Hi all,
For the past couple of months I've been working on a printer concept which is similar to the CoreXYZ, but with a cross-gantry layout to avoid over-constraining the XY-gantry.
I'm considering Duet2 for the electronics and I'm trying to wrap my brain around the M669 command, as the documentation is quite sparing: https://duet3d.dozuki.com/Wiki/Gcode#Section_M669_Set_kinematics_type_and_kinematics_parameters
The kinematic equations for my system are:
Forward kinematics = Effector movements:
ΔX=1/4(ΔA+ΔB-ΔC-ΔD)
ΔY=1/4(ΔA-ΔB-ΔC+ΔD)
ΔZ=1/4(-ΔA-ΔB-ΔC-ΔD)
Inverse kinematics = Motor movements:
ΔA=ΔX+ΔY-ΔZ
ΔB=ΔX-ΔY-ΔZ
ΔC=-ΔX-ΔY-ΔZ
ΔD=-ΔX+ΔY-ΔZ
Now this is where I'd like to get some input; as I understand the documentation, my M669 would have to read something along the order of:
M669 X1:1:-1:-1 Y:1:-1:-1:1 Z-1:-1:-1:-1
However, reading through other kinematic implementations such as: https://forum.duet3d.com/topic/12814/markforged-kinematics-troubleshooting
Only muddy the waters more, so some constructive feedback and guidance as to how to setup the M669 command based on a specific kinematic would be very much appreciated.
Thank you