, -so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity. -This is only possible, if some future moves are already processed, hence the name. -It leads to less over-deposition at corners, especially at flat angles. - -*Arc support:* - -Slic3r can find curves that, although broken into segments, were ment to describe an arc. -Marlin is able to print those arcs. The advantage is the firmware can choose the resolution, -and can perform the arc with nearly constant velocity, resulting in a nice finish. -Also, less serial communication is needed. - -*Temperature Oversampling:* - -To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged. - -*AutoTemp:* - -If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly. -Usually, higher speed requires higher temperature. -This can now be performed by the AutoTemp function -By calling M109 S T F you enter the autotemp mode. - -You can leave it by calling M109 without any F. -If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec]. -The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax. -If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change. -Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode. - -*EEPROM:* - -If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM. -After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says. - -*LCD Menu:* - -If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures, -accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff. -One working hardware is documented here: http://www.thingiverse.com/thing:12663 -Also, with just a 20x4 or 16x2 display, useful data is shown. - -*SD card folders:* - -If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g". -You can write to file in a subfolder by specifying a similar text using small letters in the path. -Also, backup copies of various operating systems are hidden, as well as files not ending with ".g". - -*SD card folders:* - -If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu. -First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction. - -*Endstop trigger reporting:* - -If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port. -This is useful, because the user gets a warning message. -However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration. - -*Coding paradigm:* - -Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables. -This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization. -We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future. -A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory. -In the serial communication, a #define based level of abstraction was enforced, so that it is clear that -some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol, -necessary for backwards compatibility. - -*Interrupt based temperature measurements:* - -An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures. -This leads to less blocking in the heater management routine. - - -Non-standard M-Codes, different to an old version of sprinter: -============================================================== -Movement: - -* G2 - CW ARC -* G3 - CCW ARC - -General: - -* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG. -* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG. -* M30 - Print time since last M109 or SD card start to serial -* M42 - Change pin status via gcode -* M80 - Turn on Power Supply -* M81 - Turn off Power Supply -* M114 - Output current position to serial port -* M119 - Output Endstop status to serial port - -Movement variables: - -* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! -* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec -* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate -* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware) -* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise. -* M221 - set the extrude multiplying S:factor in percent -* M400 - Finish all buffered moves. - -Temperature variables: -* M301 - Set PID parameters P I and D -* M302 - Allow cold extrudes -* M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C) - -Advance: - -* M200 - Set filament diameter for advance -* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk - -EEPROM: - -* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration, - minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID -* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). -* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. -* M503 - print the current settings (from memory not from eeprom) - -MISC: - -* M240 - Trigger a camera to take a photograph -* M999 - Restart after being stopped by error - -Configuring and compilation: -============================ - -Install the arduino software IDE/toolset v22 - http://www.arduino.cc/en/Main/Software - -For gen6 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment. - copy Marlin\sanguino \hardware\Sanguino - -Install Ultimaker's RepG 25 build - http://software.ultimaker.com -For SD handling and as better substitute (apart from stl manipulation) download -the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun - -Copy the Ultimaker Marlin firmware - https://github.com/ErikZalm/Marlin/tree/Marlin_v1 - (Use the download button) - -Start the arduino IDE. -Select Tools -> Board -> Arduino Mega 2560 or your microcontroller -Select the correct serial port in Tools ->Serial Port -Open Marlin.pde - -Click the Verify/Compile button - -Click the Upload button -If all goes well the firmware is uploading - -Start Ultimaker's Custom RepG 25 -Make sure Show Experimental Profiles is enabled in Preferences -Select Sprinter as the Driver - -Press the Connect button. - -KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z - -That's ok. Enjoy Silky Smooth Printing. +Autotune works for the bed. Give it an "M303 E-1 C8 S90" to run autotune on the bed at 90 degrees for 8 cycles.