3D-printing/Configurations
1
0
Fork 0
mirror of https://github.com/MarlinFirmware/Configurations.git synced 2026-01-17 21:35:43 -07:00
Code Issues Projects Releases Packages Wiki Activity Actions

update all TPARA

Browse source
This commit is contained in:
Scott Lahteine 2025-11-10 13:49:57 -06:00
parent c0256d3677
commit 34611ac3b1
400 changed files with 12000 additions and 2400 deletions
Download patch file Download diff file Expand all files Collapse all files

36
config/default/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/3DFabXYZ/Migbot/Configuration.h
View file

@ -1121,17 +1121,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/3DMatik/XL/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/ADIMLab/Gantry v1/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/ADIMLab/Gantry v2/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Alfawise/U20-bltouch/Configuration.h
View file

@ -1188,17 +1188,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Alfawise/U20/Configuration.h
View file

@ -1189,17 +1189,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AliExpress/CL-260/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AliExpress/UM2pExt/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/A2/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/A2plus/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/A6/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/A8/Configuration.h
View file

@ -1122,17 +1122,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/A8plus/Configuration.h
View file

@ -1121,17 +1121,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/A9/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/E10/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/E16/BTT SKR 1.3/Configuration.h
View file

@ -1121,17 +1121,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/E16/Stock/Configuration.h
View file

@ -1121,17 +1121,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/ET4+/Configuration.h
View file

@ -1125,17 +1125,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/ET4-Pro/Configuration.h
View file

@ -1125,17 +1125,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/ET4/Configuration.h
View file

@ -1125,17 +1125,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/ET4X/Configuration.h
View file

@ -1125,17 +1125,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/ET5-Pro/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/ET5/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Anet/ET5X/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/Chiron/Configuration.h
View file

@ -1123,17 +1123,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/Mega Zero 2.0/Anycubic V1/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/Mega Zero/Anycubic V1/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/Vyper/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/i3 Mega/Trigorilla AVR/Configuration.h
View file

@ -1158,17 +1158,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/i3 Mega/Trigorilla Pro STM32/Configuration.h
View file

@ -1126,17 +1126,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/AnyCubic/i3/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/ArmEd/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Artillery/Genius Pro/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Artillery/Genius/BLTouch/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Artillery/Genius/V1/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Artillery/Hornet/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Artillery/Sidewinder X1/0.9 BMG - E3D V6/Configuration.h
View file

@ -1134,17 +1134,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Artillery/Sidewinder X1/V1/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Artillery/Sidewinder X2/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Azteeg/X5GT/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIBO/TouchX/cyclops/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIBO/TouchX/default - BLTouch/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIBO/TouchX/default/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIQU/B1 SE Plus/Configuration.h
View file

@ -1117,17 +1117,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIQU/B1 SE/Configuration.h
View file

@ -1117,17 +1117,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIQU/B1/Configuration.h
View file

@ -1126,17 +1126,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIQU/BX/all-metal-hotend/Configuration.h
View file

@ -1139,17 +1139,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIQU/BX/base/Configuration.h
View file

@ -1139,17 +1139,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIQU/Hurakan/Configuration.h
View file

@ -1122,17 +1122,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BIQU/Thunder Standard/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BQ/Hephestos/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BQ/Hephestos_2/Configuration.h
View file

@ -1133,17 +1133,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/BQ/WITBOX/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/CNC/miniRambo/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/CTC/A13/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/CTC/Bizer/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/CTC/i3 2560 Rev A/no probe/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Cartesio/Configuration.h
View file

@ -1135,17 +1135,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Copymaster3D/300/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Copymaster3D/400/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Copymaster3D/500/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 Max/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/Configuration.h
View file

@ -1127,17 +1127,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 3.0/Configuration.h
View file

@ -1127,17 +1127,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 Mini/CrealityV1/Configuration.h
View file

@ -1128,17 +1128,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 Mini/MEEB-3DP/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 S4/CrealityV1/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 1.2 with TFT35 E3 V3.0/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 v3/Configuration.h
View file

@ -1118,17 +1118,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 S5/CrealityV1/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 S5/CrealityV2.2 - BLTouch/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 S5/CrealityV427 - BLTouch/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 V2/Configuration.h
View file

@ -1128,17 +1128,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 V3/BigTreeTech SKR Mini E3 v3/Configuration.h
View file

@ -1128,17 +1128,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10 V3/Stock/Configuration.h
View file

@ -1128,17 +1128,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 2.0/Configuration.h
View file

@ -1118,17 +1118,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 3.0/Configuration.h
View file

@ -1118,17 +1118,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10/CrealityV1/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S Pro/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S/BigTreeTech SKR 1.4 Turbo TMC2209/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S/BigTreeTech SKR 2.0 TMC2209/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 2.0/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 3.0/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S/BigTreeTech SKR Pro v1.2/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S/CrealityV1 - BLTouch/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-10S/CrealityV1/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-20 Pro/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-20/RepRapWorld Minitronics20/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-20/Stock/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-30 PrintMill/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-6 SE/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/CR-8/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/Ender-2 Pro/CrealityV24S4/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration.h
View file

@ -1119,17 +1119,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/Ender-2/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/Ender-3 Max Neo/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/Ender-3 Max/Configuration.h
View file

@ -1121,17 +1121,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

36
config/examples/Creality/Ender-3 Neo/Configuration.h
View file

@ -1120,17 +1120,41 @@
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
// TPARA tower offset (position of Tower relative to bed zero position)
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// The position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when at the home position
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
#define TPARA_OFFSET_X 0 // (mm)
#define TPARA_OFFSET_Y 0 // (mm)
#define TPARA_OFFSET_Z 0 // (mm)
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#define TPARA_OFFSET_Y 0.0 // (mm)
#define TPARA_OFFSET_Z 0.0 // (mm)
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
// (TCP: tool center/connection point) of the robot,
// the plane of measured offset must be alligned with home position plane
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Need to invert homing axis order, to avoid tool or linkage crashes
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#endif
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

Some files were not shown because too many files have changed in this diff Show more