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Controller Support

Follow this guide to add support for a new 3MS controller.

Requirements

To add support for a new 3MS controller, the following requirements must be met:

Request a new Controller

If you don't want to create the new controller configuration yourself, you can submit a Controller Request.

Supporting a new Controller

If the controller meets the aforementioned requirements, you can proceed with adding support for it.

The following example will be for a SKR Mini E3 V2.0 controller.

Removing Extra Config Sections

  1. Remove all sections from the configuration except the following:

    • Stepper configurations (e.g. [stepper_x])
    • TMC driver configurations (e.g. [tmc2209 stepper_x])
    • Extruder configurations (e.g. [extruder])
    • [static_digital_output]
    • [board_pins]

  2. If the configuration is a main MCU configuration, remove the [mcu] section.

  3. Add the following line to all [static_digital_output] and [board_pins] sections:

    1
    mcu: 3ms

  4. If the configuration is NOT a main MCU, replace [mcu] with [mcu 3ms].

Full Configuration Before/After 
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# This file contains common pin mappings for the BIGTREETECH SKR mini
# E3 v2.0. To use this config, the firmware should be compiled for the
# STM32F103 with a "28KiB bootloader" and USB communication. Also,
# select "Enable extra low-level configuration options" and configure
# "GPIO pins to set at micro-controller startup" to "!PA14".

# The "make flash" command does not work on the SKR mini E3. Instead,
# after running "make", copy the generated "out/klipper.bin" file to a
# file named "firmware.bin" on an SD card and then restart the SKR
# mini E3 with that SD card.

# See docs/Config_Reference.md for a description of parameters.

[stepper_x]
step_pin: PB13
dir_pin: !PB12
enable_pin: !PB14
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC0
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 stepper_x]
uart_pin: PC11
tx_pin: PC10
uart_address: 0
run_current: 0.580
stealthchop_threshold: 999999

[stepper_y]
step_pin: PB10
dir_pin: !PB2
enable_pin: !PB11
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC1
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 stepper_y]
uart_pin: PC11
tx_pin: PC10
uart_address: 2
run_current: 0.580
stealthchop_threshold: 999999

[stepper_z]
step_pin: PB0
dir_pin: PC5
enable_pin: !PB1
microsteps: 16
rotation_distance: 8
endstop_pin: ^PC2
position_endstop: 0.0
position_max: 250

[tmc2209 stepper_z]
uart_pin: PC11
tx_pin: PC10
uart_address: 1
run_current: 0.580
stealthchop_threshold: 999999

[extruder]
step_pin: PB3
dir_pin: !PB4
enable_pin: !PD2
microsteps: 16
rotation_distance: 33.500
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PC8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PA0
control: pid
pid_Kp: 21.527
pid_Ki: 1.063
pid_Kd: 108.982
min_temp: 0
max_temp: 250

[tmc2209 extruder]
uart_pin: PC11
tx_pin: PC10
uart_address: 3
run_current: 0.650
stealthchop_threshold: 999999

[heater_bed]
heater_pin: PC9
sensor_type: ATC Semitec 104GT-2
sensor_pin: PC3
control: pid
pid_Kp: 54.027
pid_Ki: 0.770
pid_Kd: 948.182
min_temp: 0
max_temp: 130

[heater_fan heatbreak_cooling_fan]
pin: PC7

[fan]
pin: PC6

[mcu]
serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00

[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100

[static_digital_output usb_pullup_enable]
pins: !PA14

[board_pins]
aliases:
    # EXP1 header
    EXP1_1=PB5,  EXP1_3=PA9,   EXP1_5=PA10, EXP1_7=PB8,  EXP1_9=<GND>,
    EXP1_2=PA15, EXP1_4=<RST>, EXP1_6=PB9,  EXP1_8=PB15, EXP1_10=<5V>

# See the sample-lcd.cfg file for definitions of common LCD displays.

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# This file contains common pin mappings for the BIGTREETECH SKR mini
# E3 v2.0. To use this config, the firmware should be compiled for the
# STM32F103 with a "28KiB bootloader" and USB communication. Also,
# select "Enable extra low-level configuration options" and configure
# "GPIO pins to set at micro-controller startup" to "!PA14".

# The "make flash" command does not work on the SKR mini E3. Instead,
# after running "make", copy the generated "out/klipper.bin" file to a
# file named "firmware.bin" on an SD card and then restart the SKR
# mini E3 with that SD card.

# See docs/Config_Reference.md for a description of parameters.

[stepper_x]
step_pin: PB13
dir_pin: !PB12
enable_pin: !PB14
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC0
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 stepper_x]
uart_pin: PC11
tx_pin: PC10
uart_address: 0
run_current: 0.580
stealthchop_threshold: 999999

[stepper_y]
step_pin: PB10
dir_pin: !PB2
enable_pin: !PB11
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC1
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 stepper_y]
uart_pin: PC11
tx_pin: PC10
uart_address: 2
run_current: 0.580
stealthchop_threshold: 999999

[stepper_z]
step_pin: PB0
dir_pin: PC5
enable_pin: !PB1
microsteps: 16
rotation_distance: 8
endstop_pin: ^PC2
position_endstop: 0.0
position_max: 250

[tmc2209 stepper_z]
uart_pin: PC11
tx_pin: PC10
uart_address: 1
run_current: 0.580
stealthchop_threshold: 999999

[extruder]
step_pin: PB3
dir_pin: !PB4
enable_pin: !PD2
microsteps: 16
rotation_distance: 33.500
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PC8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PA0
control: pid
pid_Kp: 21.527
pid_Ki: 1.063
pid_Kd: 108.982
min_temp: 0
max_temp: 250

[tmc2209 extruder]
uart_pin: PC11
tx_pin: PC10
uart_address: 3
run_current: 0.650
stealthchop_threshold: 999999

[mcu]
serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00

[static_digital_output usb_pullup_enable]
pins: !PA14

[board_pins]
mcu: 3ms
aliases:
    # EXP1 header
    EXP1_1=PB5,  EXP1_3=PA9,   EXP1_5=PA10, EXP1_7=PB8,  EXP1_9=<GND>,
    EXP1_2=PA15, EXP1_4=<RST>, EXP1_6=PB9,  EXP1_8=PB15, EXP1_10=<5V>

Stepper Configuration

Note

In the following examples, the Z stepper is not included. When creating a 3MS configuration, you can (and probably will) use the Z steppers.

  1. Change any stepper sections to an extruder_stepper named 3ms0, 3ms1, 3ms2, etc. Example:

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    [stepper_x]
...

[stepper_y]
...

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    [extruder_stepper 3ms0]
...

[extruder_stepper 3ms1]
...

  2. Change any extruder sections to an extruder_stepper. Example:

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    [extruder]
...

[extruder1]
...

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5
    [extruder_stepper 3ms2]
...

[extruder_stepper 3ms3]
...

  3. Remove the extruder-specific configurations from the former extruders. Example:

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    [extruder_stepper 3ms2]
step_pin: PB3
dir_pin: !PB4
enable_pin: !PD1
microsteps: 16
rotation_distance: 33.500
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PC8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PA0
control: pid
pid_Kp: 21.527
pid_Ki: 1.063
pid_Kd: 108.982
min_temp: 0
max_temp: 250

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    [extruder_stepper 3ms2]
step_pin: PB3
dir_pin: !PB4
enable_pin: !PD1
microsteps: 16
rotation_distance: 33.500

  4. Update any TMC configuration sections to reflect the new extruder_steppers. Example:

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    [tmc2209 stepper_x]
...

[tmc2209 stepper_y]
...

[tmc2209 extruder]
...

[tmc2209 extruder1]
...

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    [tmc2209 extruder_stepper 3ms0]
...

[tmc2209 extruder_stepper 3ms1]
...

[tmc2209 extruder_stepper 3ms2]
...

[tmc2209 extruder_stepper 3ms3]
...
Full Configuration Before/After 
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# This file contains common pin mappings for the BIGTREETECH SKR mini
# E3 v2.0. To use this config, the firmware should be compiled for the
# STM32F103 with a "28KiB bootloader" and USB communication. Also,
# select "Enable extra low-level configuration options" and configure
# "GPIO pins to set at micro-controller startup" to "!PA14".

# The "make flash" command does not work on the SKR mini E3. Instead,
# after running "make", copy the generated "out/klipper.bin" file to a
# file named "firmware.bin" on an SD card and then restart the SKR
# mini E3 with that SD card.

# See docs/Config_Reference.md for a description of parameters.

[stepper_x]
step_pin: PB13
dir_pin: !PB12
enable_pin: !PB14
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC0
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 stepper_x]
uart_pin: PC11
tx_pin: PC10
uart_address: 0
run_current: 0.580
stealthchop_threshold: 999999

[stepper_y]
step_pin: PB10
dir_pin: !PB2
enable_pin: !PB11
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC1
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 stepper_y]
uart_pin: PC11
tx_pin: PC10
uart_address: 2
run_current: 0.580
stealthchop_threshold: 999999

[stepper_z]
step_pin: PB0
dir_pin: PC5
enable_pin: !PB1
microsteps: 16
rotation_distance: 8
endstop_pin: ^PC2
position_endstop: 0.0
position_max: 250

[tmc2209 stepper_z]
uart_pin: PC11
tx_pin: PC10
uart_address: 1
run_current: 0.580
stealthchop_threshold: 999999

[extruder]
step_pin: PB3
dir_pin: !PB4
enable_pin: !PD2
microsteps: 16
rotation_distance: 33.500
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PC8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PA0
control: pid
pid_Kp: 21.527
pid_Ki: 1.063
pid_Kd: 108.982
min_temp: 0
max_temp: 250

[tmc2209 extruder]
uart_pin: PC11
tx_pin: PC10
uart_address: 3
run_current: 0.650
stealthchop_threshold: 999999

[mcu]
serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00

[static_digital_output usb_pullup_enable]
pins: !PA14

[board_pins]
mcu: 3ms
aliases:
    # EXP1 header
    EXP1_1=PB5,  EXP1_3=PA9,   EXP1_5=PA10, EXP1_7=PB8,  EXP1_9=<GND>,
    EXP1_2=PA15, EXP1_4=<RST>, EXP1_6=PB9,  EXP1_8=PB15, EXP1_10=<5V>

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# This file contains common pin mappings for the BIGTREETECH SKR mini
# E3 v2.0. To use this config, the firmware should be compiled for the
# STM32F103 with a "28KiB bootloader" and USB communication. Also,
# select "Enable extra low-level configuration options" and configure
# "GPIO pins to set at micro-controller startup" to "!PA14".

# The "make flash" command does not work on the SKR mini E3. Instead,
# after running "make", copy the generated "out/klipper.bin" file to a
# file named "firmware.bin" on an SD card and then restart the SKR
# mini E3 with that SD card.

# See docs/Config_Reference.md for a description of parameters.

[extruder_stepper 3ms0]
step_pin: PB13
dir_pin: !PB12
enable_pin: !PB14
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC0
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 extruder_stepper 3ms0]
uart_pin: PC11
tx_pin: PC10
uart_address: 0
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms1]
step_pin: PB10
dir_pin: !PB2
enable_pin: !PB11
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC1
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 extruder_stepper 3ms1]
uart_pin: PC11
tx_pin: PC10
uart_address: 2
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms2]
step_pin: PB0
dir_pin: PC5
enable_pin: !PB1
microsteps: 16
rotation_distance: 8
endstop_pin: ^PC2
position_endstop: 0.0
position_max: 250

[tmc2209 extruder_stepper 3ms2]
uart_pin: PC11
tx_pin: PC10
uart_address: 1
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms3]
step_pin: PB3
dir_pin: !PB4
enable_pin: !PD2
microsteps: 16
rotation_distance: 33.500

[tmc2209 extruder_stepper 3ms3]
uart_pin: PC11
tx_pin: PC10
uart_address: 3
run_current: 0.650
stealthchop_threshold: 999999

[mcu]
serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00

[static_digital_output usb_pullup_enable]
pins: !PA14

[board_pins]
mcu: 3ms
aliases:
    # EXP1 header
    EXP1_1=PB5,  EXP1_3=PA9,   EXP1_5=PA10, EXP1_7=PB8,  EXP1_9=<GND>,
    EXP1_2=PA15, EXP1_4=<RST>, EXP1_6=PB9,  EXP1_8=PB15, EXP1_10=<5V>

Final Important Details

  1. Remove all homing/endstop-related parameters from the stepper configuration sections. Example:

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    [extruder_stepper 3ms0]
...
endstop_pin: ^PC0
position_endstop: 0
position_max: 235
homing_speed: 50

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    [extruder_stepper 3ms0]
...
# Endstop/homing parameters removed

  2. Add the following line to all extruder_stepper sections:

    1
    extruder: extruder

  3. Prefix all pin names IN ALL SECTIONS (not just motors) with 3ms:. Any ! or ^ should go before the 3ms: prefix. Example:

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    [extruder_stepper 3ms0]
step_pin: PB13
dir_pin: !PB12
enable_pin: !PB14
microsteps: 16
rotation_distance: 40

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    [extruder_stepper 3ms0]
step_pin: 3ms: PB13
dir_pin: !3ms: PB12
enable_pin: !3ms: PB14
microsteps: 16
rotation_distance: 40
Full Configuration Before/After 
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# This file contains common pin mappings for the BIGTREETECH SKR mini
# E3 v2.0. To use this config, the firmware should be compiled for the
# STM32F103 with a "28KiB bootloader" and USB communication. Also,
# select "Enable extra low-level configuration options" and configure
# "GPIO pins to set at micro-controller startup" to "!PA14".

# The "make flash" command does not work on the SKR mini E3. Instead,
# after running "make", copy the generated "out/klipper.bin" file to a
# file named "firmware.bin" on an SD card and then restart the SKR
# mini E3 with that SD card.

# See docs/Config_Reference.md for a description of parameters.

[extruder_stepper 3ms0]
step_pin: PB13
dir_pin: !PB12
enable_pin: !PB14
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC0
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 extruder_stepper 3ms0]
uart_pin: PC11
tx_pin: PC10
uart_address: 0
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms1]
step_pin: PB10
dir_pin: !PB2
enable_pin: !PB11
microsteps: 16
rotation_distance: 40
endstop_pin: ^PC1
position_endstop: 0
position_max: 235
homing_speed: 50

[tmc2209 extruder_stepper 3ms1]
uart_pin: PC11
tx_pin: PC10
uart_address: 2
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms2]
step_pin: PB0
dir_pin: PC5
enable_pin: !PB1
microsteps: 16
rotation_distance: 8
endstop_pin: ^PC2
position_endstop: 0.0
position_max: 250

[tmc2209 extruder_stepper 3ms2]
uart_pin: PC11
tx_pin: PC10
uart_address: 1
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms3]
step_pin: PB3
dir_pin: !PB4
enable_pin: !PD2
microsteps: 16
rotation_distance: 33.500
nozzle_diameter: 0.400
filament_diameter: 1.750

[tmc2209 extruder_stepper 3ms3]
uart_pin: PC11
tx_pin: PC10
uart_address: 3
run_current: 0.650
stealthchop_threshold: 999999

[mcu]
serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00

[static_digital_output usb_pullup_enable]
pins: !PA14

[board_pins]
mcu: 3ms
aliases:
    # EXP1 header
    EXP1_1=PB5,  EXP1_3=PA9,   EXP1_5=PA10, EXP1_7=PB8,  EXP1_9=<GND>,
    EXP1_2=PA15, EXP1_4=<RST>, EXP1_6=PB9,  EXP1_8=PB15, EXP1_10=<5V>

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# This file contains common pin mappings for the BIGTREETECH SKR mini
# E3 v2.0. To use this config, the firmware should be compiled for the
# STM32F103 with a "28KiB bootloader" and USB communication. Also,
# select "Enable extra low-level configuration options" and configure
# "GPIO pins to set at micro-controller startup" to "!PA14".

# The "make flash" command does not work on the SKR mini E3. Instead,
# after running "make", copy the generated "out/klipper.bin" file to a
# file named "firmware.bin" on an SD card and then restart the SKR
# mini E3 with that SD card.

# See docs/Config_Reference.md for a description of parameters.

[extruder_stepper 3ms0]
extruder: extruder
step_pin: 3ms: PB13
dir_pin: !3ms: PB12
enable_pin: !3ms: PB14
microsteps: 16
rotation_distance: 40

[tmc2209 extruder_stepper 3ms0]
uart_pin: 3ms: PC11
tx_pin: 3ms: PC10
uart_address: 0
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms1]
extruder: extruder
step_pin: 3ms: PB10
dir_pin: !3ms: PB2
enable_pin: !3ms: PB11
microsteps: 16
rotation_distance: 40

[tmc2209 extruder_stepper 3ms1]
uart_pin: 3ms: PC11
tx_pin: 3ms: PC10
uart_address: 2
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms2]
extruder: extruder
step_pin: 3ms: PB0
dir_pin: 3ms: PC5
enable_pin: !3ms: PB1
microsteps: 16
rotation_distance: 8

[tmc2209 extruder_stepper 3ms2]
uart_pin: 3ms: PC11
tx_pin: 3ms: PC10
uart_address: 1
run_current: 0.580
stealthchop_threshold: 999999

[extruder_stepper 3ms3]
extruder: extruder
step_pin: 3ms: PB3
dir_pin: !3ms: PB4
enable_pin: !3ms: PD2
microsteps: 16
rotation_distance: 33.500

[tmc2209 extruder_stepper 3ms3]
uart_pin: 3ms: PC11
tx_pin: 3ms: PC10
uart_address: 3
run_current: 0.650
stealthchop_threshold: 999999

[mcu]
serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00

[static_digital_output usb_pullup_enable]
pins: !PA14

[board_pins]
mcu: 3ms
aliases:
    # EXP1 header
    EXP1_1=PB5,  EXP1_3=PA9,   EXP1_5=PA10, EXP1_7=PB8,  EXP1_9=<GND>,
    EXP1_2=PA15, EXP1_4=<RST>, EXP1_6=PB9,  EXP1_8=PB15, EXP1_10=<5V>

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