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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. Check and describe homing and M208 (probably there are bugs)
+* current: working on prototype. Check and describe homing and M208 (probably there are bugs). Prepare support for P1 and P3. Addtional options for imperfect construction (non parallel axes eg)
* open: P1, P3, D, B, C parameters, 6th axis rail support, additional construction possibilities (arm 1/2 support more angles)
* cmin:cmax axis3 restriction, positive angle 3 is arm3 up, negative down. Angle 3 is the angle between angle 2 and angle 3.
* dmin:dmax is the angle between arm 3 and arm 4, negative is down.
-* emin:emax is the angle from straight line between arms 2 to 4 and arm 5. 0 degree is straight to right. Positive is counterclockwise.
+* emin:emax is the angle from straight line between arms 2 to 4 and arm 5. 0 degree is straight to right. Positive is counterclockwise. The angle can be smaller than -180 degree and bigger than 180 degree to allow some necessary axis 5 rotations in modes P1 and P3. Care with the wires and filament must be taken to use it.
* default is A-45:45:0:75:-75:-5:-170:170:-135:135
'''M208''' defines the printable area. If the robot shall make a move to a point which is inside of M208, but not reachable by the arm and angle restrictions, an error will be reported and the move will not be possible.
+
+To be clarified: is M208 the cartesian coordinates limit or the limit of the different actuator angles?
'''G31 X Y Z''' probe as offset relative to hotend position for mesh compensation.
};
+To support P1 and P3 modes, it is necessary for the kinematics to know the G0/G1 printing path of the current G-Code move. The method setPlannedPath is used to set the path. It must be called from a location in the DDA/Move/... classes. The following code must be added in ...:
+
+... (tbd)
+
The code will compile without errors, if the projects tags 3.1.0 are used with the addition of the two Robot files. (Go to github into the project, click on the button Tags, download the 3.1.0 zip file).

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