Hello, I am working on a project to deposit filament along length of a rod. Currently I only have two axes: Axis A for rotation of the rod about its axis and Axis X for moving the extruder head along the length of the rod. The z height distance between tip on the nozzle and rod dia is adjusted manually. I have configured the rotary axis A as follows: (Using Duet3 mainboard 6HC with RRF 3.4.4)
; Drives
M569 P0.0 S0 ; physical drive 0.0 goes backwards
M569 P0.1 S1 ; physical drive 0.1 goes forwards
M569 P0.2 S1 ; physical drive 0.2 goes forwards
M569 P0.3 S1 ; physical drive 0.3 goes forwards
M569 P0.4 S0 ; physical drive 0.4 goes backwards
M584 X0.0 Y0.1 Z0.2 E0.3 A0.4 ; set drive mapping
M350 X16 Y16 Z16 E16 A16 I1 ; configure microstepping with interpolation
M92 X1280.00 Y80.00 Z400.00 E397.00 ; set steps per mm
M92 A43.3086419 ; set steps per deg for rotational A axis (0.9deg motor = 400 steps/rev; 16x microstepping = 400*16/360 = 17.7778 steps/deg; 2.436 gearing ratio)
M566 X900.00 Y900.00 Z60.00 E120.00 A120.00 ; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z180.00 E1200.00 A12000.00 ; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z20.00 E250.00 A500.00 ; set accelerations (mm/s^2)
M906 X1500 Y800 Z800 E1000 A1500 I30 ; set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout
; Axis Limits
M208 X0 Y0 Z0 S1 ; set axis minima
M208 X230 Y210 Z200 S0 ; set axis maxima
; Endstops
M574 X1 S1 P"io0.in" ; configure switch-type (e.g. microswitch) endstop for low end on X via pin io0.in
The documentation says for rotary axis, M92 uses "steps per degree" units.
Questions:
- For a rotary axis, What are the units for M201, M203 and M566? deg/min?
- To set rotary axis for infinite rotation, I can either use large value in M208 or use G92 A0 before each move. What is max number I can use for M208 command?
- For an example linear interpolation command including linear, extruder and rotary axes: G1 A14400 X32.0 E80.0 F130
What is the speed of rotation of rotary (A) axis in this case? (based on my configuration)
Just trying to understand how feed rates work when linear and rotary axes are used in same G1 command.
Update:
After some experimentation, I noticed that changing feedrate (F) in the above G1 command involving A,X and E axes had NO effect on speed of rotation of A axis. This seems like feedrate parameter only affects linear axes. This makes me wonder how is A axis rotation speed calculated by Duet?