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Revision to ConfiguringRepRapFirmwareDeltaPrinter

David Crocker

You can test the three tower motors individually by putting the printer in relative mode (G91 command) and then using the G1 command with S2 parameter. For example, sending G1 S2 X10 should move the X carriage up 10mm, and sending G1 S2 X-10 should move the X carriage down 10mm. Similarly for Y and Z. If a motor moves the wrong way, you can reverse it by changing the corresponding M569 command in config.g. For example, if the X motor moves the wrong way, change M569 P0 S1 to M569 P0 S0.
== Adding additional towers to carry flying extruders ==
RRF 2.03 includes an experimental feature to allow more than 3 towers (maximum 6) on a delta machine. To use additional towers, specify the rod lengths to each tower individually in the M665 command, for example:
M665 L360:360:360:250 R180.3 H470 B150.0
This specifies that the XYZ towers all have 360mm rods to the effector and there is a 4th tower with a 250mm "rod". This 250mm value is the distance that RRF will maintain between the extruder output and filament entry point on the hot end ( which is normally at the centre of the effector), so roughly the length of the Bowden tube.
You must specify the XY offsets of the extruder outputs on additional towers relative to machine centre in the M669 command, for example:
M669 X150 Y100
The M669 command must come after the M665 command.
You must provide homing switches for the additional carriages, and you must home the additional towers simultaneously with the XYZ towers in homedelta.g. Adjust the height of the homing switches for additional towers to get the extruder at the correct height relative to the effector.
To assign stepper drivers to the additional towers, use the M584 command to create additional axes, for example:
M584 X0 Y1 Z2 U4 E3
As usual, endstop inputs will be assigned in the order that axes are created. For example, using the above M584 command, the U tower endstop must be connected to the E0 endstop input.
You can add parameter P3 to the M584 command to hide the additional axis during normal use, but if you do that then you must un-hide it using M584 P4 at the start of homedelta.g so that you can command U axis movement.

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