1_75mm_MK25-RAMBo13a-E3Dv6full.h 16 KB

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  1. #ifndef CONFIGURATION_PRUSA_H
  2. #define CONFIGURATION_PRUSA_H
  3. /*------------------------------------
  4. GENERAL SETTINGS
  5. *------------------------------------*/
  6. // Printer revision
  7. #define PRINTER_TYPE PRINTER_MK25
  8. #define FILAMENT_SIZE "1_75mm_MK25"
  9. #define NOZZLE_TYPE "E3Dv6full"
  10. // Developer flag
  11. #define DEVELOPER
  12. // Printer name
  13. #define CUSTOM_MENDEL_NAME "Prusa i3 MK2.5"
  14. // Electronics
  15. #define MOTHERBOARD BOARD_RAMBO_MINI_1_3
  16. #define HEATBED_V2
  17. #define STEEL_SHEET
  18. #define TACH0PULLUP
  19. // Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
  20. //#define E3D_PT100_EXTRUDER_WITH_AMP
  21. //#define E3D_PT100_EXTRUDER_NO_AMP
  22. //#define E3D_PT100_BED_WITH_AMP
  23. //#define E3D_PT100_BED_NO_AMP
  24. /*------------------------------------
  25. AXIS SETTINGS
  26. *------------------------------------*/
  27. // Steps per unit {X,Y,Z,E}
  28. #define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,133}
  29. // Endstop inverting
  30. #define X_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
  31. #define Y_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
  32. #define Z_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
  33. // Direction inverting
  34. #define INVERT_X_DIR 0 // for Mendel set to 0, for Orca set to 1
  35. #define INVERT_Y_DIR 0 // for Mendel set to 1, for Orca set to 0
  36. #define INVERT_Z_DIR 0 // for Mendel set to 0, for Orca set to 1
  37. #define INVERT_E0_DIR 1 // for direct drive extruder v9 set to 1, for geared extruder set to 0
  38. #define INVERT_E1_DIR 1 // for direct drive extruder v9 set to 1, for geared extruder set to 0
  39. #define INVERT_E2_DIR 1 // for direct drive extruder v9 set to 1, for geared extruder set to 0
  40. // Home position
  41. #define MANUAL_X_HOME_POS 0
  42. #define MANUAL_Y_HOME_POS -2.2
  43. #define MANUAL_Z_HOME_POS 0.2
  44. // Travel limits after homing
  45. #define X_MAX_POS 250
  46. #define X_MIN_POS 0
  47. #define Y_MAX_POS 210
  48. #define Y_MIN_POS -4
  49. #define Z_MAX_POS 210
  50. #define Z_MIN_POS 0.15
  51. // Canceled home position
  52. #define X_CANCEL_POS 50
  53. #define Y_CANCEL_POS 190
  54. //Pause print position
  55. #define X_PAUSE_POS 50
  56. #define Y_PAUSE_POS 190
  57. #define Z_PAUSE_LIFT 20
  58. #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
  59. #define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
  60. /**
  61. * [0,0] steel sheet print area point X coordinate in bed print area coordinates
  62. */
  63. #define SHEET_PRINT_ZERO_REF_X 0.f
  64. /**
  65. * [0,0] steel sheet print area point Y coordinate in bed print area coordinates
  66. */
  67. #define SHEET_PRINT_ZERO_REF_Y 0.f
  68. #define DEFAULT_MAX_FEEDRATE {200, 200, 12, 120} // (mm/sec) max feedrate (M203)
  69. #define DEFAULT_MAX_ACCELERATION {1000, 1000, 200, 5000} // (mm/sec^2) max acceleration (M201)
  70. #define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves (M204S)
  71. #define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204T)
  72. #define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min)
  73. //number of bytes from end of the file to start check
  74. #define END_FILE_SECTION 10000
  75. #define Z_AXIS_ALWAYS_ON 1
  76. // New XYZ calibration
  77. #define NEW_XYZCAL
  78. // Fan check
  79. #define FANCHECK
  80. // Safety timer
  81. #define SAFETYTIMER
  82. #define DEFAULT_SAFETYTIMER_TIME_MINS 30
  83. // Filament sensor
  84. #define PAT9125
  85. #define FILAMENT_SENSOR
  86. //#define DEBUG_BUILD
  87. #ifdef DEBUG_BUILD
  88. //#define _NO_ASM
  89. #define DEBUG_DCODES //D codes
  90. #define DEBUG_STACK_MONITOR //Stack monitor in stepper ISR
  91. //#define DEBUG_FSENSOR_LOG //Reports fsensor status to serial
  92. //#define DEBUG_CRASHDET_COUNTERS //Display crash-detection counters on LCD
  93. //#define DEBUG_RESUME_PRINT //Resume/save print debug enable
  94. //#define DEBUG_UVLO_AUTOMATIC_RECOVER // Power panic automatic recovery debug output
  95. //#define DEBUG_DISABLE_XMINLIMIT //x min limit ignored
  96. //#define DEBUG_DISABLE_XMAXLIMIT //x max limit ignored
  97. //#define DEBUG_DISABLE_YMINLIMIT //y min limit ignored
  98. //#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
  99. //#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
  100. //#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
  101. //#define DEBUG_DISABLE_STARTMSGS //no startup messages
  102. //#define DEBUG_DISABLE_MINTEMP //mintemp error ignored
  103. //#define DEBUG_DISABLE_SWLIMITS //sw limits ignored
  104. //#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line
  105. //#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
  106. //#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
  107. //#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3)
  108. //#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3)
  109. //#define DEBUG_DISABLE_FANCHECK //disable fan check (no ISR INT7, check disabled)
  110. //#define DEBUG_DUMP_TO_2ND_SERIAL //dump received characters to 2nd serial line
  111. //#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
  112. //#define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
  113. //#define CMD_DIAGNOSTICS //Show cmd queue length on printer display
  114. #endif /* DEBUG_BUILD */
  115. /*------------------------------------
  116. EXTRUDER SETTINGS
  117. *------------------------------------*/
  118. // Mintemps
  119. #define HEATER_0_MINTEMP 15
  120. #define HEATER_1_MINTEMP 5
  121. #define HEATER_2_MINTEMP 5
  122. #define BED_MINTEMP 15
  123. // Maxtemps
  124. #if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
  125. #define HEATER_0_MAXTEMP 410
  126. #else
  127. #define HEATER_0_MAXTEMP 305
  128. #endif
  129. #define HEATER_1_MAXTEMP 305
  130. #define HEATER_2_MAXTEMP 305
  131. #define BED_MAXTEMP 125
  132. #if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
  133. // Define PID constants for extruder with PT100
  134. #define DEFAULT_Kp 21.70
  135. #define DEFAULT_Ki 1.60
  136. #define DEFAULT_Kd 73.76
  137. #else
  138. // Define PID constants for extruder
  139. //#define DEFAULT_Kp 40.925
  140. //#define DEFAULT_Ki 4.875
  141. //#define DEFAULT_Kd 86.085
  142. #define DEFAULT_Kp 16.13
  143. #define DEFAULT_Ki 1.1625
  144. #define DEFAULT_Kd 56.23
  145. #endif
  146. // Extrude mintemp
  147. #define EXTRUDE_MINTEMP 180
  148. // Extruder cooling fans
  149. #define EXTRUDER_0_AUTO_FAN_PIN 8
  150. #define EXTRUDER_1_AUTO_FAN_PIN -1
  151. #define EXTRUDER_2_AUTO_FAN_PIN -1
  152. #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
  153. #define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
  154. /*------------------------------------
  155. LOAD/UNLOAD FILAMENT SETTINGS
  156. *------------------------------------*/
  157. // Load filament commands
  158. #define LOAD_FILAMENT_0 "M83"
  159. #define LOAD_FILAMENT_1 "G1 E70 F400"
  160. #define LOAD_FILAMENT_2 "G1 E40 F100"
  161. // Unload filament commands
  162. #define UNLOAD_FILAMENT_0 "M83"
  163. #define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
  164. /*------------------------------------
  165. CHANGE FILAMENT SETTINGS
  166. *------------------------------------*/
  167. // Filament change configuration
  168. #define FILAMENTCHANGEENABLE
  169. #ifdef FILAMENTCHANGEENABLE
  170. #define FILAMENTCHANGE_XPOS 211
  171. #define FILAMENTCHANGE_YPOS 0
  172. #define FILAMENTCHANGE_ZADD 2
  173. #define FILAMENTCHANGE_FIRSTRETRACT -2
  174. #define FILAMENTCHANGE_FINALRETRACT -80
  175. #define FILAMENTCHANGE_FIRSTFEED 70
  176. #define FILAMENTCHANGE_FINALFEED 50
  177. #define FILAMENTCHANGE_RECFEED 5
  178. #define FILAMENTCHANGE_XYFEED 50
  179. #define FILAMENTCHANGE_EFEED 20
  180. //#define FILAMENTCHANGE_RFEED 400
  181. #define FILAMENTCHANGE_RFEED 7000 / 60
  182. #define FILAMENTCHANGE_EXFEED 2
  183. #define FILAMENTCHANGE_ZFEED 15
  184. #endif
  185. /*------------------------------------
  186. ADDITIONAL FEATURES SETTINGS
  187. *------------------------------------*/
  188. // Define Prusa filament runout sensor
  189. //#define FILAMENT_RUNOUT_SUPPORT
  190. #ifdef FILAMENT_RUNOUT_SUPPORT
  191. #define FILAMENT_RUNOUT_SENSOR 1
  192. #endif
  193. // temperature runaway
  194. #define TEMP_RUNAWAY_BED_HYSTERESIS 5
  195. #define TEMP_RUNAWAY_BED_TIMEOUT 360
  196. #define TEMP_RUNAWAY_EXTRUDER_HYSTERESIS 15
  197. #define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
  198. /*------------------------------------
  199. MOTOR CURRENT SETTINGS
  200. *------------------------------------*/
  201. // Motor Current setting for BIG RAMBo
  202. #define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
  203. #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
  204. // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
  205. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  206. #define MOTOR_CURRENT_PWM_RANGE 2000
  207. #define DEFAULT_PWM_MOTOR_CURRENT {270, 830, 450} // {XY,Z,E}
  208. #define DEFAULT_PWM_MOTOR_CURRENT_LOUD {540, 830, 500} // {XY,Z,E}
  209. #define Z_SILENT 0
  210. #define Z_HIGH_POWER 200
  211. #endif
  212. /*------------------------------------
  213. PAT9125 SETTINGS
  214. *------------------------------------*/
  215. #define PAT9125_XRES 0
  216. #define PAT9125_YRES 255
  217. /*------------------------------------
  218. BED SETTINGS
  219. *------------------------------------*/
  220. // Define Mesh Bed Leveling system to enable it
  221. #define MESH_BED_LEVELING
  222. #ifdef MESH_BED_LEVELING
  223. #define MBL_Z_STEP 0.01
  224. // Mesh definitions
  225. #define MESH_MIN_X 35
  226. #define MESH_MAX_X 238
  227. #define MESH_MIN_Y 6
  228. #define MESH_MAX_Y 202
  229. // Mesh upsample definition
  230. #define MESH_NUM_X_POINTS 7
  231. #define MESH_NUM_Y_POINTS 7
  232. // Mesh measure definition
  233. #define MESH_MEAS_NUM_X_POINTS 3
  234. #define MESH_MEAS_NUM_Y_POINTS 3
  235. #define MESH_HOME_Z_CALIB 0.2
  236. #define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
  237. #define X_PROBE_OFFSET_FROM_EXTRUDER 23 // Z probe to nozzle X offset: -left +right
  238. #define Y_PROBE_OFFSET_FROM_EXTRUDER 5 // Z probe to nozzle Y offset: -front +behind
  239. #define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4 // Z probe to nozzle Z offset: -below (always!)
  240. #endif
  241. // Bed Temperature Control
  242. // Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
  243. //
  244. // Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
  245. // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
  246. // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
  247. // This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
  248. // If your configuration is significantly different than this and you don't understand the issues involved, you probably
  249. // shouldn't use bed PID until someone else verifies your hardware works.
  250. // If this is enabled, find your own PID constants below.
  251. #define PIDTEMPBED
  252. //
  253. //#define BED_LIMIT_SWITCHING
  254. // This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
  255. // all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
  256. // setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
  257. // so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
  258. #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
  259. // Bed temperature compensation settings
  260. #define BED_OFFSET 10
  261. #define BED_OFFSET_START 40
  262. #define BED_OFFSET_CENTER 50
  263. #ifdef PIDTEMPBED
  264. //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
  265. //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
  266. #if defined(E3D_PT100_BED_WITH_AMP) || defined(E3D_PT100_BED_NO_AMP)
  267. // Define PID constants for extruder with PT100
  268. #define DEFAULT_bedKp 21.70
  269. #define DEFAULT_bedKi 1.60
  270. #define DEFAULT_bedKd 73.76
  271. #else
  272. #define DEFAULT_bedKp 126.13
  273. #define DEFAULT_bedKi 4.30
  274. #define DEFAULT_bedKd 924.76
  275. #endif
  276. //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
  277. //from pidautotune
  278. // #define DEFAULT_bedKp 97.1
  279. // #define DEFAULT_bedKi 1.41
  280. // #define DEFAULT_bedKd 1675.16
  281. // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
  282. #endif // PIDTEMPBED
  283. /*-----------------------------------
  284. PREHEAT SETTINGS
  285. *------------------------------------*/
  286. #define FARM_PREHEAT_HOTEND_TEMP 250
  287. #define FARM_PREHEAT_HPB_TEMP 40
  288. #define FARM_PREHEAT_FAN_SPEED 0
  289. #define PLA_PREHEAT_HOTEND_TEMP 215
  290. #define PLA_PREHEAT_HPB_TEMP 60
  291. #define PLA_PREHEAT_FAN_SPEED 0
  292. #define ABS_PREHEAT_HOTEND_TEMP 255
  293. #define ABS_PREHEAT_HPB_TEMP 100
  294. #define ABS_PREHEAT_FAN_SPEED 0
  295. #define HIPS_PREHEAT_HOTEND_TEMP 220
  296. #define HIPS_PREHEAT_HPB_TEMP 100
  297. #define HIPS_PREHEAT_FAN_SPEED 0
  298. #define PP_PREHEAT_HOTEND_TEMP 254
  299. #define PP_PREHEAT_HPB_TEMP 100
  300. #define PP_PREHEAT_FAN_SPEED 0
  301. #define PET_PREHEAT_HOTEND_TEMP 230
  302. #define PET_PREHEAT_HPB_TEMP 85
  303. #define PET_PREHEAT_FAN_SPEED 0
  304. #define FLEX_PREHEAT_HOTEND_TEMP 240
  305. #define FLEX_PREHEAT_HPB_TEMP 50
  306. #define FLEX_PREHEAT_FAN_SPEED 0
  307. /*------------------------------------
  308. THERMISTORS SETTINGS
  309. *------------------------------------*/
  310. //
  311. //--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
  312. //
  313. //// Temperature sensor settings:
  314. // -2 is thermocouple with MAX6675 (only for sensor 0)
  315. // -1 is thermocouple with AD595
  316. // 0 is not used
  317. // 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
  318. // 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
  319. // 3 is Mendel-parts thermistor (4.7k pullup)
  320. // 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
  321. // 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
  322. // 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
  323. // 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
  324. // 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
  325. // 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
  326. // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
  327. // 10 is 100k RS thermistor 198-961 (4.7k pullup)
  328. // 11 is 100k beta 3950 1% thermistor (4.7k pullup)
  329. // 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
  330. // 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
  331. // 20 is the PT100 circuit found in the Ultimainboard V2.x
  332. // 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
  333. //
  334. // 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
  335. // (but gives greater accuracy and more stable PID)
  336. // 51 is 100k thermistor - EPCOS (1k pullup)
  337. // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
  338. // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
  339. //
  340. // 1047 is Pt1000 with 4k7 pullup
  341. // 1010 is Pt1000 with 1k pullup (non standard)
  342. // 147 is Pt100 with 4k7 pullup
  343. // 148 is E3D Pt100 with 4k7 pullup and no PT100 Amplifier on a MiniRambo 1.3a
  344. // 247 is Pt100 with 4k7 pullup and PT100 Amplifier
  345. // 110 is Pt100 with 1k pullup (non standard)
  346. #if defined(E3D_PT100_EXTRUDER_WITH_AMP)
  347. #define TEMP_SENSOR_0 247
  348. #elif defined(E3D_PT100_EXTRUDER_NO_AMP)
  349. #define TEMP_SENSOR_0 148
  350. #else
  351. #define TEMP_SENSOR_0 5
  352. #endif
  353. #define TEMP_SENSOR_1 0
  354. #define TEMP_SENSOR_2 0
  355. #if defined(E3D_PT100_BED_WITH_AMP)
  356. #define TEMP_SENSOR_BED 247
  357. #elif defined(E3D_PT100_BED_NO_AMP)
  358. #define TEMP_SENSOR_BED 148
  359. #else
  360. #define TEMP_SENSOR_BED 1
  361. #endif
  362. #define TEMP_SENSOR_PINDA 1
  363. #define STACK_GUARD_TEST_VALUE 0xA2A2
  364. #define MAX_BED_TEMP_CALIBRATION 50
  365. #define MAX_HOTEND_TEMP_CALIBRATION 50
  366. #define MAX_E_STEPS_PER_UNIT 250
  367. #define MIN_E_STEPS_PER_UNIT 100
  368. #define Z_BABYSTEP_MIN -3999
  369. #define Z_BABYSTEP_MAX 0
  370. #define PINDA_PREHEAT_X 20
  371. #define PINDA_PREHEAT_Y 60
  372. #define PINDA_PREHEAT_Z 0.15
  373. /*
  374. #define PINDA_PREHEAT_X 70
  375. #define PINDA_PREHEAT_Y -3
  376. #define PINDA_PREHEAT_Z 1*/
  377. #define PINDA_HEAT_T 120 //time in s
  378. #define PINDA_MIN_T 50
  379. #define PINDA_STEP_T 10
  380. #define PINDA_MAX_T 100
  381. #define PING_TIME 60 //time in s
  382. #define PING_TIME_LONG 600 //10 min; used when length of commands buffer > 0 to avoid 0 triggering when dealing with long gcodes
  383. #define PING_ALLERT_PERIOD 60 //time in s
  384. #define NC_TIME 10 //time in s for periodic important status messages sending which needs reponse from monitoring
  385. #define NC_BUTTON_LONG_PRESS 15 //time in s
  386. #define LONG_PRESS_TIME 1000 //time in ms for button long press
  387. #define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
  388. #define DEFAULT_PID_TEMP 210
  389. #define MIN_PRINT_FAN_SPEED 75
  390. #ifdef SNMM
  391. #define DEFAULT_RETRACTION 4 //used for PINDA temp calibration and pause print
  392. #else
  393. #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
  394. #endif
  395. #define M600_TIMEOUT 600 //seconds
  396. #define SUPPORT_VERBOSITY
  397. #endif //__CONFIGURATION_PRUSA_H