BoxTurtle V1.0¶

BoxTurtle Automated Filament Control (requires AFC-Klipper-Add-On)

BT_Render

BoxTurtle is exactly what it appears to be — an open source AMS style filament changer for Klipper machines. BoxTurtle requires the AFC-Klipper Add-On (found here). The goal of BoxTurtle is to deliver a user experience as close to an AMS as possible in vanilla Klipper. i.e. an "AMS" for any klipperized printer regardless of form factor but VORON Design printers in particular.

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How it works¶

BoxTurtle is a lane based automated filament changing system. Each lane is equipped with its own dedicated extruder that moves filament to and from the tool head independently. Spool management is done with low drag, top fed electric respoolers.

Each lane merges to a hub (combiner) with a sensor with one outlet that goes to the toolhead.

To accommodate any differences in rotation distance between the extruder in the tool head and the lane motors, BoxTurtle uses a toolhead buffer, like TurtleNeck by ArmoredTurtle.

For best results we recommend the AFC-Lite, developed by Isik's Tech @xbst as it has the necessary sensor ports and DC brushed motor drivers used for BoxTurtle's electric respoolers.

For best results¶

AFC Klipper Add-On¶

BoxTurtle was designed in tandem to work with the AFC Klipper Add-On. For information on installing and configuring the AFC Klipper Add-On, please visit this section. Most common configuration options are prompted for during the installation process. Some of the options presented are covered below at a high level.

The AFC Klipper Add-On requires root access to your SBC running klipper and the ability to install/modify the installation. Additionally, the minimum version for Klipper/Kalico is 0.12.0 and the minimum version for the klippy-env Python installation is > 3.8.

Filament cutter or tip forming?¶

BoxTurtle works most reliably with a toolhead filament cutter. Our recommended toolhead cutter solution is FilamATrix. Please visit that GitHub repository for the most up-to-date instructions and information. Ensure that toolhead cutting is selected during installing the AFC Klipper Add-On, or enable it manually by editing AFC/AFC.cfg and restarting Klipper.

If a toolhead filament cutter is not a possibility, tip forming is also an option. This is enabled via the installation script or by editing AFC/AFC.cfg and restarting Klipper. Tip forming is extremely dependent on your printer, filament and even environment and guidance on properly tuning this is outside the scope of this document. Please visit the ArmoredTurtle Discord for community support on tip forming.

Filament sensor¶

A pre-extruder toolhead filament sensor is recommended but not required if using a TurtleNeck or TurtleNeck 2 filament buffer. A post-extruder filament sensor can be defined in the AFC configurations, but is not currently used beyond reporting status of the sensor.

Options include:

Waste management¶

Pooping, Kicking, and Wiping?¶

One option for filament purge/waste can be to have the printer 'poop' blobs of filament on the bed, have the nozzle cleaned with a brush/wipe, and then return the toolhead near the blob and kick off the bed using kinematics into a bucket or other waste evacuation system. This works similar to the method used by Blobifier, but does not require servo actuation. Enabling poop/kick/wipe macros can result in more reliable filament changes and color separation, at the cost of additional time during each filament swap. Each option can be enabled or disabled during the AFC installation process, or by editing AFC/AFC.cfg and restarting Klipper.

Prime towers¶

Filament prime towers can be used standalone, or in combination with the above to minimize the chance that no blobs or oozes from the filament change process make it on to your final print. However, if you are using pooping as described above, you likely need far less purging than the default slicer settings suggest. You can adjust the 'flushing volumes' in most slicers, as well as the size of your prime/purge tower. A decent starting setting for these might be a flushing volume multiplier of 0.1-0.2 and a tower width size of 20mm.

If you want to rely solely on the poop purge, a static size wipe tower can be set by disabling the 'Purge into Prime Tower' setting in your slicer software's "Printer Settings".

Different filament color transitions will require different purge volumes, and thus tuning this is highly dependent on your filaments and prints you are performing.

Enclosure¶

The enclosure option for BoxTurtle has been moved to its own repository. The enclosure is still under development, but the most up-to-date information on it can be found at that repository. Also considering joining the ArmoredTurtle Discord to get progress updates as development progresses.

Errata¶

Identified known issues and potential workarounds are documented in the errata section.

Manual¶

ArmoredTurtle's project manuals are hosted here. There is no PDF, this is intended to make the build experience as easy as possible. BoxTurtle Assembly Manual

PTFE sizes/lengths¶

Note

PTFE lengths between extruder to hub are suggested starting lengths - you may need to trim a little bit off in order for it to have a smooth bend. The filament path should be a smooth curve without tight corners.

Component	Outer Diameter	Inner Diameter	Length	Notes
Feeders to Trigger	4mm	3mm	50mm	Quantity 4 ; use PTFE cutter jig
Trigger to Extruder	4mm	3mm	80mm	Quantity 4 ; use PTFE cutter jig
Extruder to Hub (Outer lanes)	4mm	2mm	171mm	Quantity 2; 3mm ID will blow out. A chamfer is recommended on each end.
Extruder to Hub (Inner lanes)	4mm	2mm	101mm	Quantity 2; 3mm ID will blow out. A chamfer is recommended on each end.
Hub to Turtleneck	4mm	2mm	build dependent	A chamfer is recommended on each end.
Turtleneck to toolhead	4mm	2-3mm	build dependent	Existing bowden tube is fine, but tighter ID can also be used.

Initial startup guide¶

Please refer to the Initial Startup Guide after completing the assembly of your BoxTurtle for next steps.

Optional Accessories¶

Some optional printed accessories for your BoxTurtle build can be found on the AFC-Accessories repository.

Merch¶

BoxTurtle T-Shirt (sweatshirt/hoodie variants also available) ($3 from each sale goes to support ArmoredTurtle) via Cotton Bureau
BoxTurtle Sticker via Dr. Mursey