├── .gitignore ├── LICENSE ├── README.md ├── autotune_tmc.py ├── install.sh ├── motor_constants.py └── motor_database.cfg /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | share/python-wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | MANIFEST 28 | 29 | # PyInstaller 30 | # Usually these files are written by a python script from a template 31 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 32 | *.manifest 33 | *.spec 34 | 35 | # Installer logs 36 | pip-log.txt 37 | pip-delete-this-directory.txt 38 | 39 | # Unit test / coverage reports 40 | htmlcov/ 41 | .tox/ 42 | .nox/ 43 | .coverage 44 | .coverage.* 45 | .cache 46 | nosetests.xml 47 | coverage.xml 48 | *.cover 49 | *.py,cover 50 | .hypothesis/ 51 | .pytest_cache/ 52 | cover/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | .pybuilder/ 76 | target/ 77 | 78 | # Jupyter Notebook 79 | .ipynb_checkpoints 80 | 81 | # IPython 82 | profile_default/ 83 | ipython_config.py 84 | 85 | # pyenv 86 | # For a library or package, you might want to ignore these files since the code is 87 | # intended to run in multiple environments; otherwise, check them in: 88 | # .python-version 89 | 90 | # pipenv 91 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 92 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 93 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 94 | # install all needed dependencies. 95 | #Pipfile.lock 96 | 97 | # poetry 98 | # Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. 99 | # This is especially recommended for binary packages to ensure reproducibility, and is more 100 | # commonly ignored for libraries. 101 | # https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control 102 | #poetry.lock 103 | 104 | # pdm 105 | # Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. 106 | #pdm.lock 107 | # pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it 108 | # in version control. 109 | # https://pdm.fming.dev/#use-with-ide 110 | .pdm.toml 111 | 112 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm 113 | __pypackages__/ 114 | 115 | # Celery stuff 116 | celerybeat-schedule 117 | celerybeat.pid 118 | 119 | # SageMath parsed files 120 | *.sage.py 121 | 122 | # Environments 123 | .env 124 | .venv 125 | env/ 126 | venv/ 127 | ENV/ 128 | env.bak/ 129 | venv.bak/ 130 | 131 | # Spyder project settings 132 | .spyderproject 133 | .spyproject 134 | 135 | # Rope project settings 136 | .ropeproject 137 | 138 | # mkdocs documentation 139 | /site 140 | 141 | # mypy 142 | .mypy_cache/ 143 | .dmypy.json 144 | dmypy.json 145 | 146 | # Pyre type checker 147 | .pyre/ 148 | 149 | # pytype static type analyzer 150 | .pytype/ 151 | 152 | # Cython debug symbols 153 | cython_debug/ 154 | 155 | # PyCharm 156 | # JetBrains specific template is maintained in a separate JetBrains.gitignore that can 157 | # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore 158 | # and can be added to the global gitignore or merged into this file. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Klipper TMC Autotune 2 | 3 | Klipper extension for automatic configuration and tuning of TMC drivers. 4 | 5 | This extension calculates good values for most registers of TMC stepper motor drivers, given the motor's datasheet information and user selected tuning goal. 6 | 7 | In particular, it enables StealthChop by default on Z motors and extruders, CoolStep where possible, and correctly switches to full step operation at very high speeds. Where multiple modes are possible, it should select the lowest power and quietest modes available, subject to the constraints of sensorless homing (which does not allow certain combinations). 8 | 9 | 10 | ### Current status 11 | 12 | - Official support for TMC2209, TMC2240, and TMC5160. 13 | - Support for TMC2130, TMC2208 and TMC2660 may work, but is completely untested. 14 | - Sensorless homing with autotuning enabled is known to work on TMC2209, TMC2240 and TMC5160, provided you home fast enough (homing_speed should be numerically greater than rotation_distance for those axes using sensorless homing). As always, be very careful when trying sensorless homing for the first time. 15 | - Using autotuning for your motors can improve efficiency by allowing them to run cooler and consume less power. However, it's important to note that this process can also cause the TMC drivers to run hotter, so proper cooling measures must be implemented. 16 | 17 | 18 | ## Installation 19 | 20 | To install this plugin, run the installation script using the following command over SSH. This script will download this GitHub repository to your RaspberryPi home directory, and symlink the files in the Klipper extra folder. 21 | 22 | ```bash 23 | wget -O - https://raw.githubusercontent.com/andrewmcgr/klipper_tmc_autotune/main/install.sh | bash 24 | ``` 25 | 26 | Then, add the following to your `moonraker.conf` to enable automatic updates: 27 | ```ini 28 | [update_manager klipper_tmc_autotune] 29 | type: git_repo 30 | channel: dev 31 | path: ~/klipper_tmc_autotune 32 | origin: https://github.com/andrewmcgr/klipper_tmc_autotune.git 33 | managed_services: klipper 34 | primary_branch: main 35 | install_script: install.sh 36 | ``` 37 | 38 | ## Adjusting existing configuration 39 | 40 | Your driver configurations should contain: 41 | * Pins 42 | * Currents (run current, hold current, homing current if using a Klipper version that supports the latter) 43 | * `interpolate: true` 44 | * Comment out any other register settings and sensorless homing values (keep them for reference, but they will not be active) 45 | 46 | The Klipper documentation recommends not using interpolation. However, that is most applicable if using low microstep counts, and using the default driver configuration. Autotune gives better results, both dimensionally and quality, by using interpolation and as many microsteps as feasible. 47 | 48 | Check the pinouts of your stepper driver boards: BTT TMC 2240 boards require configuring `diag1_pin` not `diag0_pin`, but MKS TMC 2240 stepsticks require `diag0_pin` and *not* `diag1_pin`. There may be other unusual drivers. 49 | 50 | ## Sensorless homing 51 | 52 | Autotune can be used together with homing overrides for sensorless homing. However, you must adjust the `sg4_thrs` (TMC2209, TMC2260) and/or `sgt` (TMC5160, TMC2240, TMC2130, TMC2660) values specifically in the autotune sections. Attempting to make these changes via gcode or via the tmc driver sections will not result in an error message, but will have no effect since the autotuning algorithm will simply override them. 53 | 54 | Also note that the sensorless homing tuning will most likely change due to the other settings. In particular, autotune may require faster homing speeds to work; take the `rotation_distance` of the stepper as a minimum speed that can work, and if it is hard to tune home faster. Sensorless homing becomes much more sensitive at higher speeds. 55 | 56 | ## Autotune configuration 57 | 58 | Add the following to your `printer.cfg` (change motor names and remove or add any sections as needed) to enable the autotuning for your TMC drivers and motors and restart Klipper: 59 | ```ini 60 | [autotune_tmc stepper_x] 61 | motor: ldo-42sth48-2004mah 62 | [autotune_tmc stepper_y] 63 | motor: ldo-42sth48-2004mah 64 | 65 | [autotune_tmc stepper_z] 66 | motor: ldo-42sth48-2004ac 67 | [autotune_tmc stepper_z1] 68 | motor: ldo-42sth48-2004ac 69 | [autotune_tmc stepper_z2] 70 | motor: ldo-42sth48-2004ac 71 | [autotune_tmc stepper_z3] 72 | motor: ldo-42sth48-2004ac 73 | 74 | [autotune_tmc extruder] 75 | motor: ldo-36sth20-1004ahg 76 | ``` 77 | 78 | All the `[autotune_tmc]` sections accept additional parameters to tweak the behavior of the autotune process for each motor: 79 | 80 | | Parameter | Default value | Range | Description | 81 | | --- | --- | --- | --- | 82 | | motor | | [See DB](motor_database.cfg) | This parameter is used to retrieve the physical constants of the motor connected to the TMC driver | 83 | | tuning_goal | `auto` | `auto`, `silent`, `performance`, and `autoswitch` | Parameter to choose how to fine-tune the TMC driver using StealthChop and tailored parameters. By opting for `auto`, it will automatically apply `performance` for the X and Y axes and `silent` for the Z axis and extruder unless the motor is very small. `autoswitch` is an highly experimental choice that enables dynamic switching between `silent` and `performance` modes in real-time when needed. However, at the moment, this transition can potentially be troublesome, resulting in unwanted behavior, noise disturbances and lost steps. Hence, it is recommended to avoid using 'autoswitch' until its identified issues are fully addressed | 84 | | extra_hysteresis | 0 | 0 to 8 | Additional hysteresis to reduce motor humming and vibration at low to medium speeds and maintain proper microstep accuracy. Warning: use only as much as necessary as a too high value will result in more chopper noise and motor power dissipation (ie. more heat) | 85 | | tbl | 2 | 0 to 3 | Comparator blank time. This time must safely cover the TMC switching events. A value of 1 or 2 (default) should be fine for most typical applications, but higher capacitive loads may require this to be set to 3. Also, lower values allow StealthChop to regulate to lower coil current values | 86 | | toff | 0 | 0 to 15 | Sets the slow decay time (off time) of the chopper cycle. This setting also limits the maximum chopper frequency. When set to 0, the value is automatically computed by this autotuning algorithm. Highest motor velocities sometimes benefit from forcing `toff` to 1 or 2 and a setting a short `tbl` of 1 or 0 | 87 | | sgt | 1 | -64 to 63 | Sensorless homing threshold for TMC5160, TMC2240, TMC2130, TMC2660. Set value appropriately if using sensorless homing (lower value means more sensitive detection and easier stall) | 88 | | sg4_thrs | 10 | 0 to 255 | Sensorless homing threshold for TMC2209 and TMC2260. Set value appropriately if using sensorless homing (higher value means more sensitive detection and easier stall). This parameter is also used as the CoolStep current regulation threshold for TMC2209, TMC2240 and TMC5160. A default value of 80 is usually a good starting point for CoolStep (in the case of TMC2209, the tuned sensorless homing value will also work correctly) | 89 | | pwm_freq_target | 55e3 | 10e3 to 60e3 | Switching frequency target, in Hz. The code selects the highest available PWM switching frequency less than or equal to this. The default usually results in 48 kHz switching. | 90 | | voltage | 24 | 0.0 to 60.0 | Voltage used to power this motor and stepper driver | 91 | | overvoltage_vth | | 0.0 to 60.0 | Set the optional overvoltage snubber built into the TMC2240 and TMC5160. Users of the BTT SB2240 toolhead board should use it for the extruder by reading the actual toolhead voltage and adding 0.8V | 92 | 93 | Also if needed, you can adjust everything on the go when the printer is running by using the `AUTOTUNE_TMC` macro in the Klipper console. All previous parameters are available: 94 | ``` 95 | AUTOTUNE_TMC STEPPER= [PARAMETER=] 96 | ``` 97 | 98 | 99 | ## User-defined motors 100 | 101 | The motor names and their physical constants are in the [motor_database.cfg file](motor_database.cfg), which is automatically loaded by the script. If a motor is not listed, feel free to add its proper definition in your own `printer.cfg` configuration file by adding this section (PRs for other motors are also welcome). You can usually find this information in their datasheets but pay very special attention to the units! 102 | ```ini 103 | [motor_constants my_custom_motor] 104 | # Coil resistance, Ohms 105 | resistance: 0.00 106 | # Coil inductance, Henries 107 | inductance: 0.00 108 | # Holding torque, Nm 109 | holding_torque: 0.00 110 | # Nominal rated current, Amps 111 | max_current: 0.00 112 | # Steps per revolution (1.8deg motors use 200, 0.9deg motors use 400) 113 | steps_per_revolution: 200 114 | ``` 115 | 116 | Note that lead screw motors very often do not have a published torque. Use an online calculator to estimate the torque from the lead screw thrust, for example https://www.dingsmotionusa.com/torque-calculator. 117 | 118 | 119 | ## Removing this Klipper extension 120 | 121 | Commenting out all `[autotune_tmc xxxx]` sections from your config and restarting Klipper will completely deactivate the plugin. So you can enable/disable it as you like. 122 | 123 | If you want to uninstall it completely, remove the moonraker update manager section from your `moonraker.conf` file, delete the `~/klipper_tmc_autotune` folder on your Pi and restart Klipper and Moonraker. 124 | -------------------------------------------------------------------------------- /autotune_tmc.py: -------------------------------------------------------------------------------- 1 | import math, logging, os 2 | from enum import Enum 3 | from inspect import signature 4 | from . import tmc 5 | 6 | # Autotune config parameters 7 | TUNING_GOAL = 'auto' 8 | EXTRA_HYSTERESIS = 0 9 | TBL = 1 10 | TOFF = 0 11 | SGT = 1 12 | SG4_THRS = 40 13 | VOLTAGE = 24.0 14 | OVERVOLTAGE_VTH = None 15 | 16 | # Generic tuning parameters 17 | COOLSTEP_THRS_FACTOR = 0.75 18 | FULLSTEP_THRS_FACTOR = 1.2 19 | MULTISTEP_FILT = True 20 | 21 | # 2240-specific parameters 22 | SLOPE_CONTROL = 3 23 | 24 | # PWM parameters 25 | PWM_AUTOSCALE = True # Setup pwm autoscale even if we won't use PWM, because it 26 | # gives more data about the motor and is needed for CoolStep. 27 | PWM_AUTOGRAD = True 28 | PWM_REG = 15 29 | PWM_LIM = 4 30 | 31 | # SpreadCycle parameters 32 | TPFD = 0 33 | 34 | # CoolStep parameters 35 | FAST_STANDSTILL = True 36 | SMALL_HYSTERESIS = False 37 | SEMIN = 2 38 | SEMAX = 4 39 | SEUP = 3 40 | SEDN = 2 41 | SEIMIN = 1 # If we drop to 1/4 current, high accels don't work right 42 | SFILT = 0 43 | IHOLDDELAY = 12 44 | IRUNDELAY = 0 45 | 46 | # High speed parameters 47 | VHIGHFS = False 48 | VHIGHCHM = False # Even though we are fullstepping, we want SpreadCycle control 49 | 50 | 51 | TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660", "tmc5160"] 52 | PWM_FREQ_TARGETS = {"tmc2130": 55e3, 53 | "tmc2208": 55e3, 54 | "tmc2209": 55e3, 55 | "tmc2240": 20e3, # 2240s run very hot at high frequencies 56 | "tmc2660": 55e3, 57 | "tmc5160": 55e3} 58 | 59 | 60 | AUTO_PERFORMANCE_MOTORS = {'stepper_x', 'stepper_y', 'dual_carriage', 'stepper_x1', 'stepper_y1', 'stepper_a', 'stepper_b', 'stepper_c'} 61 | 62 | class TuningGoal(str, Enum): 63 | AUTO = "auto" # This is the default: automatically choose SILENT for Z and PERFORMANCE for X/Y 64 | AUTOSWITCH = "autoswitch" # Experimental mode that use StealthChop at low speed and switch to SpreadCycle when needed 65 | SILENT = "silent" # StealthChop at all speeds 66 | PERFORMANCE = "performance" # SpreadCycle at all speeds 67 | 68 | class AutotuneTMC: 69 | def __init__(self, config): 70 | self.printer = config.get_printer() 71 | 72 | # Load motor database 73 | pconfig = self.printer.lookup_object('configfile') 74 | dirname = os.path.dirname(os.path.realpath(__file__)) 75 | filename = os.path.join(dirname, 'motor_database.cfg') 76 | try: 77 | motor_db = pconfig.read_config(filename) 78 | except Exception: 79 | raise config.error("Cannot load config '%s'" % (filename,)) 80 | for motor in motor_db.get_prefix_sections(''): 81 | self.printer.load_object(motor_db, motor.get_name()) 82 | 83 | # Now find our stepper and driver in the running Klipper config 84 | self.name = config.get_name().split(None, 1)[-1] 85 | if not config.has_section(self.name): 86 | raise config.error( 87 | "Could not find stepper config section '[%s]' required by TMC autotuning" 88 | % (self.name)) 89 | self.tmc_section = None 90 | for driver in TRINAMIC_DRIVERS: 91 | driver_name = "%s %s" % (driver, self.name) 92 | if config.has_section(driver_name): 93 | self.tmc_section = config.getsection(driver_name) 94 | self.driver_name = driver_name 95 | self.driver_type = driver 96 | break 97 | if self.tmc_section is None: 98 | raise config.error( 99 | "Could not find any TMC driver config section for '%s' required by TMC autotuning" 100 | % (self.name)) 101 | # TMCtstepHelper may have two signatures, let's pick an implementation 102 | if 'pstepper' in signature(tmc.TMCtstepHelper).parameters: 103 | self._set_driver_velocity_field = self._set_driver_velocity_field_new 104 | else: 105 | self._set_driver_velocity_field = self._set_driver_velocity_field_old 106 | # AutotuneTMC config parameters 107 | self.motor = config.get('motor') 108 | self.motor_name = "motor_constants " + self.motor 109 | tgoal = config.get('tuning_goal', default=TUNING_GOAL).lower() 110 | try: 111 | self.tuning_goal = TuningGoal(tgoal) 112 | except ValueError: 113 | raise config.error( 114 | "Tuning goal '%s' is invalid for TMC autotuning" 115 | % (tgoal)) 116 | self.auto_silent = False # Auto silent off by default 117 | self.tmc_object=None # look this up at connect time 118 | self.tmc_cmdhelper=None # Ditto 119 | self.tmc_init_registers=None # Ditto 120 | self.run_current = 0.0 121 | self.fclk = None 122 | self.motor_object = None 123 | self.extra_hysteresis = config.getint('extra_hysteresis', default=EXTRA_HYSTERESIS, 124 | minval=0, maxval=8) 125 | self.tbl = config.getint('tbl', default=TBL, minval=0, maxval=3) 126 | self.toff = config.getint('toff', default=None, minval=1, maxval=15) 127 | self.tpfd = config.getint('tpfd', default=None, minval=0, maxval=15) 128 | self.sgt = config.getint('sgt', default=SGT, minval=-64, maxval=63) 129 | self.sg4_thrs = config.getint('sg4_thrs', default=SG4_THRS, minval=0, maxval=255) 130 | self.voltage = config.getfloat('voltage', default=VOLTAGE, minval=0.0, maxval=60.0) 131 | self.overvoltage_vth = config.getfloat('overvoltage_vth', default=OVERVOLTAGE_VTH, 132 | minval=0.0, maxval=60.0) 133 | self.pwm_freq_target = config.getfloat('pwm_freq_target', 134 | default=PWM_FREQ_TARGETS[self.driver_type], 135 | minval=10e3, maxval=100e3) 136 | self.printer.register_event_handler("klippy:connect", 137 | self.handle_connect) 138 | self.printer.register_event_handler("klippy:ready", 139 | self.handle_ready) 140 | # Register command 141 | gcode = self.printer.lookup_object("gcode") 142 | gcode.register_mux_command("AUTOTUNE_TMC", "STEPPER", self.name, 143 | self.cmd_AUTOTUNE_TMC, 144 | desc=self.cmd_AUTOTUNE_TMC_help) 145 | 146 | def handle_connect(self): 147 | self.tmc_object = self.printer.lookup_object(self.driver_name) 148 | # The cmdhelper itself isn't a member... but we can still get to it. 149 | self.tmc_cmdhelper = self.tmc_object.get_status.__self__ 150 | try: 151 | motor = self.printer.lookup_object(self.motor_name) 152 | except Exception: 153 | raise self.printer.config_error( 154 | "Could not find motor definition '[%s]' required by TMC autotuning. " 155 | "It is not part of the database, please define it in your config!" 156 | % (self.motor_name)) 157 | if self.tuning_goal == TuningGoal.AUTO: 158 | # Very small motors may not run in silent mode. 159 | self.auto_silent = self.name not in AUTO_PERFORMANCE_MOTORS and motor.T > 0.3 160 | self.tuning_goal = TuningGoal.SILENT if self.auto_silent else TuningGoal.PERFORMANCE 161 | self.motor_object = self.printer.lookup_object(self.motor_name) 162 | #self.tune_driver() 163 | 164 | def handle_ready(self): 165 | # klippy:ready handlers are limited in what they may do. Communicating with a MCU 166 | # will pause the reactor and is thus forbidden. That code has to run outside of the event handler. 167 | self.printer.reactor.register_callback(self._handle_ready_deferred) 168 | 169 | def _handle_ready_deferred(self, eventtime): 170 | if self.tmc_init_registers is not None: 171 | self.tmc_init_registers(print_time=print_time) 172 | try: 173 | self.fclk = self.tmc_object.mcu_tmc.get_tmc_frequency() 174 | except AttributeError: 175 | pass 176 | if self.fclk is None: 177 | self.fclk = 12.5e6 178 | self.tune_driver() 179 | 180 | cmd_AUTOTUNE_TMC_help = "Apply autotuning configuration to TMC stepper driver" 181 | def cmd_AUTOTUNE_TMC(self, gcmd): 182 | logging.info("AUTOTUNE_TMC %s", self.name) 183 | tgoal = gcmd.get('TUNING_GOAL', None) 184 | if tgoal is not None: 185 | try: 186 | self.tuning_goal = TuningGoal(tgoal) 187 | except ValueError: 188 | # TODO: add some logging/error here in case the tuning_goal doesn't exist 189 | pass 190 | if self.tuning_goal == TuningGoal.AUTO: 191 | self.tuning_goal = TuningGoal.SILENT if self.auto_silent else TuningGoal.PERFORMANCE 192 | extra_hysteresis = gcmd.get_int('EXTRA_HYSTERESIS', None) 193 | if extra_hysteresis is not None: 194 | if extra_hysteresis >= 0 or extra_hysteresis <= 8: 195 | self.extra_hysteresis = extra_hysteresis 196 | tbl = gcmd.get_int('TBL', None) 197 | if tbl is not None: 198 | if tbl >= 0 or tbl <= 3: 199 | self.tbl = tbl 200 | toff = gcmd.get_int('TOFF', None) 201 | if toff is not None: 202 | if toff >= 1 or toff <= 15: 203 | self.toff = toff 204 | tpfd = gcmd.get_int('TPFD', None) 205 | if tpfd is not None: 206 | if tpfd >= 0 or tpfd <= 15: 207 | self.tpfd = tpfd 208 | sgt = gcmd.get_int('SGT', None) 209 | if sgt is not None: 210 | if sgt >= -64 or sgt <= 63: 211 | self.sgt = sgt 212 | sg4_thrs = gcmd.get_int('SG4_THRS', None) 213 | if sg4_thrs is not None: 214 | if sg4_thrs >= 0 or sg4_thrs <= 255: 215 | self.sg4_thrs = sg4_thrs 216 | voltage = gcmd.get_float('VOLTAGE', None) 217 | if voltage is not None: 218 | if voltage >= 0.0 or voltage <= 60.0: 219 | self.voltage = voltage 220 | overvoltage_vth = gcmd.get_float('OVERVOLTAGE_VTH', None) 221 | if overvoltage_vth is not None: 222 | if overvoltage_vth >= 0.0 or overvoltage_vth <= 60.0: 223 | self.overvoltage_vth = overvoltage_vth 224 | self.tune_driver() 225 | 226 | def tune_driver(self, print_time=None): 227 | _currents = self.tmc_cmdhelper.current_helper.get_current() 228 | self.run_current = _currents[0] 229 | self._set_pwmfreq() 230 | self._setup_spreadcycle() 231 | self._set_hysteresis(self.run_current) 232 | self._set_sg4thrs() 233 | motor = self.motor_object 234 | maxpwmrps = motor.maxpwmrps(volts=self.voltage, current=self.run_current) 235 | rdist, _ = self.tmc_cmdhelper.stepper.get_rotation_distance() 236 | # Speed at which we run out of PWM control and should switch to fullstep 237 | vmaxpwm = maxpwmrps * rdist 238 | logging.info("autotune_tmc using max PWM speed %f", vmaxpwm) 239 | if self.overvoltage_vth is not None: 240 | vth = int((self.overvoltage_vth / 0.009732)) 241 | self._set_driver_field('overvoltage_vth', vth) 242 | coolthrs = COOLSTEP_THRS_FACTOR * rdist 243 | self._setup_pwm(self.tuning_goal, self._pwmthrs(vmaxpwm, coolthrs)) 244 | # One revolution every two seconds is about as slow as coolstep can go 245 | self._setup_coolstep(coolthrs) 246 | self._setup_highspeed(FULLSTEP_THRS_FACTOR * vmaxpwm) 247 | self._set_driver_field('multistep_filt', MULTISTEP_FILT) 248 | # Cool down 2240s 249 | self._set_driver_field('slope_control', SLOPE_CONTROL) 250 | 251 | 252 | def _set_driver_field(self, field, arg): 253 | tmco = self.tmc_object 254 | register = tmco.fields.lookup_register(field, None) 255 | # Just bail if the field doesn't exist. 256 | if register is None: 257 | return 258 | logging.info("autotune_tmc set %s %s=%s", self.name, field, repr(arg)) 259 | val = tmco.fields.set_field(field, arg) 260 | tmco.mcu_tmc.set_register(register, val, None) 261 | 262 | def _set_driver_velocity_field_new(self, field, velocity): 263 | tmco = self.tmc_object 264 | register = tmco.fields.lookup_register(field, None) 265 | # Just bail if the field doesn't exist. 266 | if register is None: 267 | return 268 | arg = tmc.TMCtstepHelper(tmco.mcu_tmc, velocity, 269 | pstepper=self.tmc_cmdhelper.stepper) 270 | logging.info("autotune_tmc set %s %s=%s(%s)", 271 | self.name, field, repr(arg), repr(velocity)) 272 | tmco.fields.set_field(field, arg) 273 | 274 | def _set_driver_velocity_field_old(self, field, velocity): 275 | tmco = self.tmc_object 276 | register = tmco.fields.lookup_register(field, None) 277 | # Just bail if the field doesn't exist. 278 | if register is None: 279 | return 280 | step_dist = self.tmc_cmdhelper.stepper.get_step_dist() 281 | mres = tmco.fields.get_field("mres") 282 | arg = tmc.TMCtstepHelper(step_dist, mres, self.fclk, velocity) 283 | logging.info("autotune_tmc set %s %s=%s(%s)", 284 | self.name, field, repr(arg), repr(velocity)) 285 | tmco.fields.set_field(field, arg) 286 | 287 | def _set_pwmfreq(self): 288 | # calculate the highest pwm_freq that gives less than 50 kHz chopping 289 | pwm_freq = next((i 290 | for i in [(3, 2./410), 291 | (2, 2./512), 292 | (1, 2./683), 293 | (0, 2./1024), 294 | (0, 0.) # Default case, just do the best we can. 295 | ] 296 | if self.fclk*i[1] < self.pwm_freq_target))[0] 297 | self._set_driver_field('pwm_freq', pwm_freq) 298 | 299 | def _set_hysteresis(self, run_current): 300 | hstrt, hend = self.motor_object.hysteresis( 301 | volts=self.voltage, 302 | current=run_current, 303 | tbl=self.tbl, 304 | toff=self.toff, 305 | fclk=self.fclk, 306 | extra=self.extra_hysteresis) 307 | self._set_driver_field('hstrt', hstrt) 308 | self._set_driver_field('hend', hend) 309 | 310 | def _set_sg4thrs(self): 311 | if self.tmc_object.fields.lookup_register("sg4_thrs", None) is not None: 312 | # we have SG4 313 | self._set_driver_field('sg4_thrs', self.sg4_thrs) 314 | self._set_driver_field('sg4_filt_en', True) 315 | elif self.tmc_object.fields.lookup_register("sgthrs", None) is not None: 316 | # With SG4 on 2209, pwmthrs should be greater than coolthrs 317 | self._set_driver_field('sgthrs', self.sg4_thrs) 318 | else: 319 | # We do not have SG4 320 | pass 321 | 322 | def _pwmthrs(self, vmaxpwm, coolthrs): 323 | if self.tmc_object.fields.lookup_register("sg4_thrs", None) is not None: 324 | # we have SG4 325 | # 2240 doesn't care about pwmthrs vs coolthrs ordering, but this is desirable 326 | return max(0.2 * vmaxpwm, 1.125 * coolthrs) 327 | elif self.tmc_object.fields.lookup_register("sgthrs", None) is not None: 328 | # With SG4 on 2209, pwmthrs should be greater than coolthrs 329 | return max(0.2 * vmaxpwm, 1.125 * coolthrs) 330 | else: 331 | # We do not have SG4, so this makes the world safe for 332 | # sensorless homing in the presence of CoolStep 333 | # return 0.5 * coolthrs 334 | return 0.5 * vmaxpwm 335 | 336 | def _setup_pwm(self, tgoal, pwmthrs): 337 | motor = self.motor_object 338 | pwmgrad = motor.pwmgrad(volts=self.voltage, fclk=self.fclk) 339 | pwmofs = motor.pwmofs(volts=self.voltage, current=self.run_current) 340 | self._set_driver_field('pwm_autoscale', PWM_AUTOSCALE) 341 | self._set_driver_field('pwm_autograd', PWM_AUTOGRAD) 342 | self._set_driver_field('pwm_grad', pwmgrad) 343 | self._set_driver_field('pwm_ofs', pwmofs) 344 | self._set_driver_field('pwm_reg', PWM_REG) 345 | self._set_driver_field('pwm_lim', PWM_LIM) 346 | if tgoal == TuningGoal.AUTOSWITCH: 347 | self._set_driver_velocity_field('tpwmthrs', pwmthrs) 348 | self._set_driver_field('en_pwm_mode', True) 349 | self._set_driver_field('en_spreadcycle', False) # TMC2208 use en_spreadcycle instead of en_pwm_mode 350 | elif tgoal == TuningGoal.SILENT: 351 | self._set_driver_field('tpwmthrs', 0) 352 | self._set_driver_field('en_pwm_mode', True) 353 | self._set_driver_field('en_spreadcycle', False) # TMC2208 use en_spreadcycle instead of en_pwm_mode 354 | elif tgoal == TuningGoal.PERFORMANCE: 355 | self._set_driver_field('tpwmthrs', 0xfffff) 356 | self._set_driver_field('en_pwm_mode', False) 357 | self._set_driver_field('en_spreadcycle', True) # TMC2208 use en_spreadcycle instead of en_pwm_mode 358 | 359 | def _setup_spreadcycle(self): 360 | ncycles = int(math.ceil(self.fclk / self.pwm_freq_target)) 361 | sdcycles = ncycles / 4 362 | if self.toff == 0 or self.toff is None: 363 | # About half the cycle should be taken by the two slow decay cycles 364 | self.toff = max(min(int(math.ceil(max(sdcycles - 24, 0) / 32)), 15), 1) 365 | 366 | if self.tbl is None: 367 | self.tbl = TBL 368 | 369 | if self.toff == 1 and self.tbl == 0: 370 | # blank time of 16 cycles will not work in this case 371 | self.tbl = 1 372 | 373 | pfdcycles = ncycles - (24 + 32 * self.toff) * 2 - [16, 34, 36, 54][self.tbl] 374 | if self.tpfd is None: 375 | self.tpfd = max(0, min(15, int(math.ceil(pfdcycles / 128)))) 376 | 377 | logging.info("autotune_tmc %s ncycles=%d pfdcycles=%d", self.name, ncycles, pfdcycles) 378 | 379 | self._set_driver_field('tpfd', self.tpfd) 380 | self._set_driver_field('tbl', self.tbl) 381 | self._set_driver_field('toff', self.toff) 382 | 383 | def _setup_coolstep(self, coolthrs): 384 | self._set_driver_velocity_field('tcoolthrs', coolthrs) 385 | self._set_driver_field('sgt', self.sgt) 386 | self._set_driver_field('fast_standstill', FAST_STANDSTILL) 387 | self._set_driver_field('small_hysteresis', SMALL_HYSTERESIS) 388 | self._set_driver_field('semin', SEMIN) 389 | self._set_driver_field('semax', SEMAX) 390 | self._set_driver_field('seup', SEUP) 391 | self._set_driver_field('sedn', SEDN) 392 | self._set_driver_field('seimin', SEIMIN) 393 | self._set_driver_field('sfilt', SFILT) 394 | self._set_driver_field('iholddelay', IHOLDDELAY) 395 | self._set_driver_field('irundelay', IRUNDELAY) 396 | 397 | def _setup_highspeed(self, vhigh): 398 | self._set_driver_velocity_field('thigh', vhigh) 399 | self._set_driver_field('vhighfs', VHIGHFS) 400 | self._set_driver_field('vhighchm', VHIGHCHM) 401 | 402 | 403 | def load_config_prefix(config): 404 | return AutotuneTMC(config) 405 | -------------------------------------------------------------------------------- /install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | KLIPPER_PATH="${HOME}/klipper" 4 | AUTOTUNETMC_PATH="${HOME}/klipper_tmc_autotune" 5 | 6 | if [[ -e ${KLIPPER_PATH}/klippy/plugins/ ]]; then 7 | KLIPPER_PLUGINS_PATH="${KLIPPER_PATH}/klippy/plugins/" 8 | else 9 | KLIPPER_PLUGINS_PATH="${KLIPPER_PATH}/klippy/extras/" 10 | fi 11 | 12 | set -eu 13 | export LC_ALL=C 14 | 15 | 16 | function preflight_checks { 17 | if [ "$EUID" -eq 0 ]; then 18 | echo "[PRE-CHECK] This script must not be run as root!" 19 | exit -1 20 | fi 21 | 22 | if [ "$(sudo systemctl list-units --full -all -t service --no-legend | grep -F 'klipper.service')" ]; then 23 | printf "[PRE-CHECK] Klipper service found! Continuing...\n\n" 24 | else 25 | echo "[ERROR] Klipper service not found, please install Klipper first!" 26 | exit -1 27 | fi 28 | } 29 | 30 | function check_download { 31 | local autotunedirname autotunebasename 32 | autotunedirname="$(dirname ${AUTOTUNETMC_PATH})" 33 | autotunebasename="$(basename ${AUTOTUNETMC_PATH})" 34 | 35 | if [ ! -d "${AUTOTUNETMC_PATH}" ]; then 36 | echo "[DOWNLOAD] Downloading Autotune TMC repository..." 37 | if git -C $autotunedirname clone https://github.com/andrewmcgr/klipper_tmc_autotune.git $autotunebasename; then 38 | chmod +x ${AUTOTUNETMC_PATH}/install.sh 39 | printf "[DOWNLOAD] Download complete!\n\n" 40 | else 41 | echo "[ERROR] Download of Autotune TMC git repository failed!" 42 | exit -1 43 | fi 44 | else 45 | printf "[DOWNLOAD] Autotune TMC repository already found locally. Continuing...\n\n" 46 | fi 47 | } 48 | 49 | function link_extension { 50 | echo "[INSTALL] Linking extension to Klipper..." 51 | 52 | ln -srfn "${AUTOTUNETMC_PATH}/autotune_tmc.py" "${KLIPPER_PLUGINS_PATH}/autotune_tmc.py" 53 | ln -srfn "${AUTOTUNETMC_PATH}/motor_constants.py" "${KLIPPER_PLUGINS_PATH}/motor_constants.py" 54 | ln -srfn "${AUTOTUNETMC_PATH}/motor_database.cfg" "${KLIPPER_PLUGINS_PATH}/motor_database.cfg" 55 | } 56 | 57 | function restart_klipper { 58 | echo "[POST-INSTALL] Restarting Klipper..." 59 | sudo systemctl restart klipper 60 | } 61 | 62 | 63 | printf "\n======================================\n" 64 | echo "- Autotune TMC install script -" 65 | printf "======================================\n\n" 66 | 67 | 68 | # Run steps 69 | preflight_checks 70 | check_download 71 | link_extension 72 | restart_klipper 73 | -------------------------------------------------------------------------------- /motor_constants.py: -------------------------------------------------------------------------------- 1 | import math, logging 2 | # Motor database, contains specifications for stepper motors. 3 | 4 | # R is coil resistance, Ohms 5 | # L is coil inductance, Henries 6 | # T is holding torque, Nm (be careful about units here) 7 | # I is nominal rated current, Amps 8 | 9 | 10 | class MotorConstants: 11 | def __init__(self, config): 12 | self.printer = config.get_printer() 13 | self.name = config.get_name().split()[-1] 14 | self.R = config.getfloat('resistance', minval=0.) 15 | self.L = config.getfloat('inductance', minval=0.) 16 | self.T = config.getfloat('holding_torque', minval=0.) 17 | self.S = config.getint('steps_per_revolution', minval=0) 18 | self.I = config.getfloat('max_current', minval=0.) 19 | self.cbemf = self.T / (2.0 * self.I) 20 | def pwmgrad(self, fclk=12.5e6, steps=0, volts=24.0): 21 | if steps==0: 22 | steps=self.S 23 | return int(math.ceil(self.cbemf * 2 * math.pi * fclk * 1.46 / (volts * 256.0 * steps))) 24 | def pwmofs(self, volts=24.0, current=0.0): 25 | I = current if current > 0.0 else self.I 26 | return int(math.ceil(374 * self.R * I / volts)) 27 | # Maximum revolutions per second before PWM maxes out. 28 | def maxpwmrps(self, fclk=12.5e6, steps=0, volts=24.0, current=0.0): 29 | if steps==0: 30 | steps=self.S 31 | return (255 - self.pwmofs(volts, current)) / ( math.pi * self.pwmgrad(fclk, steps)) 32 | def hysteresis(self, extra=0, fclk=12.5e6, volts=24.0, current=0.0, tbl=1, toff=0): 33 | I = current if current > 0.0 else self.I 34 | logging.info("autotune_tmc seting hysteresis based on %s V", volts) 35 | tblank = 16.0 * (1.5 ** tbl) / fclk 36 | tsd = (12.0 + 32.0 * toff) / fclk 37 | dcoilblank = volts * tblank / self.L 38 | dcoilsd = self.R * I * 2.0 * tsd / self.L 39 | logging.info("dcoilblank = %f, dcoilsd = %f", dcoilblank, dcoilsd) 40 | hysteresis = extra + int(math.ceil(max(0.5 + ((dcoilblank + dcoilsd) * 2 * 248 * 32 / I) / 32 - 8, -2))) 41 | htotal = min(hysteresis, 14) 42 | hstrt = max(min(htotal, 8), 1) 43 | hend = min(htotal - hstrt, 12) 44 | logging.info("hysteresis = %d, htotal = %d, hstrt = %d, hend = %d", hysteresis, htotal, hstrt, hend) 45 | return hstrt - 1, hend + 3 46 | 47 | 48 | def load_config_prefix(config): 49 | return MotorConstants(config) 50 | 51 | -------------------------------------------------------------------------------- /motor_database.cfg: -------------------------------------------------------------------------------- 1 | # Motor database, contains specifications for stepper motors. 2 | 3 | # R is coil resistance, Ohms 4 | # L is coil inductance, Henries 5 | # T is holding torque, Nm (be careful about units here) 6 | # I is nominal rated current, Amps 7 | 8 | ### LDO Motors ### 9 | 10 | ## NEMA 14 11 | 12 | [motor_constants ldo-36sth17-1004ahg] 13 | resistance: 10.0 14 | inductance: 0.006 15 | holding_torque: 0.10 16 | max_current: 1.0 17 | steps_per_revolution: 200 18 | 19 | [motor_constants ldo-36sth20-1004ahg-9T] 20 | resistance: 2.4 21 | inductance: 0.0014 22 | holding_torque: 0.10 23 | max_current: 1.0 24 | steps_per_revolution: 200 25 | 26 | [motor_constants ldo-36sth20-1004ahg] 27 | resistance: 2.1 28 | inductance: 0.0016 29 | holding_torque: 0.10 30 | max_current: 1.0 31 | steps_per_revolution: 200 32 | 33 | [motor_constants ldo-35sth52-1504ah] 34 | resistance: 2.8 35 | inductance: 0.0038 36 | holding_torque: 0.37 37 | max_current: 1.5 38 | steps_per_revolution: 200 39 | 40 | [motor_constants ldo-42sth47-1684a] 41 | resistance: 1.65 42 | inductance: 0.0028 43 | holding_torque: 0.50 44 | max_current: 1.68 45 | steps_per_revolution: 200 46 | 47 | [motor_constants ldo-35sth48-1684ah] 48 | # These are the problematic LDO motors sent with their first V0 kits 49 | # They are very prone to VFAs with the default TMC settings in Klipper 50 | resistance: 1.65 51 | inductance: 0.0028 52 | holding_torque: 0.4 53 | max_current: 1.68 54 | steps_per_revolution: 200 55 | 56 | [motor_constants ldo-36sth17-0354ahg] 57 | # Basically a LDO-36STH17-1004AHG but 0.35A rated 58 | resistance: 10.8 59 | inductance: 0.006 60 | holding_torque: 0.06 61 | max_current: 0.35 62 | steps_per_revolution: 200 63 | 64 | ## NEMA 17 65 | 66 | [motor_constants ldo-42sth40-1684cl350et] 67 | #Trident Z motor kit from LDO 68 | resistance: 1.65 69 | inductance: 0.0041 70 | holding_torque: 0.45 71 | max_current: 2.0 72 | steps_per_revolution: 200 73 | 74 | [motor_constants ldo-42sth40-1684l300e] 75 | #Trident Z motor kit from LDO 76 | resistance: 1.65 77 | inductance: 0.0041 78 | holding_torque: 0.45 79 | max_current: 1.68 80 | steps_per_revolution: 200 81 | 82 | [motor_constants ldo-42sth40-1684ac] 83 | resistance: 1.65 84 | inductance: 0.0036 85 | holding_torque: 0.45 86 | max_current: 1.68 87 | steps_per_revolution: 200 88 | 89 | [motor_constants ldo-42sth40-2004mah] 90 | resistance: 1.1 91 | inductance: 0.0028 92 | holding_torque: 0.35 93 | max_current: 2.0 94 | steps_per_revolution: 400 95 | 96 | [motor_constants ldo-42sth48-1684mah] 97 | resistance: 1.65 98 | inductance: 0.0028 99 | holding_torque: 0.40 100 | max_current: 1.68 101 | steps_per_revolution: 400 102 | 103 | [motor_constants ldo-42sth48-2804ah] 104 | # Also use for 2804-ac-r 105 | resistance: 0.7 106 | inductance: 0.0006 107 | holding_torque: 0.42 108 | max_current: 2.8 109 | steps_per_revolution: 200 110 | 111 | [motor_constants ldo-42sth48-2504ac] 112 | resistance: 1.2 113 | inductance: 0.0015 114 | holding_torque: 0.55 115 | max_current: 2.5 116 | steps_per_revolution: 200 117 | 118 | [motor_constants ldo-42sth48-2504ah] 119 | resistance: 1.2 120 | inductance: 0.0015 121 | holding_torque: 0.55 122 | max_current: 2.5 123 | steps_per_revolution: 200 124 | 125 | [motor_constants ldo-42sth48-2004ac] 126 | resistance: 1.6 127 | inductance: 0.003 128 | holding_torque: 0.59 129 | max_current: 2.0 130 | steps_per_revolution: 200 131 | 132 | [motor_constants ldo-42sth48-2004mah] 133 | resistance: 1.4 134 | inductance: 0.002 135 | holding_torque: 0.44 136 | max_current: 2.0 137 | steps_per_revolution: 400 138 | 139 | [motor_constants ldo-42sth40-1004a] 140 | #Prusa Mk3 steppers XYE axis 141 | #https://cfl.prusa3d.com/display/PI3M3/Stepper+motors 142 | resistance: 6.5 143 | inductance: 0.013 144 | holding_torque: 0.49 145 | max_current: 1 146 | steps_per_revolution: 200 147 | 148 | [motor_constants ldo-42sth34-1004l321e] 149 | # Prusa Mk3 steppers Z axis 150 | resistance: 8.00 151 | inductance: 0.0095 152 | holding_torque: 107.7 153 | max_current: 1.00 154 | steps_per_revolution: 200 155 | 156 | [motor_constants ldo-42sth40-1004mah] 157 | resistance: 4.1 158 | inductance: 0.0115 159 | holding_torque: 0.39 160 | max_current: 1 161 | steps_per_revolution: 400 162 | 163 | 164 | [motor_constants ldo-42sth20-1004ash] 165 | resistance: 7.2 166 | inductance: 0.007 167 | holding_torque: 0.18 168 | max_current: 1 169 | steps_per_revolution: 200 170 | 171 | [motor_constants ldo-42sth25-1004cl200et] 172 | #LDO V0.1 Teflon coated 8x8 leadscrew Z motor 173 | resistance: 5.5 174 | inductance: 0.007 175 | holding_torque: 0.24 176 | max_current: 1 177 | steps_per_revolution: 200 178 | 179 | [motor_constants ldo-42sth25-1004acg] 180 | # Bondtech LGX (big) motor that is in fact a rebranded LDO motor 181 | resistance: 5.5 182 | inductance: 0.007 183 | holding_torque: 0.20 184 | max_current: 1 185 | steps_per_revolution: 200 186 | 187 | [motor_constants ldo-42sth60-2004ac] 188 | resistance: 2.1 189 | inductance: 0.0041 190 | holding_torque: 0.85 191 | max_current: 2 192 | steps_per_revolution: 200 193 | 194 | [motor_constants ldo-42sth60-2004mah] 195 | resistance: 1.4 196 | inductance: 0.0030 197 | holding_torque: 0.6 198 | max_current: 2 199 | steps_per_revolution: 400 200 | 201 | [motor_constants ldo-42sth25-1404ac] 202 | # Microswiss NG extruder 203 | resistance: 2.4 204 | inductance: 0.0055 205 | holding_torque: 0.23 206 | max_current: 1.4 207 | steps_per_revolution: 200 208 | 209 | 210 | ### Moons Motors ### 211 | 212 | ## NEMA 14 213 | 214 | [motor_constants moons-ms14hs5p4200] 215 | resistance: 1.34 216 | inductance: 0.0021 217 | holding_torque: 0.4 218 | max_current: 2.0 219 | steps_per_revolution: 200 220 | 221 | [motor_constants moons-ms14hs5p4150] 222 | resistance: 2.2 223 | inductance: 0.0036 224 | holding_torque: 0.4 225 | max_current: 1.5 226 | steps_per_revolution: 200 227 | 228 | # Many vendors call this motor cse14ra1l410a 229 | # but the h in the part number is correct. 230 | [motor_constants moons-cse14hra1l410a] 231 | resistance: 1.9 232 | inductance: 0.00141 233 | holding_torque: 0.1 234 | max_current: 1.0 235 | steps_per_revolution: 200 236 | 237 | ## NEMA 17 238 | 239 | [motor_constants moons-ms17hdbp4200] 240 | resistance: 1.49 241 | inductance: 0.0038 242 | holding_torque: 0.83 243 | max_current: 2.0 244 | steps_per_revolution: 200 245 | 246 | [motor_constants moons-ms17hd6p4200] 247 | resistance: 1.3 248 | inductance: 0.0029 249 | holding_torque: 0.63 250 | max_current: 2.0 251 | steps_per_revolution: 200 252 | 253 | [motor_constants moons-ms17hd6p4150] 254 | resistance: 2.2 255 | inductance: 0.0049 256 | holding_torque: 0.62 257 | max_current: 1.5 258 | steps_per_revolution: 200 259 | 260 | [motor_constants moons-le174s-t0804-300-ar3-s-150] 261 | resistance: 1.75 262 | inductance: 0.0028 263 | holding_torque: 0.29 264 | max_current: 1.5 265 | steps_per_revolution: 200 266 | 267 | [motor_constants moons-le174s-t0808-200-ar3-s-065] 268 | resistance: 8.7 269 | inductance: 0.0152 270 | holding_torque: 0.054 271 | max_current: 0.65 272 | steps_per_revolution: 200 273 | 274 | [motor_constants moons-ms17hd6p420I-04] 275 | resistance: 1.3 276 | inductance: 0.0027 277 | holding_torque: 0.67 278 | max_current: 2.0 279 | steps_per_revolution: 200 280 | 281 | [motor_constants moons-ms17hd6p420I-05] 282 | resistance: 1.3 283 | inductance: 0.0027 284 | holding_torque: 0.67 285 | max_current: 2.0 286 | steps_per_revolution: 200 287 | 288 | # Comes stock on many older Creality printers, e.g: Ender 3, V2, Max 289 | [motor_constants moons-c17hd2024n-01n] 290 | resistance: 4.1 291 | inductance: 0.0085 292 | holding_torque: 0.39 293 | max_current: 1.0 294 | steps_per_revolution: 200 295 | 296 | ## NEMA 23 297 | 298 | [motor_constants moons-ml23hs8l4550-20] 299 | resistance: 0.28 300 | inductance: 0.00103 301 | holding_torque: 1.5 302 | max_current: 5.5 303 | steps_per_revolution: 200 304 | 305 | [motor_constants moons-ml23hs0l4350-000] 306 | resistance: 0.56 307 | inductance: 0.0013 308 | holding_torque: 0.82 309 | max_current: 3.5 310 | steps_per_revolution: 200 311 | 312 | ### OMC Stepperonline ### 313 | 314 | ## NEMA 14 315 | 316 | [motor_constants omc-14ms20-1504s] 317 | resistance: 2.80 318 | inductance: 0.0038 319 | holding_torque: 0.40 320 | max_current: 1.50 321 | steps_per_revolution: 200 322 | 323 | [motor_constants omc-14hs20-1504s] 324 | resistance: 2.8 325 | inductance: 0.0038 326 | holding_torque: 0.4 327 | max_current: 1.5 328 | steps_per_revolution: 200 329 | 330 | [motor_constants omc-14hr07-1004vrn] 331 | resistance: 3.9 332 | inductance: 0.002 333 | holding_torque: 0.09 334 | max_current: 1.00 335 | steps_per_revolution: 400 336 | 337 | # Adding the two stepper motors for the original V0 release: 338 | # OMC 14HS17-0504S (A/B/Z) 339 | # OMC 14HS10-0404S (Clockwork) 340 | 341 | [motor_constants omc-14hs17-0504s] 342 | resistance: 15.00 343 | inductance: 0.026 344 | holding_torque: 0.23 345 | max_current: 0.50 346 | steps_per_revolution: 200 347 | 348 | [motor_constants omc-14hs10-0404s] 349 | resistance: 30.00 350 | inductance: 0.030 351 | holding_torque: 0.140 352 | max_current: 0.40 353 | steps_per_revolution: 200 354 | 355 | ## NEMA 17 356 | 357 | [motor_constants omc-17he19-2004s] 358 | resistance: 1.3 359 | inductance: 0.0024 360 | holding_torque: 0.55 361 | max_current: 2.0 362 | steps_per_revolution: 200 363 | 364 | [motor_constants omc-17he15-1504s] 365 | resistance: 2.3 366 | inductance: 0.004 367 | holding_torque: 0.42 368 | max_current: 1.50 369 | steps_per_revolution: 200 370 | 371 | 372 | [motor_constants omc-17hs15-1504s] 373 | resistance: 2.30 374 | inductance: 0.0044 375 | holding_torque: 0.45 376 | max_current: 1.50 377 | steps_per_revolution: 200 378 | 379 | [motor_constants omc-17hm19-1684S] 380 | resistance: 1.65 381 | inductance: 0.0041 382 | holding_torque: 0.44 383 | max_current: 1.68 384 | steps_per_revolution: 400 385 | 386 | [motor_constants omc-17hm19-2004s] 387 | resistance: 1.45 388 | inductance: 0.004 389 | holding_torque: 0.46 390 | max_current: 2.0 391 | steps_per_revolution: 400 392 | 393 | [motor_constants omc-17hs19-2504s-h] 394 | resistance: 1.1 395 | inductance: 0.0016 396 | holding_torque: 0.55 397 | max_current: 2.5 398 | steps_per_revolution: 200 399 | 400 | [motor_constants omc-17hs24-2104s] 401 | resistance: 1.6 402 | inductance: 0.003 403 | holding_torque: 0.65 404 | max_current: 2.1 405 | steps_per_revolution: 200 406 | 407 | [motor_constants omc-17hs19-2004s1] 408 | resistance: 1.4 409 | inductance: 0.003 410 | holding_torque: 0.59 411 | max_current: 2 412 | steps_per_revolution: 200 413 | 414 | [motor_constants omc-17hs08-1004s] 415 | resistance: 3.70 416 | inductance: 0.0045 417 | holding_torque: 0.16 418 | max_current: 1.00 419 | steps_per_revolution: 200 420 | 421 | [motor_constants omc-17me15-1504s] 422 | resistance: 2.0 423 | inductance: 0.0052 424 | holding_torque: 0.30 425 | max_current: 1.50 426 | steps_per_revolution: 400 427 | 428 | ### Trinamic (yes, they also make stepper motors) ### 429 | 430 | [motor_constants tmc-qsh4218-35-10-027] 431 | resistance: 5.30 432 | inductance: 0.0066 433 | holding_torque: 0.27 434 | max_current: 1.00 435 | steps_per_revolution: 200 436 | 437 | [motor_constants tmc-qsh4218-41-10-035] 438 | resistance: 4.50 439 | inductance: 0.0075 440 | holding_torque: 0.35 441 | max_current: 1.00 442 | steps_per_revolution: 200 443 | 444 | [motor_constants tmc-qsh4218-51-10-049] 445 | resistance: 5.00 446 | inductance: 0.008 447 | holding_torque: 0.49 448 | max_current: 1.00 449 | steps_per_revolution: 200 450 | 451 | # Gucci Trinamic stepper motor, the one LDO used as model for their 2.8A one 452 | [motor_constants tmc-qsh4218-47-28-040] 453 | resistance: 0.50 454 | inductance: 0.0006 455 | holding_torque: 0.40 456 | max_current: 2.80 457 | steps_per_revolution: 200 458 | 459 | #Fysetc motors 460 | #NEMA 14 461 | [motor_constants fysetc-g36hsy4405-6d-80a] 462 | resistance: 2.4 463 | inductance: 0.0017 464 | holding_torque: 0.11 465 | max_current: 1.0 466 | steps_per_revolution: 200 467 | 468 | [motor_constants fysetc-g36hsy4407-6d-1200a] 469 | resistance: 13 470 | inductance: 0.01 471 | holding_torque: 0.12 472 | max_current: 0.5 473 | steps_per_revolution: 200 474 | 475 | [motor_constants fysetc-g36hsy4405-6d-30] 476 | resistance: 2.4 477 | inductance: 0.0017 478 | holding_torque: 0.11 479 | max_current: 1.0 480 | steps_per_revolution: 200 481 | 482 | [motor_constants fysetc-35hsh7402-24b-60a] 483 | resistance: 2.8 484 | inductance: 0.0055 485 | holding_torque: 0.42 486 | max_current: 1.5 487 | steps_per_revolution: 200 488 | 489 | [motor_constants fysetc-35hsh7402-24b-60b] 490 | resistance: 2.8 491 | inductance: 0.0055 492 | holding_torque: 0.42 493 | max_current: 1.5 494 | steps_per_revolution: 200 495 | 496 | [motor_constants fysetc-42hsc1433b-200n8] 497 | resistance: 8 498 | inductance: 0.01 499 | holding_torque: 0.35 500 | max_current: 1 501 | steps_per_revolution: 200 502 | 503 | #NEMA 17 504 | [motor_constants fysetc-42hsc1404b-200n8] 505 | resistance: 29 506 | inductance: 0.0038 507 | holding_torque: 0.32 508 | max_current: 0.4 509 | steps_per_revolution: 200 510 | 511 | 512 | [motor_constants TB-3544] 513 | #Fysetc bom Voron 2.4 steppers 514 | resistance: 1.8 515 | inductance: 0.0038 516 | holding_torque: 0.50 517 | max_current: 1.5 518 | steps_per_revolution: 200 519 | 520 | [motor_constants fysetc-17HS19-2004S-C] 521 | #Fysetc bom Trident A/B steppers 522 | resistance: 1.4 523 | inductance: 0.003 524 | holding_torque: 0.59 525 | max_current: 2.0 526 | steps_per_revolution: 200 527 | 528 | [motor_constants fysetc-42HC40-204A-300N84] 529 | #Fysetc bom Trident Z integrated leadscrew steppers 530 | resistance: 1.1 531 | inductance: 0.0026 532 | holding_torque: 0.45 533 | max_current: 2.0 534 | steps_per_revolution: 200 535 | 536 | [motor_constants fysetc-17D2201Z-22B-500] 537 | #Fysetc Prusa Clone 538 | resistance: 6.5 539 | inductance: 0.013 540 | holding_torque: 0.49 541 | max_current: 1.0 542 | steps_per_revolution: 200 543 | 544 | ### Other manufacturers 545 | 546 | [motor_constants dfh-14mcrn-1848] 547 | #DFH Micron/Saladfork Kit NEMA14 stepper 548 | resistance: 2.8 549 | inductance: 0.0055 550 | holding_torque: 0.42 551 | max_current: 1.5 552 | steps_per_revolution: 200 553 | 554 | [motor_constants dfh-14mcrn-1815] 555 | #DFH Micron/Saladfork Kit NEMA14 pancake stepper 556 | resistance: 13.0 557 | inductance: 0.0010 558 | holding_torque: 0.12 559 | max_current: 0.5 560 | steps_per_revolution: 200 561 | 562 | [motor_constants zyltech-17hd48002h-22b] 563 | #Zyltech 84 ozin Basic steppers https://www.zyltech.com/nema-17-stepper-motor-1-7-a-0-59-nm-84-ozin-1-3-or-5-pack/ 564 | resistance: 1.8 565 | inductance: 0.0038 566 | holding_torque: 0.59 567 | max_current: 1.7 568 | steps_per_revolution: 200 569 | 570 | [motor_constants siboor-14sth20-1004a] 571 | #Siboor BOM Voron Trident AWD 572 | resistance: 1.7 573 | inductance: 0.0015 574 | holding_torque: 0.12 575 | max_current: 1.88 576 | steps_per_revolution: 200 577 | 578 | [motor_constants siboor-35sth52-1204a] 579 | #Siboor BOM Voron 0.2 steppers 580 | resistance: 2.3 581 | inductance: 0.0035 582 | holding_torque: 0.4 583 | max_current: 1.2 584 | steps_per_revolution: 200 585 | 586 | [motor_constants siboor-35hbx904-22b] 587 | #Siboor BOM Voron 0.1 Young edition steppers 588 | resistance: 2.50 589 | inductance: 0.0043 590 | holding_torque: 0.40 591 | max_current: 1.50 592 | steps_per_revolution: 200 593 | 594 | [motor_constants siboor-42sth26-0804a] 595 | #Siboor BOM Voron 0.2 Z integrated leadscrew stepper 596 | resistance: 5.5 597 | inductance: 0.0066 598 | holding_torque: 0.26 599 | max_current: 1.0 600 | steps_per_revolution: 200 601 | 602 | [motor_constants siboor-42sth40-2004a] 603 | resistance: 1.1 604 | inductance: 0.0026 605 | holding_torque: 0.45 606 | max_current: 2.0 607 | steps_per_revolution: 200 608 | 609 | [motor_constants siboor-42sth48-2504(s45)] 610 | #Siboor BOM Voron Trident AWD 611 | resistance: 0.9 612 | inductance: 0.0016 613 | holding_torque: 0.6 614 | max_current: 2.5 615 | steps_per_revolution: 200 616 | 617 | [motor_constants siboor-14sth20-1004a] 618 | #Siboor NEMA14 pancake stepper motor 619 | resistance: 1.70 620 | inductance: 0.0015 621 | holding_torque: 0.12 622 | max_current: 1.88 623 | steps_per_revolution: 200 624 | 625 | [motor_constants siboor-42sth28-0804a] 626 | #Siboor BOM Voron 0.2 Z integrated leadscrew stepper (metal version) 627 | resistance: 5.5 628 | inductance: 0.0066 629 | holding_torque: 0.26 630 | max_current: 1.0 631 | steps_per_revolution: 200 632 | 633 | [motor_constants wantai-42byghw811] 634 | # Wantai Stepper Motor 42BYGHW811 and 42BYGHW811-X11 635 | resistance: 1.25 636 | inductance: 0.0018 637 | holding_torque: 0.48 638 | max_current: 2.50 639 | steps_per_revolution: 200 640 | 641 | [motor_constants ldo-42sth60-3004ac] 642 | resistance: 1.1 643 | inductance: 0.0023 644 | holding_torque: 0.9 645 | max_current: 3.0 646 | steps_per_revolution: 200 647 | 648 | [motor_constants ldo-42sth60-3004mac] 649 | resistance: 1.1 650 | inductance: 0.0035 651 | holding_torque: 0.8 652 | max_current: 3.0 653 | steps_per_revolution: 400 654 | # QIDI motors 655 | 656 | [motor_constants qidi-BJ42D29-28V07] 657 | # used for X/Y-axis on QIDI X MAX 3 658 | resistance: 1.4 659 | inductance: 0.0026 660 | holding_torque: 0.41 661 | max_current: 1.5 662 | steps_per_revolution: 200 663 | 664 | [motor_constants qidi-BJ42D29-22V08] 665 | # used for Z-Axis on QIDI X MAX 3 666 | resistance: 4.7 667 | inductance: 0.011 668 | holding_torque: 0.6 669 | max_current: 1.2 670 | steps_per_revolution: 200 671 | 672 | [motor_constants qidi-BJY36D12-04V13] 673 | # used for extruder on QIDI X MAX 3 674 | resistance: 2.0 675 | inductance: 0.0012 676 | holding_torque: 0.09 677 | max_current: 1.0 678 | steps_per_revolution: 200 679 | 680 | # Creality motors 681 | 682 | [motor_constants creality-42-34] 683 | resistance: 6.0 684 | inductance: 0.006 685 | holding_torque: 0.4 686 | max_current: 1.0 687 | steps_per_revolution: 200 688 | 689 | [motor_constants creality-42-40] 690 | resistance: 3.6 691 | inductance: 0.008 692 | holding_torque: 0.48 693 | max_current: 1.0 694 | steps_per_revolution: 200 695 | 696 | [motor_constants creality-42-48] 697 | #BJ42D29-16V03 https://www.kelimotorgroup.com/shaded-pole-motor/atm-hb-bj35d-stepper-motor.html 698 | resistance: 5 699 | inductance: 0.011 700 | holding_torque: 0.57 701 | max_current: 1.0 702 | steps_per_revolution: 200 703 | 704 | [motor_constants creality-42-60] 705 | #Creality Ender 7 (X,Y) - RB Step Motor 17HDC8033-32B - https://14.23.50.34/en/biaozhunshihunheshibujindianji/41 706 | resistance: 1.2 707 | inductance: 0.0034 708 | holding_torque: 0.76 709 | max_current: 2.00 710 | steps_per_revolution: 200 711 | 712 | [motor_constants BJ42D09-20V02] 713 | #Creality Sprite Pro https://user-images.githubusercontent.com/862951/235050029-79124b76-81d3-4f77-9501-6404f7c38336.png 714 | resistance: 1.75 715 | inductance: 0.003 716 | holding_torque: 0.15 717 | max_current: 0.84 718 | steps_per_revolution: 200 719 | 720 | [motor_constants bondtech-42H025H-0704A-005] 721 | #Bondtech LGX https://www.bondtech.se/downloads/TDS/Bondtech-LGX-Motor-42H025H-0704-002.pdf 722 | resistance: 4.4 723 | inductance: 0.0055 724 | holding_torque: 0.16 725 | max_current: 0.7 726 | steps_per_revolution: 200 727 | 728 | [motor_constants orientalmotor-PKP245D23A] 729 | #Oriental Motor PKP245D23A https://catalog.orientalmotor.com/item/all-categories-legacy-products/legacy-pkp-series-2-phase-bipolar-stepper-motors/pkp245d23a 730 | resistance: 1.12 731 | inductance: 0.0029 732 | holding_torque: 0.58 733 | max_current: 2.3 734 | steps_per_revolution: 200 735 | 736 | [motor_constants orientalmotor-PKP245D15A] 737 | #Oriental Motor PKP245D15A https://catalog.orientalmotor.com/item/all-categories-legacy-products/legacy-pkp-series-2-phase-bipolar-stepper-motors/pkp245d15a 738 | resistance: 2.4 739 | inductance: 0.0066 740 | holding_torque: 0.58 741 | max_current: 1.5 742 | steps_per_revolution: 200 743 | 744 | [motor_constants orientalmotor-PKP235D23A] 745 | #Oriental Motor PKP235D23A https://catalog.orientalmotor.com/item/2-phase-bipolar-stepper-motors/35mm-pkp-series-2-phase-bipolar-stepper-motors/pkp235d23a-l 746 | resistance: 0.97 747 | inductance: 0.0012 748 | holding_torque: 0.37 749 | max_current: 2.3 750 | steps_per_revolution: 200 751 | 752 | [motor_constants orientalmotor-PKP235D15A] 753 | #Oriental Motor PKP235D15A https://catalog.orientalmotor.com/item/2-phase-bipolar-stepper-motors/35mm-pkp-series-2-phase-bipolar-stepper-motors/pkp235d15a-l 754 | resistance: 2.4 755 | inductance: 0.0026 756 | holding_torque: 0.37 757 | max_current: 1.5 758 | steps_per_revolution: 200 759 | 760 | [motor_constants flsun-v400-42] 761 | #FLSUN 42BYGH718-B27HQT (V400) http://m.wantmotor.com/hybrid-stepper-motor/2-phases-hybrid-stepper-motor/42bygh-stepper-motor.html 762 | resistance: 18.00 763 | inductance: 0.023 764 | holding_torque: 0.284 765 | max_current: 0.5 766 | steps_per_revolution: 200 767 | 768 | [motor_constants flsun-v400-36] 769 | #FLSUN 36BYG1204-M-8QTGW https://s.click.aliexpress.com/e/_mq0CHVA 770 | resistance: 13.00 771 | inductance: 0.01 772 | holding_torque: 0.12 773 | max_current: 0.5 774 | steps_per_revolution: 200 775 | 776 | [motor_constants honeybadger-42hs48-25044a] 777 | #HoneyBadger by Fabreeko 42HS48-25044A https://www.fabreeko.com/collections/honeybadger/products/zero-g-ab-motors-by-honeybadger?variant=43510563176703 778 | resistance: 1.6 779 | inductance: 0.0018 780 | holding_torque: 0.49 781 | max_current: 2.5 782 | steps_per_revolution: 200 783 | 784 | # Motech motors 785 | 786 | [motor_constants motech-mt-1701hsm140ae] 787 | #E3D Slimline Motor 788 | resistance: 1.9 789 | inductance: 0.0020 790 | holding_torque: 0.127 791 | max_current: 1.4 792 | steps_per_revolution: 400 793 | 794 | [motor_constants motech-mt-1702e133g6-365e] 795 | #E3D Leadscrew Motor 796 | resistance: 2.1 797 | inductance: 0.0025 798 | holding_torque: 0.314 799 | max_current: 1.33 800 | steps_per_revolution: 200 801 | 802 | [motor_constants motech-mt-1703hs120ag518e] 803 | #E3D Geared Motor 804 | resistance: 3.0 805 | inductance: 0.0060 806 | holding_torque: 0.431 807 | max_current: 1.2 808 | steps_per_revolution: 200 809 | 810 | [motor_constants motech-mt-1703hsm168re] 811 | #E3D Compact but Powerful Motor 812 | resistance: 1.65 813 | inductance: 0.0036 814 | holding_torque: 0.343 815 | max_current: 1.68 816 | steps_per_revolution: 400 817 | 818 | [motor_constants motech-mt-1704hsm168re] 819 | #E3D High Torque Motor 820 | resistance: 1.65 821 | inductance: 0.0028 822 | holding_torque: 0.431 823 | max_current: 1.68 824 | steps_per_revolution: 400 825 | 826 | [motor_constants motech-mt-1705hs200ae] 827 | #E3D Super Whopper Motor 828 | resistance: 2.0 829 | inductance: 0.0033 830 | holding_torque: 0.804 831 | max_current: 2.0 832 | steps_per_revolution: 200 833 | 834 | [motor_constants BTT-17H4401S] 835 | #BTT 17H4401S lead screw motor 836 | resistance: 2.40 837 | inductance: 0.0037 838 | holding_torque: 0.42 839 | max_current: 1.50 840 | steps_per_revolution: 200 841 | 842 | [motor_constants ok42sth34-044e-200g] 843 | resistance: 30.0 844 | inductance: 0.037 845 | holding_torque: 0.28 846 | max_current: 0.4 847 | steps_per_revolution: 200 848 | 849 | [motor_constants jinkong-jk42hs34-1334] 850 | #MPSM X&Y 851 | resistance: 2.10 852 | inductance: 0.0025 853 | holding_torque: 0.2549729 854 | max_current: 1.33 855 | steps_per_revolution: 200 856 | 857 | [motor_constants monoprice-42hb34f08ab] 858 | #MPSM Extruder 859 | resistance: 2.20 860 | inductance: 0.0025 861 | holding_torque: 0.22 862 | max_current: 1.33 863 | steps_per_revolution: 200 864 | 865 | [motor_constants monoprice-17hs4401s] 866 | #MPSM Z 867 | resistance: 1.50 868 | inductance: 0.0028 869 | holding_torque: 0.40 870 | max_current: 1.70 871 | steps_per_revolution: 200 872 | 873 | [motor_constants oukeda-ok42hc40-204a306n84] 874 | #formbot kit trident Z 875 | resistance: 1.10 876 | inductance: 0.0026 877 | holding_torque: 0.45 878 | max_current: 2.00 879 | steps_per_revolution: 200 880 | 881 | [motor_constants oukeda-17hs4401] 882 | resistance: 1.5 883 | inductance: 0.0028 884 | holding_torque: 0.40 885 | max_current: 1.7 886 | steps_per_revolution: 200 887 | 888 | [motor_constants trianglelab-tl-42bygh20] 889 | # ERCF v1.1 kit motor (NEMA 17) 890 | resistance: 6.8 891 | inductance: 0.0071 892 | holding_torque: 0.21 893 | max_current: 1.0 894 | steps_per_revolution: 200 895 | 896 | [motor_constants bj42d41-14v06] 897 | #Creality K1&Max A/B motors 898 | resistance: 1.1 899 | inductance: 0.0028 900 | holding_torque: 0.65 901 | max_current: 2 902 | steps_per_revolution: 200 903 | 904 | [motor_constants bjd42d22-53v02] 905 | #Flashforge adventurer 5m/pro motors 906 | resistance: 2.10 907 | inductance: 0.0046 908 | holding_torque: 0.40 909 | max_current: 1.50 910 | steps_per_revolution: 200 911 | 912 | [motor_constants geetech-d42hs3418-24b22] 913 | #ShenZhen Geetech Technology Nema 17 extruder motor, e.g. A20M 914 | resistance: 1.65 915 | inductance: 0.0032 916 | holding_torque: 0.4 917 | max_current: 1.68 918 | steps_per_revolution: 200 919 | 920 | [motor_constants usongshine-17hs4023] 921 | #Generic Usongshine Nema 17 Pancake Stepper 922 | resistance: 4 923 | inductance: 0.0032 924 | holding_torque: 0.14 925 | max_current: 0.7 926 | steps_per_revolution: 200 927 | 928 | [motor_constants mercury-42byg011-25] 929 | #Generic Mercuy Stepper Motor 930 | resistance: 3.4 931 | inductance: 0.046 932 | holding_torque: 0.23 933 | max_current: 0.33 934 | steps_per_revolution: 200 935 | 936 | [motor_constants cloudray-17CS07A-180E] 937 | #Cloudray motors https://www.aliexpress.com/item/4000934544704.html?spm=a2g0o.detail.1000023.8.43b1FDQEFDQE3d 938 | resistance: 1.94 939 | inductance: 0.00496 940 | holding_torque: 0.71 941 | max_current: 1.8 942 | steps_per_revolution: 200 943 | 944 | [motor_constants act-17hs4417] 945 | resistance: 1.5 946 | inductance: 0.0028 947 | holding_torque: 0.40 948 | max_current: 1.7 949 | steps_per_revolution: 200 950 | 951 | [motor_constants jkong-jk42hS40-1704] 952 | resistance: 1.65 953 | inductance: 0.0032 954 | holding_torque: 0.4 955 | max_current: 1.7 956 | steps_per_revolution: 200 957 | 958 | [motor_constants biqu-35BYGF0713-A-10HZT] 959 | resistance: 2.3 960 | inductance: 0.0020 961 | holding_torque: 0.11 962 | max_current: 1.5 963 | steps_per_revolution: 200 964 | --------------------------------------------------------------------------------