3D-printing/Configurations
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Scott Lahteine 2025-11-10 13:43:51 -06:00
parent 4e37701821
commit c0256d3677
2 changed files with 15 additions and 13 deletions
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22
config/examples/TPARA/AXEL_TPARA/Configuration.h
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@ -1123,16 +1123,15 @@
// Height of the Shoulder axis (pivot) relative to the tower floor
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
// This is the position of the last linkage relative to the robot arm origin
// (intersection of the base axis and floor) when in the home position (endstops triggered), aka machine home position
#define TPARA_ARM_X_HOME_POS 28.75 // Measured from shoulder axis to tool holder axis in home position
#define TPARA_ARM_Y_HOME_POS 0
#define TPARA_ARM_Z_HOME_POS 250.00 // Measured from tool holder axis to the floor
// 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 127.0 // (mm) Thus it coincides with the minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
#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)
@ -1149,11 +1148,12 @@
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach, for now we 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)
// Radius around the center where the arm cannot reach
// 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)
// (degrees) Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f
// Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
#endif // AXEL_TPARA
// @section polar

6
config/examples/TPARA/AXEL_TPARA/Configuration_adv.h
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@ -940,8 +940,10 @@
//#define XY_COUNTERPART_BACKOFF_MM 0 // (mm) Backoff X after homing Y, and vice-versa
//#define QUICK_HOME // If G28 contains XY do a diagonal move first
//#define HOME_Y_BEFORE_X // If G28 contains XY home Y before X
//#define HOME_Z_FIRST // Home Z first. Requires a real endstop (not a probe).
// For TPARA invert homing axis order, to avoid tool or linkage crashes
#define HOME_Y_BEFORE_X // If G28 contains XY home Y before X
#define HOME_Z_FIRST // Home Z first. Requires a real endstop (not a probe).
//#define CODEPENDENT_XY_HOMING // If X/Y can't home without homing Y/X first
// @section bltouch