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Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

* R0 are 5 rotation actuators for axis 1 to 5. Driver letters are XYZUV. If rail is used, it is drive W. Default.
-* R1 are 4 rotation actuators for axis 1 to 3 and 5. Axis 4 is rotated automatically by construction for arm 4 to stay vertical. Axis 1 to 3 are XYZ, Axis 5 is drive U. If rail is used, it is drive V.
-* R2 are 3 rotating actuators for axis 1 to 3, driver letters XYZ. Axis 4 behaves like in R1. Axis 5 has no actuator and is fixed in 0 degree position. I rail is used, it is drive U. In this mode, G31 is only possible with probe at nozzle XY position.
+* R1 are 4 rotation actuators for axis 1 to 3 and 5. Axis 4 is rotated automatically by construction for arm 4 to stay vertical. Axis 1 to 3 are XYZ, Axis 5 is drive V. If rail is used, it is drive W.
+* R2 are 3 rotating actuators for axis 1 to 3, driver letters XYZ. Axis 4 behaves like in R1. Axis 5 has no actuator and is fixed in 0 degree position. I rail is used, it is drive W. In this mode, G31 is only possible with probe at nozzle XY position.
'''Lnnn:mmm:ppp:qqq''' are the arm lengths for arms 2 to 5. Mandatory parameter without default. The arm length is measured from middle of hinge to middle of other hinge (arm 5: middle of nozzle).
* 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")
-* 3 robot hanging at the ceiling, orientation like in mode 0, but upside-down.
+* 3 also laying on the side, but -90° on the other side
+* 4 robot hanging at the ceiling, orientation like in mode 0, but upside-down.
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.
* axis 4 = U: angle between arm 3 and arm 4, negative is down. If axis 4 angles are too restrictive, printing can be disabled, because arm 4 must be able to be oriented vertical.
* axis 5 = V: 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.
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-* rail = W: coordinate position in mm.
+* rail = W: coordinate position in mm.
An example of M208 setting is:

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