Hello Everybody
I recently build a 5 axis conversion of open source printer Voron Trident 250 as a base and designed the 5 axis module with new printhead what is also Z axis.
Project 5 axis Voron Trident.pdf
If you would like to see it in a movement and indicator clock testing here is my
YouTube channel
https://www.youtube.com/channel/UCL7oZxzQpKNU-jJnElbkT3w
Now I am already testing some full 5 axis printing still work in a progress 
Hi @JoergS5 and @OttoJiang, thank you for your replies. Joerg you are right, my homing of x and y was wrong in the homeall file, also I reflashed both firmware's on the printer and now the homing is taken from the homeRobot.g file as it should. Then I corrected the homing of X and Y.
G91 ; relative mode
G1 H1 X240 Y240 F3000 ; coarse homing X or Y
G1 H1 X240 ; coarse home X
G1 H1 Y240 ; coarse home Y
G1 X-4 Y-4 F600 ; move away from end stops
G1 H1 X10 ; fine home X
G1 H1 Y10 ; Fine home Y
G90
(My homing sensors are at the back right of the printer)
But homing with M669 K13 B"CoreXY5AC" had the same results, the printer first homed X, then the Y went diagonally forward to the right and crashed. I then tried using M669 K1 as advised by @OttoJiang and the X and Y axis homing was fine without any problems. After a bit of testing homing the with both kinematics M669 K1 and M669 K13 B"CoreXY5AC" I made my homeRobot.g in a way that the printer will start homing first under M669 K1 and home all axis then follows M669 K13 B"CoreXY5AC" and home all axis again without any problems.
My G92 values are also working and the robot kinematics are working absolutely fantastic!!! with all axes moving as they should.
I will attach the homeRobot file.
@JoergS5 big thanks for your robot kinematics, the printer works fabulously with it, and now I am going to measure the machine accuracy if there is any adjustment required to tune, but so far I need to mount indicator finger clock to check the accuracy.
I have got some good ideas from testing 5 axis cnc machine centres.
Thank you all very much for your help and support and for the fantastic robot kinematics firmware, there has definitely been a huge amount of work behind all of this!!!
Homing:
https://youtube.com/shorts/ZaVPK-iH3sQ?si=MTcbL_gMd6V_0Oqx
Short kinematics test video:
https://youtube.com/shorts/k_G0fK1Lo9g?si=XwcDXoe3mVyjbMt2
Hi @JoergS5 and @OttoJiang, thank you for your replies. Joerg you are right, my homing of x and y was wrong in the homeall file, also I reflashed both firmware's on the printer and now the homing is taken from the homeRobot.g file as it should. Then I corrected the homing of X and Y.
G91 ; relative mode
G1 H1 X240 Y240 F3000 ; coarse homing X or Y
G1 H1 X240 ; coarse home X
G1 H1 Y240 ; coarse home Y
G1 X-4 Y-4 F600 ; move away from end stops
G1 H1 X10 ; fine home X
G1 H1 Y10 ; Fine home Y
G90
(My homing sensors are at the back right of the printer)
But homing with M669 K13 B"CoreXY5AC" had the same results, the printer first homed X, then the Y went diagonally forward to the right and crashed. I then tried using M669 K1 as advised by @OttoJiang and the X and Y axis homing was fine without any problems. After a bit of testing homing the with both kinematics M669 K1 and M669 K13 B"CoreXY5AC" I made my homeRobot.g in a way that the printer will start homing first under M669 K1 and home all axis then follows M669 K13 B"CoreXY5AC" and home all axis again without any problems.
My G92 values are also working and the robot kinematics are working absolutely fantastic!!! with all axes moving as they should.
I will attach the homeRobot file.
@JoergS5 big thanks for your robot kinematics, the printer works fabulously with it, and now I am going to measure the machine accuracy if there is any adjustment required to tune, but so far I need to mount indicator finger clock to check the accuracy.
I have got some good ideas from testing 5 axis cnc machine centres.
Thank you all very much for your help and support and for the fantastic robot kinematics firmware, there has definitely been a huge amount of work behind all of this!!!
Homing:
https://youtube.com/shorts/ZaVPK-iH3sQ?si=MTcbL_gMd6V_0Oqx
Short kinematics test video:
https://youtube.com/shorts/k_G0fK1Lo9g?si=XwcDXoe3mVyjbMt2
Hello Guys,
I am trying to implement robot kinematics firmware from @JoergS5, for my project 5-axis Corexyac 3d printer modification of voron trident 250.
The printer is mechanically aligned and calibrated and its designed for absolute zero, in the centre of the rotary bed. On the first SD card for the Duet6HC board, I have the printer running the standard Duet firmware 3.51, with all 5 axes homing with G92 gcodes to set the absolute zero for printing at the centre of the bed. As the A-axis rotates around the closest point to the bed surface, the printer also works with the application of tool work offsets G54, G55...
I would like to test full 5-axis kinematics and have compiled a new SD card with Duet firmware 3.51, installed the robot kinematics and set the config file to M669 for K13 B "CoreXY5AC".
I will attach my config file and also the printer's homing file. It seems to be working with the kinematics when I try to do small rotating steps and I can also test all 5 axes after partial homing.
Only I cannot get the Y-axis to home. I have checked the Corexy motor movements with the Duet documentation and all the stepper motor movements are OK. When homing the X and Y axes, the printer will first home the X axis and then move diagonally forward and right, then crash.
I would like to ask for help with homing the printer and setting the absolute zero position for a tool head with robot kinematics.
I have documented the printer on Github
https://github.com/Buzzloopster/Voron-Trident-5-axis/tree/main
@o_lampe Thank you for your email.
To the consideration of the z axis,
the trident has very sturdy xycore mechanisms and whole hotend with extruder and z axis weight about 611g.
Also with 5 axis movement there will be no need for rapid movement of X and y axis.
When I tested printing with normal 3 axis slicer it may look wobbly but the prints came out nice.
I am using in this way the 6hc board with a full potential with stepper motors.
When I have been designing the hotend from mainly used parts what I had lying around so that is the result of it.
But in the future if the problem become with the stability, is already on my mind to design a new version of the z axis mechanism with two linear rails and lead screw for the z axis stepper motor and maybe liquid cooling for the hotend.
The main goal is to make the hotend available for maximum movement and reach around the rotary bed.
Hello Everybody
I recently build a 5 axis conversion of open source printer Voron Trident 250 as a base and designed the 5 axis module with new printhead what is also Z axis.
Project 5 axis Voron Trident.pdf
If you would like to see it in a movement and indicator clock testing here is my
YouTube channel
https://www.youtube.com/channel/UCL7oZxzQpKNU-jJnElbkT3w
Now I am already testing some full 5 axis printing still work in a progress
@aj-quick Hello, I would be really interested in ordering the Stratadue PCB. Is this project still active or where could buy this adapter? Thank you very much.