I recently switched to Klipper on my delta printer. I have been printing with it for a few years now, mostly it worked pretty good for me. I am curious about what klipper can do for me so I decided to try. I’m using an MKS board powered by a Raspberry Pi.
I used all the same numbers from my old Marlin config for Rod length and Delta Radius. I first noticed a problem when I started to do a delta calibration and I needed to move the probe up 40mm to clear the bed between the probes. I noticed a large dish in the movements between probes. After calibration, I get this error.
Move out of range: -73.888 -79.657 0.500 [-3.000]
When I google the error I never see - numbers on the first two coordinates. Can somebody out here help pinpoint what I am doing wrong? I’m 3 days into this now.
Here is my config file.
One note. The delta Radius, as calculated by the DELTA_CALIBRATE command does not make sense. My bed is 400MM round. It calculated the radius a 471.
[stepper_a]
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
microsteps: 16
rotation_distance: 200
endstop_pin: !PE4 #X-Min, PE4:X-Max
homing_speed: 400
#position_endstop: 1930.
#arm_length: 540.0
[stepper_b]
step_pin: PF6
dir_pin: PF7
enable_pin: !PF2
microsteps: 16
rotation_distance: 200
endstop_pin: !PJ0 #Y-Min, PJ0:Y-Max
[stepper_c]
step_pin: PL3
dir_pin: PL1 # 在端口前加!反向
enable_pin: !PK0
microsteps: 16
rotation_distance: 200
endstop_pin: !PD2 #Z-Min, PD2:Z-Max
[extruder]
step_pin: PA4
dir_pin: PA6
enable_pin: !PA2
microsteps: 16
full_steps_per_rotation: 200
gear_ratio: 50:17
rotation_distance: 25.1200
nozzle_diameter: 0.4
filament_diameter: 1.750
pressure_advance = 0.11
heater_pin: PB4
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK5
min_temp: 0
max_temp: 230
control: pid
tuned for stock hardware with 200 degree Celsius target
pid_Kp: 21.527
pid_Ki: 1.063
pid_Kd: 108.982
########################################
TMC2208 configuration
########################################
[tmc2208 stepper_a]
uart_pin: PK1
tx_pin: PG1
interpolate: True
run_current:0.8
stealthchop_threshold: 999999
[tmc2208 stepper_b]
uart_pin: PK2
tx_pin: PF5
interpolate: True
run_current: 0.8
stealthchop_threshold: 999999
[tmc2208 stepper_c]
uart_pin: PK3
tx_pin: PL7
interpolate: True
run_current:0.8
stealthchop_threshold: 999999
[tmc2208 extruder]
uart_pin: PK4
tx_pin: PL5
interpolate: True
run_current:0.8
stealthchop_threshold: 999999
########################################
heater configuration
########################################
[heater_bed]
heater_pin: PH5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK6
control: pid
tuned for stock hardware with 50 degree Celsius target
pid_Kp: 54.027
pid_Ki: 0.770
pid_Kd: 948.182
min_temp: 0
max_temp: 130
[mcu]
serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
[printer]
kinematics: delta
max_velocity: 300
max_accel: 3000
max_z_velocity: 300
#delta_radius: 200
#minimum_z_position=-10
[fan]
pin: PH6
[board_pins]
aliases:
# EXP1 header
EXP1_1=PC0, EXP1_3=PH0, EXP1_5=PA1, EXP1_7=PA5, EXP1_9=,
EXP1_2=PC2, EXP1_4=PH1, EXP1_6=PA3, EXP1_8=PA7, EXP1_10=<5V>,
# EXP2 header
EXP2_1=PB3, EXP2_3=PC6, EXP2_5=PC4, EXP2_7=PL0, EXP2_9=,
EXP2_2=PB1, EXP2_4=PB0, EXP2_6=PB2, EXP2_8=PG0, EXP2_10=
# Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus “ssp1”
See the MKS Lcd Config path file for definitions of common LCD displays.
[endstop_phase]
[display]
lcd_type: st7920
cs_pin: EXP1_4
sclk_pin: EXP1_5
sid_pin: EXP1_3
encoder_pins: ^EXP2_5, ^EXP2_3
click_pin: ^!EXP1_2
kill_pin: ^!EXP2_8
[output_pin beeper]
pin: EXP1_1
[virtual_sdcard]
path: ~/gcode_files
[delta_calibrate]
radius: 218.0
speed: 120.0
horizontal_move_z: 60.0
[probe]
pin: ^!PD3
z_offset: -0.515
speed: 100.0
#activate_gcode:
#deactivate_gcode:
[pause_resume]
## <---------------------- SAVE_CONFIG ---------------------->
## DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
##
## [printer]
## delta_radius = 471.681588
##
## [stepper_a]
## angle = 212.378832
## arm_length = 540.000000
## position_endstop = 1925.674257
##
## [stepper_b]
## angle = 330.955515
## arm_length = 540.000000
## position_endstop = 1932.974701
##
## [stepper_c]
## angle = 90.000000
## arm_length = 540.000000
## position_endstop = 1910.072960
##
## [delta_calibrate]
## height0 = -0.515
## height0_pos = 30816.000,30816.000,30816.000
## height1 = -0.515
## height1_pos = 31693.000,31693.000,29438.000
## height2 = -0.515
## height2_pos = 30188.000,32542.000,30188.000
## height3 = -0.515
## height3_pos = 29635.000,31619.000,31619.000
## height4 = -0.515
## height4_pos = 30355.000,30355.000,32083.000
## height5 = -0.515
## height5_pos = 31496.000,29769.000,31496.000
## height6 = -0.515
## height6_pos = 32278.000,30250.000,30250.000