M584 no rotational axes
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My PCBA are Duet3 MB 6HC and Duet Expansion 3HC. I have 2 axis A and C. I want to configure them as rotational axis. I set M584’s R parameter and M584’s S parameter. It doesn’t work. I provide my config.g.
config.g
I trace the RRF 3.3 source code. I find SetAxisType function only support continuousAxes. There are no different between linearAxes and rotationalAxes.
I want rotational axis. The rotational axis runs between 0 degree and 360 degree, not continuous. How do I do ? -
@Jimmykc I have not played with this yet but have you tried -
M584 A1.0 R1 S1 B1.1 C1.2 R1 S1 D1.1 R1 S1?
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@jumpedwithbothfeet The same result. No rotational axes.
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undefined T3P3Tony moved this topic from My Duet controlled machine
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@Jimmykc rotational axes are supported, but continuously rotating axes are not yet. There are some serious issues with continuously rotating axes, for example if the axis is at 300deg and is commanded to 10deg, which way should it turn?
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Update: David got there first
@Jimmykc Current rotational axis are not continuous and not 0-360 reported or commanded in degrees. This is on the firmware wishlist so I have moved it to that category.
I think it would also require that M92 definition was changed from step/mm to steps/degree and the various speed and acceleration limits were changed to indicate max rotation in deg/min etc.
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So RRF firmware has supported rotational axes, but I have to code firmware to define rotate way myself. Right?
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@Jimmykc
You can specify a rotary axis with very high max. length, which will make it turn multiples of 360°, if that suits your needs? -
@T3P3Tony Thanks, I have run M92 to define step/degree, speed, and acceleration.
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