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Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

* done: documentation, P0 and P2 kinematics and inverse kinematics, A parameter, P2:nnn, R parameter
* current: working on prototype
-* currently the third X and Y parameters are not working and P2:<angle> is only working in manual mode (not in config).
-* open: P1, P3, D, B parameters, 6th axis rail support, additional construction possibilities (arm 1/2 support more angles)
+* current bug: P2:<angle> is only working in manual mode (not in config).
+* open: P1, P3, D, B, C parameters, 6th axis rail support, additional construction possibilities (arm 1/2 support more angles)
+* changed: for rail new parameter C and moving away from X and Y.
== Construction ==
This shows that arms 2 to 3 are in one line, arm 4 is vertical, arm 5 rotates horizontically.
-An optional 6th rail axis is installed parallel to the Y axis. If K669 has a third X parameter, a rail is used with letter W.
+An optional 6th rail axis is installed parallel to the X or Y axis. If K669 has a parameter C defined, a rail is used with letter W.
== M669 settings ==
'''K13''' is the printer type mode. Mandatory parameter without default.
-'''Xnnn:mmm[:ppp] Ynnn:mmm[:ppp] Zmmm''' are positions of Axis 1 (n) and Axis 2 (m), both in absolute cartesian coordinates. The values are measured when axis 1 is rotated into a position when arms 2 and 3 are parallel to the X axis and from left to right (as in the second introduction image). Mandatory parameter without default. If second Y is 0, arm 2 will go through axis 1.
+'''Xnnn:mmm Ynnn:mmm Zmmm''' are positions of Axis 1 (n) and Axis 2 (m), both in absolute cartesian coordinates. The values are measured when axis 1 is rotated into a position when arms 2 and 3 are parallel to the X axis and from left to right (as in the second introduction image). Mandatory parameter without default. If second Y is 0, arm 2 will go through axis 1.
* Xnnn, Ynnn are the cartesian coordinates of axis 1. Z is not relevant
* Xmmm, Ymmm, Zmmm are the cartesian coorindates of axis 2
-* Xppp is the coordinate of the rail, if using the rail axis and rail is parallel to the y axis
-* Yppp is the coordinate of the rail, if using the rail axis and rail is parallel to the x axis
+
+'''Cm:xxx:yyy:zzz''' are parameters if the rail is used
+
+m is the mode of the rail
+
+* C0... means no rail used
+* C1... means parallel to X axis, with X offset
+* C2... means parallel to Y axis, with Y offset
+* C3... means parallel to Z axis, with Z offset. That means the robot moves up and down like at a wall.
+
+If the 6th axis rail is used, X is the offset in X direction, Y and Z respectively. All four parameters must be used.
'''Rn''' is the actuator construction type.
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) is a linear actuator and defines an offset to coordinate X or Y.
+Axis 6 (if rail is used) is a linear actuator and defines an offset to coordinate X , Y or Z depending on the mode.
== Object Model, M669 ==

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