add PENTA_AXIS_HT and PENTA_AXIS_TRT kinematics

DerAndere1 · Oct 1, 2024 · 49ddf6b · 49ddf6b
1 parent 8c61606
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diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -326,7 +326,14 @@
  */
 //#define ELECTROMAGNETIC_SWITCHING_TOOLHEAD
 
+
+// Safe toolchange start Z position.
+//#define SAFE_TOOLCHANGE_START_Z           200
+
 #if ANY(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
+  //#define SWITCHING_TOOLHEAD_Z_POS        100         // (mm) Z position of the toolhead dock.
+                                                        // Leave this option disabled if the bed can move in Z direction
+  //#define SWITCHING_TOOLHEAD_Z_CLEAR       60         // (mm) Minimum distance from dock along Z for unobstructed X axis if the tools are placed onto the dock in Z direction
   #define SWITCHING_TOOLHEAD_Y_POS          235         // (mm) Y position of the toolhead dock
   #define SWITCHING_TOOLHEAD_Y_SECURITY      10         // (mm) Security distance Y axis
   #define SWITCHING_TOOLHEAD_Y_CLEAR         60         // (mm) Minimum distance from dock for unobstructed X axis
@@ -371,7 +378,7 @@
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
-// For the other hotends it is their distance from the extruder 0 hotend.
+// For the other hotends it is their distance from the extruder 0 hotend in positive axis direction.
 //#define HOTEND_OFFSET_X { 0.0, 20.00 } // (mm) relative X-offset for each nozzle
 //#define HOTEND_OFFSET_Y { 0.0, 5.00 }  // (mm) relative Y-offset for each nozzle
 //#define HOTEND_OFFSET_Z { 0.0, 0.00 }  // (mm) relative Z-offset for each nozzle
@@ -1117,6 +1124,75 @@
   #define FEEDRATE_SCALING                  // Convert XY feedrate from mm/s to degrees/s on the fly
 #endif
 
+// @section PENTA_AXIS_TRT
+
+/** 
+ * For a 5 axis CNC machine in tilting rotary table configuration. 
+ * This machine has a rotary table (C axis) mounted on a tilting table
+ * (A axis parallel to the X axis, or B axis parallel to the Y axis).
+ * More information can be found at https://github.com/DerAndere1/Marlin/wiki/Marlin2ForPipetBot:-five-axis-CNC
+ */
+//#define PENTA_AXIS_TRT
+#if ENABLED(PENTA_AXIS_TRT)
+
+  // Machine rotary zero point offsets  
+  // The distance along the X axis from machine zero point to the center of rotation. The center of rotation is
+  // usually the center of the top surface of the table when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_X 0.0 // (mm)
+
+  // The distance along the Y axis from machine zero point to the center of rotation. The center of rotation is
+  // usually the center of the top surface of the table when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_Y 0.0 // (mm)
+
+  // The distance along the Z axis from machine zero point to the center of rotation. The center of rotation is
+  // usually the center of the top surface of the table when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_Z 0.0 // (mm)
+
+  // For a machine with XYZBC axes, this is the distance along the x axis from the vertical centerline of the
+  // joint of the horizontal rotary table to the horizontal centerline of the joint that tilts the table.
+  // Measured when the table is oriented horizontally.
+  #define DEFAULT_ROTATIONAL_JOINT_OFFSET_X 0.0 // (mm)
+
+  // For a machine with XYZAC axes, this is the distance along the y axis from the vertical centerline of the
+  // joint of the horizontal table to the horizontal centerline of the joint that tilts the table. 
+  // Measured when the table is oriented horizontally.
+  #define DEFAULT_ROTATIONAL_JOINT_OFFSET_Y 0.0 // (mm)
+
+  // This is the distance along the Z axis from the surface at the top of the table to the horizontal
+  // centerline of the joint that tilts the table when the table is oriented horizontally.
+  #define DEFAULT_ROTATIONAL_JOINT_OFFSET_Z 0.0 // (mm)
+
+  // Moves involving rotational axes is broken up into small straight segments (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
+
+  // Print surface diameter/2
+  #define PRINTABLE_RADIUS 100.0    // (mm)
+#endif
+
+// @section PENTA_AXIS_HT
+
+/**
+ * For a 5 axis CNC machine in head-table configuration. 
+ * This machine has a swivel head and a horizontal rotary table.
+ */
+//#define PENTA_AXIS_HT
+#if ENABLED(PENTA_AXIS_HT)
+
+  // Machine rotary zero point offset is the distance from the gage line at the tool head (tip of the nozzle of tool 0) to the horizontal 
+  // centerline of the joint that tilts the tool head. Measured when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_Z 100.0 // (mm)
+
+  // Moves involving rotational axes is broken up into small straight segments (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
+
+  // Print surface diameter/2
+  #define PRINTABLE_RADIUS 100.0    // (mm)
+#endif
+
 // @section machine
 
 // Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
@@ -1902,6 +1978,13 @@
 #endif
 
 #if ANY(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
+  /**
+   * Abort printing when any software endstop is triggered.
+   * This feature is enabled with 'M541 S1' or from the LCD menu.
+   * Software endstops must be activated for this option to work.
+   */
+  //#define ABORT_ON_SOFTWARE_ENDSTOP
+
   //#define SOFT_ENDSTOPS_MENU_ITEM  // Enable/Disable software endstops from the LCD
 #endif
 

diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -935,6 +935,9 @@
 //#define XY_COUNTERPART_BACKOFF_MM 0         // (mm) Backoff X after homing Y, and vice-versa
 
 //#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
+#if ENABLED(QUICK_HOME)
+  //#define QUICK_HOME_SECONDARY_AXES          // If G28 contains XYABCUVW, first do a coordinated move of axes XYABCUVW towards the limit used for homing.
+#endif
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
 //#define HOME_Z_FIRST                        // Home Z first. Requires a real endstop (not a probe).
 //#define CODEPENDENT_XY_HOMING               // If X/Y can't home without homing Y/X first
@@ -2784,7 +2787,7 @@
  * Universal tool change settings.
  * Applies to all types of extruders except where explicitly noted.
  */
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   // Z raise distance for tool-change, as needed for some extruders
   #define TOOLCHANGE_ZRAISE                 2 // (mm)
   //#define TOOLCHANGE_ZRAISE_BEFORE_RETRACT  // Apply raise before swap retraction (if enabled)
@@ -2891,7 +2894,7 @@
       //#define TOOLCHANGE_MIGRATION_DO_PARK  // Force park (or no-park) on migration
     #endif
   #endif
-#endif // HAS_MULTI_EXTRUDER
+#endif // HAS_MULTI_TOOLS
 
 // @section advanced pause
 

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -177,6 +177,10 @@
   #include "module/scara.h"
 #elif ENABLED(POLAR)
   #include "module/polar.h"
+#elif ENABLED(PENTA_AXIS_TRT)
+  #include "module/penta_axis_trt.h"
+#elif ENABLED(PENTA_AXIS_HT)
+  #include "module/penta_axis_ht.h"
 #endif
 
 #if HAS_LEVELING

diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
@@ -186,6 +186,7 @@
 #define STR_SD_CANT_ENTER_SUBDIR            "Cannot enter subdir: "
 
 #define STR_ENDSTOPS_HIT                    "endstops hit: "
+#define STR_ERR_SW_ENDSTOP                  "software endstops hit"
 #define STR_ERR_COLD_EXTRUDE_STOP           " cold extrusion prevented"
 #define STR_ERR_LONG_EXTRUDE_STOP           " too long extrusion prevented"
 #define STR_ERR_HOTEND_TOO_COLD             "Hotend too cold"
@@ -283,6 +284,8 @@
 #define STR_SCARA_SETTINGS                  "SCARA"
 #define STR_POLAR_SETTINGS                  "Polar"
 #define STR_POLARGRAPH_SETTINGS             "Polargraph"
+#define STR_PAX_TRT_SETTINGS                "Penta-Axis-TRT"
+#define STR_PAX_HT_SETTINGS                 "Penta-Axis-Head-Table"
 #define STR_SCARA_P_T_Z                     "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
 #define STR_ENDSTOP_ADJUSTMENT              "Endstop adjustment"
 #define STR_SKEW_FACTOR                     "Skew Factor"

diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h
@@ -345,6 +345,16 @@ enum AxisEnum : uint8_t {
 #define LOOP_DISTINCT_AXES(VAR) for (uint8_t VAR = 0; VAR < DISTINCT_AXES; ++VAR)
 #define LOOP_DISTINCT_E(VAR) for (uint8_t VAR = 0; VAR < DISTINCT_E; ++VAR)
 
+
+//
+// Enumerates tool types
+//
+enum ToolTypeEnum : uint8_t {
+  TYPE_EXTRUDER, 
+  TYPE_LASER,
+  TYPE_SPINLDE
+};
+
 //
 // feedRate_t is just a humble float
 //

diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -1281,8 +1281,13 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
     if (!isnan(z_values[i][j])) continue;  // Skip valid mesh points
 
     // Skip unreachable points
-    if (!probe.can_reach(get_mesh_x(i), get_mesh_y(j)))
-      continue;
+    #if ANY(PENTA_AXIS_HT, PENTA_AXIS_TRT)
+      if (!probe.can_reach(NUM_AXIS_LIST(get_mesh_x(i), get_mesh_y(j), TERN0(SAFE_BED_LEVELING_START_Z, SAFE_BED_LEVELING_START_Z), TERN0(SAFE_BED_LEVELING_START_I, SAFE_BED_LEVELING_START_I), TERN0(SAFE_BED_LEVELING_START_J, SAFE_BED_LEVELING_START_J), TERN0(SAFE_BED_LEVELING_START_K, SAFE_BED_LEVELING_START_K), TERN0(SAFE_BED_LEVELING_START_U, SAFE_BED_LEVELING_START_U), TERN0(SAFE_BED_LEVELING_START_V, SAFE_BED_LEVELING_START_V), TERN0(SAFE_BED_LEVELING_START_W, SAFE_BED_LEVELING_START_W))))
+        continue;
+    #else
+      if (!probe.can_reach(get_mesh_x(i), get_mesh_y(j)))
+        continue;
+    #endif
 
     found_a_NAN = true;
 

diff --git a/Marlin/src/feature/powerloss.cpp b/Marlin/src/feature/powerloss.cpp
@@ -516,7 +516,7 @@ void PrintJobRecovery::resume() {
   #endif
 
   // Restore the previously active tool (with no_move)
-  #if HAS_MULTI_EXTRUDER || HAS_MULTI_HOTEND
+  #if HAS_MULTI_TOOLS || HAS_MULTI_HOTEND
     PROCESS_SUBCOMMANDS_NOW(TS('T', info.active_extruder, 'S'));
   #endif
 
@@ -638,7 +638,7 @@ void PrintJobRecovery::resume() {
           DEBUG_EOL();
         #endif
 
-        #if HAS_MULTI_EXTRUDER
+        #if HAS_MULTI_TOOLS
           DEBUG_ECHOLNPGM("active_extruder: ", info.active_extruder);
         #endif
 

diff --git a/Marlin/src/feature/powerloss.h b/Marlin/src/feature/powerloss.h
@@ -75,7 +75,7 @@ typedef struct {
   #if HAS_WORKSPACE_OFFSET
     xyz_pos_t workspace_offset;
   #endif
-  #if HAS_MULTI_EXTRUDER
+  #if HAS_MULTI_TOOLS
     uint8_t active_extruder;
   #endif
 

diff --git a/Marlin/src/feature/spindle_laser.cpp b/Marlin/src/feature/spindle_laser.cpp
@@ -39,6 +39,7 @@
 #endif
 
 SpindleLaser cutter;
+uint8_t SpindleLaser::active_tool_type;                               // Tool type: 0 for extruder, 1 for spindle, 2 for laser
 bool SpindleLaser::enable_state;                                      // Virtual enable state, controls enable pin if present and or apply power if > 0
 uint8_t SpindleLaser::power,                                          // Actual power output 0-255 ocr or "0 = off" > 0 = "on"
         SpindleLaser::last_power_applied; // = 0                      // Basic power state tracking
@@ -65,21 +66,36 @@ cutter_frequency_t SpindleLaser::frequency;                           // PWM fre
  * Init the cutter to a safe OFF state
  */
 void SpindleLaser::init() {
+  #if ENABLED(LASER_FEATURE) && LASER_TOOL == 0
+    active_tool_type = TYPE_LASER;
+  #elif ENABLED(SPINDLE_FEATURE) && LASER_TOOL == 0
+    active_tool_type = TYPE_LASER;
+  #else
+    active_tool_type = TYPE_EXTRUDER;
+  #endif
   #if ENABLED(SPINDLE_SERVO)
     servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN);
   #elif PIN_EXISTS(SPINDLE_LASER_ENA)
     OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);    // Init spindle to off
   #endif
+  #if PIN_EXISTS(LASER_ENA)
+    OUT_WRITE(LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);    // Init spindle to off
+  #endif
   #if ENABLED(SPINDLE_CHANGE_DIR)
     OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR);                   // Init rotation to clockwise (M3)
   #endif
   #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
     frequency = SPINDLE_LASER_FREQUENCY;
     hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
+    hal.set_pwm_frequency(pin_t(LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
   #endif
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     SET_PWM(SPINDLE_LASER_PWM_PIN);
     hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
+    #if PIN_EXISTS(LASER_PWM)
+      SET_PWM(SPINDLE_LASER_PWM_PIN);
+      hal.set_pwm_duty(pin_t(LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
+    #endif
   #endif
   #if ENABLED(AIR_EVACUATION)
     OUT_WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE);            // Init Vacuum/Blower OFF
@@ -98,21 +114,37 @@ void SpindleLaser::init() {
    */
   void SpindleLaser::_set_ocr(const uint8_t ocr) {
     #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-      hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
+      if (active_tool_type == TYPE_LASER)
+        hal.set_pwm_frequency(pin_t(LASER_PWM_PIN), frequency);
+      else
+        hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
     #endif
-    hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
+    if (active_tool_type == TYPE_LASER)
+      hal.set_pwm_duty(pin_t(LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
+    elif (active_tool_type == TYPE_SPINDLE)
+      hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
   }
 
   void SpindleLaser::set_ocr(const uint8_t ocr) {
+    #if PIN_EXISTS(LASER_ENA)
+      if (tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
-      WRITE(SPINDLE_LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
+      if (tool_type == TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
     #endif
     _set_ocr(ocr);
   }
 
   void SpindleLaser::ocr_off() {
+    #if PIN_EXISTS(LASER_ENA)
+      if (active_tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
-      WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
+      if (active_tool_type TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
     #endif
     _set_ocr(0);
   }
@@ -143,13 +175,21 @@ void SpindleLaser::apply_power(const uint8_t opwr) {
     #elif ENABLED(SPINDLE_SERVO)
       servo[SPINDLE_SERVO_NR].move(opwr);
     #else
-      WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+      if (active_tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+      elif (active_tool_type == TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
       isReadyForUI = true;
     #endif
   }
   else {
+    #if PIN_EXISTS(LASER_ENA)
+      if (active_tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
-      WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
+      if (active_tool_type  == TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
     #endif
     isReadyForUI = false; // Only used for UI display updates.
     TERN_(SPINDLE_LASER_USE_PWM, ocr_off());

diff --git a/Marlin/src/feature/spindle_laser.h b/Marlin/src/feature/spindle_laser.h
@@ -117,7 +117,14 @@ class SpindleLaser {
   static void init();
 
   #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-    static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
+    static void refresh_frequency() { 
+      if (active_tool_type == TYPE_LASER) {
+        hal.set_pwm_frequency(pin_t(LASER_PWM_PIN), frequency);
+      } 
+      elif (active_tool_type == TYPE_SPINDLE) {
+        hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); 
+      }
+    }
   #endif
 
   // Modifying this function should update everywhere
@@ -211,6 +218,9 @@ class SpindleLaser {
         enable = false;
         apply_power(0);
     }
+    #if PIN_EXISTS(LASER_ENA)
+      WRITE(LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
       WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
     #endif