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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.
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