The firmware is the core of any machine that contains mechanical, electrical parts, and sensors. It enables the device to operate autonomously, much like a 3D printer does. It directs the hardware components and translates commands from users into electrical signals that control the various components of the machine to help it perform its work. The firmware also affects the quality and efficiency of the final prints because each has its own way of working.
Among the commonly used Firmwares in 3D printers are Klipper and Marlin. This article is committed to making a comparison between them so that you can decide which one is better for your needs.
Let’s get started!
Historical Background
Klipper
Klipper is a more recent addition to the world of 3D printer firmware, created by Kevin O’Connor in 2016. Unlike Marlin, which runs every bit of code on the printer’s micro-controller, Klipper uses a different strategy where computationally demanding tasks are offloaded to a more powerful host computer, such as a Raspberry Pi or Single Board Computer (SBC), while the micro-controller handles only the real-time control of the printer.
This architecture allows Klipper to achieve higher performance and implement more advanced features, leading to higher print speeds, improved precision, and better overall efficiency.
Klipper's architecture also simplifies the process of adding new features and updates, making it a flexible and forward-thinking choice for enthusiasts and professionals alike.
Before we start our detailed comparison between Klipper and Martin, let's first understand: what is the firmware? And its role in a machine like a 3D printer? Additionally, we'll explore how firmware differs from software.
Firmware is a specialized type of program that controls the low level of a device’s hardware. In the context of 3D printing, firmware is the middle man between the printer’s hardware components (motors, heaters, sensors, etc.) and the high-level software commands issued by the user or the slicer software.
When you send a print command, the firmware translates those commands into precise actions that control the printer’s movement, temperature, etc. It also reads the G-code generated by the slicing software, which contains the instructions for each layer of the print, and converts those instructions into electrical signals that drive the stepper motors, extruders, and heaters. This ensures the 3D printer works accurately and produces good prints.
Additionally, firmware differs from software in that it is specifically designed to manage and operate hardware at a low level, providing the necessary instructions for hardware components to function. Software, on the other hand, refers to high-level applications and programs that perform tasks and processes on a computer or device.
Now that we have firmware basics covered, let’s get into Marlin vs. Klipper. This will help you decide which one is good for you.
Marlin
Marlin is one of the oldest and most widely used Firmwares for 3D printers. It was first released in 2011, becoming an early favorite among RepRap machines and other open-source 3D printers.
This firmware played a major role in the 3D printing revolution, especially on desktop machines. Being open source, this opened the horizons for hundreds of companies around the world to manufacture 3D printers and contributed to their widespread popularity, not only among users but also among hobbyists. Especially since the firmware is the most difficult thing in building a 3D printer.
The many features built into it, the large number of users and support, and its compatibility with many types of printers, LCDs, and hardware have contributed to its popularity.
Architecture and Design Philosophy
Klipper
On the other hand, Klipper adopts a distributed architecture where a host computer performs complex calculations and planning tasks while the printer's micro-controller handles real-time operations. Klipper can take advantage of this separation by using the processing power of a host computer to enable advanced features such as faster G-code command processing, more accurate temperature management, precise stepper motor control, and real-time kinematics, among others. Additionally, this approach also makes it easier to customize or extend the firmware.
Marlin
Marlin follows a monolithic architecture, which means all the firmware code runs on a single micro-controller. This design is easy to setup as it needs no extra hardware other than the printer itself.
Marlin is written in C++ and is intended to be compact and efficient, even on low-performance boards. It is designed to support as many different 3D printers and their configurations as possible. This has led to widespread adoption of this firmware by many people, as well as numerous enhancements.
Performance and speed
Klipper
Klipper's distributed architecture provides a significant performance boost compared to Marlin. By offloading the computationally intensive tasks to a host computer, Klipper can handle more complex calculations and higher speeds without overloading the MCU. This results in smoother prints, better handling of high-speed movements, and improved overall performance.
Klipper's precise stepper motor control and advanced kinematics allow for faster and more accurate printing.
For example, Klipper can manage higher step rates, which translates to smoother and more detailed prints.
Additionally, Klipper's ability to perform real-time calculations enables features like input shaping, which can reduce or eliminate vibrations and ringing artifacts in prints.
Marlin
Marlin is optimized to run on a single microcontroller, which can be both an advantage and a limitation. On the plus side, Marlin is highly efficient and can run on low-cost hardware (for example, you can use a cheap Arduino Mega with a RAMPS shield to operate a 3D printer efficiently using Marlin firmware). However, this also means that its performance is limited by the capabilities of the MCU. As 3D printing becomes more advanced and the demands on firmware increase, this limitation can become a bottleneck.
Marlin has undergone significant optimization over the years. Features like linear advance, junction deviation, and dynamic acceleration control help improve print quality and speed.
However, pushing Marlin to its limits can sometimes lead to performance issues, especially on more complex prints.
Ease of Installation and Configuration
Klipper
Installing Klipper is slightly more complex. Users need to install Klipper on a host computer or (SBC), typically a Raspberry Pi with a Linux-based operating system. The installation process involves two main steps: first, installing the Klipper firmware, and second, setting up a dedicated web interface, such as Mainsail OS or Fluidd, to control the Klipper 3D printer.
Once installed, Klipper's configuration is done through printer.cfg, which is a single file unlike the multiple files used by Marlin that are less readable and harder to manage. Moreover, this web-based interface allows users to manage and configure printers easily since it provides user friendliness. Initial setup may be complex, but many people find Klipper's configuring process straightforward and error-free in the long run.
Marlin
Compared to Klipper, Marlin is popular for having an easy installation process. Most 3D printers come with pre-installed marlin, and there are detailed guidelines on how to install it. The user sets up the firmware using a set of configuration files, such as Configuration.h and Configuration_adv.h. These files allow one to customize their printer settings, like bed size, extruder type, and motion parameters, among others.
However, configuring Marline could become overwhelming, especially for beginners, due to the many configuration options provided. One should have knowledge about his or her printer’s hardware and the various configuration parameters involved.
Fortunately, the extensive Marlin community provides ample resources, tutorials, and support to help users navigate the setup process.
Features and Customizability
Klipper
Klipper's feature set is continually expanding, driven by its advanced architecture and the active development community. Some of Klipper's standout features include:
High-Performance Motion Control
Klipper offers precise stepper motor control, real-time kinematics, and advanced features like input shaping and resonance compensation. These capabilities allow for faster, smoother, and more accurate printing.
Flexible Configuration
The printer.cfg file allows for easy customization and supports a wide range of printer hardware and configurations. Users can make real-time adjustments without needing to reflash the firmware, simplifying the configuration process.
Enhanced temperature management
Klipper provides accurate temperature control and advanced PID tuning, ensuring stable printing conditions and high-quality prints.
Macro Support
Klipper's custom G-code macros allow users to automate and streamline various printing tasks, enhancing both the printing experience and efficiency. These macros can simplify complex procedures, saving time and reducing errors.
If you're interested in learning more about Klipper's macro system and how to create your own macros, check out our detailed guide, Klipper Macros: What They Are and How to Build.
Web-Based Interface
Klipper firmware integrates with OctoPrint, Mainsail, and Fluidd and provides a user-friendly interface for managing and monitoring the printer. These web interfaces allow for remote control and real-time adjustments, making printer management more convenient.
Source: https://docs.fluidd.xyz
If you're interested in learning more about Mainsail, you can read our detailed guide, Mainsail for Klipper.
And for a comparison of different Klipper web interfaces, check out our Klipper Web Interface Comparison.
Smooth Pressure Advance
Similar to Marlin's Linear Advance but easier to calibrate, especially when using an advanced slicer like OrcaSlicer, this feature ensures consistent filament flow by accounting for pressure within the extruder, resulting in higher-quality prints with fewer defects.
Source: https://ellis3dp.com
Input Shaping
Input shaping is a unique feature of Klipper that reduces the impact of vibrations and resonance in high-speed prints, minimizing artifacts such as ringing and ensuring smoother print surfaces. Ringing occurs due to the vibrations produced when printing at high speeds. Input shaping approximates the vibrations of the printer's movements and computes pathways that cancel out these vibrations, balancing print quality even at higher speeds.
source: https://www.klipper3d.org
Multiple Controller Support
Klipper facilitates the addition of extra controllers for components like extruders or print beds, providing greater flexibility for printer upgrades and allowing for more complex printer configurations.
High step rates
Klipper can handle up to 175K steps per second with 8-bit controllers, and as high as 500K steps per second on newer, 32-bit options. allowing for precise motor control and higher print quality. This capability is particularly beneficial for high-speed printing and complex movements.
Marlin
Marlin is a firmware with lots of features. In other words, it is very flexible because it can work well in different printer configurations. Some of the main features of Marlin include:
Mesh Bed Leveling
Marlin offers multiple methods for bed leveling, including manual, automatic, and unified bed leveling. This ensures consistent first-layer adhesion, which is crucial for successful prints.
Thermal Management
Marlin provides comprehensive thermal protection, PID tuning, and precise temperature control for both the extruder and the print bed, ensuring stable printing conditions and minimizing temperature fluctuations.
LCD and user interface
Different LCD screens are supported by Marlin, which allows easy operation and monitoring of the printer. This makes it user-friendly, especially for beginners who do not have much knowledge about 3D printing.
source: https://marlinfw.org
Linear Advance (LA)
Linear Advance (LA) is a feature in Marlin firmware that predicts and compensates for the pressure buildup in the extruder during printing when speed changes. By adjusting the extrusion rate dynamically just before accelerating or decelerating, Linear Advance ensures consistent filament flow, reducing issues such as blobs, over-extrusion, and under-extrusion.
source: https://marlinfw.org
Similar to Marlin's linear advance, Klipper's pressure advance feature also maintains consistent filament flow by adjusting for pressure changes within the extruder. Both features aim to improve print quality and precision by dynamically managing the extruder pressure.
Model Predictive Temperature Control
This system relies on model simulation to bring the printer's hot end and bed to the set temperatures quickly and precisely, offering better performance than traditional PID control.
Community and Support
Klipper
Klipper's community is growing rapidly. The community is active on platforms like GitHub, Discord, and Reddit, where users share their experiences, provide support, and contribute to the firmware's development. The Klipper documentation is comprehensive and well-maintained, offering detailed guides on installation, configuration, and troubleshooting.
Klipper's open-source nature encourages community contributions, and many users actively participate in its development. The collaborative environment fosters innovation and ensures that Klipper remains at the cutting edge of 3D printing technology.
Marlin
Marlin's long history and widespread use have fostered a large and active community. This community provides extensive support through forums, social media groups, and dedicated websites. Users can find a wealth of resources, including configuration guides, troubleshooting tips, and custom firmware builds.
The Marlin project itself is open-source, and its development is driven by contributions from the community. This collaborative approach ensures that Marlin continues to evolve and improve, with regular updates and new features being added.
Use Cases and Printer Compatibility
Klipper
Klipper's high-performance capabilities make it particularly well-suited for users seeking advanced features and superior print quality. It offers precise stepper motor control, real-time kinematics, and advanced features like input shaping. With its flexible configuration through the printer.cfg file, accurate temperature control, and custom macros, Klipper enhances both the printing experience and efficiency.
Famous 3D Printer that Runs with Klipper: Kingroon KP3S Pro V2
The Kingroon KP3S Pro V2 is a compact and high-speed 3D printer that comes with Klipper firmware pre-installed, making advanced printing features accessible and user-friendly. It boasts a powerful mainboard that eliminates the need for an additional Raspberry Pi. It can achieve high print speeds up to 350 mm/s with 10000 mm/s² acceleration.
Source: https://kingroon.com
This printer features linear rail guides on all axes for stability and precision, an all-metal extruder with fast heating, and auto bed leveling for ease of use. The integrated Wi-Fi module allows for remote control, and the printer's flexible configuration supports real-time adjustments. With high performance and advanced features, the Kingroon KP3S Pro V2 is a prime example of a 3D printer running Klipper firmware.
If you are interested in this 3D printer and want to make a purchase, you can follow this link to the official website for more information.
Marlin
Marlin's broad compatibility makes it suitable for a wide range of 3D printers, from basic desktop models to advanced, custom-built machines. It supports various printer architectures, including Cartesian, CoreXY, Delta, and SCARA. Marlin's versatility makes it an excellent choice for users with diverse printer setups or those looking to experiment with different hardware configurations.
Marlin is also well-suited for users who prioritize ease of use and straightforward setup. Its extensive feature set caters to hobbyists, educators, and professionals alike, providing a reliable and robust firmware solution.
Famous 3D Printer that Runs with Marlin: Ender 3 V2
The Ender 3 V2 is a popular 3D printer known for its affordability and reliability, favored by both beginners and experienced users. It features an upgraded user interface with a color screen, improved stability with an all-metal frame and carborundum glass print bed, and silent operation due to TMC2209 stepper drivers. The printer is designed for easy assembly and offers high precision and accuracy, making it a versatile choice for various printing needs.
Source: https://all3dp.com
Supporting a wide range of filament materials, including PLA, ABS, and PETG, the Ender 3 V2 also includes a resume print function for power outages, ensuring minimal print failures.
With extensive community support and numerous online resources, the Ender 3 V2 is an excellent example of a 3D printer running on Marlin firmware.
Pros and Cons
Klipper
Pros:
- High performance due to offloading computation to a host computer of SBC.
- Advanced motion control and precise stepper motor management.
- Flexible and easy-to-manage configuration.
- Integration with web-based interfaces for user-friendly management.
- Active and growing community with frequent updates and new features.
Cons:
- More complex installation process requiring additional hardware (host machine) or SBC.
- Smaller community compared to Marlin, though rapidly growing.
- Initial setup may be daunting for beginners.
Marlin
Pros:
- Widely used and well-supported by the community.
- Compatible with a vast array of 3D printers and hardware configurations.
- Extensive feature set and regular updates.
- Straightforward installation and configuration process.
- Excellent documentation and resources.
Cons:
- Performance can be limited by the capabilities of the microcontroller.
- Configuration can be complex for beginners due to the numerous options.
- May struggle with high-speed or highly complex prints.
Final thoughts
Marlin and Klipper are two reliable firmware choices. Marlin is a fantastic option for a wide range of users with various printer settings because of its extensive compatibility, long history, and large community following.
On the other hand, Klipper is perfect for people who want precise control over their prints as well as those who need high-performance features. The distributed nature of Klipper allows it to handle more complex calculations at faster speeds, which makes this firmware ideal for professionals or hobbyists looking to push their printers to their limits.
Choosing between Marlin and Klipper depends on your printer type, your experience with firmware, and your specific goals for 3D printing. Both options significantly enhance the 3D printing experience. Understanding these differences will help you make an informed decision and select the firmware that best suits your unique needs.
Happy printing!