CoreXYUVWA - 3rd gantry homing SOLVED
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Sorry to resurrect this old topic but I just wanted to report back that the latest beta firmware (2.03 beta2) allows mapping of end stops which has solved the issues I had with trying to home the 3 gantry - oh and it isn't necessary to create WA axes or any new new kinematics class either.
Thanks DC42!
In summary, I've re-purposed 2 of the 5 extruder drives for now and config.g has the drives mapped thus:
M584 X0:3:6 Y1:4:9 Z2 U10 V11 E5:7:8 P3;Then to home XYU and V, the drives gets remapped thus:
M584 X0 U3 Y1 V4 P5;Note the XY and UV gantries are joined by Bowden tubes and cables so have to be course home concurrently, then fine homed separately. But maybe, with the latest firmware, this could possibly be accomplished without creating U and V - I'll have to think that through...
Anyway, once XYU and V have been homed, then the drives are mapped again thus:
M584 X6 Y9 ; map upper motors to X and Yand the end stops mapped as follows:
M574 X1 S1 C5 ; map end stop 5(E2) to X axis
M574 Y1 S1 C6 ; map end stop 6 (E3) to Y axisAt this point the upper gantry effectively becomes X and Y and is re-homed. Once that is done, the motors and end stops are all mapped back to their starting configuration making it effectively a 3 axis machine and then Z is homed.
It's quite a complicated homing file because I'm effectively doing a fast(ish) course home, followed by a slower fine home of 7 axes. Also, I heat the nozzle because I use that as probe and need to soften any plastic that may have oozed, and I lower the motor currents and do some other stuff as well. The whole thing is here if anyone is interested.
