Rotary Delta needs Segmentation in Z-Moves

Egris

Good evening,

i build a new Rotary Delta Machine and installed FW 3.2. Everything works fine but i noticed that there is no segmentation for Z-Moves. On linear Delta thats no problem but on a rotary delta i think we need segmentation to keep a constand feedrate.

Would it be possible to implement this into the code?

Best regards

Egris

Maybe this will help do the segmentation including Z-Moves / only Z-Moves!?
I will try to test it next week.

}

	// Apply segmentation if necessary. To speed up simulation on SCARA printers, we don't apply kinematics segmentation when simulating.
	// Note for when we use RTOS: as soon as we set segmentsLeft nonzero, the Move process will assume that the move is ready to take, so this must be the last thing we do.
	const Kinematics& kin = reprap.GetMove().GetKinematics();
	if (kin.UseSegmentation() && simulationMode != 1 && (moveBuffer.hasExtrusion || moveBuffer.isCoordinated || !kin.UseRawG0()))
	{
		// This kinematics approximates linear motion by means of segmentation.
		// We assume that the segments will be smaller than the mesh spacing.

		// Calculate XY movement lenght
		const float xyLength = sqrtf(fsquare(currentUserPosition[X_AXIS] - initialX) + fsquare(currentUserPosition[Y_AXIS] - initialY));
		const float moveTime_XY = xyLength/moveBuffer.feedRate;			// this is a best-case time, often the move will take longer
		// Calculate Z movement lenght
		const float zLength = abs(currentUserPosition[Z_AXIS] - initialZ);
		const float moveTime_Z = zLength/moveBuffer.feedRate;			// this is a best-case time, often the move will take longer
		// Check which movment lenght is bigger and calculate Segments
		if(zLenght > xyLength)
		{
			totalSegments = (unsigned int)max<int>(1, min<int>(rintf(zLength/kin.GetMinSegmentLength()), rintf(moveTime_Z * kin.GetSegmentsPerSecond())));
		}
		else
		{
			totalSegments = (unsigned int)max<int>(1, min<int>(rintf(xyLength/kin.GetMinSegmentLength()), rintf(moveTime_XY * kin.GetSegmentsPerSecond())));
		}
	}
	else if (reprap.GetMove().IsUsingMesh() && (moveBuffer.isCoordinated || machineType == MachineType::fff))
	{
		const HeightMap& heightMap = reprap.GetMove().AccessHeightMap();
		totalSegments = max<unsigned int>(1, heightMap.GetMinimumSegments(currentUserPosition[X_AXIS] - initialX, currentUserPosition[Y_AXIS] - initialY));
	}
	else
	{
		totalSegments = 1;
	}

dc42

I will look at supporting segmentation in Z for rotary delta kinematics in firmware 3.3. I think we need to extend useSegmentation to indicate whether segmentation in Z is also needed, in which case we should include Z in the calculation of distance moved.

Does is really matter if the speed of pure Z moves is not constant?

Egris

thanks for the reply. I think for 3D-Printing it´s not that importent. But for other applications besides 3d printing it could be necessary?! it would be complete if Z-Moves are included.