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Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

Status History:
+* Sep 24: M208 bugfix, started homing wiki
* Sep 22: M208 as angle limits, remove A parameter
* Sep 22: P3, P4 implemented
== Homing ==
-The home file which homes all axes is called homeall.g
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-Axis 1 is homed so that 0 degree means arm 2 and 3 are parallel to the X axis. Plus angle is counterclockwise.
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-Axis 2 is homed so that 0 degree means arm 2 is horizontal and parallel to Z plane. Plus is arm 2 is rotated up.
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-Axis 3 is homed so that 0 degree means straight line (180°) between arm 2 and 3. Arm 3 is always with angle 3 down, always 0 or negative value.
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-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).
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-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.
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-Axis 6 (if rail is used) is a linear actuator and defines an offset to coordinate X , Y or Z depending on the mode.
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-G1 H1 doesn't make sense, because it sets the position to the M208 minimum/maximum value when hitting the endstop. After hitting the endstop, the position should be set by an additional G92.
+A homing wiki is here: [[Homing for a FiveAxisRobot]]
== Object Model, M669 ==

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