Vendor: EMU, 5 gates, selector VirtualSelector. Traced against Happy Hare c54c736, harness profile emu.
gear_short_move_accel).bowden_estimate_file), but EMU's variable_bowden_lengths=1 and AFC's per-lane afc_bowden_length both want one length per lane.[mmu_toolhead default]| Key | Value |
|---|---|
extruder_switch_pin |
`` |
toolhead_switch_pin |
`` |
register_toolhead_sensors |
1 |
toolhead_extruder_to_nozzle |
72 |
toolhead_sensor_to_nozzle |
62 |
toolhead_entry_to_extruder |
8 |
toolhead_residual_filament |
2 |
toolhead_ooze_reduction |
0 |
[mmu_unit unit0]| Key | Value |
|---|---|
vendor |
EMU |
version |
1.0 |
num_gates |
5 |
display_name |
EMU-0 |
buffer |
unit0 |
toolhead |
default |
extruder_name |
extruder |
fans |
_unit0_fan0, _unit0_fan1, _unit0_fan2, _unit0_fan3, _unit0_fan4 |
environment_sensors |
unit0_Env0, unit0_Env1, unit0_Env2, unit0_Env3, unit0_Env4 |
gear_steppers |
unit0_gear, unit0_gear_1, unit0_gear_2, unit0_gear_3, unit0_gear_4 |
selector_type |
VirtualSelector |
variable_bowden_lengths |
1 |
variable_rotation_distances |
1 |
require_bowden_move |
1 |
filament_always_gripped |
1 |
show_bypass |
0 |
[mmu_stepper unit0_gear]| Key | Value |
|---|---|
step_pin |
unit0_gate0:PB5 |
dir_pin |
unit0_gate0:PB4 |
enable_pin |
!unit0_gate0:PB7 |
rotation_distance |
22.7316868 |
gear_ratio |
1:1 |
microsteps |
4 |
full_steps_per_rotation |
200 |
[mmu_sensors unit0]| Key | Value |
|---|---|
mmu_entry_switch_pin_0 |
^unit0_gate0:PA1 |
mmu_entry_switch_pin_1 |
^unit0_gate1:PA1 |
mmu_entry_switch_pin_2 |
^unit0_gate2:PA1 |
mmu_entry_switch_pin_3 |
^unit0_gate3:PA1 |
mmu_entry_switch_pin_4 |
^unit0_gate4:PA1 |
mmu_exit_switch_pin_0 |
^unit0_gate0:PA0 |
mmu_exit_switch_pin_1 |
^unit0_gate1:PA0 |
mmu_exit_switch_pin_2 |
^unit0_gate2:PA0 |
mmu_exit_switch_pin_3 |
^unit0_gate3:PA0 |
mmu_exit_switch_pin_4 |
^unit0_gate4:PA0 |
register_mmu_sensors |
1 |
[mmu_buffer unit0]| Key | Value |
|---|---|
buffer_range |
16 |
buffer_maxrange |
16 |
buffer_spring_state |
tension |
analog_pin |
unit0_gate0:PA3 |
analog_max_compression |
1.0 |
analog_max_tension |
0.0 |
analog_neutral_point |
0.5 |
analog_gamma |
1.0 |
analog_sensor_threshold |
0.9 |
register_buffer_sensors |
1 |
| Key | Value |
|---|---|
log_level |
1 |
log_file_level |
2 |
log_statistics |
1 |
log_visual |
1 |
log_startup_status |
1 |
log_m117_messages |
1 |
suppress_klipper_warnings |
0 |
extruder_load_speed |
16 |
extruder_unload_speed |
16 |
extruder_sync_load_speed |
18 |
extruder_sync_unload_speed |
18 |
extruder_homing_speed |
16 |
extruder_accel |
1500 |
macro_toolhead_max_accel |
0 |
macro_toolhead_min_cruise_ratio |
0.5 |
force_form_tip_standalone |
1 |
form_tip_macro |
_MMU_FORM_TIP |
extruder_form_tip_current |
100 |
slicer_tip_park_pos |
0 |
force_purge_standalone |
1 |
purge_macro |
_MMU_PURGE |
extruder_purge_current |
100 |
endless_spool_enabled |
0 |
endless_spool_on_load |
0 |
endless_spool_eject_gate |
-1 |
endless_spool_groups |
`` |
spoolman_support |
off |
spoolman_pending_id_timeout |
20 |
spoolman_led_segment |
gate_status |
spoolman_nfc_auto_create |
0 |
t_macro_color |
slicer |
console_stat_columns |
unload, load, post_load, total |
console_stat_rows |
total, total_average, job, job_average, last |
console_gate_stat |
emoticon |
console_always_output_full |
1 |
console_show_colored_text |
1 |
console_show_filament_color |
1 |
timeout_pause |
72000 |
disable_heater |
600 |
default_extruder_temp |
200 |
extruder_temp_variance |
2 |
startup_reset_ttg_map |
0 |
show_error_dialog |
1 |
strict_filament_recovery |
0 |
filament_recovery_on_pause |
1 |
retry_tool_change_on_error |
0 |
bypass_autoload |
0 |
print_start_detection |
1 |
gcode_load_sequence |
0 |
gcode_unload_sequence |
0 |
drying_data |
{ |
'pla' |
(45, 300), |
'pla+' |
(55, 300), |
'petg' |
(60, 300), |
'tpu' |
(55, 300), |
'abs' |
(70, 300), |
'abs+' |
(75, 300), |
'asa' |
(65, 300), |
'nylon' |
(75, 600), |
'pc' |
(75, 600), |
'pva' |
(75, 600), |
'hips' |
(75, 600) |
update_trsync |
0 |
update_bit_max_time |
1 |
update_aht10_commands |
0 |
pause_macro |
PAUSE |
action_changed_macro |
_MMU_ACTION_CHANGED |
print_state_changed_macro |
_MMU_PRINT_STATE_CHANGED |
mmu_event_macro |
_MMU_EVENT |
post_preload_macro |
_MMU_POST_PRELOAD |
pre_unload_macro |
_MMU_PRE_UNLOAD |
post_form_tip_macro |
_MMU_POST_FORM_TIP |
post_unload_macro |
_MMU_POST_UNLOAD |
pre_load_macro |
_MMU_PRE_LOAD |
post_load_macro |
_MMU_POST_LOAD |
unload_sequence_macro |
_MMU_UNLOAD_SEQUENCE |
load_sequence_macro |
_MMU_LOAD_SEQUENCE |
gear_load_speed |
250 |
gear_load_accel |
120 |
gear_unload_speed |
250 |
gear_unload_accel |
120 |
gear_homing_speed |
80 |
virtual_sensor_homing_speed |
15 |
gear_short_move_speed |
80 |
gear_short_move_accel |
80 |
gear_short_move_threshold |
100 |
gate_homing_endstop |
mmu_exit |
gate_homing_max |
600 |
gate_parking_distance |
-1 |
gate_preload_endstop |
mmu_exit |
gate_preload_homing_max |
600 |
gate_preload_parking_distance |
-1 |
gate_preload_attempts |
2 |
gate_autoload |
1 |
gate_final_eject_distance |
100 |
bowden_homing_max |
2000 |
bowden_load_homing_buffer |
20 |
bowden_unload_homing_buffer |
40 |
extruder_homing_endstop |
filament_compression |
extruder_homing_max |
100 |
extruder_collision_homing_current |
30 |
toolhead_unload_safety_margin |
10 |
toolhead_post_load_tighten |
60 |
toolhead_post_load_tension_adjust |
1 |
toolhead_entry_tension_test |
1 |
sync_to_extruder |
1 |
sync_gear_current |
52 |
sync_form_tip |
1 |
sync_purge |
1 |
sync_feedback_enabled |
1 |
sync_feedback_speed_multiplier |
5 |
sync_feedback_boost_multiplier |
3 |
sync_feedback_extrude_threshold |
5 |
sync_feedback_debug_log |
0 |
flowguard_enabled |
1 |
flowguard_max_relief |
40 |
tangle_prevention_enabled |
1 |
tangle_prevention_threshold |
0.3 |
tangle_prevention_release |
0.2 |
default_fan_temperature_source |
mcu |
default_fan_on_temp |
49.0 |
default_fan_off_temp |
47.0 |
fan_polling_time |
5.0 |
fan_control_enabled |
1 |
fan_forced |
2 |
autocal_bowden_length |
1 |
autotune_bowden_length |
0 |
skip_cal_rotation_distance |
1 |
autotune_rotation_distance |
0 |
Steps/mm (gear): 35.19316481168481
| Phase | Motor | Homing | Endstop | Dist | Speed | Accel | Actual | Homed |
|---|---|---|---|---|---|---|---|---|
| Initial homing to mmu_exit_0 sensor | gear | 1 | mmu_exit_0 | 600.00 | 80.0 | 120.0 | 40.00 | True |
| Final parking | gear | 0 | -1.00 | 80.0 | 80.0 | -1.00 | False |
Ends at tip -1.00 = mmu_exit_0 - 1.00 mm (filament_pos=0, gate_status=1).
No motion (already in the requested state).
| Phase | Motor | Homing | Endstop | Dist | Speed | Accel | Actual | Homed |
|---|---|---|---|---|---|---|---|---|
| Initial homing to mmu_exit_0 sensor | gear | 1 | mmu_exit_0 | 600.00 | 80.0 | 120.0 | 1.00 | True |
| Fast loading move through bowden | gear | 0 | 680.00 | 250.0 | 120.0 | 680.00 | False | |
| Homing filament to extruder endstop | gear | 1 | filament_compression | 120.00 | 80.0 | 120.0 | 31.20 | True |
| Synced feed to establish extruder grip | gear+extruder | 0 | 8.00 | 18.0 | 400.0 | 8.00 | False | |
| Proportional extruder entry validation step 1 | extruder | 0 | 8.00 | 16.0 | 1500.0 | 8.00 | False | |
| Loading filament to nozzle | gear+extruder | 0 | 52.00 | 18.0 | 400.0 | 52.00 | False | |
| Proportional initial adjust - extruder load | gear | 0 | 8.00 | 80.0 | 80.0 | 8.00 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False | |
| Proportional adjust - extruder load | gear | 0 | 0.80 | 80.0 | 80.0 | 0.80 | False |
Ends at tip 794.40 = filament_compression + 83.20 mm (filament_pos=10, gate_status=1).
| Phase | Motor | Homing | Endstop | Dist | Speed | Accel | Actual | Homed |
|---|---|---|---|---|---|---|---|---|
| Unloading extruder | gear+extruder | 0 | -33.01 | 18.0 | 400.0 | -33.01 | False | |
| Fast unloading move through bowden | gear | 0 | -650.00 | 250.0 | 120.0 | -650.00 | False | |
| Reverse homing off mmu_exit_0 sensor | gear | -1 | mmu_exit_0 | -640.00 | 80.0 | 120.0 | -66.39 | True |
| Final parking | gear | 0 | -1.00 | 80.0 | 80.0 | -1.00 | False |
Ends at tip -1.00 = mmu_exit_0 - 1.00 mm (filament_pos=0, gate_status=2).
| Phase | Motor | Homing | Endstop | Dist | Speed | Accel | Actual | Homed |
|---|---|---|---|---|---|---|---|---|
| Ejecting filament out of gate | gear | -1 | mmu_entry | -100.00 | 80.0 | 120.0 | -100.00 | False |
Ends at tip -101.00 = mmu_entry + 49.00 mm (filament_pos=0, gate_status=0).
| Upstream concept | AFC | Happy Hare | klipper-mmu today | Status |
|---|---|---|---|---|
| Lane / gate | [AFC_stepper laneN], unit: X:N | gate index, unit0_gear_ | lane_count, per-lane feeder driver | mapped |
| Prep / entry switch | prep: (TRG) | mmu_entry_ | has_bay_sensors, KLIPPER_MMU_PINS_BAY | mapped |
| Load / exit switch | load: (LOAD) | mmu_exit_ | has_load_sensors, KLIPPER_MMU_PINS_LOAD | mapped |
| Hub / shared exit | [AFC_hub] switch_pin | mmu_shared_exit | has_hub_sensor, PINS_HUB | mapped |
| Virtual hub | switch_pin: virtual + use_dist_hub | no shared exit + gate_homing_endstop: mmu_exit | load_is_virtual_hub | mapped |
| Bowden length | afc_bowden_length / dist_hub per lane | mmu_calibration_bowden_lengths (per gate if variable) | fps_calibrated_steps (one per unit) | gap: per-lane |
| Toolhead switch | pin_tool_start / pin_tool_end, tool_stn | [mmu_toolhead] toolhead_switch_pin, toolhead_sensor_to_nozzle | has_toolhead_sensor, PINS_TOOLHEAD; nozzle distances host-owned | mapped (boundary), host (distances) |
| Switched buffer | [AFC_buffer] advance_pin/trailing_pin + multipliers | [mmu_buffer] compression_pin/tension_pin | has_proportional_buffer=false, PINS_BUFFER_A/B switched | mapped for follow; gap: ramming arrival |
| Proportional buffer (PSF) | AFCFPSBuffer adc_pin, neutral/low/high, P+I | analog_pin, max_compression/tension, threshold; EKF/two-level | DiffA/DiffB pair only (km_diff_adc_config_t) | gap: single-ended ADC frontend |
| FPS (OpenAMS) | AFC_FPS.cfg | n/a | DiffA/DiffB + fps_arrival | mapped |
| Espooler / assist | AFC_assist.py, espooler.assist(pwm) | [mmu_espooler] burst/rewind | has_powered_rewind (KLIPPER_MMU_POWERED_REWIND), PWM duty, current regulator | mapped (on by default for BoxTurtle and Claymore); EMU none |
| Encoder | n/a in EMU | [mmu_encoder], encoder homing | has_encoder (KLIPPER_MMU_ENCODER), PINS_ENCODER_A, optional B: clog/stall and progress checks, CALIBRATE to a toolhead switch | mapped (on by default for ERCF); encoder homing not a mode |
| Selector | HTLF lobes, ViViD/Claymore selector switches | SELECTOR_REGISTRY classes | has_selector, KLIPPER_MMU_SELECTOR_KIND_LINEAR/ROTARY/SERVO/INDEXED; homes before first use; KLIPPER_MMU_CALIBRATE_SELECTOR | mapped |
| Grip / servo | n/a EMU | servo_* | KLIPPER_MMU_PINS_SERVO (Klipper software PWM, any GPIO): LINEAR grip angles, SERVO per-gate angles | mapped |
| Speeds | long/short/hub/calibration modes | load/unload/short/homing/virtual-sensor speeds | feed/rewind velocity, accel/decel, cruise/crawl | mapped in shape; per-device numbers vary |
| Currents | run_current, print_current (follow) | run/hold, sync_gear_current % | run/hold only | gap: follow current |
| Homing budget / attempts | homing_overshoot, homing_delta, attempt loops | gate_homing_max, *_attempts, bowden_homing_max | timeouts in ms, KM_LOAD_ATTEMPTS 3, arrival min/max steps | mapped as deadlines; distance vs time is a translation choice |
| Parking / clearance | hub_clear_move_dis, extruder_clear_dis, park_dist | gate_parking_distance, gate_final_eject_distance | unload_hub_clear_steps; EJECT to BAY-clear | partly mapped; decision |
| Tip forming, cut, purge, park | AFC macros, AFC_form_tip.py | _MMU_FORM_TIP, _MMU_PARK, purge | host/OpenAMS macros | host-only |
| Runout / endless spool | handle_prep_runout, _perform_infinite_runout | mmu_endless_spool.py | host reducer + firmware runout evidence | host-only (with firmware evidence) |
| LEDs, buttons, fans, environment, heater, NFC, Spoolman | many | many | out of scope for firmware | not-applicable |
Not modelled by this dossier: motion timing/step generation, macro bodies, espooler and FlowGuard behaviour, real sensor electrics, and calibration (seeded, not measured).