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+# This file serves as documentation for config parameters of rotary
+# delta style printers. One may copy and edit this file to configure a
+# new delta printer. Only parameters unique to delta printers are
+# described here - see the "example.cfg" file for description of
+# common config parameters.
+
+# ROTARY DELTA KINEMATICS ARE A WORK IN PROGRESS. Homing moves may
+# timeout and some boundary checks are not implemented.
+
+# The stepper_a section describes the stepper controlling the rear
+# right arm (at 30 degrees). This section also controls the homing
+# parameters (homing_speed, homing_retract_dist) for all arms.
+[stepper_a]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: 0.001963495
+#   On a rotary delta printer the step_distance is the amount each
+#   step pulse moves the upper arm in radians (for example, a directly
+#   connected 1.8 degree stepper with 16 micro-steps would be 2 * pi *
+#   (1.8 / 360) / 16 == 0.001963495). This parameter must be provided.
+endstop_pin: ^ar2
+homing_speed: 50
+position_endstop: 252
+#   Distance (in mm) between the nozzle and the bed when the nozzle is
+#   in the center of the build area and the endstop triggers. This
+#   parameter must be provided for stepper_a; for stepper_b and
+#   stepper_c this parameter defaults to the value specified for
+#   stepper_a.
+upper_arm_length: 170.000
+#   Length (in mm) of the arm connecting the "shoulder joint" to the
+#   "elbow joint". This parameter must be provided for stepper_a; for
+#   stepper_b and stepper_c this parameter defaults to the value
+#   specified for stepper_a.
+lower_arm_length: 320.000
+#   Length (in mm) of the arm connecting the "elbow joint" to the
+#   "effector joint". This parameter must be provided for stepper_a;
+#   for stepper_b and stepper_c this parameter defaults to the value
+#   specified for stepper_a.
+#angle:
+#   This option specifies the angle (in degrees) that the arm is at.
+#   The default is 30 for stepper_a, 150 for stepper_b, and 270 for
+#   stepper_c.
+
+# The stepper_b section describes the stepper controlling the rear
+# left arm (at 150 degrees).
+[stepper_b]
+step_pin: ar60
+dir_pin: ar61
+enable_pin: !ar56
+step_distance: 0.001963495
+endstop_pin: ^ar15
+
+# The stepper_c section describes the stepper controlling the front
+# arm (at 270 degrees).
+[stepper_c]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: 0.001963495
+endstop_pin: ^ar19
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .0022
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: ar10
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
+control: watermark
+min_temp: 0
+max_temp: 130
+
+# Print cooling fan (omit section if fan not present).
+#[fan]
+#pin: ar9
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: rotary_delta
+#   This option must be "rotary_delta" for rotary delta printers.
+max_velocity: 300
+#   Maximum velocity (in mm/s) of the toolhead relative to the
+#   print. This parameter must be specified.
+max_accel: 3000
+#   Maximum acceleration (in mm/s^2) of the toolhead relative to the
+#   print. This parameter must be specified.
+max_z_velocity: 50
+#   For delta printers this limits the maximum velocity (in mm/s) of
+#   moves with z axis movement. This setting can be used to reduce the
+#   maximum speed of up/down moves (which require a higher step rate
+#   than other moves on a delta printer). The default is to use
+#   max_velocity for max_z_velocity.
+#minimum_z_position: 0
+#   The minimum Z position that the user may command the head to move
+#   to.  The default is 0.
+shoulder_radius: 33.900
+#   Radius (in mm) of the horizontal circle formed by the three
+#   shoulder joints, minus the radius of the circle formed by the
+#   effector joints. This parameter may also be calculated as:
+#     shoulder_radius = (delta_f - delta_e) / sqrt(12)
+#   This parameter must be provided.
+shoulder_height: 412.900
+#   Distance (in mm) of the shoulder joints from the bed, minus the
+#   effector toolhead height. This parameter must be provided.
+
+# The delta_calibrate section enables a DELTA_CALIBRATE extended
+# g-code command that can calibrate the shoulder endstop positions.
+[delta_calibrate]
+radius: 50
+#speed: 50
+#horizontal_move_z: 5
+#   See example-delta.cfg for a description of these parameters.