Adapting bed slinger macros for corexy printer

[hitman47]

Hello!

My questions are simple I think but I found no real answers so I’ll try to be as clear as possible.

I already have all my macros ready and running fine for my bed slingers.

I’m putting together my 1st corexy printer, and before a lot of trial and error, I’m wondering if all my macros will be ok for this new kinematic or if I have to modify all of them.

My main concerns about gcode commands:
-no Z axis moving up so the bed becomes Z right?
-not really x and y because both are kinda “all in one”?

Let’s say, for example, the M125 macro “park toolhead”: on my bed slinger, z raises 5mm then the toolhead goes to x=0;y=225 (G1 Z5, G1 X0 Y225).

can I use my macros with the existing gcode commands like G1 Z5, G1 X0 Y225 and klipper will understand?

or do I have to modify them, assuming now the bed is moving up&down, not the z axis? So something like: G1 Z-5 for making the bed going down 5mm instead of G1 Z5 moving z up on bed slingers?

And does it make a difference too for x and y?

Hope it’s clear enough , total noob about the corexy motion and engineer level posts on the internet doesn’t help to understand…

[Sineos]

@hitman47

Hope it’s clear enough

Honestly, I recommend rereading your post. It is like “I have a car and tuned it. Now I have another car, can I use the same tuning?”

Which macros? Which purpose? Some might depend on kinematics, typically they do not.

[mykepredko]

My recommendation is to start with no macros other than something for homing like:

[gcode_macro _HOME_X]
gcode:
    G28 X
    G91                                              # Move to centre of build surface
    G1 X110 F1200                                    

[gcode_macro _HOME_Y]
gcode:
    G28 Y
    G91                                              # Move to centre of build surface
    G1 Y110 F1200                                   

[homing_override]
axes: xyz                                            
gcode:
  {% set home_all = 'X' not in params and 'Y' not in params and 'Z' not in params %}

  {% if home_all or 'X' in params %}
    _HOME_X
  {% endif %}
  
  {% if home_all or 'Y' in params %}
    _HOME_Y
  {% endif %}
  
  {% if home_all or 'Z' in params %}
    G28 Z
    QUAD_GANTRY_LEVEL # Added 2023.07.11
    G1  Z10
  {% endif %}

This is taken from one of my printers so the centre locations for your printer will probably be different (unless you have a 220mm x 220mm bed and have your Z axis sensor 15mm away from your nozzle).

[jakep_82]

Klipper uses Cartesian coordinates to move in X, Y, and Z. This is completely kinematics agnostic. If the coordinates are valid for your bed size, the macros will work on a printer with any kinematics.

[hitman47]

Sorry for the lack of informations, I’ll be more precise:

Basically, I have custom macros for:
-PID tuning bed and hotend
-Park toolhead (raise z a bit then park toolhead on the left)
-M600 color change (park toolhead then retract filament from the extruder for filament change)
KAMP adaptive bed mesh from Github

I’m trying to figure out the GCODE commands I have to use for the corexy motion system, especially with the bed moving instead of a gantry.

Let’s say I input G1 Z10.
Cartesian will move the gantry 10mm up.
Does the same command work on a corexy or do I have to make it a negative value like G1 Z-10 to get the same result?

I just want to understand the basics of the corexy motion and how to format my gcode commands for it.

Thank you for your time and help.

[hitman47]

Thank you, I’ll keep that in mind.

[hitman47]

Thank you, this is a good starting point, I’ll try it. Bed will be size on an Ender 3, 235x235 so it’s close.

[Sineos]

If you do nothing esoteric in your macros, then it is as @jakep_82 mentioned. Regular gcode command G1, G0, G28 or Klipper’s extended commands work the same on a “regular” Cartesian as well as on a CoreXY Cartesian.

The only exception I can currently think of, would be commands that address a stepper directly, e.g. the [force_move] commands as they are not aware of the kinematic and a CoreXY needs the X and Y stepper to move in a straight line.

[hitman47]

Thank you guys for the informations! I’m more confident to finish my build now . Used to cartesian only, I feel like a toddler doing his 1st steps when it comes to corexy . I am thankful this forum exists, would be a pain to learn and troubleshoot problems all by yourself…