@OttoJiang I don't recommend it, because this kinematics is only one of several ones of robotics kinematics. When they are complete, we can github it.

As an overview please see https://docs.duet3d.com/User_manual/Machine_configuration/Configuring_RepRapFirmware_for_a_Robot_printer with additional documentation pages.

@dc42 can i have an answer please?

@Toaster0042 you're right, I should inform, I will prepare an update.

@eranglr Would be beneficial to see what you have built and what you use it for, perhaps then people could suggest alternate paths for you to follow or help investigate.

Sounds like you are after variable speed control ? on the fly ?

@dc42 Thank you for the response. I will attempt this.

Sorry I forgot you were working with external drivers here.

As this thread has grown to nearly 100 posts and has involved several issues, I think it may be best if you can create a new thread with a detailed restatement of your current issue. Please include the basic details of your setup and the hardware used. Please include your config.g as well.

@Texas_Mike please share config.g and homing macro files (home/y/z/e/f.g, and homeall.g).

@David-Piska said in Clog detector make random filament missing errors:

thanks to Modix3D support for idea to check M600 command.

Good catch! Sometimes the simplest answer is the best. Often we look for more complicated reasons! The 'error' (not an error, it's doing what it's told to do) message should have been the clue...

Ian

@__noemy__ send M115 to see if it reports the DueX5. If the response doesn't mention it then check that the ribbon cable is connected properly and that power is applied to the DueX5.

@Mafco77 thank you for using the kinematics and nice to hear that you're using it successful.

I probably have implemented the homing of CoreXY wrong somewhere. I'll check it. But please be patient for solving this, it's not the highest priority and you have a workaround.

@trulm to do that you have to start the macro (very rudementary explained) with splitting the z steppers into individual axis. Then assign the movement you want on each of those three axis, then when the movement is done you make each of the axis return to the starting point and combine all the threesteppers back into being Z. And "hide" the two axis you created in step 1.

@cgrosbeck Yes, the firmware supports CoreXY IDEX, and has for a long time, so not "doable just"! And yes, it can handle the logic, the computations are not very difficult, see the diagrams below.

Machine kinematics are set by M669; see https://docs.duet3d.com/en/User_manual/Reference/Gcodes#m669-set-kinematics-type-and-kinematics-parameters
There are presets for the common machine types. I think what you are describing is actually what we refer to as a CoreXYU. A CoreXYUV would have two completely independent CoreXY gantries, including the X carriage (like @MJLew suggests). M669 already has support, and a preset, for CoreXYU and CoreXYUV. M669 allows setting up of custom kinematics, too. User @deckingman built a machine that had three separate CoreXY gantries, dubbed a CoreXYUVAB.

There are two ways of doing a CoreXYU (or CoreXY IDEX); the first is as you describe, with 4 motors for the X, Y and U motion:

COREXYU

The second is a CoreXY with a Markforged U axis, and uses three motors, and less belt and other hardware:

CoreXYU MarkForged

Both are supported by RRF, using the M669 K5 CoreXYU kinematic. There isn't any great advantage using the first over the second, while the first adds to the complexity.

M669 also supports the dual Markforged kinematic @oliof suggests. I believe @RogerPodacter has built one of these, see https://forum.duet3d.com/post/303241

a5b1a429-dd1b-4a14-99d5-74963644948f-image.png
(From this thread: https://forum.duet3d.com/topic/21021/dual-markforged-kinematics)

Ian

@JoergS5 Ok, thank you! I'll post here if I have any updates

@MaxGyver that's interesting, thank you for the video link.

Maybe I reference my hashPrinter here, just in case someone wants to have 4 printheads and needs inspiration...

There is a thesis of Grutle https://www.duo.uio.no/handle/10852/47652 from 2015 which is similar to Open5x and interestingly used Duet hardware. It offers additional information about ABC to IJK conversion and printing results.

@t3p3tony said in 5-axis 3D printer on Prusa i3:

@cncmodeller the "slicer" is currently written in grasshopper which is part of the CAD software Rhino.

Thanks for the heads up. I'll have a look when I have some spare headroom.

It'd be interesting if the approach could be ported over to Fusion 360 as they have a fully integrated CAM approach.

I've often wondered if a 5 axis 3D surface toolpath with a ball end mill would work as a way to generate a wrap layer for such an application.

Anyway great stuff!

Cheers
Barry M