kinematics: Add hybrid-corexy and hybrid-corexz (#4229)
Signed-off-by: Fabrice GALLET <tircown@gmail.com>
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# This file is an example config file for hybrid corexy style printers also
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# known as Markforged kinematic. One may copy and edit this file to configure
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# a new hybrid corexy printer.
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# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
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# FIRST. Incorrectly configured parameters may cause damage.
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# See docs/Config_Reference.md for a description of parameters.
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[stepper_x]
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step_pin: PF0
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dir_pin: PF1
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enable_pin: !PD7
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microsteps: 16
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rotation_distance: 40
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endstop_pin: ^PE5
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: PF6
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dir_pin: PF7
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enable_pin: !PF2
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microsteps: 16
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rotation_distance: 40
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endstop_pin: ^PJ1
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: PL3
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dir_pin: PL1
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enable_pin: !PK0
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microsteps: 16
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rotation_distance: 8
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endstop_pin: ^PD3
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position_endstop: 0.5
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position_max: 200
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[extruder]
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step_pin: PA4
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dir_pin: PA6
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enable_pin: !PA2
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microsteps: 16
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rotation_distance: 33.500
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: PB4
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sensor_type: ATC Semitec 104GT-2
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sensor_pin: PK5
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[heater_bed]
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heater_pin: PH5
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK6
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control: watermark
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min_temp: 0
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max_temp: 130
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[fan]
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pin: PH6
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[mcu]
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serial: /dev/ttyACM0
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[printer]
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kinematics: hybrid_corexy
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 25
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max_z_accel: 30
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@ -0,0 +1,79 @@
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# This file is an example config file for hybrid corexz style printers also
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# known as Markforged kinematic. One may copy and edit this file to configure
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# a new hybrid corexy printer.
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# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
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# FIRST. Incorrectly configured parameters may cause damage.
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# See docs/Config_Reference.md for a description of parameters.
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[stepper_x]
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step_pin: PF0
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dir_pin: PF1
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enable_pin: !PD7
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microsteps: 16
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rotation_distance: 40
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endstop_pin: ^PE5
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: PF6
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dir_pin: PF7
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enable_pin: !PF2
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microsteps: 16
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rotation_distance: 40
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endstop_pin: ^PJ1
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: PL3
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dir_pin: PL1
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enable_pin: !PK0
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microsteps: 16
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rotation_distance: 8
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endstop_pin: ^PD3
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position_endstop: 0.5
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position_max: 200
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[extruder]
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step_pin: PA4
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dir_pin: PA6
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enable_pin: !PA2
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microsteps: 16
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rotation_distance: 33.500
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: PB4
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sensor_type: ATC Semitec 104GT-2
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sensor_pin: PK5
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[heater_bed]
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heater_pin: PH5
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: PK6
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control: watermark
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min_temp: 0
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max_temp: 130
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[fan]
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pin: PH6
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[mcu]
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serial: /dev/ttyACM0
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[printer]
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kinematics: hybrid_corexz
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 25
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max_z_accel: 30
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@ -82,7 +82,8 @@ The printer section controls high level printer settings.
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[printer]
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kinematics:
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# The type of printer in use. This option may be one of: cartesian,
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# corexy, corexz, delta, rotary_delta, polar, winch, or none. This
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# corexy, corexz, hybrid-codexy, hybrid-corexz, rotary_delta, delta,
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# polar, winch, or none. This
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# parameter must be specified.
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max_velocity:
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# Maximum velocity (in mm/s) of the toolhead (relative to the
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@ -365,6 +366,74 @@ max_z_accel:
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[stepper_z]
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```
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## Hybrid-CoreXY Kinematics
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See [example-hybrid-corexy.cfg](../config/example-hybrid-corexy.cfg)
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for an example hybrid corexy kinematics config file.
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This kinematic is also known as Markforged kinematic.
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Only parameters specific to hybrid corexy printers are described here
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see [common kinematic settings](#common-kinematic-settings) for available
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parameters.
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```
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[printer]
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kinematics: hybrid_corexy
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max_z_velocity:
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# This sets the maximum velocity (in mm/s) of movement along the z
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# axis. The default is to use max_velocity for max_z_velocity.
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max_z_accel:
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# This sets the maximum acceleration (in mm/s^2) of movement along
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# the z axis. The default is to use max_accel for max_z_accel.
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# The stepper_x section is used to describe the X axis as well as the
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# stepper controlling the X-Y movement.
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[stepper_x]
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# The stepper_y section is used to describe the stepper controlling
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# the Y axis.
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[stepper_y]
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# The stepper_z section is used to describe the stepper controlling
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# the Z axis.
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[stepper_z]
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```
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## Hybrid-CoreXZ Kinematics
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See [example-hybrid-corexz.cfg](../config/example-hybrid-corexz.cfg)
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for an example hybrid corexz kinematics config file.
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This kinematic is also known as Markforged kinematic.
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Only parameters specific to hybrid corexy printers are described here
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see [common kinematic settings](#common-kinematic-settings) for available
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parameters.
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```
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[printer]
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kinematics: hybrid_corexz
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max_z_velocity:
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# This sets the maximum velocity (in mm/s) of movement along the z
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# axis. The default is to use max_velocity for max_z_velocity.
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max_z_accel:
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# This sets the maximum acceleration (in mm/s^2) of movement along
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# the z axis. The default is to use max_accel for max_z_accel.
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# The stepper_x section is used to describe the X axis as well as the
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# stepper controlling the X-Z movement.
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[stepper_x]
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# The stepper_y section is used to describe the stepper controlling
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# the Y axis.
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[stepper_y]
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# The stepper_z section is used to describe the stepper controlling
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# the Z axis.
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[stepper_z]
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```
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## Polar Kinematics
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See [example-polar.cfg](../config/example-polar.cfg) for an example
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@ -0,0 +1,100 @@
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# Code for handling the kinematics of hybrid-corexy robots
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#
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# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import stepper
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# The hybrid-corexy kinematic is also known as Markforged kinematics
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class HybridCoreXYKinematics:
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def __init__(self, toolhead, config):
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self.printer = config.get_printer()
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printer_config = config.getsection('printer')
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# itersolve parameters
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self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
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stepper.LookupMultiRail(config.getsection('stepper_y')),
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stepper.LookupMultiRail(config.getsection('stepper_z'))]
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self.rails[2].get_endstops()[0][0].add_stepper(
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self.rails[0].get_steppers()[0])
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self.rails[0].setup_itersolve('corexy_stepper_alloc', '-')
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self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
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self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
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ranges = [r.get_range() for r in self.rails]
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self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
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self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
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for s in self.get_steppers():
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s.set_trapq(toolhead.get_trapq())
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toolhead.register_step_generator(s.generate_steps)
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self.printer.register_event_handler("stepper_enable:motor_off",
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self._motor_off)
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# Setup boundary checks
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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self.max_z_accel = config.getfloat(
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'max_z_accel', max_accel, above=0., maxval=max_accel)
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self.limits = [(1.0, -1.0)] * 3
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def get_steppers(self):
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return [s for rail in self.rails for s in rail.get_steppers()]
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def calc_tag_position(self):
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pos = [rail.get_tag_position() for rail in self.rails]
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return [pos[0] + pos[1], pos[1], pos[2]]
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def set_position(self, newpos, homing_axes):
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for i, rail in enumerate(self.rails):
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rail.set_position(newpos)
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if i in homing_axes:
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self.limits[i] = rail.get_range()
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def note_z_not_homed(self):
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# Helper for Safe Z Home
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self.limits[2] = (1.0, -1.0)
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def _home_axis(self, homing_state, axis, rail):
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position_min, position_max = rail.get_range()
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hi = rail.get_homing_info()
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homepos = [None, None, None, None]
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homepos[axis] = hi.position_endstop
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forcepos = list(homepos)
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if hi.positive_dir:
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forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
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else:
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forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
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# Perform homing
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homing_state.home_rails([rail], forcepos, homepos)
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def home(self, homing_state):
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for axis in homing_state.get_axes():
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self._home_axis(homing_state, axis, self.rails[axis])
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def _motor_off(self, print_time):
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self.limits = [(1.0, -1.0)] * 3
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def _check_endstops(self, move):
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end_pos = move.end_pos
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for i in (0, 1, 2):
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if (move.axes_d[i]
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and (end_pos[i] < self.limits[i][0]
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or end_pos[i] > self.limits[i][1])):
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if self.limits[i][0] > self.limits[i][1]:
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raise move.move_error("Must home axis first")
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raise move.move_error()
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def check_move(self, move):
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limits = self.limits
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xpos, ypos = move.end_pos[:2]
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if (xpos < limits[0][0] or xpos > limits[0][1]
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or ypos < limits[1][0] or ypos > limits[1][1]):
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self._check_endstops(move)
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if not move.axes_d[2]:
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# Normal XY move - use defaults
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return
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# Move with Z - update velocity and accel for slower Z axis
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self._check_endstops(move)
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z_ratio = move.move_d / abs(move.axes_d[2])
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move.limit_speed(
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self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
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def get_status(self, eventtime):
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axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
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return {
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'homed_axes': "".join(axes),
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'axis_minimum': self.axes_min,
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'axis_maximum': self.axes_max,
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}
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def load_kinematics(toolhead, config):
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return HybridCoreXYKinematics(toolhead, config)
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# Code for handling the kinematics of hybrid-corexz robots
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#
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# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import stepper
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# The hybrid-corexz kinematic is also known as Markforged kinematics
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class HybridCoreXZKinematics:
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def __init__(self, toolhead, config):
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self.printer = config.get_printer()
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printer_config = config.getsection('printer')
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# itersolve parameters
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self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
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stepper.LookupMultiRail(config.getsection('stepper_y')),
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stepper.LookupMultiRail(config.getsection('stepper_z'))]
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self.rails[2].get_endstops()[0][0].add_stepper(
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self.rails[0].get_steppers()[0])
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self.rails[0].setup_itersolve('corexz_stepper_alloc', '-')
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self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
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self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
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ranges = [r.get_range() for r in self.rails]
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self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
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self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
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for s in self.get_steppers():
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s.set_trapq(toolhead.get_trapq())
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toolhead.register_step_generator(s.generate_steps)
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self.printer.register_event_handler("stepper_enable:motor_off",
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self._motor_off)
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# Setup boundary checks
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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self.max_z_accel = config.getfloat(
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'max_z_accel', max_accel, above=0., maxval=max_accel)
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self.limits = [(1.0, -1.0)] * 3
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def get_steppers(self):
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return [s for rail in self.rails for s in rail.get_steppers()]
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def calc_tag_position(self):
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pos = [rail.get_tag_position() for rail in self.rails]
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return [pos[0] + pos[2], pos[1], pos[2]]
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def set_position(self, newpos, homing_axes):
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for i, rail in enumerate(self.rails):
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rail.set_position(newpos)
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if i in homing_axes:
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self.limits[i] = rail.get_range()
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def note_z_not_homed(self):
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# Helper for Safe Z Home
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self.limits[2] = (1.0, -1.0)
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def _home_axis(self, homing_state, axis, rail):
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position_min, position_max = rail.get_range()
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hi = rail.get_homing_info()
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homepos = [None, None, None, None]
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homepos[axis] = hi.position_endstop
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forcepos = list(homepos)
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if hi.positive_dir:
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forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
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else:
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forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
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# Perform homing
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homing_state.home_rails([rail], forcepos, homepos)
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def home(self, homing_state):
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for axis in homing_state.get_axes():
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self._home_axis(homing_state, axis, self.rails[axis])
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def _motor_off(self, print_time):
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self.limits = [(1.0, -1.0)] * 3
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def _check_endstops(self, move):
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end_pos = move.end_pos
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for i in (0, 1, 2):
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if (move.axes_d[i]
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and (end_pos[i] < self.limits[i][0]
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or end_pos[i] > self.limits[i][1])):
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if self.limits[i][0] > self.limits[i][1]:
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raise move.move_error("Must home axis first")
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raise move.move_error()
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def check_move(self, move):
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limits = self.limits
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xpos, ypos = move.end_pos[:2]
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if (xpos < limits[0][0] or xpos > limits[0][1]
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or ypos < limits[1][0] or ypos > limits[1][1]):
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self._check_endstops(move)
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if not move.axes_d[2]:
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# Normal XY move - use defaults
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return
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# Move with Z - update velocity and accel for slower Z axis
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self._check_endstops(move)
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z_ratio = move.move_d / abs(move.axes_d[2])
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move.limit_speed(
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self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
|
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def get_status(self, eventtime):
|
||||
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
|
||||
return {
|
||||
'homed_axes': "".join(axes),
|
||||
'axis_minimum': self.axes_min,
|
||||
'axis_maximum': self.axes_max,
|
||||
}
|
||||
|
||||
def load_kinematics(toolhead, config):
|
||||
return HybridCoreXZKinematics(toolhead, config)
|
||||
|
|
@ -6,6 +6,8 @@ DICTIONARY atmega2560.dict
|
|||
CONFIG ../../config/example-cartesian.cfg
|
||||
CONFIG ../../config/example-corexy.cfg
|
||||
CONFIG ../../config/example-corexz.cfg
|
||||
CONFIG ../../config/example-hybrid-corexy.cfg
|
||||
CONFIG ../../config/example-hybrid-corexz.cfg
|
||||
CONFIG ../../config/example-delta.cfg
|
||||
CONFIG ../../config/example-rotary-delta.cfg
|
||||
CONFIG ../../config/example-winch.cfg
|
||||
|
|
|
|||
Loading…
Reference in New Issue