![]() Must be smaller then physical // reachable area. */ # define DELTA_DIAGONAL 444.800f # define DELTA_HORIZONTAL_RADIUS 209.900f // Radius wherein we restrict the movements. "Standard" positions: alpha_A = 210, alpha_B = 330, alpha_C = 90 |-| DELTA_HORIZONTAL_RADIUS (Horizontal rod pivot to pivot measure)Ĭolumn angles are measured from X-axis counterclockwise |-| End effector horizontal offset (recommend set it to 0) \ | \ DELTA_DIAGONAL (length) Each move this Rod HeightĪ B \_/. To find out what the real reason for an error is and you normally end up just tweaking the parameter to reduceĭeltas are described by these additional parameter in Configuration.h: // Special geometry definition if printer type is delta /* = Parameter essential for delta calibration = Setup described will cause the tool to move not exactly as wanted in different regions. Quite cool how they work, this nonlinearity is the source of many problems. ![]() The position of the toolĬan be exactly defined by a nonlinear equation with the three slider positions as parameter. Extruder is connected to 3 vertical slicers. */ // X motor = x y # define COREXYZ_X_X 1 # define COREXYZ_X_Y 1 # define COREXYZ_X_Z 0 // Y motor = x - y # define COREXYZ_Y_X 1 # define COREXYZ_Y_Y - 1 # define COREXYZ_Y_Z 0 // Z motor = z # define COREXYZ_Z_X 0 # define COREXYZ_Z_Y 0 # define COREXYZ_Z_Z 1 Delta Printerĭelta kinematic is rather complicated. First index denotes motor and second axis.įor each motor you can set the ratio of x,y,z position that adds These ratios are defined in COnfiguration.h like this: ![]() That way we can have XY as well as XZ or YZ combinations. To move a axis you need aĬombined movement which can be described as a linear combination with weighting factors. In addition the E motor might be used by extruders, so normally you have a 4Ĭore XYZ printers use a combination of motors to drive the 3 caresian axes. Each motor drives one axis and together they buildĪ caresian coordinate system. Cartesian PrinterĬaresian printers are the classical drive system. Please read themĬarefully and try to understand the implications of the type. We try to point out the differences and special settings required for each printer type. There exist different printer types that require some special treatments due to their nature. Repetier-Firmware - Configuration - Printer Type Introduction
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