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Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

* P0 arm 5 is fixed to 0 degree (arm 2, 3 and 5 straight line when viewed from above). Default.
* P1 axis 5 rotates freely inside angle limits.
-* P2:nnn arm 5 stays in a specific angle 5 position nnn. If nnn is 0, it stays parallel to X axis. Used for G31 mesh probing or for tool changing.
+* P2:nnn arm 5 stays in a specific angle position nnn in respect to cartesian coordinates. If nnn is 0, it stays parallel to X axis, to be used for G31 mesh compensation. P2 can be used for tool changing.
* P3 arm5 is directed into the movement direction (not implemented, as it needs to know the start and end point, which is not supported yet).
Axis 4 is homed so that 0 degree means straight line (180°) between arm 3 and 4. The angle 4 is negative in most cases (bent down, so arm 4 is vertical).
-Axis 5 is homed so that 0 degree means axis 5 is parallel to X axis. Angle is positive with a rotation counterclockwise.
+Axis 5 is homed so that 0 degree means arm 5 is in line with arms 2 and 3. Angle 5 is positive when rotated counterclockwise.
-Axis 6 (if rail is used) homing defines X position 0 so that the Axis 1 and 2, M208 etc. coordinates are unchanged.
+Axis 6 (if rail is used) is a linear actuator and defines an offset to coordinate X or Y.
== Object Model, M669 ==
== Configuration example ==
-tbd
+M669 K13 X20.0:5.0 Y0.0:10.0 Z50.0 R1 L300.0:400.0:200.0:100.0 P0

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