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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, but the 4th tower has a 250mm "rod". This 250mm value is the distance that RRF will maintain between the extruder output and 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.

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