klipper config for Prusa MK3S BEAR [full upgrade] - RAMPS + TMC2130

printer.cfg

[tmc2130 stepper_x]
cs_pin: ar63
diag1_pin: ^!ar3
microsteps: 16
run_current: .7
sense_resistor: 0.110
interpolate: True
stealthchop_threshold: 30

driver_IHOLDDELAY: 8
driver_TPOWERDOWN: 0
driver_TBL: 2
driver_TOFF: 3
driver_HEND: 1
driver_HSTRT: 5
driver_PWM_AUTOSCALE: True
driver_PWM_FREQ: 2
driver_PWM_GRAD: 2
driver_PWM_AMPL: 230
driver_SGT: 10

[stepper_x]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .012375
endstop_pin: tmc2130_stepper_x:virtual_endstop
position_min: 0
position_max: 250
position_endstop: 0
homing_retract_dist: 0
homing_speed: 50


[tmc2130 stepper_y]
cs_pin: ar40
diag1_pin: ^!ar14
microsteps: 16
stealthchop_threshold: 60
run_current: .7
sense_resistor: 0.110
interpolate: True
stealthchop_threshold: 30

driver_IHOLDDELAY: 8
driver_TPOWERDOWN: 0
driver_TBL: 2
driver_TOFF: 3
driver_HEND: 1
driver_HSTRT: 5
driver_PWM_AUTOSCALE: True
driver_PWM_FREQ: 2
driver_PWM_GRAD: 2
driver_PWM_AMPL: 235
driver_SGT: 10

[stepper_y]
step_pin: ar60
dir_pin: ar61
enable_pin: !ar56
step_distance: .012375
endstop_pin: tmc2130_stepper_y:virtual_endstop
position_max: 210
position_endstop: -8
position_min: -8
homing_retract_dist: 0
homing_speed: 50


[tmc2130 stepper_z]
cs_pin: ar42
microsteps: 16
run_current: 1.0
sense_resistor: 0.110
interpolate: True
stealthchop_threshold: 8

driver_IHOLDDELAY: 8
driver_TPOWERDOWN: 0
driver_TBL: 2
driver_TOFF: 3
driver_HEND: 1
driver_HSTRT: 5
driver_PWM_AUTOSCALE: True
driver_PWM_FREQ: 2
driver_PWM_GRAD: 4
driver_PWM_AMPL: 200
driver_SGT: 4

[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .0025
endstop_pin: probe:z_virtual_endstop
position_min: -2
position_max: 200
homing_speed: 13


[tmc2130 extruder]
cs_pin: ar65
microsteps: 32
run_current: .9
sense_resistor: 0.110
interpolate: True

driver_IHOLDDELAY: 8
driver_TPOWERDOWN: 0
driver_TBL: 2
driver_TOFF: 3
driver_HEND: 1
driver_HSTRT: 5
driver_PWM_AUTOSCALE: True
driver_PWM_FREQ: 2
driver_PWM_GRAD: 4
driver_PWM_AMPL: 240
driver_SGT: 3

[extruder]
step_pin: ar26
dir_pin: !ar28
enable_pin: !ar24
step_distance: .0035
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: NTC 100K beta 3950
sensor_pin: analog13
min_temp: 0
max_temp: 250
min_extrude_temp: 180
max_extrude_cross_section: 50
max_extrude_only_distance: 500.0
max_extrude_only_velocity: 120.0
max_extrude_only_accel: 1250.0

[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
min_temp: 0
max_temp: 130

[verify_heater heater_bed]
max_error: 150


[fan]
pin: ar9


[mcu]
serial: /dev/serial/by-id/usb-Arduino__www.arduino.cc__0042_8573332373935131D131-if00
pin_map: arduino
restart_method: command
baud: 250000

#[display]
#lcd_type: hd44780
#rs_pin: PD5
#e_pin: PF7
#d4_pin: PF5
#d5_pin: PG4
#d6_pin: PH7
#d7_pin: PG3
#encoder_pins: ^PJ1,^PJ2
#click_pin: ^!PH6

[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 1500
max_z_velocity: 10
max_z_accel: 200


[probe]
pin: ^ar18
x_offset: 24
y_offset: 5
speed: 10


[bed_mesh]
speed: 100
mesh_max: 215,193
mesh_min: 30,10
probe_count: 4,4
mesh_pps: 2,2
algorithm: lagrange
fade_target: 0

[homing_override]
gcode:
 G1 Z5
 G28 X0 Y0
 G1 X100 Y100 F1500
 G28 Z0
axes: Z
set_position_x: 0
set_position_y: 0
set_position_z: 0


[gcode_macro FR]
gcode:
 FIRMWARE_RESTART

[gcode_macro RR]
gcode:
 RESTART

[gcode_macro G80]
gcode:
 G28
 BED_MESH_CALIBRATE
 G1 X0 Y0 Z0.4 F4000
 
[gcode_macro G81]
gcode:
 BED_MESH_OUTPUT


#[filament_switch_sensor fsensor]
#pause_on_runout: True
#runout_gcode:
#    M118 Filament Runout Detected
#    M600 X250 Y-3 Z10
#insert_gcode:
#    M118 Filament Load Detected
#    LOAD_FILAMENT
#event_delay: 3.0
#switch_pin: arSOMETHING


[respond]
default_type: command

[pause_resume]

# Filament change gcode, parameters are a default park position if no XYZ is specified  - Z is relative.
[gcode_macro M600]
default_parameter_X: 100
default_parameter_Y: 0
default_parameter_Z: 10
gcode:
 PAUSE
 G91
 G1 E-.8 F2700
 G1 Z{Z}
 G90
 G1 X{X} Y{Y} F3000
 M117 Ready for unload

#[output_pin BEEPER_pin]
#pin: PH2?
#pwm: True
#value: 0
#shutdown_value:0
#cycle_time: 0.001
#scale: 1000

[gcode_macro M300]
default_parameter_S=1000
default_parameter_P=100
gcode:
 SET_PIN PIN=BEEPER_pin VALUE={S}
 G4 P{P}
 SET_PIN PIN=BEEPER_pin VALUE=0

[gcode_macro LOAD_FILAMENT]
gcode:
 M117 Loading Filament...
 G1 E70 F400
 G1 E40 F100
 G92 E0.0
 M400
 M117 Load Complete

[gcode_macro UNLOAD_FILAMENT]
gcode:
 M117 Unloading Filament...
 G1 E0.5 F1000
 G1 E-0.5 F1000
 G1 E1.0 F1000
 G1 E-1.0 F1000
 G1 E1.5 F1000
 G1 E-1.5 F1000
 G1 E2.0 F1000
 G1 E-100 F3000
 M400
 M117 Remove Filament Now!
 M300 S300 P1000

#[delayed_gcode clear_display]
#initial_duration: 0.
#gcode:
# M117

#[menu __filament __load]
#type: command
#name: Load Filament
#gcode:
# LOAD_FILAMENT

#[menu __filament __unload]
#type: command
#name: Unload Filament
#gcode:
# UNLOAD_FILAMENT

#[menu __filament __feed]
#type: input
#name: Feed Filament: {0:.1f}
#parameter: 0
#input_step: 1
#gcode:
# M83
# G1 E{0:.1f} F400

#*# <---------------------- SAVE_CONFIG ---------------------->
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
#*#
#*# [extruder]
#*# control = pid
#*# pid_kp = 22.081
#*# pid_ki = 1.258
#*# pid_kd = 96.880
#*#
#*# [heater_bed]
#*# control = pid
#*# pid_kp = 63.924
#*# pid_ki = 1.127
#*# pid_kd = 906.129
#*#
#*# [probe]
#*# z_offset = 0.700

These are not the correct thermistors for an original Prusa MK3S, copied your settings and learned the hard way...

Did you test this? I'm porting my marlin config also to klipper at the moment. Using a SKR 1.4 Turbo and TMC2209 though. I can't find any information about the dual z steppers.

@flow sure, I tested it. It works smoothly about 1 year

@flow sure, I tested it. It works smoothly about 1 year

You are using one stepper driver for both z screws, right?
I guess this is what confused me the most when checking your example.

Yes, 1 TMC2130 driver - 2 NEMA17 stepper motors for Z axis