3D-printing/Configurations
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fix: update TPARA config acording to new devs

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This commit is contained in:
Axel Sepulveda 2025-09-25 18:05:36 -03:00
parent 2e02635137
commit 2c8993b788
1 changed files with 63 additions and 28 deletions
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91
config/examples/TPARA/AXEL_TPARA/Configuration.h
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@ -233,7 +233,7 @@
#define EXTRUDERS 1
// Generally expected filament diameter (1.75, 2.85, 3.0, ...). Used for Volumetric, Filament Width Sensor, etc.
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0
#define DEFAULT_NOMINAL_FILAMENT_DIA 1.75
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -416,7 +416,7 @@
* Enable and connect the power supply to the PS_ON_PIN.
* Specify whether the power supply is active HIGH or active LOW.
*/
#define PSU_CONTROL
//#define PSU_CONTROL
//#define PSU_NAME "Power Supply"
#if ENABLED(PSU_CONTROL)
@ -1116,20 +1116,43 @@
#define DEFAULT_SEGMENTS_PER_SECOND 200
// Length of inner and outer support arms. Measure arm lengths precisely.
#define TPARA_LINKAGE_1 120 // (mm)
#define TPARA_LINKAGE_2 120 // (mm)
#define TPARA_LINKAGE_1 120.0 // (mm)
#define TPARA_LINKAGE_2 120.0 // (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)
// This is the position of the last linkage relative to the 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 // was -60 Absolute from robot origin Axis: measured from shoulder axis to tool holder axis in home position 31.66-4.82/2-0.5 ~ 28.75
#define TPARA_ARM_Y_HOME_POS 0
#define TPARA_ARM_Z_HOME_POS 250.00 // was 247.35 182 Absolute from robot origin Axis: measured from tool holder axis to 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) Thus it coincides with the minimum radius, 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/conection 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 -35.0 // (mm) -35 is safe for testing with no tool, Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor ), 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
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
// (degrees) Max angle between L1 and L2
#define TPARA_MAX_L1L2_ANGLE 140.0f
#endif // AXEL_TPARA parameters
// @section polar
@ -1309,11 +1332,14 @@
* Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°)
* Override with M92 (when enabled below)
* X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
*
* TPARA only uses angles, units are (steps/degree)
* 200 steps per 360 deg rev * [32 (DRV8825) or 16 (A4988) microsteps] * 32:9 gear ratio
* 200/360*32*32/9 = 63.2098765 ~ 63.21
* 200/360*16*32/9 = 31,6049382 ~ 31.60
*/
// TPARA uses only angles units are (steps/angle)
// 200 steps per 360 deg rev * 32 microsteps * 32:9 gear ratio
// 200/360*32*32/9 = 63.21
#define DEFAULT_AXIS_STEPS_PER_UNIT { 63.21,63.21,63.21, 200 } // default steps per unit for SCARA
#define DEFAULT_AXIS_STEPS_PER_UNIT { 31.60, 31.60, 31.60, 200 } // default steps per unit for TPARA
/**
* Enable support for M92. Disable to save at least ~530 bytes of flash.
@ -1924,10 +1950,10 @@
// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions.
#define X_MIN_POS 0
#define Y_MIN_POS 0
#define Z_MIN_POS MANUAL_Z_HOME_POS
#define Z_MIN_POS 0
#define X_MAX_POS X_BED_SIZE
#define Y_MAX_POS Y_BED_SIZE
#define Z_MAX_POS 225
#define Z_MAX_POS 295
//#define I_MIN_POS 0
//#define I_MAX_POS 50
//#define J_MIN_POS 0
@ -1948,10 +1974,11 @@
* - Individual axes can be disabled, if desired.
* - X and Y only apply to Cartesian robots.
* - Use 'M211' to set software endstops on/off or report current state
* - For delta, SCARA or TPARA limits are calculated from printable radius, usually should be disabled, future work so we may have both
*/
// Min software endstops constrain movement within minimum coordinate bounds
#define MIN_SOFTWARE_ENDSTOPS
//#define MIN_SOFTWARE_ENDSTOPS
#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
#define MIN_SOFTWARE_ENDSTOP_X
#define MIN_SOFTWARE_ENDSTOP_Y
@ -1965,7 +1992,7 @@
#endif
// Max software endstops constrain movement within maximum coordinate bounds
#define MAX_SOFTWARE_ENDSTOPS
//#define MAX_SOFTWARE_ENDSTOPS
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
#define MAX_SOFTWARE_ENDSTOP_X
#define MAX_SOFTWARE_ENDSTOP_Y
@ -2366,11 +2393,19 @@
// The center of the bed is at (X=0, Y=0)
//#define BED_CENTER_AT_0_0
// Manually set the home position. Leave these undefined for automatic settings.
// For DELTA this is the top-center of the Cartesian print volume.
#define MANUAL_X_HOME_POS 35
#define MANUAL_Y_HOME_POS 0
#define MANUAL_Z_HOME_POS 125
/**
* Manually set the home position. Leave these undefined for automatic settings.
*
* For DELTA this is the top-center of the Cartesian print volume.
*
* For TPARA this is the position of the tool holder relative to the arm origin (intersection of the base axis and floor) when in the home position (endstops triggered), aka machine home position.
* Tool and Workspace home should be calculated with their respective offset
*/
#define MANUAL_X_HOME_POS TPARA_ARM_X_HOME_POS + TPARA_TCP_OFFSET_X - TPARA_OFFSET_X // was -60 Absolute from robot origin Axis: measured from shoulder axis to tool holder axis in home position 31.66-4.82/2-0.5 ~ 28.75
#define MANUAL_Y_HOME_POS TPARA_ARM_Y_HOME_POS + TPARA_TCP_OFFSET_Y - TPARA_OFFSET_Y
#define MANUAL_Z_HOME_POS TPARA_ARM_Z_HOME_POS + TPARA_TCP_OFFSET_Z - TPARA_OFFSET_Z // was 247.35 182 Absolute from robot origin Axis: measured from tool holder axis to floor
//#define MANUAL_I_HOME_POS 0
//#define MANUAL_J_HOME_POS 0
//#define MANUAL_K_HOME_POS 0
@ -2394,10 +2429,10 @@
#endif
// Homing speeds (linear=mm/min, rotational=°/min)
#define HOMING_FEEDRATE_MM_M { (10*60), (10*60), (10*60) }
#define HOMING_FEEDRATE_MM_M { (60*60), (60*60), (60*60) }
// Edit homing feedrates with M210 and MarlinUI menu items
//#define EDITABLE_HOMING_FEEDRATE
#define EDITABLE_HOMING_FEEDRATE
// Validate that endstops are triggered on homing moves
#define VALIDATE_HOMING_ENDSTOPS
@ -2720,7 +2755,7 @@
* SD Card support is disabled by default. If your controller has an SD slot,
* you must uncomment the following option or it won't work.
*/
//#define SDSUPPORT
#define SDSUPPORT
/**
* SD CARD: ENABLE CRC
@ -2814,7 +2849,7 @@
//
// Set this option if CLOCKWISE causes values to DECREASE
//
//#define REVERSE_ENCODER_DIRECTION
#define REVERSE_ENCODER_DIRECTION
//
// This option reverses the encoder direction for navigating LCD menus.
@ -3052,7 +3087,7 @@
// RepRapDiscount FULL GRAPHIC Smart Controller
// https://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
//
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
//
// K.3D Full Graphic Smart Controller