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Optimize unload 

Toolchange during print is now much quieter.
Excessive E-motor movement during print is now gone
This commit is contained in:
Guðni Már Gilbert 2022-08-13 15:49:51 +00:00 committed by D.R.racer
parent 47e57646ea
commit 703c463a49
1 changed files with 27 additions and 39 deletions
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66
Firmware/mmu2.cpp
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@ -14,6 +14,7 @@
#include "strlen_cx.h" #include "strlen_cx.h"
#include "temperature.h" #include "temperature.h"
#include "ultralcd.h" #include "ultralcd.h"
#include "cardreader.h" // for IS_SD_PRINTING
// Settings for filament load / unload from the LCD menu. // Settings for filament load / unload from the LCD menu.
// This is for Prusa MK3-style extruders. Customize for your hardware. // This is for Prusa MK3-style extruders. Customize for your hardware.
@ -38,20 +39,9 @@ static constexpr float MMU2_TOOL_CHANGE_LOAD_LENGTH = 30.0F;
static constexpr float MMU2_LOAD_TO_NOZZLE_FEED_RATE = 20.0F; // mm/s static constexpr float MMU2_LOAD_TO_NOZZLE_FEED_RATE = 20.0F; // mm/s
static constexpr float MMU2_UNLOAD_TO_FINDA_FEED_RATE = 120.0F; // mm/s static constexpr float MMU2_UNLOAD_TO_FINDA_FEED_RATE = 120.0F; // mm/s
// The first the MMU does is initialise its axis. Meanwhile the E-motor will unload 10mm of filament in approx. 1 second. // The first the MMU does is initialise its axis. Meanwhile the E-motor will unload 20mm of filament in approx. 1 second.
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_START_LENGTH = 10.0f; // mm static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_LENGTH = 20.0f; // mm
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_START_FEED_RATE = 10.0f; // mm/s static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_FEED_RATE = 20.0f; // mm/s
// This is -config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU
// To prevent an error 'too long extrusion prevented' this distance is split into two constants:
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_BOWDEN_LENGTH = 427.0f; // mm
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_EXTRA_LENGTH = 42.85f + 20.0f; // mm
// The E-motor must move endlessly until the MMU raises an error, or the FINDA untriggers
// This must be non-blocking for the MMU communications, so we need to unload small segments of
// filament at a time. A fine balance is 6mm of filament at 60mm/s. Though this can be fine tuned.
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_LENGTH = 6.0f; // mm
static constexpr float MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_FEED_RATE = 60.0f; // mm/s
static constexpr uint8_t MMU2_NO_TOOL = 99; static constexpr uint8_t MMU2_NO_TOOL = 99;
static constexpr uint32_t MMU_BAUD = 115200; static constexpr uint32_t MMU_BAUD = 115200;
@ -262,6 +252,13 @@ bool MMU2::tool_change(uint8_t index) {
return false; return false;
if (index != extruder) { if (index != extruder) {
if (!IS_SD_PRINTING && !usb_timer.running())
{
// If Tcodes are used manually through the serial
// we need to unload manually as well
unload();
}
ReportingRAII rep(CommandInProgress::ToolChange); ReportingRAII rep(CommandInProgress::ToolChange);
FSensorBlockRunout blockRunout; FSensorBlockRunout blockRunout;
@ -840,27 +837,22 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
// Act accordingly - one-time handling // Act accordingly - one-time handling
switch (pc) { switch (pc) {
case ProgressCode::UnloadingToFinda: case ProgressCode::UnloadingToFinda:
if ((CommandInProgress)logic.CommandInProgress() == CommandInProgress::UnloadFilament) if ((CommandInProgress)logic.CommandInProgress() == CommandInProgress::UnloadFilament
|| ((CommandInProgress)logic.CommandInProgress() == CommandInProgress::ToolChange))
{ {
// If MK3S sent U0 command, then the code below is not relevant. // If MK3S sent U0 command, ramming sequence takes care of releasing the filament.
// If Toolchange is done while printing, PrusaSlicer takes care of releasing the filament
// If printing is not in progress, ToolChange will issue a U0 command.
break; break;
} }
else
// This is intended to handle Retry option on MMU error screen {
// MMU sends P3 progress code during Query, and if filament is stuck // We're likely recovering from an MMU error
// in the gears, the MK3S needs to move e-axis as well. st_synchronize();
st_synchronize(); unloadFilamentStarted = true;
unloadFilamentStarted = true; current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_LENGTH;
// Unload slowly while MMU is initialising its axis plan_buffer_line_curposXYZE(MMU2_RETRY_UNLOAD_TO_FINDA_FEED_RATE);
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_START_LENGTH; }
plan_buffer_line_curposXYZE(MMU2_RETRY_UNLOAD_TO_FINDA_START_FEED_RATE);
st_synchronize();
// Now do a fast unload in sync with the MMU
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_EXTRA_LENGTH;
plan_buffer_line_curposXYZE(MMU2_UNLOAD_TO_FINDA_FEED_RATE);
st_synchronize();
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_BOWDEN_LENGTH; // Roughly same distance as MMU plans
plan_buffer_line_curposXYZE(MMU2_UNLOAD_TO_FINDA_FEED_RATE);
break; break;
case ProgressCode::FeedingToFSensor: case ProgressCode::FeedingToFSensor:
// prepare for the movement of the E-motor // prepare for the movement of the E-motor
@ -876,14 +868,10 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
switch (pc) { switch (pc) {
case ProgressCode::UnloadingToFinda: case ProgressCode::UnloadingToFinda:
if (unloadFilamentStarted && !blocks_queued()) { // Only plan a move if there is no move ongoing if (unloadFilamentStarted && !blocks_queued()) { // Only plan a move if there is no move ongoing
if (fsensor.getFilamentPresent() == 1)
if (mmu2.FindaDetectsFilament() == 1)
{ {
// We cannot rely on the FSENSOR reading to stop the E-motor current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_LENGTH;
// because the filament can get stuck in the bondtech gears. plan_buffer_line_curposXYZE(MMU2_RETRY_UNLOAD_TO_FINDA_FEED_RATE);
// Use FINDA instead.
current_position[E_AXIS] -= MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_LENGTH;
plan_buffer_line_curposXYZE(MMU2_RETRY_UNLOAD_TO_FINDA_FINE_STEP_FEED_RATE);
} else { } else {
unloadFilamentStarted = false; unloadFilamentStarted = false;
} }