From c0256d3677fe523a2945ced29fc51518d0520198 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 10 Nov 2025 13:43:51 -0600 Subject: [PATCH] etc --- .../examples/TPARA/AXEL_TPARA/Configuration.h | 22 +++++++++---------- .../TPARA/AXEL_TPARA/Configuration_adv.h | 6 +++-- 2 files changed, 15 insertions(+), 13 deletions(-) diff --git a/config/examples/TPARA/AXEL_TPARA/Configuration.h b/config/examples/TPARA/AXEL_TPARA/Configuration.h index 48a575a0bc..5bfc25e889 100644 --- a/config/examples/TPARA/AXEL_TPARA/Configuration.h +++ b/config/examples/TPARA/AXEL_TPARA/Configuration.h @@ -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 diff --git a/config/examples/TPARA/AXEL_TPARA/Configuration_adv.h b/config/examples/TPARA/AXEL_TPARA/Configuration_adv.h index 816cf6f469..c6b864801e 100644 --- a/config/examples/TPARA/AXEL_TPARA/Configuration_adv.h +++ b/config/examples/TPARA/AXEL_TPARA/Configuration_adv.h @@ -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