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Revision to ConfiguringRepRapFirmwareDeltaPrinter

David Crocker

RRF 2.03 and later allow you to configure more than 3 towers (maximum 6 in total) on a delta machine. Typically, additional towers are used to carry extruders, allowing the Bowden tube to be shortened.
 
To use additional towers, specifytowers:

1. Use the M584 command to create additional axes, 1 for each tower. Example:

M584 X0 Y1 Z2 U4 E3

2. Specify
the rod lengths to each tower individually in the M665 command, for examplecommand. Example:
To use additional towers, specifytowers:

1. Use the M584 command to create additional axes, 1 for each tower. Example:

M584 X0 Y1 Z2 U4 E3

2. Specify
the rod lengths to each tower individually in the M665 command, for examplecommand. 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.
 
The M665 command must be later in config.g than the M584 command that creates the additional axes.
 
You must specify the XY offsets of the extruder outputs on additional towers relative to machine centre in the M669 command, for example:
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. In RepRapFirmware 2.04 and later you can use M666 corrections on additional towers to fine-adjust the height of the additional carriages..
 
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
As usual, RepRapFirmware 2.x will assign endstop inputs in the order that axes are created. For example, using the aboveexample M584 commandcommand given earlier, the U tower endstop must be connected to the E0 endstop input. If you are using RepRapFirmware 3 then you must declare the additional tower endstops explicitly using M574 commands.
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
As usual, RepRapFirmware 2.x will assign endstop inputs in the order that axes are created. For example, using the aboveexample M584 commandcommand given earlier, the U tower endstop must be connected to the E0 endstop input. If you are using RepRapFirmware 3 then you must declare the additional tower endstops explicitly using M574 commands.
 
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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