Klipper for the Kobra Go!¶

Thanks to /u/xpeng121 we now have Klipper on the Go! Klipper is similar to marlin, but offloads a lot of the complex calculations to a head unit (pc/raspi) which allows for faster print speeds and artifact-reduction.

Euipment Needed¶

Item	Quantity	Description
RaspberryPi/Linux Box	1	The ‘head unit’ of the operation, these handle the klipper instance.
32-Bit Motherboard with USB	1	The mainboard continues to operate the actual printer. It acts on instructions sent from the head.

Note on Pi Usage

A raspberry pi is not the end-all-be-all of a klipper setup, but it is one of the more compact and well supported solutions on the market. If a Pi is unobtainable for whatever reason, or out of your budget, dont worry! If you have an older laptop or PC you can use that to run klipper. You just need a machine that is capable of running linux, if you have that you can run klipper! To install and configure follow the guides on the main site, Klipper.org

This mod can be done with a completely stock machine! It should be the first upgrade one performs if they have the ability to do so.

Installing Klipper¶

Clone the klipper repository onto a local drive with the following command:

git clone https://github.com/Klipper3d/klipper.git
To compile the firmware, follow the tutorial found on the official site: Klipper Installation and Configuration
Once the firmware has been compiled, rename it from ‘klipper.bin’ to ‘firmware.bin’. Move the ‘firmware.bin’ file onto a microSD card of your choice, insert it into your printer, and wait about 5min. After the 5min is up remove the sd card and power cycle the printer.

Config file:

Continue to follow the klipper tutorial guide, the following is supplemental to the main guide.

Warning

Please review these settings and fully understand them before implementation. I’ve blocked some out that could be problematic and should throw errors. Ensure this is correct before you deploy!

Kobra Go

# This file contains a configuration for the Anycubic Kobra Go printer.
#
# See docs/Config_Reference.md for a description of parameters.
#
# To build the firmware, use the following configuration:
#   - Micro-controller: Huada Semiconductor HC32F460
#   - Communication interface: Serial (PA3 & PA2) - Anycubic
#
# Installation:
#  1. Rename the klipper bin to `firmware.bin` and copy it to an SD Card.
#  2. Power off the Printer, insert the SD Card and power it on.
#  3. The the LCD will be stuck on the Firmware-update screen.
#     Just Wait for 3-5 minutes to ensure the firmware is flashed.
#  4. After waiting, shutdown the printer and remove the SD Card.

[stepper_x]
step_pin: PA12
dir_pin: PA11
enable_pin: !PA15
microsteps: 16
rotation_distance: 40
endstop_pin: !PH2
position_endstop: -13
position_min:-13
position_max: 236
homing_speed: 50

[stepper_y]
step_pin: PA9
dir_pin: PA8
enable_pin: !PA15
microsteps: 16
rotation_distance: 40
endstop_pin: ^!PC13
position_endstop: -9
position_min:-9
position_max: 230
homing_speed: 50

[stepper_z]
step_pin: PC7
dir_pin: !PC6
enable_pin: !PA15
microsteps: 16
rotation_distance: 8
endstop_pin: ^PC14
position_endstop: 0
position_min: -10
position_max: 255
homing_speed: 5

[extruder]
step_pin: PB15
dir_pin: PB14
enable_pin: !PA15
microsteps: 16
rotation_distance: 31.07
max_extrude_only_velocity: 25
max_extrude_only_accel: 1000
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB8
sensor_type: ATC Semitec 104GT-2
sensor_pin: PC3
min_extrude_temp: 170
min_temp: 0
max_temp: 250
control: pid
pid_kp: 19.56
pid_ki: 1.62
pid_kd: 200.00

[heater_bed]
heater_pin: PB9
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC1
min_temp: 0
max_temp: 120
control: pid
pid_kp: 97.1
pid_ki: 1.41
pid_kd: 1675.16

[bed_mesh]
speed: 200
horizontal_move_z: 2.5
mesh_min: 5, 5
mesh_max: 215, 215
probe_count: 5, 5

[probe]
pin: PA1
x_offset: -20.8
y_offset: 0
z_offset: 0
samples: 3
samples_result: average
samples_tolerance_retries: 3
sample_retract_dist: 0.5
speed: 2
lift_speed: 4

[safe_z_home]
home_xy_position: 0, 0
speed: 5
z_hop: 10
z_hop_speed: 15

[controller_fan controller_fan]
pin: PB12

[heater_fan extruder_fan]
pin: PB13

[fan]
pin: PB5
cycle_time: 0.00005 #20kHz

[output_pin enable_pin]
pin: PB6
static_value: 1
# This pin enables the bed, hotend, extruder fan, part fan.

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

[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 500
max_z_velocity: 4
max_z_accel: 100

Additional Starting Gcode

This can be added to the main directory of klipper through the webui. Simply create a new file inside the directory named, gcode.cfg and paste the code below into it.

Start Print Macro

[gcode_macro START_PRINT]
gcode:
    {% set BED_TEMP = params.BED_TEMP|default(60)|float %}
    {% set EXTRUDER_TEMP = params.EXTRUDER_TEMP|default(190)|float %}
    M140 S{BED_TEMP} ;Start bed heating
    G21 ;metric values
    G90 ;Use absolute coordinates
    G28 ; Home all axes
    G1 Z2.0 F3000 ; Move Z Axis up little to prevent scratching of Heat Bed
    G1 X0.1 Y20 Z30 F5000.0 ; Move to start position
    M109 S{EXTRUDER_TEMP} ; Set and wait for nozzle to reach temperature
    M190 S{BED_TEMP} ;wait bed temp
    G92 E0 ; Reset Extruder
    G1 Z0.3 ; Start close to bed
    G1 X0.1 Y200.0 Z0.3 F1500.0 E15 ; Draw the first line
    G1 X0.4 Y200.0 Z0.3 F5000.0 ; Move to side a little
    G1 X0.4 Y20 Z0.3 F1500.0 E30 ; Draw the second line
    G92 E0 ; Reset Extruder
    G1 Z2.0 F3000 ; Move Z Axis up little to prevent scratching of Heat Bed
    G1 X5 Y20 Z0.3 F5000.0 ; Move over to prevent blob squish

[gcode_macro END_PRINT]
gcode:
    M400 ; Wait for current moves to finish
    M220 S100 ; Reset Speed factor override percentage to default (100%)
    M221 S100 ; Reset Extrude factor override percentage to default (100%)
    G91 ; Set coordinates to relative
    G1 F2400 E-1 ; Retract filament 3mm at 40mm/s to prevent stringing
    G0 F5000 Z20 ; Move Z Axis up 20mm to allow filament ooze freely
    # Turn off bed, extruder, and fan
    M140 S0
    M104 S0
    M106 S0

    G90 ; absolute pos
    G1 X5 Y220 F3000 ;clear head and bring bed to the front
    # Disable steppers
    M84 ; Disable stepper motors

[delayed_gcode startup_gcode]
initial_duration: 0.1
gcode:
    G28

#[gcode_macro POWER_OFF_PRINTER]
#gcode:
#  {action_call_remote_method(
#    "set_device_power", device="printer", state="off"
#  )}

#[gcode_macro POWER_ON_PRINTER]
#gcode:
#  {action_call_remote_method(
#    "set_device_power", device="printer", state="on"
#  )}

Info

This gcode macro will auto-home your printer after it is connected to klipper.

Slicer Settings¶

Within most slicers there is an area for start and end gcode. These fields contain gcode that is run at the start and end of a print, often for prepping or storing the print head before a print.

Start Print Field¶

M104 S0 ;for removing temp gcode added by slicer automatically

M140 S0 ;for removing temp gcode added by slicer automatically

START_PRINT BED_TEMP=bed_temp_variable_of_your_slicer EXTRUDER_TEMP=extruder_temp_variable_of_your_slicer

End Print Field¶

END_PRINT