Changing Tools

Overall Behavior

GCode Commands

Picking up a tool change from GCode is one command. It is simply a T<x> command where <x> is the index of the tool you would like to pick up. If the carriage is currently holding onto a tool, that tool is first parked before picking up the next tool. Assuming you have set tool offsets for all of your tools, whenever a tool has been picked up from the parking post, the motion system will adjust its reference point such that all position commands are relative to the tip of the current tool.

Parking a tool is also one command. It is simply T-1. Once the carriage parks the prior tool, the motion system will adjust its reference point such that all position commands are relative to the trigger point of the Zprobe on the carriage.

Restore Positions

Why do they matter?

Implementation

Duet2/3

Duet 2 and Duet 3 boards use the built-in tool change macros to implement the behavior specified above.

=Klipper

In the works!