Vendor: KMS, 4 gates, selector VirtualSelector. Traced against Happy Hare c54c736, harness profile kms.
filament_compression switch (extruder_homing_endstop: filament_compression): 50 mm/s to endstop_pos 709.1 (= layout.extruder 700 + 9.1), then the extruder reverses off it. That is a plain toolhead switch -- no PSF analog, no buffer ramp -- so klipper-mmu's local toolhead switch input (KLIPPER_MMU_PINS_TOOLHEAD) can reproduce the sensing itself.[mmu_buffer unit0] is a switched (tension/compression) buffer: tension_pin: !unit0_buffer:PA1, compression_pin: !unit0_buffer:PA0, buffer_range 8, buffer_maxrange 13, buffer_spring_state: tension. No proportional/PSF section. klipper-mmu carries switched buffer pins for follow (PINS_BUFFER_A/B) but no buffer ramming, so switched-buffer ramming is a gap, not a blocker.[mmu_unit unit0] declares encoder: unit0, and KMS switches encoder checking on (encoder_move_validation: 1, bowden_allowable_encoder_delta: 20.0, gate_endstop_to_encoder: 14, skip_cal_encoder: 1). klipper-mmu's encoder input (KLIPPER_MMU_ENCODER) is optional and off by default for KMS, so the image runs without encoder checks; turning it on needs a wired KLIPPER_MMU_PINS_ENCODER_A.[mmu_unit unit0] also declares espooler: unit0 (espooler_operations: rewind, assist, print, 100% burst power, espooler_max_stepper_speed: 300). Powered rewind is likewise optional (KLIPPER_MMU_POWERED_REWIND, off by default for KMS), so klipper-mmu's KMS runs without an espooler -- recorded as a gap.mmu_exit_0 (tip 0.0, 50 mm/s), then 'Final parking' pulls back 10 mm: operations.preload.end.tip = -10.0 (gate_preload_parking_distance: -10). Rest position: 10 mm behind the gate exit switch. KMS is not in AFC, so there is no second number to weigh.operations.unload.end.tip = -20.0 (gate_parking_distance: -20): the unload reverse-homes onto mmu_exit_0 and parks 20 mm behind it. HH's number stands alone (KMS is not in AFC).gate_final_eject_distance: 300 but homes backwards, so it stops on the mmu_entry switch: operations.eject.end.tip = -150.0 after only -130 mm of travel from the -20 park. The 300 mm budget is a ceiling; the entry switch is the real stop.[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 |
KMS |
version |
1.0 |
num_gates |
4 |
display_name |
KMS-0 |
encoder |
unit0 |
buffer |
unit0 |
espooler |
unit0 |
toolhead |
default |
extruder_name |
extruder |
environment_sensor |
unit0_environment |
filament_heater |
unit0_heater |
gear_steppers |
unit0_gear, unit0_gear_1, unit0_gear_2, unit0_gear_3 |
selector_type |
VirtualSelector |
variable_bowden_lengths |
0 |
variable_rotation_distances |
1 |
require_bowden_move |
1 |
filament_always_gripped |
1 |
show_bypass |
0 |
[mmu_stepper unit0_gear]| Key | Value |
|---|---|
step_pin |
unit0:PB5 |
dir_pin |
unit0:PB6 |
enable_pin |
!unit0:PB3 |
rotation_distance |
22.7316868 |
gear_ratio |
50:17 |
microsteps |
16 |
full_steps_per_rotation |
200 |
[mmu_sensors unit0]| Key | Value |
|---|---|
mmu_entry_switch_pin_0 |
unit0:PA0 |
mmu_entry_switch_pin_1 |
unit0:PA1 |
mmu_entry_switch_pin_2 |
unit0:PA2 |
mmu_entry_switch_pin_3 |
unit0:PA3 |
mmu_exit_switch_pin_0 |
unit0:PA5 |
mmu_exit_switch_pin_1 |
unit0:PA6 |
mmu_exit_switch_pin_2 |
unit0:PA7 |
mmu_exit_switch_pin_3 |
unit0:PC4 |
register_mmu_sensors |
1 |
[mmu_buffer unit0]| Key | Value |
|---|---|
buffer_range |
8 |
buffer_maxrange |
13 |
tension_pin |
!unit0_buffer:PA1 |
compression_pin |
!unit0_buffer:PA0 |
buffer_spring_state |
tension |
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 |
100 |
gear_load_accel |
100 |
gear_unload_speed |
80 |
gear_unload_accel |
100 |
gear_homing_speed |
50 |
virtual_sensor_homing_speed |
15 |
gear_short_move_speed |
80 |
gear_short_move_accel |
400 |
gear_short_move_threshold |
70 |
gate_homing_endstop |
mmu_exit |
gate_homing_max |
300 |
gate_parking_distance |
-20 |
gate_preload_endstop |
mmu_exit |
gate_preload_homing_max |
300 |
gate_preload_parking_distance |
-10 |
gate_preload_attempts |
2 |
gate_endstop_to_encoder |
14 |
gate_autoload |
1 |
gate_final_eject_distance |
300 |
bowden_homing_max |
2000 |
bowden_load_homing_buffer |
20 |
bowden_unload_homing_buffer |
40 |
bowden_apply_correction |
0 |
bowden_allowable_encoder_delta |
20.0 |
bowden_pre_unload_test |
1 |
bowden_pre_unload_error_tolerance |
50 |
bowden_move_error_tolerance |
60 |
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 |
toolhead_move_error_tolerance |
60 |
sync_to_extruder |
1 |
sync_gear_current |
100 |
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 |
flowguard_encoder_mode |
0 |
flowguard_encoder_max_motion |
20 |
espooler_min_distance |
30 |
espooler_max_stepper_speed |
300 |
espooler_min_stepper_speed |
0 |
espooler_speed_exponent |
0.5 |
espooler_assist_reduced_speed |
50 |
espooler_printing_power |
0 |
espooler_operations |
rewind, assist, print |
espooler_assist_extruder_move_length |
100 |
espooler_assist_burst_power |
100 |
espooler_assist_burst_duration |
0.4 |
espooler_assist_burst_trigger |
0 |
espooler_assist_burst_trigger_max |
3 |
espooler_rewind_burst_power |
100 |
espooler_rewind_burst_duration |
0.4 |
heater_max_temp |
65 |
heater_default_dry_temp |
45 |
heater_default_dry_time |
300 |
heater_default_dry_humidity |
25 |
heater_vent_macro |
_MMU_VENT |
heater_vent_interval |
0 |
heater_rotate_interval |
5 |
autocal_bowden_length |
1 |
autotune_bowden_length |
0 |
skip_cal_rotation_distance |
1 |
autotune_rotation_distance |
0 |
skip_cal_encoder |
1 |
encoder_move_validation |
1 |
Steps/mm (gear): 414.0372330786448
| Phase | Motor | Homing | Endstop | Dist | Speed | Accel | Actual | Homed |
|---|---|---|---|---|---|---|---|---|
| Initial homing to mmu_exit_0 sensor | gear | 1 | mmu_exit_0 | 300.00 | 50.0 | 100.0 | 40.00 | True |
| Final parking | gear | 0 | -10.00 | 80.0 | 400.0 | -10.00 | False |
Ends at tip -10.00 = mmu_exit_0 - 10.00 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 | 300.00 | 50.0 | 100.0 | 10.00 | True |
| Fast loading move through bowden | gear | 0 | 680.00 | 100.0 | 100.0 | 680.00 | False | |
| Homing filament to extruder endstop | gear | 1 | filament_compression | 120.00 | 50.0 | 100.0 | 29.10 | True |
| Reverse homing off compression sensor | extruder | -1 | filament_compression | 26.00 | 16.0 | 1500.0 | 0.00 | True |
| Loading filament to nozzle | gear+extruder | 0 | 68.00 | 18.0 | 400.0 | 68.00 | False |
Ends at tip 777.10 = mmu_exit_0 + 777.10 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 | 80.0 | 100.0 | -650.00 | False | |
| Reverse homing off mmu_exit_0 sensor | gear | -1 | mmu_exit_0 | -340.00 | 50.0 | 100.0 | -49.09 | True |
| Final parking | gear | 0 | -20.00 | 80.0 | 400.0 | -20.00 | False |
Ends at tip -20.00 = mmu_exit_0 - 20.00 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 | -300.00 | 50.0 | 100.0 | -130.00 | True |
Ends at tip -150.00 = mmu_entry - 0.00 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).