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Revision to ConfiguringRepRapFirmwarePolarPrinter

Tony

== Overview ==
-'''For a general guide to configuring RepRapFirmware, see [[ConfiguringRepRapFirmwareCartesianPrinter|Configuring RepRapFirmware for a Cartesian printer]]. Only the differences for polar printers are described here.'''
+***For a general guide to configuring RepRapFirmware, see [[ConfiguringRepRapFirmwareCartesianPrinter|Configuring RepRapFirmware for a Cartesian printer]]. Only the differences for polar printers are described here.***
RepRapFirmware is configured at run-time by means of files in the /sys folder of the on-board SD card. This means that you must have an SD card in the on-board socket to use RepRapFirmware. You do not have to recompile RepRapFirmware to configure it, so if you wish to update the firmware on your Duet or other compatible electronics board, you can download a ready-built binary.
-'''The easiest way to generate these files is using the [https://configurator.reprapfirmware.org/|RepRapFirmware configuration tool] .'''
+***The easiest way to generate these files is using the [https://configurator.reprapfirmware.org/|RepRapFirmware configuration tool] .***
Polar printers are supported in RepRapFirmware 1.20 and later.
=== Telling RepRapFirmware that your printer has Polar geometry ===
-To tell RepRapFirmware that your printer is Polar and to define its parameters, put command '''M669 K7 Raaa:bbb Hccc Fnnn Annn''' in your sys/config.g file on the on-board SD card. The parameters are:
+To tell RepRapFirmware that your printer is Polar and to define its parameters, put command ***M669 K7 Raaa:bbb Hccc Fnnn Annn*** in your sys/config.g file on the on-board SD card. The parameters are:
-'''Knnn''' Geometry class, 7 = Polar
+***Knnn*** Geometry class, 7 = Polar
-'''Raaa:bbb''' Minimum and maximum radius in mm. If only one value it given it will be used as the maximum radius, and the minimum radius will be assumed to be zero.
+***Raaa:bbb*** Minimum and maximum radius in mm. If only one value it given it will be used as the maximum radius, and the minimum radius will be assumed to be zero.
-'''Hnnn''' Radius in mm at which the homing switch is triggered during a homing move. If this parameter is not present, the homing switch is assumed to trigger at the minimum radius.
+***Hnnn*** Radius in mm at which the homing switch is triggered during a homing move. If this parameter is not present, the homing switch is assumed to trigger at the minimum radius.
-'''Fnnn''' Maximum turntable speed in degrees per second
+***Fnnn*** Maximum turntable speed in degrees per second ^^1^^
-'''Annn''' Maximum turntable acceleration in degrees per second per second
+***Annn*** Maximum turntable acceleration in degrees per second per second ^^1^^
+
+Note ^^1^^ : The A and F parameters only apply to normal moves not to G1 H2 (individual motor) moves. The intention is that when printing well away from the centre, the normal X and Y limits set by M201 and M203 are sufficient. When printing at a small radius, movement may need to be slowed down to limit the turntable speed and acceleration.
=== Changes to other commands ===
You must provide homing files homeradius.g, homebed.g, homez.g and homeall.g.
-'''homeradius.g''' should use a G1 H1 Xnnn command to move towards the radius at which the homing switch triggers. Then back off a little and repeat at slower speed.
+***homeradius.g*** should use a G1 H1 Xnnn command to move towards the radius at which the homing switch triggers. Then back off a little and repeat at slower speed.
-'''homebed.g''' should move the turntable in an appropriate direction until the homing switch is triggered. If there is no homing switch for the turntable, then set the radius motor to a known position using a G1 H2 X command and then use G92 to define the X and Y positions. Note that if you want to support power down and resume functionality, you must provide a turntable homing switch so that the bed position can be restored.
+***homebed.g*** should move the turntable in an appropriate direction until the homing switch is triggered. If there is no homing switch for the turntable, then set the radius motor to a known position using a G1 H2 X command and then use G92 to define the X and Y positions. Note that if you want to support power down and resume functionality, you must provide a turntable homing switch so that the bed position can be restored.
-'''homez.g''' is as for other types of printer, and '''homeall.g''' combines all the homing moves serially and/or concurrently as appropriate.
+***homez.g*** is as for other types of printer, and ***homeall.g*** combines all the homing moves serially and/or concurrently as appropriate.
Here are some sample homing files. These assume that the radius homes to low radius, there is no turntable homing switch, and Z homing is done using a Z probe.

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