https://docs.duet3d.com/
Help

Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

Status History:
-* Sep 10 2020: added A to M669 report
-* Sep 08 2020: separate rail properties (new C parameter), compact M669 status display
+* Sep 15: changed B parameter
+* Sep 10: added A to M669 report
+* Sep 08: separate rail properties (new C parameter), compact M669 status display
== Construction ==
* D2 check printable region by test moves and compare to M208 setting. Report problems. Show optimizing settings and used memory.
-'''Ba2:a3:a5''' is a correction factor for bending the arms 2, 3 and 5 in mm in Z direction at the end of each arm when bending of the arms is maximal (horizontal). If the arm is angled up or down, a fraction of the bending is calculated. The parameter is optional with default value 0. Bending can be measured or calculated by e-Module and weight. The e-Module depends on the material of the arm. Bending and arm length shortage of arm 2 and 3 are approximated, so bending to arm length ratio should be small.
+'''Bor:a2:a3:a4:a5''' is a correction factor for bending the arms.
+
+or is the orientation of the robot in space
+
+* 0 is like described above and default: in homing position arms 2 and 3 are horizontal and axis 1 is vertical.
+* 1 in homing position arms 2 and 3 are oriented vertical to the space
+* 2 in homing position arms 2 and 3 are like default, but axis 1 is rotated 90° (laying "on the side")
+
+I'l make images to explain when I have implemented it. The bending differs depending on the orientation due to the direction of the gravitational forces.
+
+a2 to a5 in mm in Z direction at the end of each arm when bending of the arms is horzontal and maximal. If the arm is angled up or down, a fraction of the bending is calculated according to the forces. The parameter is optional with default value 0. Bending can be measured or calculated by e-Module and weight. The e-Module depends on the material of the arm. Bending and arm length shortage of the arms are approximated (otherwise calculations would be very complex), so bending to arm length ratio should be small.
== Other config parameters ==

To undo the changes made by this version, click 'Revert Changes.' This will automatically restore the previous version of this guide.

Revert Changes