Autoloader

A Klipper firmware extra for an automated multi-filament loader built around the BTT MMB CAN V2.0 board.

Supports up to 32 filament paths with a single shared drive motor, a carriage-style selector motor, a latching servo to engage the drive gear, and one fixed optical encoder per path. Optional per-path entry, toolhead, and extruder entry sensors enable fully automated loading, accurate Bowden tube length detection, and real-time slip monitoring.

Installing for the first time? Read docs/INSTALL.md. It is written for someone who has not seen this project before: what it is, what it changes on your printer, what the setup menu asks, and how to undo it.

Installation

wget -O - https://raw.githubusercontent.com/Cstm3DBldr/autoloader/main/install.sh | bash

After the command finishes, add this line to printer.cfg:

[include autoloader/autoloader.cfg]

This single include pulls in the rest (pin_aliases, hardware, parameters, macros) in the correct order.

Then save and restart Klipper.

Uninstall

cd ~/autoloader
./install.sh --uninstall
rm -rf ~/autoloader

Hardware overview

Component	Hardware	Notes
MCU	BTT MMB CAN V2.0	STM32G0B1, CAN bus
Drive motor	M3 — TMC5160	Single gear, shared across all paths
Selector motor	M1 — TMC5160	Moves carriage to active path, endstop homing
Engage servo	BTT servo header	Latching servo, PWM cut after move
Path encoders	6x fixed optical	Never move; one per path
Entry sensors	6x switch sensors	At roll end of each path
Toolhead sensors	6x EBB36 PB8	Past extruder gears, entering hotend (final load confirmation)
Extruder sensors	6x EBB36 PB5	At toolhead entry, before extruder gears (Bowden calibration endpoint)

File structure

klipper/extras/
    autoloader.py   Main controller, config parsing, GCode registration
    sa_motion.py            Motion primitives (servo, selector, drive, idle timeouts)
    sa_sequences.py         Load and unload sequences
    sa_calibration.py       Calibration routines (drive, encoder, selector, bowden)
    sa_encoder.py           Encoder driver — pulse counting via Klipper buttons module

autoloader/
    autoloader.cfg  Aggregator (printer.cfg pulls only this file)
    pin_aliases.cfg         Physical pins → aliases (one [board_pins] per MCU)
    hardware.cfg            Hardware sections only (MCU, drivers, steppers, servo, encoders, sensors)
    parameters.cfg          The [autoloader] section — all user-tunable values
    macros.cfg              Thin gcode wrappers around the Python backend

moonraker/
    sa_moonraker.py         Moonraker component — REST endpoints + status broadcast

web/
    mainsail/AutoloaderPanel.vue   Mainsail UI panel
    fluidd/AutoloaderPanel.vue     Fluidd UI panel

KlipperScreen/
    panels/sa_*.py          Touchscreen panels (sa_main, sa_load_unload, sa_macros, etc.)
    sa_filament_db.py       Filament profile DB loader (shared with Moonraker)
    sa_klipperscreen.conf   Menu registration

filaments/brands/           Per-brand filament profile .cfg files (color/material/temps)

Path states

Each of the 6 paths has a state that persists across moves:

State	Meaning
`unknown`	Not confirmed — state after boot or explicit reset
`empty`	No filament in path
`partial`	Filament in Bowden tube but not loaded to nozzle — includes filament parked at the entry sensor
`loaded`	Filament loaded all the way to nozzle tip

How a path changes state

The [autoloader] state monitor polls every entry sensor once per second and owns these transitions:

Filament reaches the entry sensor → the path is promoted to partial immediately and holds there, and an auto-park is queued. Only a load promotes further, to loaded.
Entry sensor reads clear on a loaded/partial path for runout_timeout seconds (default 10) → the path drops to empty and its stored filament profile is wiped, so the next load cannot inherit the old brand, colour and temperatures.
A profile is selected on an empty path and nothing is loaded within material_select_timeout seconds (default 60) → the profile is wiped. A path whose entry sensor sees filament keeps its profile until the filament is removed or the profile is changed by hand.

A path with a load, unload or park in flight is skipped entirely: its sensor goes clear and back mid-sequence, and a load can run longer than material_select_timeout.

Auto-park

Inserting filament queues SA_PARK for that path. Parks run one at a time, oldest first, and a request that arrives while another is running is held and run next rather than dropped. Each is re-checked against the sensor immediately before it runs, and skipped during a real print.

This is driven by the state monitor, not by the entry sensors' insert_gcode — see the note in autoloader/hardware.cfg for why that hook silently loses insertions. Trigger latency is up to 1 second.

GCode commands reference

Motion commands

`SA_HOME`

Homes the selector carriage to the endstop using a double-touch sequence (fast approach, back-off, slow re-approach). Always run this before any path selection after power-on or if the carriage position is uncertain.

SA_HOME

`SA_SELECT TOOL=N`

Disengages the servo and moves the selector carriage to path N (neutral, no filament gripped).

SA_SELECT TOOL=2

`SA_ENGAGE`

Engages the drive servo — grips filament in the currently selected path. Run SA_SELECT TOOL=N first.

SA_ENGAGE

`SA_DISENGAGE`

Disengages the drive servo — path returns to neutral.

SA_DISENGAGE

Load / unload

`SA_LOAD TOOL=N`

Full automated load sequence for path N:

Check entry sensor — abort if no filament.
Select path, engage drive gear.
Feed until encoder confirms grip.
Feed through Bowden tube until extruder sensor triggers (or bowden_length reached).
Monitor encoder slip throughout.
Release drive gear.
Heat extruder to load_temperature.
Extrude nozzle_distance mm to push filament to nozzle tip.
Purge purge_length mm.

SA_LOAD TOOL=0

`SA_UNLOAD TOOL=N`

Full automated unload sequence for path N:

Retract nozzle_distance + purge_length mm via extruder motor.
Select path, engage drive gear.
Drive in reverse until entry sensor clears.
Disengage drive gear.

SA_UNLOAD TOOL=3

Status and diagnostics

`SA_STATUS`

Prints a full status table showing all paths — entry/toolhead/extruder sensor states, path state, encoder distance, and mm_per_pulse.

SA_STATUS

`SA_ENCODER_QUERY [TOOL=N] [RESET=1]`

Snapshot of encoder distances and sensor states. Optional RESET=1 zeros counters before reading.

SA_ENCODER_QUERY
SA_ENCODER_QUERY TOOL=2
SA_ENCODER_QUERY RESET=1
SA_ENCODER_QUERY TOOL=2 RESET=1

`SA_ENCODER_WATCH [TOOL=N] [DURATION=30] [INTERVAL=0.5]`

Live encoder delta stream. Prints one line per interval showing movement on each encoder since the previous tick. Useful for confirming which encoder responds to which path.

Paths with any movement are marked with *.
Press CTRL+C (SSH) or ESTOP to abort early.

SA_ENCODER_WATCH
SA_ENCODER_WATCH TOOL=2
SA_ENCODER_WATCH DURATION=60 INTERVAL=1.0

Motor tests

`SA_BUZZ_DRIVE [DISTANCE=5] [SPEED=10] [REPS=3]`

Oscillates the drive motor back and forth to confirm it moves. Safe to run without filament loaded. The motor is disabled after the test.

SA_BUZZ_DRIVE
SA_BUZZ_DRIVE DISTANCE=10 SPEED=20 REPS=5

`SA_BUZZ_SELECTOR [DISTANCE=10] [SPEED=50] [REPS=3]`

Oscillates the selector motor back and forth. Run after SA_HOME so position is known.

SA_BUZZ_SELECTOR
SA_BUZZ_SELECTOR DISTANCE=20 SPEED=100

State management

`SA_SET_STATE TOOL=N STATE=x`

Manually override the path state. Valid states: unknown, empty, partial, loaded.

SA_SET_STATE TOOL=0 STATE=empty
SA_SET_STATE TOOL=2 STATE=loaded

Calibration commands

Calibration uses a non-blocking phase state machine. Each calibration command does its automated work, prints the result, then pauses and tells you exactly what to send next. You respond with SA_RESPOND VALUE=<answer> and the next phase runs immediately as a normal GCode command — no polling, no timeouts.

Send SA_RESPOND VALUE=abort at any prompt to cancel the calibration.
A Klipper restart (including from SAVE_CONFIG) always clears any in-progress calibration state.

`SA_RESPOND VALUE=x`

Advances the active calibration to its next phase.

SA_RESPOND VALUE=yes
SA_RESPOND VALUE=no
SA_RESPOND VALUE=103.5
SA_RESPOND VALUE=abort

Drive motor calibration — `SA_CALIBRATE_DRIVE`

Calibrates rotation_distance for the drive motor. One motor drives all paths, so this only needs to be done once.

What it does: Commands 100mm of filament movement, asks you to measure the actual distance, then calculates the correct rotation_distance. Repeats up to 3 times if error is greater than 1mm.

Requirements: Filament loaded past the drive gear on at least one path. A ruler or calipers.

Process:

Run SA_CALIBRATE_DRIVE.
When prompted, enter the path number that has filament loaded.
Mark the filament at the encoder exit (piece of tape works well).
Send SA_RESPOND VALUE=yes when ready.
The routine commands 100mm.
Measure from your mark to the new filament position.
Send SA_RESPOND VALUE=<measured mm> (e.g., SA_RESPOND VALUE=103.5).
Repeat up to 3 passes if needed.
Send SA_RESPOND VALUE=yes to save and restart, or no to queue for later.

Result: Updates rotation_distance in [manual_stepper sa_drive] via SAVE_CONFIG.

Encoder calibration — `SA_CALIBRATE_ENCODER TOOL=N`

Calibrates mm_per_pulse for one path encoder using 5 x 400mm feed/retract cycles.

Requirements: Filament loaded past drive gear and through encoder for path N. Enough free filament for ~2000mm total travel.

Process:

Run SA_CALIBRATE_ENCODER TOOL=N.
Position filament flush with encoder exit as a zero reference point.
Send SA_RESPOND VALUE=yes.
The routine runs 5 feed + 5 retract cycles automatically.
When prompted, measure the final filament exit distance (should be ~200mm from start).
Send SA_RESPOND VALUE=<measurement> or SA_RESPOND VALUE=ok if correct.
Confirm save and restart.

Result: Updates mm_per_pulse in [sa_encoder N] via SAVE_CONFIG.

Selector calibration — `SA_CALIBRATE_SELECTOR`

Fully automated one-time calibration. The routine homes the carriage, sweeps to the far mechanical stop using TMC5160 stallguard, then homes back to measure the total rail length precisely. Path positions are calculated automatically from the measured travel — no manual measurement needed.

Requirements: SA_HOME must work correctly first. No filament loaded. [gcode_button selector_stall] must be present in hardware.cfg (pin ^!autoloader:SA_SELECTOR_DIAG).

Process:

Run SA_CALIBRATE_SELECTOR.
Send SA_RESPOND VALUE=yes when prompted to confirm ready.
The carriage homes, then sweeps outward. The TMC5160 stop_enable bit latches the stall signal so it is reliably detected after the move. If no stall is detected the carriage briefly contacts the hard stop at reduced current (0.4 A), which is harmless.
The routine homes back to the physical endstop and measures total travel from the MCU step delta.
Calculated positions are displayed. Send SA_RESPOND VALUE=yes to accept or no to cancel.
Send SA_RESPOND VALUE=yes to save and restart, or no to queue for later.

Tuning if the carriage stalls mid-travel (before reaching the far end):

Raise selector_stall_threshold (less sensitive stallguard)
Raise selector_stall_current (more traversal torque)

Result: Updates selector_position_0 through selector_position_N in [autoloader] via SAVE_CONFIG.

Manual alternative: Jog the selector manually with MANUAL_STEPPER STEPPER=sa_selector ENABLE=1 MOVE=<mm> SPEED=30, use SA_ENCODER_WATCH to watch while manually checking carriage alignment, and update selector_position_N values in hardware.cfg by hand.

Bowden tube calibration — `SA_CALIBRATE_BOWDEN TOOL=N`

Calibrates the exact Bowden tube length for one path by detecting when filament reaches the extruder gears. Requires extruder_sensor_N configured.

Requirements: extruder_sensor_N wired and configured. Filament loaded to entry sensor on path N.

Process:

Run SA_CALIBRATE_BOWDEN TOOL=N.
Enter the estimated tube length when prompted (over-estimate is safer).
The routine runs 3 trials: fast approach to 90% of estimate, then slow inch-forward until the extruder sensor triggers.
Results are averaged.
Confirm save and restart.

Result: Updates bowden_length_N in [autoloader] via SAVE_CONFIG. The load sequence uses this value as the target for the Bowden feed phase.

Calibration sequence (first-time setup)

Recommended order for a new installation:

Flash and connect the BTT MMB CAN V2.0 board.
Update canbus_uuid in hardware.cfg.
Test motors: SA_BUZZ_DRIVE then SA_BUZZ_SELECTOR — confirm both move.
Test servo: SA_ENGAGE then SA_DISENGAGE — confirm servo moves.
Home selector: SA_HOME — confirm endstop triggers and carriage returns.
Calibrate selector: SA_CALIBRATE_SELECTOR — auto-calculates path positions.
Load filament on path 0 past the drive gear.
Calibrate drive motor: SA_CALIBRATE_DRIVE — sets rotation_distance.
Calibrate encoders: SA_CALIBRATE_ENCODER TOOL=N for each path.
Calibrate Bowden lengths: SA_CALIBRATE_BOWDEN TOOL=N for each path (requires extruder sensors).
Test full load: SA_LOAD TOOL=0 — verify complete sequence.

Klipper status object

The autoloader state is accessible in macros as printer['autoloader']:

{% set sa = printer['autoloader'] %}
{% if sa.filament_loaded[0] %}
  { action_respond_info("Path 0 is loaded") }
{% endif %}

Available keys:

Key	Type	Description
`num_paths`	int	Number of configured paths
`current_path`	int	Active path index, -1 if unhomed
`servo_engaged`	bool	True if drive servo is engaged
`path_states`	list[str]	State string per path
`encoder_dist`	list[float]	Current encoder distance per path (mm)
`entry_filament`	list[bool]	Filament at roll end per path
`toolhead_filament`	list[bool]	Filament at toolhead per path
`extruder_filament`	list[bool]	Filament at extruder gears per path
`filament_loaded`	list[bool]	True if path state is `loaded`
`selector_position`	float	Current path position in mm, -1 if unhomed

Configuration reference

All parameters are set in the [autoloader] section of hardware.cfg.

Hardware references

Key	Default	Description
`drive_stepper`	required	Full name, e.g. `manual_stepper sa_drive`
`selector_stepper`	required	Full name, e.g. `manual_stepper sa_selector`
`servo`	required	Full name, e.g. `servo sa_engage`

Servo

Key	Default	Description
`servo_engaged_angle`	`30`	Degrees — drive gear grips filament
`servo_disengaged_angle`	`160`	Degrees — drive gear releases

Per-path (N = 0 to num_paths-1)

Key	Default	Description
`encoder_N`	`sa_encoder N`	Encoder section name
`entry_sensor_N`	none	Entry sensor section name (optional)
`toolhead_sensor_N`	none	Toolhead sensor section name (optional)
`extruder_sensor_N`	none	Extruder sensor section name (optional, required for bowden cal)
`selector_position_N`	`N * 21.0`	Selector position in mm from home
`extruder_N`	`extruder` (0) / `extruderN`	Extruder name for heating
`bowden_length_N`	`800.0`	Bowden tube length mm (calibrate with SA_CALIBRATE_BOWDEN)

Motion parameters

Key	Default	Description
`num_paths`	`6`	Number of paths (1-32)
`tube_length`	`800`	Legacy Bowden length (mm), used if bowden_length_N not set
`nozzle_distance`	`50`	Distance from extruder gears to nozzle tip (mm)
`purge_length`	`30`	Purge extrusion after nozzle is reached (mm)
`engage_max_distance`	`60`	Max drive travel before expecting encoder motion (mm)
`load_temperature`	`200`	Minimum hotend temp before extruder moves (C)
`feed_speed`	`50`	Drive motor speed (mm/s)
`selector_speed`	`200`	Selector motor speed (mm/s)
`feed_step_size`	`10`	Drive step per loop iteration (mm)
`slip_tolerance`	`15`	Encoder vs stepper slip warning threshold (%)
`sensor_polling_delay`	`0.2`	Seconds between sensor checks in feed loops
`servo_move_delay`	`0.3`	Seconds to wait after servo command
`stepper_timeout`	`120`	Seconds before idle steppers auto-disable
`runout_timeout`	`10`	Seconds the entry sensor must read clear before a loaded path is declared empty and its filament profile wiped
`material_select_timeout`	`60`	Seconds a filament profile may sit on an empty path before it is wiped (`0` disables)
`selector_max_travel`	`200.0`	Max mm for selector far-end detection / cal sweep
`selector_homing_speed`	`50.0`	Homing approach speed (mm/s)
`selector_homing_backoff`	`5.0`	Back-off distance before slow re-approach (mm)
`selector_stall_current`	`0.4`	Motor current (A) during SA_CALIBRATE_SELECTOR sweep — lower than run_current
`selector_stall_threshold`	`3`	TMC5160 SGT value for stallguard sensitivity (raise to reduce false triggers)
`selector_stall_speed`	`50.0`	Sweep speed (mm/s) during SA_CALIBRATE_SELECTOR

Park / clean

Key	Default	Description
`cooling_pad_enabled`	`True`	Call `PARK_ON_COOLING_PAD` after load/unload
`clean_nozzle_enabled`	`True`	Call `SA_CLEAN_NOZZLE` before parking — disable if you have no brush

Printer macros required by the autoloader

The autoloader calls two macros that you define in your printer config. Both must exist when the corresponding config options are enabled.

`PARK_ON_COOLING_PAD`

Moves the toolhead to your cooling pad or parking position. Do not change Z — the autoloader holds Z at load_park_z throughout the load/unload sequence.

[gcode_macro PARK_ON_COOLING_PAD]
gcode:
    G90
    G0 X0  Y300 F5000
    G0 Y350 F5000
    G0 X30  F5000

`SA_CLEAN_NOZZLE`

Wipes the nozzle on your brush or cleaning pad. Called after the heater is commanded off but while the nozzle is still hot. Do not change Z — keep all moves at the current height so the autoloader can maintain load_park_z.

A starter template is included in autoloader/macros.cfg. Customize the X/Y coordinates for your brush position:

[gcode_macro SA_CLEAN_NOZZLE]
description: Wipe nozzle on brush pad. Called by autoloader after load/unload.
gcode:
    G90
    G0 X80 Y350 F5000   ; approach brush
    G0 X40 F5000        ; wipe pass 1
    G0 X70 F5000
    G0 X40 F5000        ; wipe pass 2
    G0 X70 F5000
    G0 X30 Y300 F5000   ; clear brush area

Set clean_nozzle_enabled: False in hardware.cfg to skip nozzle wiping entirely.

Sensor wiring

Entry sensors (`^!autoloader:SA_ENTRY_N`)

Pull-up + invert — sensors read HIGH (active) when empty on this hardware. If your sensors read the opposite, remove the ! from switch_pin.

Toolhead sensors (`^etN:PB8`)

One per BTT EBB36 toolhead board. Pull-up only (not inverted). Detects filament past the extruder gears, entering the hotend. Used as final load confirmation.

Extruder entry sensors (`^etN:PB5`)

One per BTT EBB36 toolhead board. Detects filament arriving at the extruder gears (toolhead entry, before the gears). Enables sensor-based load targeting (more reliable than a fixed tube length). Required for SA_CALIBRATE_BOWDEN.

Stepper idle timeout

All steppers are automatically disabled after stepper_timeout seconds (default 120s) following the last move. This prevents heat build-up and motor noise. The timeout is reset on every motion command and cancelled immediately when a new move starts.

To disable auto-timeout behavior, set stepper_timeout: 0 in hardware.cfg. Note: this is a per-extra timeout independent of Klipper's main [idle_timeout].

Backing up the printer

scripts/backup_printer_config.sh snapshots the printer's live configuration onto a dedicated printer-backup/known-good-<date> branch, so there is a known-good reference to diff against or restore from after a change goes wrong. Run it from the repo on your PC, not on the printer:

bash "/c/Users/Mike/Claude Project Files/Autoloader/scripts/backup_printer_config.sh"

Add a label to distinguish two snapshots taken the same day:

bash "/c/Users/Mike/Claude Project Files/Autoloader/scripts/backup_printer_config.sh" before-respooler

It captures two sets of files, for two different reasons:

Files the repo already tracks and deploys (autoloader/*.cfg, KlipperScreen panels, sa_klipperscreen.conf) land in their normal repo paths, so git diff main <branch> shows exactly what drifted on the printer — tuned values, Mainsail config-editor edits, and whatever SAVE_CONFIG wrote. In practice the drift is autoloader/variables.cfg, which holds the calibration results.
The rest of ~/printer_data/config — printer.cfg, macros.cfg, homing.cfg, moonraker.conf, Toolchanger/ — is not tracked anywhere else and exists only on the SD card. It lands under printer_snapshot/, along with a MANIFEST.md recording the deployed commit and the Klipper, Moonraker, KlipperScreen and Mainsail versions.

Gcode files, logs and the Moonraker database are skipped. The script refuses to run with uncommitted work or an unreachable printer, and returns you to your original branch when it finishes.

Restoring is a normal checkout:

git checkout printer-backup/known-good-2026-08-30 -- autoloader/parameters.cfg
git checkout printer-backup/known-good-2026-08-30 -- printer_snapshot/

The branch is an archive and is never merged.

Troubleshooting

Encoder shows no motion during load

Check filament is actually past the drive gear engagement point.
Run SA_ENGAGE manually then push filament by hand while watching SA_ENCODER_WATCH TOOL=N.
Verify mm_per_pulse is non-zero in [sa_encoder N].
Run SA_CALIBRATE_ENCODER TOOL=N to re-calibrate.

Selector does not home

Confirm endstop wiring: QUERY_ENDSTOPS should show sa_selector:open when clear and sa_selector:TRIGGERED when pressed.
Check endstop_pin in [manual_stepper sa_selector].
Reduce selector_homing_speed if the carriage overshoots.

Filament not reaching extruder

Check bowden_length_N matches your actual tube length.
If extruder sensor is wired, run SA_CALIBRATE_BOWDEN TOOL=N.
Watch SA_ENCODER_WATCH during a manual load to see where motion stops.

Slip warnings during load

Increase engage_max_distance if warnings appear early in the load.
Check that the servo engaged angle actually grips the filament (SA_ENGAGE then try to pull filament by hand).
Run SA_CALIBRATE_DRIVE to verify rotation_distance is accurate.
Reduce feed_speed for the initial Bowden feed.

SA_RESPOND timeout during calibration

The calibration routine waits 300 seconds (5 minutes) by default for SA_RESPOND.
If you miss the window, re-run the calibration command.
Calibration can always be aborted mid-sequence with SA_RESPOND VALUE=abort.

`SA_PARK` says "nothing to park" and does not move

Expected when the entry sensor is inactive. park_filament() checks the entry sensor first because parking is drive-gear work — with no filament at the entry there is nothing to grip. Feed filament in and it will park normally.

`SA_LOAD` reports "possible broken filament piece in tube"

Raised when the extruder or toolhead sensor reads present while the entry sensor does not. Usually a cut or snapped length left behind after a manual unload. Clear it from the toolhead before loading that path — this guard is protecting you from feeding new filament into an occupied tube.

A path reads `empty` although a toolhead holds filament

Path state describes the autoloader's path, and is inferred from the entry sensor only — _initialize_states_from_sensors() and the runout monitor both ignore the extruder and toolhead sensors. An orphaned length sitting in a toolhead is therefore invisible to path state, which is correct: the autoloader path really is empty. Use SA_SET_STATE TOOL=N STATE=loaded only if the state is genuinely wrong.

Sequences run `G28` on their own

do_load() and do_unload() check _is_homed() and home the printer themselves before any toolhead motion, so an unhomed machine is not a blocker for either. park_filament() never moves the toolhead at all — it is selector and drive work only.

Test logs

Point-in-time captures of what works and what doesn't live in docs/:

File	Notes
`docs/SYSTEMS_TEST_2026-08-30.md`	Baseline after the LED work. Nothing broken — two reported failures were the entry guards correctly refusing paths whose filament had been cut out. Encoders and selector calibrated, 5 of 6 bowden lengths set.

Licence

GPL-3.0-or-later. See LICENSE.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. It is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

GPL-3.0 rather than something permissive because everything this plugs into is already copyleft, and a Klipper extra runs inside Klipper's own process:

Project	Licence
Klipper	GPL-3.0
Moonraker	GPL-3.0
KlipperScreen	AGPL-3.0
Mainsail	GPL-3.0

The KlipperScreen panels are the strictest case — AGPL-3.0 — so anything derived from them carries that obligation regardless of what this file says.

Last updated: 2026-08-30 — added the printer backup script and the first systems-test log.

Name		Name	Last commit message	Last commit date
.claude		.claude
KlipperScreen		KlipperScreen
References/hardware_pinouts		References/hardware_pinouts
autoloader		autoloader
docs		docs
drafts		drafts
filaments/brands		filaments/brands
installer		installer
klipper/extras		klipper/extras
moonraker		moonraker
roadmap		roadmap
scripts		scripts
web		web
.gitignore		.gitignore
CLAUDE.md		CLAUDE.md
HANDOFF.md		HANDOFF.md
LICENSE		LICENSE
README.md		README.md
TODO.md		TODO.md
install.sh		install.sh
post_update.sh		post_update.sh

Latest commit

History

Folders and files

Repository files navigation

Autoloader

Installation

Uninstall

Hardware overview

File structure

Path states

How a path changes state

Auto-park

GCode commands reference

Motion commands

SA_HOME

SA_SELECT TOOL=N

SA_ENGAGE

SA_DISENGAGE

Load / unload

SA_LOAD TOOL=N

SA_UNLOAD TOOL=N

Status and diagnostics

SA_STATUS

SA_ENCODER_QUERY [TOOL=N] [RESET=1]

SA_ENCODER_WATCH [TOOL=N] [DURATION=30] [INTERVAL=0.5]

Motor tests

SA_BUZZ_DRIVE [DISTANCE=5] [SPEED=10] [REPS=3]

SA_BUZZ_SELECTOR [DISTANCE=10] [SPEED=50] [REPS=3]

State management

SA_SET_STATE TOOL=N STATE=x

Calibration commands

SA_RESPOND VALUE=x

Drive motor calibration — SA_CALIBRATE_DRIVE

Encoder calibration — SA_CALIBRATE_ENCODER TOOL=N

Selector calibration — SA_CALIBRATE_SELECTOR

Bowden tube calibration — SA_CALIBRATE_BOWDEN TOOL=N

Calibration sequence (first-time setup)

Klipper status object

Configuration reference

Hardware references

Servo

Per-path (N = 0 to num_paths-1)

Motion parameters

Park / clean

Printer macros required by the autoloader

PARK_ON_COOLING_PAD

SA_CLEAN_NOZZLE

Sensor wiring

Entry sensors (^!autoloader:SA_ENTRY_N)

Toolhead sensors (^etN:PB8)

Extruder entry sensors (^etN:PB5)

Stepper idle timeout

Backing up the printer

Troubleshooting

Encoder shows no motion during load

Selector does not home

Filament not reaching extruder

Slip warnings during load

SA_RESPOND timeout during calibration

SA_PARK says "nothing to park" and does not move

SA_LOAD reports "possible broken filament piece in tube"

A path reads empty although a toolhead holds filament

Sequences run G28 on their own

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`SA_HOME`

`SA_SELECT TOOL=N`

`SA_ENGAGE`

`SA_DISENGAGE`

`SA_LOAD TOOL=N`

`SA_UNLOAD TOOL=N`

`SA_STATUS`

`SA_ENCODER_QUERY [TOOL=N] [RESET=1]`

`SA_ENCODER_WATCH [TOOL=N] [DURATION=30] [INTERVAL=0.5]`

`SA_BUZZ_DRIVE [DISTANCE=5] [SPEED=10] [REPS=3]`

`SA_BUZZ_SELECTOR [DISTANCE=10] [SPEED=50] [REPS=3]`

`SA_SET_STATE TOOL=N STATE=x`

`SA_RESPOND VALUE=x`

Drive motor calibration — `SA_CALIBRATE_DRIVE`

Encoder calibration — `SA_CALIBRATE_ENCODER TOOL=N`

Selector calibration — `SA_CALIBRATE_SELECTOR`

Bowden tube calibration — `SA_CALIBRATE_BOWDEN TOOL=N`

`PARK_ON_COOLING_PAD`

`SA_CLEAN_NOZZLE`

Entry sensors (`^!autoloader:SA_ENTRY_N`)

Toolhead sensors (`^etN:PB8`)

Extruder entry sensors (`^etN:PB5`)

`SA_PARK` says "nothing to park" and does not move

`SA_LOAD` reports "possible broken filament piece in tube"

A path reads `empty` although a toolhead holds filament

Sequences run `G28` on their own