config: Example for MMU2S DIY (#2566)

Configuration file for MMU2S DIY

Signed-off-by: Jeremy Briffaut <kakou@kakou.org>

1 files changed, 823 insertions, 0 deletions

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+# Configuration for DIY MMU2S based on SKR-MINI
+# Jeremy Briffaut kakou@kakou.org
+# More info : https://www.thingiverse.com/thing:3910546
+#
+#
+# config inspired from https://github.com/mwr666/klipper/blob/sunbeam2.0c_multi_mcu_mmu2/config/printer-protodev-corexy-multi-mcu-mmu2.cfg
+
+
+########################################
+#
+# Configuration for a SKR MINI board with 3 TMC2208 UART
+# and 2 1.7A stepper motor at 1/16
+# current for a 24V power
+#
+########################################
+[mcu mmboard]
+serial: /dev/serial/by-id/usb-Klipper_stm32f103xe_33FFD8054E48363008771743-if00
+
+[respond]
+default_type: command
+
+# E0 : MMU2S 5mm road with the 5 gears
+[manual_stepper gear_stepper]
+step_pin: mmboard:PC5
+dir_pin: !mmboard:PB0
+enable_pin: !mmboard:PC4
+# 140 : mk8 gear
+#step_distance: .007142
+# 165 : fystec gear for mmu2s
+step_distance: .00606
+velocity: 20
+accel: 10
+endstop_pin: ^mmboard:PC2 # PINDA X+
+
+[tmc2208 manual_stepper gear_stepper]
+uart_pin: mmboard:PC14
+microsteps: 16
+run_current: 1.000
+hold_current: 0.600
+interpolate: True
+sense_resistor: 0.110
+
+# Y : MMU2S idler with the 5 ball bearings
+[manual_stepper idler_stepper]
+step_pin: mmboard:PB13
+dir_pin: mmboard:PB14
+enable_pin: !mmboard:PB12
+step_distance: .040000
+velocity: 100
+accel: 80
+
+[tmc2209 manual_stepper idler_stepper]
+uart_pin: mmboard:PB7
+microsteps: 16
+run_current: 0.800
+hold_current: 0.800
+interpolate: True
+sense_resistor: 0.110
+stealthchop_threshold: 250
+
+# X : MMU2S color selector
+[manual_stepper selector_stepper]
+step_pin: mmboard:PC6
+dir_pin: mmboard:PC7
+enable_pin: !mmboard:PB15
+# 80 step/mm
+step_distance: .0025
+velocity: 35
+accel: 100
+endstop_pin: !mmboard:PC0 # switch endstop on the left Z-
+
+[tmc2209 manual_stepper selector_stepper]
+uart_pin: mmboard:PC12
+microsteps: 16
+run_current: 1.000
+hold_current: 0.400
+interpolate: True
+sense_resistor: 0.110
+stealthchop_threshold: 250
+
+#IR
+[filament_switch_sensor ir_sensor]
+pause_on_runout: False
+switch_pin: !P1.28 # P1.28 for X-max
+
+################################
+#
+#  PARAMETER TO ADAPT TO YOUR SETUP
+#
+# variable_timeout_pause         : timeout of the MMU2S pause when user intervention is needed
+# variable_disable_heater        : timeout of the heater during pause (temperature is saved and restored before resuming)
+# variable_bowden_load_length1   : length of the bowden between the selector and the entry of the extruder (quick MOVE)
+# variable_bowden_load_length2   : length of the bowden between the entry of the extruder and the extruder gear (slow MOVE)
+# variable_bowden_unload_length  : length between the the extruder gear and the PINDA
+# variable_pinda_load_length     : length between the MMU2S and the PINDA during loading
+# variable_pinda_unload_length   : length to retract the filament into the MMU2S from the PINDA during unloading
+# variable_colorselector         : the 5 positions of the color selector
+# variable_idler                 : the 5 positions of the idler bearing ball
+# variable_idler_home_position   : the homing position of the idler
+# variable_pause_x               : x position when MMU2S need intervention and the printer is paused
+# variable_pause_y               : y position when MMU2S need intervention and the printer is paused
+# variable_pause_z               : z lift when MMU2S need intervention and the printer is paused
+# variable_min_temp_extruder     : minimal required heater temperature to load/unload filament from the extruder gear to the nozzle
+# variable_extruder_eject_temp   : heater temperature used to eject filament during home if the filament is already loaded
+# variable_enable_5in1           : pass from MMU2S standart (0) to MMU2S-5in1 mode with splitter
+#
+################################
+[gcode_macro VAR_MMU2S]
+variable_timeout_pause: 36000
+variable_disable_heater: 600
+variable_bowden_load_length1: 770
+variable_bowden_load_length2: 790
+variable_bowden_unload_length: 830
+variable_pinda_load_length: 120
+variable_pinda_unload_length: 15
+variable_colorselector = [71,57,43,29,16]
+variable_idler = [5,20,35,50,65]
+variable_idler_home_position: 85
+variable_pause_x: 0
+variable_pause_y: 300
+variable_pause_z: 10
+variable_min_temp_extruder: 180
+variable_extruder_eject_temp: 200
+variable_enable_5in1: 0
+gcode:
+
+# MMU2S SPLITTER
+# variable_bowden_load_length1: 0
+# variable_bowden_load_length2: 102
+# variable_bowden_unload_length: 120
+# MMU2S STANDARD
+# variable_bowden_load_length1: 770
+# variable_bowden_load_length2: 790
+# variable_bowden_unload_length: 830
+
+###############################
+###############################
+# END OF PARAMETER TO ADAPT TO YOUR SETUP
+###############################
+###############################
+
+
+###############################
+#
+# MMU2S endstop status : IR extruder, PINDA, selector switch
+# 0 : open, 1 : TRIGGERED
+#
+###############################
+
+# Display the last queried status
+[gcode_macro ENDSTOPS_STATUS]
+gcode:
+    M118 Enstop status :
+    M118 Extruder : {printer["filament_switch_sensor ir_sensor"].filament_detected}
+    M118 PINDA    : {printer.query_endstops.last_query["manual_stepper gear_stepper"]}
+    M118 Selector : {printer.query_endstops.last_query["manual_stepper selector_stepper"]}
+
+# Query and display the status
+[gcode_macro infos]
+gcode:
+    QUERY_ENDSTOPS
+    ENDSTOPS_STATUS
+
+###############################
+#
+# PAUSE MACROS
+# PAUSE_MMU is called when an human intervention is needed
+# use MMU_UNLOCK to park the idler and start the manual intervention
+# and use RESUME when the invention is ended to resume the current print
+#
+###############################
+
+[pause_resume]
+#recover_velocity: 50.
+
+# park the idler, stop the delayed stop of the heater
+[gcode_macro MMU_UNLOCK]
+gcode:
+   M118 Resume print
+   SET_GCODE_VARIABLE MACRO=PAUSE_MMU VARIABLE=is_paused VALUE=0
+   UPDATE_DELAYED_GCODE ID=disable_heater DURATION=0
+   HOME_IDLER
+   M109 S{printer["gcode_macro PAUSE_MMU"].extruder_temp}
+
+[delayed_gcode disable_heater]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int != 0 %}
+    M118 Disable extruder heater
+    M104 S0
+    {% endif %}
+
+# Pause the MMU, park the extruder at the parking position
+# Save the current state and start the delayed stop of the heated
+# modify the timeout of the printer acorrdly to timeout_pause
+[gcode_macro PAUSE_MMU]
+variable_is_paused: 0
+variable_extruder_temp: 0
+gcode:
+    SET_GCODE_VARIABLE MACRO=PAUSE_MMU VARIABLE=extruder_temp VALUE={printer.extruder.temperature}
+    SET_GCODE_VARIABLE MACRO=PAUSE_MMU VARIABLE=is_paused VALUE=1
+    SAVE_GCODE_STATE NAME=PAUSE_MMU_state
+    SET_IDLE_TIMEOUT TIMEOUT={printer["gcode_macro VAR_MMU2S"].timeout_pause}
+    UPDATE_DELAYED_GCODE ID=disable_heater DURATION={printer["gcode_macro VAR_MMU2S"].disable_heater}
+    M118 START PAUSE
+    bip
+    bip
+    bip
+    PAUSE
+    G91
+    G1 Z{printer["gcode_macro VAR_MMU2S"].pause_z}
+    G90
+    G1 X{printer["gcode_macro VAR_MMU2S"].pause_x} Y{printer["gcode_macro VAR_MMU2S"].pause_y} F3000
+    bip
+    bip
+    bip
+    M118 END PAUSE
+    RESTORE_GCODE_STATE NAME=PAUSE_MMU_state
+
+############################################
+#
+# T0, T1, ..., T4 : Change extruder MACRO
+# if th new extruder is different from the current extruder :
+#     eject the filament if needed
+#     load the new one
+#
+############################################
+
+[gcode_macro T0]
+gcode:
+    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != 0 %}
+    M117 Change Tool T0
+    UT
+    LT VALUE=0
+    {% endif %}
+
+[gcode_macro T1]
+gcode:
+    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != 1 %}
+    M117 Change Tool T1
+    UT
+    LT VALUE=1
+    {% endif %}
+
+[gcode_macro T2]
+gcode:
+    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != 2 %}
+    M117 Change Tool T2
+    UT
+    LT VALUE=2
+    {% endif %}
+
+[gcode_macro T3]
+gcode:
+    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != 3 %}
+    M117 Change Tool T3
+    UT
+    LT VALUE=3
+    {% endif %}
+
+[gcode_macro T4]
+gcode:
+    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != 4 %}
+    M117 Change Tool T4
+    UT
+    LT VALUE=4
+    {% endif %}
+
+############################################
+#
+# Unloading/Loading Macros
+#
+############################################
+
+# Load filament from MMU2S to nozzle
+[gcode_macro LT]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    M118 LT {params.VALUE|int} ...
+        SELECT_TOOL VALUE={params.VALUE|int}
+        LOAD_FILAMENT_TO_EXTRUDER
+        LOAD_FILAMENT_IN_EXTRUDER
+    {% endif %}
+
+# Unload filament from nozzle to MMU2S
+[gcode_macro UT]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != -1 %}
+    M118 UT {printer["gcode_macro SELECT_TOOL"].color_selected|int} ...
+    UNLOAD_FILAMENT_IN_EXTRUDER
+    SELECT_TOOL VALUE={printer["gcode_macro SELECT_TOOL"].color_selected|int}
+    UNLOAD_FILAMENT_FROM_EXTRUDER
+    {% endif %}
+    {% endif %}
+
+############################################
+#
+# Select/Unselect a tool
+# move the idler and the color selector (if needed) to the requested tool (0-4)
+#
+############################################
+
+# Select a tool. move the idler and then move the color selector (if needed)
+[gcode_macro SELECT_TOOL]
+variable_tool_selected: -1
+variable_color_selected: -1
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro HOME_MMU"].home != -1 %}
+        M118 Select Tool {params.VALUE} ...
+        MANUAL_STEPPER STEPPER=idler_stepper MOVE={printer["gcode_macro VAR_MMU2S"].idler[params.VALUE|int]}
+        {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+        MANUAL_STEPPER STEPPER=selector_stepper MOVE={printer["gcode_macro VAR_MMU2S"].colorselector[params.VALUE|int]}
+        {% endif %}
+        SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=tool_selected VALUE={params.VALUE}
+        SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE={params.VALUE}
+        M118 Tool {params.VALUE} Enabled
+    {% else %}
+    M118 Could not select tool, MMU is not homed
+    {% endif %}
+    {% endif %}
+
+# Unselect a tool, only park the idler
+[gcode_macro UNSELECT_TOOL]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro HOME_MMU"].home != -1 %}
+        MANUAL_STEPPER STEPPER=idler_stepper MOVE={printer["gcode_macro VAR_MMU2S"].idler_home_position}
+        SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=tool_selected VALUE=-1
+    {% else %}
+        M118 Could not unselect tool, MMU is not homed
+    {% endif %}
+    {% endif %}
+
+
+############################################
+#
+# Loading/Unloading part FROM/TO EXTRUDER TO/FROM NOZZLE
+# During loading, if the IR sensor does not detect the filament, it tries 3 times to reinsert it
+#
+############################################
+
+# Try to reinsert the filament into the extruder
+# Called when the IR sensor does not detect the filament
+# the MMU2S push the filament of 10mm
+# and the extruder gear try to insert it into the nozzle
+[gcode_macro RETRY_LOAD_FILAMENT_IN_EXTRUDER]
+gcode:
+    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == False %}
+    M118 Retry loading ....
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer.extruder.temperature > printer["gcode_macro VAR_MMU2S"].min_temp_extruder %}
+        M118 Loading Filament...
+        G91
+        SELECT_TOOL VALUE={printer["gcode_macro SELECT_TOOL"].color_selected|int}
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE=10 SPEED=30
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        G1 E10 F600
+        UNSELECT_TOOL
+        G1 E10 F1800
+        G1 E22 F1393
+        G1 E10 F614
+        G92 E0
+        G90
+    {% endif %}
+    {% endif %}
+    {% endif %}
+
+# Load the filament into the extruder
+# the MMU2S push the filament of 20mm
+# and the extruder gear try to insert it into the nozzle
+# if the filament is not detected by the IR, call RETRY_LOAD_FILAMENT_IN_EXTRUDER 3 times
+#
+# Call PAUSE_MMU if the filament is not detected by the IR sensor
+[gcode_macro LOAD_FILAMENT_IN_EXTRUDER]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer.extruder.temperature > printer["gcode_macro VAR_MMU2S"].min_temp_extruder %}
+        M118 Loading Filament...
+        G91
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE=20 SPEED=30
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        G1 E10 F600
+        UNSELECT_TOOL
+        G1 E10 F1800
+        G1 E22 F1393
+        G1 E10 F614
+        G92 E0
+        G90
+        RETRY_LOAD_FILAMENT_IN_EXTRUDER
+        RETRY_LOAD_FILAMENT_IN_EXTRUDER
+        RETRY_LOAD_FILAMENT_IN_EXTRUDER
+        IS_FILAMENT_IN_EXTRUDER
+        M118 Load Complete
+    {% else %}
+    M118 Extruder too cold
+    PAUSE_MMU
+    {% endif %}
+    {% endif %}
+
+# Retry unload, try correct misalignement of bondtech gear
+[gcode_macro RETRY_UNLOAD_FILAMENT_IN_EXTRUDER]
+gcode:
+    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
+    M118 Retry unloading ....
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer.extruder.temperature > printer["gcode_macro VAR_MMU2S"].min_temp_extruder %}
+        M118 Unloading Filament...
+        G91
+        G92 E0
+        G1 E10 F500
+        G1 E-20 F500
+        G1 E-60 F3000
+        G92 E0
+        G90
+    {% endif %}
+    {% endif %}
+    {% endif %}
+
+# Unload the filament from the nozzle (without RAMMING !!!)
+# Retract the filament from the nozzle to the out of the extruder gear
+#
+# Call PAUSE_MMU if the IR sensor detects the filament after the ejection
+[gcode_macro UNLOAD_FILAMENT_IN_EXTRUDER]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer.extruder.temperature > printer["gcode_macro VAR_MMU2S"].min_temp_extruder %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int == -1 %}
+        M118 Unloading Filament...
+        G91
+        G1 E-20 F500
+        G1 E-30 F3000
+        G90
+        G92 E0
+        G4 P1000
+        RETRY_UNLOAD_FILAMENT_IN_EXTRUDER
+        RETRY_UNLOAD_FILAMENT_IN_EXTRUDER
+        RETRY_UNLOAD_FILAMENT_IN_EXTRUDER
+        IS_FILAMENT_STUCK_IN_EXTRUDER
+        M118 Filament removed
+    {% else %}
+        M118 Tool selected, UNSELECT it
+        PAUSE_MMU
+    {% endif %}
+    {% else %}
+        M118 Extruder too cold
+        PAUSE_MMU
+    {% endif %}
+    {% endif %}
+
+# Ramming process for standart PLA, code extracted from slic3r gcode
+[gcode_macro RAMMING_SLICER]
+gcode:
+    G91
+    G92 E0
+    G1 E0.6873 F165
+    G1 E0.7007 F168
+    G1 E0.7376 F177
+    G1 E0.7879 F189
+    G1 E0.8214 F197
+    G1 E0.8483 F204
+    G1 E0.9019 F216
+    G1 E0.9757 F234
+    G1 E1.0260 F246
+    G1 E1.0427 F250
+    G1 E-15.000 F6000.0
+    G1 E-24.5000 F5400.0
+    G1 E-7.0000 F2700.0
+    G1 E-3.5000 F1620.0
+    G1 E20.000 F180.0
+    G1 E-20.000 F160.0
+    G1 E20.000 F140.0
+    G1 E-20.000 F120.0
+    G1 E-50.0000 F2000
+    G92 E0
+
+# Unload from extruder with ramming
+[gcode_macro UNLOAD_FILAMENT_IN_EXTRUDER_WITH_RAMMING]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer.extruder.temperature > printer["gcode_macro VAR_MMU2S"].min_temp_extruder %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int == -1 %}
+        M118 Ramming and Unloading Filament...
+        G91
+        RAMMING_SLICER
+        UNLOAD_FILAMENT_IN_EXTRUDER
+        M118 Filament rammed and removed
+    {% else %}
+        M118 Tool selected, UNSELECT it
+        PAUSE_MMU
+    {% endif %}
+    {% else %}
+        M118 Extruder too cold
+        PAUSE_MMU
+    {% endif %}
+    {% endif %}
+
+############################################
+#
+# Loading/Unloading MACROS from MMU2S to the enter of the extruder gear
+#
+############################################
+
+# Load filament until the PINDA detect it and push it 10mm more to be sure is well detected
+#
+# PAUSE_MMU is called if the PINDA does not detect the filament
+[gcode_macro LOAD_FILAMENT_TO_PINDA]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
+        M118 Loading filament to PINDA ...
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE={printer["gcode_macro VAR_MMU2S"].pinda_load_length} STOP_ON_ENDSTOP=2
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE=10
+        IS_FILAMENT_IN_PINDA
+        M118 Loading done to PINDA
+    {% else %}
+        M118 Cannot load to PINDA, tool not selected !!
+    {% endif %}
+    {% endif %}
+
+# Load from the PINDA to the extruder gear
+[gcode_macro LOAD_FILAMENT_FROM_PINDA_TO_EXTRUDER]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
+        M118 Loading filament from PINDA to extruder ...
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE={printer["gcode_macro VAR_MMU2S"].bowden_load_length1} SPEED=120 ACCEL=80
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE={printer["gcode_macro VAR_MMU2S"].bowden_load_length2} SPEED=60 ACCEL=80
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        M118 Loading done from PINDA to extruder
+    {% else %}
+        M118 Cannot load to extruder, tool not selected !!
+    {% endif %}
+    {% endif %}
+
+# Load from MMU2S to extruder gear by calling LOAD_FILAMENT_TO_PINDA and next LOAD_FILAMENT_FROM_PINDA_TO_EXTRUDER
+#
+# PAUSE_MMU is called if the PINDA does not detect the filament
+[gcode_macro LOAD_FILAMENT_TO_EXTRUDER]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
+        M118 Loading filament from MMU to extruder ...
+        {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+        LOAD_FILAMENT_TO_PINDA
+        {% endif %}
+        LOAD_FILAMENT_FROM_PINDA_TO_EXTRUDER
+        M118 Loading done from MMU to extruder
+    {% else %}
+        M118 Cannot load to extruder, tool not selected !!
+    {% endif %}
+    {% endif %}
+
+# Unload filament until the PINDA detect it and push it -10mm more to be sure is well not detected
+#
+# PAUSE_MMU is called if the PINDA does detect the filament
+[gcode_macro UNLOAD_FILAMENT_FROM_PINDA]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
+        M118 Unloading filament from PINDA ...
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro VAR_MMU2S"].pinda_unload_length}
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE=-10
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        IS_FILAMENT_STUCK_IN_PINDA
+        SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE=-1
+        M118 Unloading done from PINDA
+    {% else %}
+        M118 Cannot unload from PINDA, tool not selected !!
+    {% endif %}
+    {% endif %}
+
+# Unload from extruder gear to the PINDA
+[gcode_macro UNLOAD_FILAMENT_FROM_EXTRUDER_TO_PINDA]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
+        M118 Unloading filament from extruder to PINDA ...
+        MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
+        {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro VAR_MMU2S"].bowden_unload_length} SPEED=120 ACCEL=80 STOP_ON_ENDSTOP=-2
+        IS_FILAMENT_STUCK_IN_PINDA
+        {% else %}
+        MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro VAR_MMU2S"].bowden_unload_length} SPEED=120 ACCEL=80
+        {% endif %}
+        M118 Unloading done from PINDA to extruder
+    {% else %}
+        M118 Cannot unload from extruder to PINDA, tool not selected !!
+    {% endif %}
+    {% endif %}
+
+# Unload from the extruder gear to the MMU2S by calling UNLOAD_FILAMENT_FROM_EXTRUDER_TO_PINDA and next UNLOAD_FILAMENT_FROM_PINDA
+[gcode_macro UNLOAD_FILAMENT_FROM_EXTRUDER]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
+        M118 Unloading filament from extruder to MMU ...
+        UNLOAD_FILAMENT_FROM_EXTRUDER_TO_PINDA
+        {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+        UNLOAD_FILAMENT_FROM_PINDA
+        {% endif %}
+        M118 Unloading done from extruder to MMU
+    {% else %}
+        M118 Cannot unload from extruder to MMU, tool not selected !!
+    {% endif %}
+    {% endif %}
+
+############################################
+#
+# Endstop check MACROS
+# Verify the state of the PINDA or the IR sensor
+#
+############################################
+
+# Call PAUSE_MMU if the filament is not detected by the IR sensor
+[gcode_macro IS_FILAMENT_IN_EXTRUDER]
+gcode:
+    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
+        M118 Filament in extruder
+    {% else %}
+        M118 Filament not in extruder
+        PAUSE_MMU
+    {% endif %}
+
+# Call PAUSE_MMU if the filament is not detected by the PINDA
+[gcode_macro IS_FILAMENT_IN_PINDA]
+gcode:
+    QUERY_ENDSTOPS
+    IS_IN_PINDA
+
+[gcode_macro IS_IN_PINDA]
+gcode:
+    {% if printer.query_endstops.last_query["manual_stepper gear_stepper"] == 1 %}
+        M118 Filament in PINDA
+    {% else %}
+        M118 Filament not in PINDA
+        PAUSE_MMU
+    {% endif %}
+
+
+# Call PAUSE_MMU if the filament is detected by the IR sensor
+[gcode_macro IS_FILAMENT_STUCK_IN_EXTRUDER]
+gcode:
+    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
+        M118 Filament stuck in extruder
+        PAUSE_MMU
+    {% else %}
+        M118 Filament not in extruder
+    {% endif %}
+
+# Call PAUSE_MMU if the filament is detected by the PINDA
+[gcode_macro IS_FILAMENT_STUCK_IN_PINDA]
+gcode:
+     QUERY_ENDSTOPS
+     IS_STUCK_IN_PINDA
+
+[gcode_macro IS_STUCK_IN_PINDA]
+gcode:
+    {% if printer.query_endstops.last_query["manual_stepper gear_stepper"] == 1 %}
+        M118 Filament stuck in PINDA
+        PAUSE_MMU
+    {% else %}
+        M118 Filament not in PINDA
+    {% endif %}
+
+############################################
+#
+# M702 macro called by the end-gcode to eject the filament at the end of the print
+#
+############################################
+
+# Eject the filament with ramming from the extruder nozzle to the MMU2S
+[gcode_macro EJECT_RAMMING]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["gcode_macro SELECT_TOOL"].color_selected|int != -1 %}
+    M118 UT {printer["gcode_macro SELECT_TOOL"].color_selected|int} ...
+    UNLOAD_FILAMENT_IN_EXTRUDER_WITH_RAMMING
+    SELECT_TOOL VALUE={printer["gcode_macro SELECT_TOOL"].color_selected|int}
+    UNLOAD_FILAMENT_FROM_EXTRUDER
+    {% endif %}
+    {% endif %}
+
+# M702 first part
+# unload filament if inserted into the IR sensor
+[gcode_macro M702]
+gcode:
+    UT
+    QUERY_ENDSTOPS
+    END_M702
+
+# M702 second part
+# Unselect the current tool
+[gcode_macro END_M702]
+gcode:
+    {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+    {% if printer.query_endstops.last_query["manual_stepper gear_stepper"] != 1 %}
+        UNSELECT_TOOL
+        M118 M702 ok ...
+    {% else %}
+        M118 M702 Error !!!
+    {% endif %}
+    {% else %}
+    UNSELECT_TOOL
+    SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE=-1
+    M118 M702 ok ...
+    {% endif %}
+
+############################################
+#
+# MACROS called during homing to try to eject the filament if loaded
+#
+############################################
+
+# Preheat the heater if needed and unload the filament with ramming
+# eject from nozlle to extruder gear out
+[gcode_macro EJECT_FROM_EXTRUDER]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
+        M118 Filament in extruder, trying to eject it ..
+        M118 Preheat Nozzle
+        M109 S{printer["gcode_macro VAR_MMU2S"].extruder_eject_temp}
+        UNLOAD_FILAMENT_IN_EXTRUDER_WITH_RAMMING
+        M104 S0
+    {% else %}
+        M118 Filament not in extruder
+    {% endif %}
+    {% endif %}
+
+# Eject from extruder gear to MMU2S
+[gcode_macro EJECT_BEFORE_HOME]
+gcode:
+    M118 Eject Filament if loaded ...
+    {% if printer["filament_switch_sensor ir_sensor"].filament_detected == True %}
+        EJECT_FROM_EXTRUDER
+        IS_FILAMENT_STUCK_IN_EXTRUDER
+    {% endif %}
+    {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+    {% if printer.query_endstops.last_query["manual_stepper gear_stepper"] == 1 %}
+        UNLOAD_FILAMENT_FROM_EXTRUDER
+        IS_FILAMENT_STUCK_IN_PINDA
+        M118 Filament ejected !
+    {% else %}
+        M118 Filament already ejected !
+    {% endif %}
+    {% else %}
+        M118 Filament already ejected !
+    {% endif %}
+
+############################################
+#
+# Homing MACROS
+# HOME_MMU must be called before using the MMU2S
+#
+############################################
+
+# Home the MMU
+# eject filament if loaded with EJECT_BEFORE_HOME
+# next home the mmu with HOME_MMU_ONLY
+[gcode_macro HOME_MMU]
+variable_home: -1
+gcode:
+    SET_FILAMENT_SENSOR SENSOR=ir_sensor ENABLE=0
+    SET_GCODE_VARIABLE MACRO=HOME_MMU VARIABLE=home VALUE=1
+    M118 Homing MMU ...
+    QUERY_ENDSTOPS
+    EJECT_BEFORE_HOME
+    HOME_MMU_ONLY
+
+# Home the idler
+[gcode_macro HOME_IDLER]
+gcode:
+    M118 Homing idler
+    MANUAL_STEPPER STEPPER=idler_stepper SET_POSITION=0
+    MANUAL_STEPPER STEPPER=idler_stepper MOVE=7
+    MANUAL_STEPPER STEPPER=idler_stepper MOVE=-95
+    MANUAL_STEPPER STEPPER=idler_stepper SET_POSITION=2
+    MANUAL_STEPPER STEPPER=idler_stepper MOVE={printer["gcode_macro VAR_MMU2S"].idler_home_position}
+
+# Home the MMU :
+# 1) home the idler
+# 2) home the color selector (if needed)
+# 3) try to load filament 0 to PINDA and then unload it. Used to verify the MMU2S gear
+#
+# if all is ok, the MMU2S is ready to be used
+[gcode_macro HOME_MMU_ONLY]
+gcode:
+    {% if printer["gcode_macro PAUSE_MMU"].is_paused|int == 0 %}
+    HOME_IDLER
+    {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+    M118 Homing selector
+    MANUAL_STEPPER STEPPER=selector_stepper SET_POSITION=0
+    MANUAL_STEPPER STEPPER=selector_stepper MOVE=-76 STOP_ON_ENDSTOP=1
+    MANUAL_STEPPER STEPPER=selector_stepper SET_POSITION=0
+    {% endif %}
+    MANUAL_STEPPER STEPPER=idler_stepper MOVE=0
+    SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=tool_selected VALUE=-1
+    SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE=-1
+    M118 Test load filament 0
+    SELECT_TOOL VALUE=0
+    {% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
+    LOAD_FILAMENT_TO_PINDA
+    G4 P1000
+    UNLOAD_FILAMENT_FROM_PINDA
+    {% else %}
+    SET_GCODE_VARIABLE MACRO=SELECT_TOOL VARIABLE=color_selected VALUE=-1
+    {% endif %}
+    UNSELECT_TOOL
+    SET_GCODE_VARIABLE MACRO=HOME_MMU VARIABLE=home VALUE=1
+    M118 Homing MMU ended ...
+    {% else %}
+    M118 Homing MMU failed, MMU is paused, unlock it ...
+    {% endif %}
+
+###############################################