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Revision to Using RepRapFirmware with OpenPnP

David Crocker

+[title|Using RepRapFirmware with OpenPnP]
+
+
+RepRapFirmware running on Duet can be used in conjunction with OpenPnP to control movement of a pick-and-place machine.
+
+== Configuring RepRapFirmware ==
+
+An OpenPnP machine usually needs the following axes configured:
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+- X and Y axes to control the movement of the PnP head in the horizontal plane
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+- Z axis to control raising and lowering of the PnP head
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+- Rotation axis of the PnP head. If there is more than one PnP head then each one has its own rotation axis.
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+- Some dual-head PnP machines use a stepper motor to switch between heads. On such machines you need to create another axis to control that stepper.
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+RepRapFirmware supports X, Y and Z axes as standard and allows you to create up to 7 additional axes depending on the firmware version and which Duet you are using. Axes are created and associated with stepper motors using the M584 command in config.g. You may use any of the following letters to refer to the new axes: U V W A B C D (letter D is not supported in older firmware versions)
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+Note: RepRapFirmware treats extruders differently from axes, in particular they cannot be homed and are intended to support relative motion. Therefore, do not configure any stepper motors as extruders when using RepRapFirmware with OpenPnP.
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+== Configuring OpenPnP ==
+
+[to be completed]