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DerAndere edited this page Apr 18, 2022 · 111 revisions

Marlin2ForPipetBot firmware

Copyright 2018 - 2022 DerAndere

Marlin2ForPipetBot firmware for multi-axis 3D printers, CNC machines and lab robots

Note: Multi-axis-Marlin firmware was merged into upstream MarlinFirmware/Marlin bugfix-2.0.x in two steps on 5th June 2021 and on 1st April 2022, so support for up to 9 non-extruder axes is part of official MarlinFirmware/Marlin.

Thanks to the extra axes it is now possible to do indexed multi-axis machining and to drive additional tools (pumps, toolchangers or other) with Marlin2ForPipetBot. Continuous multi-axis machining with Tool Center Point Control (TCPC) is currently not supported. That would require implementation of a machine-specific kinematic model and commands like Haas G234, FANUC G43.3, or implementation of FANUC Rotational Tool Center Point Control (RTCP) type II (G43.5). If you have a machine where additional axes contribute to tool positioning, you currently have to implement your own kinematic model.

Code from this repository (DerAndere1/Marlin) may contain additional multi-axis feautures, but official Marlin will be more up to date in general and contain less bugs. Use nightly builds of official MarlinFirmware/Marlin, Version "Marlin 2.0 with bug fixes (bugfix-2.0.x)", whenever possible.

Marlin2ForPipetBot is a firmware for multi-axis 3D printers, CNC machines and lab robots (liquid handling robots, "pipetting robots").

Additional documentation can be found on the PipetBot-A8 project page that is part of the website by DerAndere. Issues related to multi-axis support can be reported to DerAndere1 here. If you want to add support for more hardware or optimize compatibility with other software features, please first consider to fork MarlinFirmware/Marlin and contribute directly to upstream MarlinFirmware/Marlin according to their guidelines. If merging your changes into MarlinFirmware/Marlin is not an option, you are welcome to (re)base your changes onto the Marlin2ForPipetBot_dev branch of DerAndere1/Marlin and create pull requests targeting the Marlin2ForPipetBot_dev branch.
Please test this firmware and let us know if it misbehaves in any way.

Volunteers are standing by!

Not for production use. Use with caution!

The following information applies to upstream MarlinFirmware/Marlin bugfix-2.0.x. Documentation relevant to Marlin2ForPipetBot or other versions can be found in the README file of the respective branch in this repository.

Marlin supports up to nine non-extruder axes as defined by option NUM_AXES (since Marlin 2.0.10, previously LINEAR_AXES) plus extruders (e.g. XYZABC+E or XYZUVW+E).

Only a subset of the Marlin G-code dialect is supported with more than 3 :

  • G0, G1, G2, G3, G28, G29 (only if secondary axes stay in neutral position), G90, G91, G92, T0, T1
  • M17, M18, M43, M85, M92, M111, M114 (partially), M201, M202, M203, M206 (partially), M500, M501, M502, M503, M504

Default axis names are:

NUM_AXES Default axis codes
3 X, Y, Z, E
4 X, Y, Z, A, E
5 X, Y, Z, A, B, E
6 X, Y, Z, A, B, C, E
7 X, Y, Z, A, B, C, U, E
8 X, Y, Z, A, B, C, U, V, E
9 X, Y, Z, A, B, C, U, V, W, E

G-code syntax

Marlin uses its own dialect of G-code derived from the language defined ANSI/EIA RS-274-D standard and the NIST RS274NGC interpreter - version 3. For G-code syntax supported by upstream MarlinFirmware/Marlin bugfix-2.0.x, see https://github.com/DerAndere1/MarlinDocumentation/tree/master/_gcode

Example syntax for movement (G-code G1) for a configuration with the following relevant config settings:

#define NUM_AXES 9
#define AXIS4_NAME 'A'
#define AXIS4_ROTATES
#define AXIS4_NAME 'B'
#define AXIS5_ROTATES
#define AXIS6_NAME 'C'
#define AXIS6_ROTATES
#define AXIS7_NAME 'U'
//#define AXIS7_ROTATES
#define AXIS8_NAME 'V'
//#define AXIS8_ROTATES
#define AXIS9_NAME 'W'
//#define AXIS9_ROTATES

G1 [Xx.xxxx] [Yy.yyyy] [Zz.zzzz] [Aa.aaaa] [Bb.bbbb] [Cc.cccc] [Uu.uuuu] [Vv.vvvv] [Ww.wwww] [Ee.eeee] [Ff.ffff]

Parameters:

X, Y, Z: Position in the cartesian coordinate system consisting of primary linear axes X, Y and Z. Unit: mm (after G-code G21) or imperial inch (after G-code G20)

A, B, C: Angular position in the pseudo-cartesian coordinate system consisting of rotational axes A, B, and C that are parallel (wrapped around) axes axes X, Y and Z. Unit: angular degrees

U, V, W: position in the cartesian coordinate system consisting of secondary linear axes U, V and W that are parallel to axes X, Y and Z. Unit: mm (after G-code G21) or imperial inch (after G-code G20)

E: Distance the E stepper should move. Unit: mm (after G-code G21) or imperial inch (after G-code G20)

F: Feedrate. Three modes for feedrate interpretation are possible. By default, feedrate is interpreted as specified by LinuxCNC (successor of NIST RS274NGC interpreter - version 3) in its default state (trivial kinematics, "CANON_XYZ" feed reference mode, G94 Units-Per-Minute mode). The alternative feedrate interpretation modes can be enabled for machines where no distinction between primary axes (XYZ) and secondary axes is possible.

  • default:

    • For motion involving one or more of the X, Y, and Z axes (with or without motion of other axes), the feed rate means length units per minute along the programmed XYZ path, as if the other axes were not moving.
    • For motion of one or more of the secondary linear axes (axis names 'U', 'V', or 'W') with the X, Y , and Z axes not moving (with or without motion of rotational axes), the feed rate means length units per minute along the programmed UVW path (using the usual Euclidean metric in the UVW coordinate system), as if the rotational axes were not moving.
    • For motion of one or more of the rotational axes (axis names 'A', 'B' or 'C') with linear axes not moving, the rate is applied as follows. Let dA, dB, and dC be the angles in degrees through which the A, B, and C axes, respectively, must move. Let D = sqrt((dA)^2 + (dB)^2 + (dC)^2). Conceptually, D is a measure of total angular motion, using the usual Euclidean metric. Let T = sqrt((dA)^2 + (dB)^2 + (dC)^2) / F be the amount of time required to move through D degrees at the current feed rate in degrees per minute. The rotational axes should be moved in coordinated linear motion so that the elapsed time from the start to the end of the motion is T plus any time required for acceleration or deceleration.

  • ARTICULATED_ROBOT_ARM (see below) is for articulated robots, or for compatibility with other firmware (gblHAL/grblHAL, RepRapFirmware and Smoothie). When this option is defined, all axes are used as feed reference. This means that in all cases all axes are moved in coordinated linear motion so that the time (in minutes) required for the move is T = sqrt((dA)^2 + (dB)^2 + (dC)^2 + (dU)^2 + (dV)^2 + (dW)^2) / F plus any time for acceleration or deceleration.

  • FOAMCUTTER_XYUV(see below) is for foam cutters. When this option is defined, all axes are moved in coordinated linear motion so that the time (in minutes) required for the move is T = sqrt(_MIN((dX)^2 + (dY)^2, (dU)^2 + (dV)^2)) / F plus any time for acceleration or deceleration.

Configuration

Configuration is done by editing the file Marlin/Configuration.h. E.g. change #define NUM_AXES 3

to:

#define NUM_AXES 4

Important options are:

ARTICULATED_ROBOT_ARM

Define ARTICULATED_ROBOT_ARM to enable feedrate interpretation mode suitable for articulated robots and for compatibility with other firmware (gblHAL/grblHAL, RepRapFirmware](https://github.com/Duet3D/RepRapFirmware) and Smoothie). Leave ARTICULATED_ROBOT_ARM disabled for default behaviour (see section "G-code syntax"). Currently it is recommended to disable AXIS*_ROTATES for all axes and to disable INCH_MODE_SUPPORT for articulated robots. Host software to control a robot arm can be found at https://github.com/MarginallyClever/Robot-Overlord-App (Requires configuration of kinematic parameters in the host software or implementation of inverse kinematics in Marlin).

FOAMCUTTER_XYUV

Define FOAMCUTTER_XYUV to optimize for a hot wire cutter with parallel horizontal axes X, U where the hights of the two wire ends are controlled by parallel axes Y, V. Currently only works with NUM_AXES 5. A dummy pin number can be assigned to pins for the unused Z axis. Leave FOAMCUTTER_XYUV disabled for default behaviour (see section "G-code syntax"). Host software and CAM software for 4 axis foam cutters can be found at https://rckeith.co.uk/file-downloads/ and https://www.jedicut.com/en/download/ . Simple python libraries to generate G-code for 4 axis foam cutters can be found at https://github.com/jasonhamilton/hotwing-core and https://github.com/LinuxCNC/simple-gcode-generators/tree/master/airfoil.

NUM_AXES

NUM_AXES (since Marlin 2.0.10) The number of axes that are not used for extruders (axes that benefit from endstops and homing). NUM_AXES > 3 requires definition of

  • I[, J [, K [, U [, V [, W]]]]]_STEP_PIN
  • I[, J [, K [, U [, V [, W]]]]]_ENABLE_PIN
  • I[, J [, K [, U [, V [, W]]]]]_DIR_PIN
  • I[, J [, K [, U [, V [, W]]]]]_STOP_PIN (for available pins, see the pins/pins_YOURMOTHERBOARD.h file for your board)
  • USE_I[, J [, K [, U [, V [, W]]]]][MIN || MAX]_PLUG
  • I[, J [, K [, U [, V [, W]]]]]_ENABLE_ON
  • DISABLE_I[, J [, K [, U [, V [, W]]]]]
  • I[, J [, K [, U [, V [, W]]]]]_MIN_POS
  • I[, J [, K [, U [, V [, W]]]]]_MAX_POS
  • I[, J [, K [, U [, V [, W]]]]]_HOME_DIR
  • possibly DEFAULT_I[, J [, K [, U [, V [, W]]]]]JERK

and definition of the respective values of

  • DEFAULT_AXIS_STEPS_PER_UNIT
  • DEFAULT_MAX_FEEDRATE
  • DEFAULT_MAX_ACCELERATION
  • HOMING_FEEDRATE_MM_M
  • AXIS_RELATIVE_MODES
  • MICROSTEP_MODES
  • MANUAL_FEEDRATE

and possibly also values of

  • HOMING_BUMP_DIVISOR
  • HOMING_BACKOFF_POST_MM
  • BACKLASH_DISTANCE_MM

For bed-leveling, NOZZLE_TO_PROBE_OFFSETS has to be extended with elements of value 0 until the number of elements is equal to the value of NUM_AXES.

Allowed values: [3, 4, 5, 6, 7, 8, 9]

AXIS4_ROTATES

AXIS4_ROTATES, AXIS5_ROTATES, AXIS6_ROTATES, AXIS7_ROTATES, AXIS8_ROTATES, AXIS9_ROTATES: If enabled, the corresponding axis is a rotational axis for which positions are specified in angular degrees. For moves involving only rotational axes, feedrate is interpreted in angular degrees per minute.

AXIS4_NAME

AXIS4_NAME, AXIS5_NAME, AXIS6_NAME, AXIS7_NAME, AXIS8_NAME, AXIS9_NAME: Axis codes for secondary axes: This defines the axis code that is used in G-code commands to reference a specific axis.

  • 'A' for rotational axis parallel to X (enabling AXIS*_ROTATES for this axis recommended)
  • 'B' for rotational axis parallel to Y (enabling AXIS*_ROTATES for thit axis recommended)
  • 'C' for rotational axis parallel to Z (enabling AXIS*_ROTATES for thit axis recommended)
  • 'U' for secondary linear axis parallel to X (disabling AXIS*_ROTATES for this axis recommended)
  • 'V' for secondary linear axis parallel to Y (disabling AXIS*_ROTATES for this axis recommended)
  • 'W' for secondary linear axis parallel to Z (disabling AXIS*_ROTATES for this axis recommended)

Regardless of the settings, firmware-internal axis identifiers are I (AXIS4), J (AXIS5), K (AXIS6), U (AXIS7), V (AXIS8), W (AXIS9).

Allowed values: ['A', 'B', 'C', 'U', 'V', 'W']

EVENT_GCODE_TOOLCHANGE_TO

EVENT_GCODE_TOOLCHANGE_TO, EVENT_GCODE_TOOLCHANGE_T1: Event Gcodes to be executed when the printer receives toolchange commands T0 or T1, respectively.

Allowed values: a string containing G-code commands seperated by \n, e.g:

#define EVENT_GCODE_TOOLCHANGE_TO "G28 A\nG28 B\nG1 A0 B5 F100"

EVENT_GCODE_TOOLCHANGE_ALWAYS_RUN

When enabled, G-code sequences defined by options EVENT_GCODE_TOOLCHANGE_TO and EVENT_GCODE_TOOLCHANGE_T1 are not only executed when the machine directly receives tool change commands, but also when tool changes that are initiated indirectly by the firmware during execution of other commands (e.g. during homing or bed leveling). Use with caution!

LINEAR_AXES

Deprecated since Marlin 2.0.10. Use NUM_AXES instead (see above).

Building Multi-axis-Marlin firmware

To build Multi-axis-Marlin firmware you'll need PlatformIO. The MarlinFirmware team has posted detailed instructions on Building Marlin with PlatformIO.

The most stable Marlin Firmware with support for up to 6 axes is current MarlinFirmware/Marlin. All contributions that are not specific to pipetting robots should be rebased onto https://github.com/MarlinFirmware/Marlin/tree/bugfix-2.0 and a pull requests targeting https://github.com/MarlinFirmware/Marlin/tree/bugfix-2.0.x should be prepared.

The different branches in the git repository https://github.com/DerAndere1/Marlin reflect different stages of development:

Supported Configuration options:

Currently the configs by hobiseven, MarginallyClever, HendrikJan-5D and DerAndere are the only ones that were tested. Below I list Individual features that may work (although not all combinations). All other config settings currently should be treated as not supported yet. Experienced useres are encouraged to experiment with other config settings and report at https://github.com/DerAndere1/Marlin/issues if something works or not. All at your own risk - be ready to push the emergency stop button at any time.

  • *_DRIVER_TYPE A4988
  • *_DRIVER_TYPE DRV8825
  • *_DRIVER_TYPE TMC5160
  • *_DRIVER_TYPE TMC2226
  • *_DRIVER_TYPE TMC2209
  • NUM_AXES 3
  • NUM_AXES 4
  • NUM_AXES 5
  • NUM_AXES 6
  • NUM_AXES 7
  • NUM_AXES 8
  • NUM_AXES 9
  • EXTRUDERS 0
  • EXTRUDERS 1
  • EXTRUDERS 2
  • DEBUG_LEVELING
  • DEBUG_PINS
  • [dogm display (possibly not all menus work flawlessly with axes I,J,K,U,V,W)]
  • One or two stepper drivers per axis (*_DUAL_STEPPER_DRIVERS)
  • AUTO_BED_LEVELING_3POINT
  • AUTO_BED_LEVELING_LINEAR

Boards:

  • ANET_10
  • RAMPS_14_EFB
  • MKS Rumba32
  • ALFAWISE_U20 (?)
  • ALFAWISE_U30 (?)
  • Teensy 3.6
  • BTT GTR V1.0 with M5 V1.0 board

Credits

Multi-axis support for Marlin firmware is developed by:

DerAndere [@DerAndere1] - Germany
Garbriel Beraldo [@GabrielBeraldo] - Brasil
Olivier Briand [@hobiseven] - France
Wolverine [@MohammadSDGHN] - Undisclosed 
bilsef [@bilsef] - Undisclosed 
FNeo31 [@FNeo31] - Undisclosed
HendrikJan-5D [@HendrikJan-5D] - Undisclosed
Paloky [@paloky] - Undisclosed
Scott Lahteine [@thinkyhead] - USA

Multi-axis-Marlin firmware is based on Marlin firmware.

The current Marlin dev team consists of:

Scott Lahteine [@thinkyhead] - USA
Roxanne Neufeld [@Roxy-3D] - USA
Bob Kuhn [@Bob-the-Kuhn] - USA
Chris Pepper [@p3p] - UK
João Brazio [@jbrazio] - Portugal
Erik van der Zalm [@ErikZalm] - Netherlands

Contributions:

Author Contact Contribution
DerAndere @DerAndere1 main developer of multi-axis support, idea, initial implementation, added EVENT_GCODE_TOOLCHANGE_T0, EVENT_GCODE_TOOLCHANGE_T1, SAFE_BED_LEVELING_POSITION_X, AXIS4_ROTATES features, bugfixes
Gabriel Beraldo @GabrielBeraldo hardware debugging, bugfixes yielding first working prototype (make additional axes move, fix EEPROM)
Olivier Briand @hobiseven testing, added experimental compatibility with different configurations, code review, FOAMCUTTER_XYUV kinematics
Wolverine @MohammadSDGHN added experimental compatibility with different configurations (BigTreeTech SKR Pro 1.1, Trinamic TMC drivers, StealthChop, sensorless homing)
bilsef @bilsef testing, code review, bugfixes (fix movement of additional axes, fix types.h, fix EEPROM)
FNeo31 @FNeo31 added experimental drilling cyles (G81, G82, G83)
HendrikJan-5D @HendrikJan-5D testing bed leveling and Trinamic TMC, bugfixes yielding first working 9 axis prototype
Paloky @paloky Initial extension of multi-axis support from 6 to 8 axes
Scott Lahteine @thinkyhead code review, refactoring
MarlinFirmware @MarlinFirmware Marlin 3D Printer firmware

Licensing information

/**
 * Multi-axis-Marlin firmware
 * Copyright 2018 - 2022 DerAndere and other Multi-axis-Marlin authors
 *
 * Based on:
 * Marlin 3D Printer Firmware
 * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

Marlin2ForPipetBot

Copyright 2018 - 2024 DerAndere

Licensed under the GNU General Public License, version 3.0 or later.

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