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Diffstat (limited to 'docs/G-Codes.md')
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1 files changed, 51 insertions, 8 deletions
diff --git a/docs/G-Codes.md b/docs/G-Codes.md index ae3ebc2b..b8a0ce69 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -341,15 +341,18 @@ The following command is available when the enabled. #### SET_DUAL_CARRIAGE -`SET_DUAL_CARRIAGE CARRIAGE=[0|1] [MODE=[PRIMARY|COPY|MIRROR]]`: +`SET_DUAL_CARRIAGE CARRIAGE=<carriage> [MODE=[PRIMARY|COPY|MIRROR]]`: This command will change the mode of the specified carriage. -If no `MODE` is provided it defaults to `PRIMARY`. Setting the mode -to `PRIMARY` deactivates the other carriage and makes the specified -carriage execute subsequent G-Code commands as-is. `COPY` and `MIRROR` -modes are supported only for `CARRIAGE=1`. When set to either of these -modes, carriage 1 will then track the subsequent moves of the carriage 0 -and either copy relative movements of it (in `COPY` mode) or execute them -in the opposite (mirror) direction (in `MIRROR` mode). +If no `MODE` is provided it defaults to `PRIMARY`. `<carriage>` must +reference a defined primary or dual carriage for `generic_cartesian` +kinematics or be 0 (for primary carriage) or 1 (for dual carriage) +for all other kinematics supporting IDEX. Setting the mode to `PRIMARY` +deactivates the other carriage and makes the specified carriage execute +subsequent G-Code commands as-is. `COPY` and `MIRROR` modes are supported +only for dual carriages. When set to either of these modes, dual carriage +will then track the subsequent moves of its primary carriage and either +copy relative movements of it (in `COPY` mode) or execute them in the +opposite (mirror) direction (in `MIRROR` mode). #### SAVE_DUAL_CARRIAGE_STATE `SAVE_DUAL_CARRIAGE_STATE [NAME=<state_name>]`: Save the current positions @@ -715,6 +718,46 @@ is specified then the toolhead move will be performed with the given speed (in mm/s); otherwise the toolhead move will use the restored g-code speed. +### [generic_cartesian] +The commands in this section become automatically available when +`kinematics: generic_cartesian` is specified as the printer kinematics. + +#### SET_STEPPER_CARRIAGES +`SET_STEPPER_CARRIAGES STEPPER=<stepper_name> CARRIAGES=<carriages> +[DISABLE_CHECKS=[0|1]]`: Set or update the stepper carriages. +`<stepper_name>` must reference an existing stepper defined in `printer.cfg`, +and `<carriages>` describes the carriages the stepper moves. See +[Generic Cartesian Kinematics](Config_Reference.md#generic-cartesian-kinematics) +for a more detailed overview of the `carriages` parameter in the +stepper configuration section. Note that it is only possible +to change the coefficients or signs of the carriages with this +command, but a user cannot add or remove the carriages that the stepper +controls. + +`SET_STEPPER_CARRIAGES` is an advanced tool, and the user is advised +to exercise an extreme caution using it, since specifying incorrect +configuration may physically damage the printer. + +Note that `SET_STEPPER_CARRIAGES` performs certain internal validations +of the new printer kinematics after the change. Keep in mind that if it +detects an issue, it may leave printer kinematics in an invalid state. +This means that if `SET_STEPPER_CARRIAGES` reports an error, it is unsafe +to issue other GCode commands, and the user must inspect the error message +and either fix the problem, or manually restore the previous stepper(s) +configuration. + +Since `SET_STEPPER_CARRIAGES` can update a configuration of a single +stepper at a time, some sequences of changes can lead to invalid +intermediate kinematic configurations, even if the final configuration +is valid. In such cases a user can pass `DISABLE_CHECKS=1` parameters to +all but the last command to disable intermediate checks. For example, +if `stepper a` and `stepper b` initially have `x-y` and `x+y` carriages +correspondingly, then the following sequence of commands will let a user +effectively swap the carriage controls: +`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1` +and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y`, while +still validating the final kinematics state. + ### [hall_filament_width_sensor] The following commands are available when the |