@dc42 Thanks will switch to that version

@tcpl this is an interesting design. I will develop the firmware to support it.

The behaviour of the rotary axes depend on whether they are connected to the starting point (e.g. connected to the bed) or the endpoint (hot end or drill). Connected to one or the other changes the direction of the rotation. I will probably change the definitions and configuration to a general description. I will have to think about how to define it with the M669 parameters easiest.

Dual IDEX sounds really interesting, I saw a brief glimpse of your printer on Instagram and it looks really good and congratulations on your award.

You might want to consider upgrading to a 6hc board - so that you can run different gcode on the two gantries in parallel.

Would be interested in finding out more about your design - such as the kinematics your are using, bed probing, head alignment etc.

@o_lampe said in Robotic kinematics:

@jay_s_uk Hmmm,
like Winter soldier?

My Bucky cosplay is at 1%.

bucky.jpg

Ian

@dc42 Sounds great thanks.

I don't think the number of overridden GCODEs is likely ever to be a very long list - so maybe a lookup list could work too - perhaps with some sort of extra M command in the config.g or start gcode in the slicer to register the overrides.

In the meantime I think I will alter my post processor to be more generic and do more or less the same thing.
i.e. Look for some sort of override registration M command (M802 for example) in the gcode stream, and then use that info to then override any relevant G/M/T commands later in the stream into .x equivalents.

@dwuk3d Yeahh we use a geared linear actuator. For Z hopping I can see why they might be slow, but we only use them for aligning the IDEX tools, and in the future we indeed want to use them for mesh compensation as well. Both of them don't require high accelerations.

@dc42 Thanks - that seems to work ok in single motion system mode - I have been able to set the V axis to not come within 100mm of the Y axis which is exactly what I need.

I can't test it in multi motion system mode due M400 and M598 not releasing drives - which still seems to still occur in the new rc1+1 version you sent. - see https://forum.duet3d.com/topic/36866/multiple-motion-system/64?_=1741362599789

@droftarts GRAZIE

@Nakcam it's all fine with your information, I have "only" a time problem. I can proceed tomorrow for a few hours.

@T3P3Tony, thanks a lot for your response.
Seems like an interesting solution to try.
Will surely put it to the test.
Best,
Jad

@Mr-Crispin he has done the kinematics calculations in his gcode generation program. so in this case the Duet does not "know" its multi axis printing. @JoergS5 has done some work in implementing variations of robot kinematics that run on the Duet boards themselves.

@shaunppl this is the subject of a feature request:

https://github.com/Duet3D/RepRapFirmware/issues/780

T3P3 created this issue in Duet3D/RepRapFirmware open Support configuring an axis as "continuous rotary" #780

@o_lampe Separate thread now created - over here
https://forum.duet3d.com/post/349140

Would be interested in your thoughts on how do to the Z hoppers.

@Carter3DP you will need to reverse the direction of the homing moves for the proximal and distal motors, and switch the proximal and distal homing switches over from low to high end or vice versa.

@fromwastetowind I think this is an 'inverse' Polar printer, and it is irrelevant to the firmware if it is the crane that rotates or the bed. The nozzle just needs to travel along a line drawn between the centre and the circumference, ie along a radius line.

See https://docs.duet3d.com/User_manual/Machine_configuration/Configuration_Polar

Apart from the links already mentioned, there was a similar printer design (though running on a hacked version of Klipper) at SMRRF: https://www.youtube.com/live/Hlw3mt-x0nE?si=amwlz8DMR0daYQjS&t=1437

You should be able to put a print anywhere on the bed, just not in the centre. M669 Raaa:bbb defines the minimum and maximum radius in mm.

Ian

@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?

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