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Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

* P1 axis 5 can rotate freely inside its M208 limits. The strategy is to remain at the current angle as long as possible. When an unreachable area is reached, the angle is changed. If information of the planned moving path is available, this information is used to avoid jerky behaviour.
* P2:nnn arm 5 stays in a specific angle position nnn in respect to cartesian coordinates. If nnn is 0, it stays parallel to X axis, to be used for G31 mesh compensation. P2 can be used for tool changing.
-* P3 arm5 is directed into the movement direction in respect to x and y coordinates (no Z tilting). For P3 an additonal firmware change is necessary in the core source, see below in section compiling firmware. For moves from right to left axis 5 must be able to be below -180 and above 180 degree, because it must correct axis 1 angles. So A the last pair of values should be in the range of -225:225 and the hotend assembly (inclusive wires and filament) must support it.
+* P3 arm5 is directed into the movement direction in respect to x and y coordinates (no Z tilting). For moves from right to left axis 5 must be able to be below -180 and above 180 degree, because it must correct axis 1 angles. So A the last pair of values should be in the range of -225:225 and the hotend assembly (inclusive wires and filament) must support it.
* P4 arm 5 is directed into the movement direction like P3, but for moves from right to left the direction is rotated by 180 degree, so axis 5 degree is between -90 and 90 degree most of the time. This can make sense if the extruder has boundaries which can be used bidirectional (e.g. concrete printer which has boundaries left and right of the movement direction).

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