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📝 Put DELTA / SCARA / TPARA in all configs (#776)

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MarlinFirmware/Marlin#24458
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Scott Lahteine 2022-07-06 16:49:01 -05:00 • committed by GitHub
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114
config/examples/Polargraph/Configuration.h
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@ -37,7 +37,7 @@
*
* Advanced settings can be found in Configuration_adv.h
*/
#define CONFIGURATION_H_VERSION 02010000
#define CONFIGURATION_H_VERSION 02010100
//===========================================================================
//============================= Getting Started =============================
@ -59,15 +59,6 @@
* https://www.thingiverse.com/thing:1278865
*/
//===========================================================================
//========================== DELTA / SCARA / TPARA ==========================
//===========================================================================
//
// Download configurations from the link above and customize for your machine.
// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
//
//===========================================================================
// @section info
// Author info of this build printed to the host during boot and M115
@ -871,6 +862,75 @@
#define Y_MAX_PIN 36
#endif
/**
* MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
* Implemented and slightly reworked by JCERNY in June, 2014.
*
* Mostly Printed SCARA is an open source design by Tyler Williams. See:
* https://www.thingiverse.com/thing:2487048
* https://www.thingiverse.com/thing:1241491
*/
//#define MORGAN_SCARA
//#define MP_SCARA
#if EITHER(MORGAN_SCARA, MP_SCARA)
// If movement is choppy try lowering this value
#define SCARA_SEGMENTS_PER_SECOND 200
// Length of inner and outer support arms. Measure arm lengths precisely.
#define SCARA_LINKAGE_1 150 // (mm)
#define SCARA_LINKAGE_2 150 // (mm)
// SCARA tower offset (position of Tower relative to bed zero position)
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define SCARA_OFFSET_X 100 // (mm)
#define SCARA_OFFSET_Y -56 // (mm)
#if ENABLED(MORGAN_SCARA)
//#define DEBUG_SCARA_KINEMATICS
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#define THETA_HOMING_OFFSET 0 // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
#define PSI_HOMING_OFFSET 0 // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
#elif ENABLED(MP_SCARA)
#define SCARA_OFFSET_THETA1 12 // degrees
#define SCARA_OFFSET_THETA2 131 // degrees
#endif
#endif
// Enable for TPARA kinematics and configure below
//#define AXEL_TPARA
#if ENABLED(AXEL_TPARA)
#define DEBUG_ROBOT_KINEMATICS
#define ROBOT_SEGMENTS_PER_SECOND 200
// Length of inner and outer support arms. Measure arm lengths precisely.
#define ROBOT_LINKAGE_1 120 // (mm)
#define ROBOT_LINKAGE_2 120 // (mm)
// SCARA tower offset (position of Tower relative to bed zero position)
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define ROBOT_OFFSET_X 0 // (mm)
#define ROBOT_OFFSET_Y 0 // (mm)
#define ROBOT_OFFSET_Z 0 // (mm)
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
// Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
#define THETA_HOMING_OFFSET 0
#define PSI_HOMING_OFFSET 0
#endif
// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
//#define ARTICULATED_ROBOT_ARM
@ -1245,9 +1305,37 @@
*/
//#define SENSORLESS_PROBING
//
// For Z_PROBE_ALLEN_KEY see the Delta example configurations.
//
/**
* Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
* Deploys by touching z-axis belt. Retracts by pushing the probe down.
*/
//#define Z_PROBE_ALLEN_KEY
#if ENABLED(Z_PROBE_ALLEN_KEY)
// 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
// if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
#define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
#define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
#define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 }
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE
#endif // Z_PROBE_ALLEN_KEY
/**
* Nozzle-to-Probe offsets { X, Y, Z }