3D-printing/Configurations
1
0
Fork 0
mirror of https://github.com/MarlinFirmware/Configurations.git synced 2026-01-30 21:00:42 -07:00
Code Issues Projects Releases Packages Wiki Activity Actions

update values and clean comments

Browse source
This commit is contained in:
Axel Sepulveda 2025-09-25 18:23:25 -03:00
parent 833e2669cd
commit 47e295d977
1 changed files with 9 additions and 8 deletions
Download patch file Download diff file Expand all files Collapse all files

17
config/examples/TPARA/AXEL_TPARA/Configuration.h
View file

@ -1122,23 +1122,25 @@
// 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
// 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 // was 247.35 182 Absolute from robot origin Axis: measured from tool holder axis to floor
#define TPARA_ARM_Z_HOME_POS 250.00 // 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, and W(0,0,0) is reachable
#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_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,
// 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 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
@ -1146,8 +1148,7 @@
#define HOME_Z_FIRST
#define HOME_Y_BEFORE_X
// Radius around the center where the arm cannot reach
// 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)
// (degrees) Max angle between L1 and L2