✨ POLAR kinematics

MarlinFirmware/Marlin#25214

config/default/Configuration.h

@@ -917,7 +917,7 @@
  #endif
 
  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
- #define DELTA_PRINTABLE_RADIUS 140.0 // (mm)
+ #define PRINTABLE_RADIUS  140.0 // (mm)
 
  // Maximum reachable area
  #define DELTA_MAX_RADIUS 140.0 // (mm)
@@ -971,7 +971,7 @@
  #if ENABLED(MORGAN_SCARA)
 
  //#define DEBUG_SCARA_KINEMATICS
- #define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+ #define FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 
  // Radius around the center where the arm cannot reach
  #define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1006,7 +1006,7 @@
  #define TPARA_OFFSET_Y 0 // (mm)
  #define TPARA_OFFSET_Z 0 // (mm)
 
- #define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+ #define FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 
  // Radius around the center where the arm cannot reach
  #define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1016,6 +1016,60 @@
  #define PSI_HOMING_OFFSET 0
 #endif
 
+// @section polar
+
+/**
+ * POLAR Kinematics
+ * developed by Kadir ilkimen for PolarBear CNC and babyBear
+ * https:/kadirilkimen/Polar-Bear-Cnc-Machine
+ * https:/kadirilkimen/babyBear-3D-printer
+ *
+ * A polar machine can have different configurations.
+ * This kinematics is only compatible with the following configuration:
+ * X : Independent linear
+ * Y or B : Polar
+ * Z : Independent linear
+ *
+ * For example, PolarBear has CoreXZ plus Polar Y or B.
+ *
+ * Motion problem for Polar axis near center / origin:
+ *
+ * 3D printing:
+ * Movements very close to the center of the polar axis take more time than others.
+ * This brief delay results in more material deposition due to the pressure in the nozzle.
+ *
+ * Current Kinematics and feedrate scaling deals with this by making the movement as fast
+ * as possible. It works for slow movements but doesn't work well with fast ones. A more
+ * complicated extrusion compensation must be implemented.
+ *
+ * Ideally, it should estimate that a long rotation near the center is ahead and will cause
+ * unwanted deposition. Therefore it can compensate the extrusion beforehand.
+ *
+ * Laser cutting:
+ * Same thing would be a problem for laser engraving too. As it spends time rotating at the
+ * center point, more likely it will burn more material than it should. Therefore similar
+ * compensation would be implemented for laser-cutting operations.
+ *
+ * Milling:
+ * This shouldn't be a problem for cutting/milling operations.
+ */
+//#define POLAR
+#if ENABLED(POLAR)
+ #define DEFAULT_SEGMENTS_PER_SECOND 180 // If movement is choppy try lowering this value
+
+ #define PRINTABLE_RADIUS 82.0f // (mm) Maximum travel of X axis
+
+ // Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate
+ // to compensate unwanted deposition related to the near-origin motion problem.
+ #define POLAR_FAST_RADIUS 3.0f // (mm)
+
+ // Radius which is unreachable by the tool.
+ // Needed if the tool is not perfectly aligned to the center of the polar axis.
+ #define POLAR_CENTER_OFFSET 0.0f // (mm)
+
+ #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+#endif
+
 // @section machine
 
 // Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
@@ -1428,13 +1482,13 @@
  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
 
  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position

config/examples/3DFabXYZ/Migbot/Configuration.h

@@ -919,7 +919,7 @@
  #endif
 
  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
- #define DELTA_PRINTABLE_RADIUS 140.0 // (mm)
+ #define PRINTABLE_RADIUS  140.0 // (mm)
 
  // Maximum reachable area
  #define DELTA_MAX_RADIUS 140.0 // (mm)
@@ -973,7 +973,7 @@
  #if ENABLED(MORGAN_SCARA)
 
  //#define DEBUG_SCARA_KINEMATICS
- #define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+ #define FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 
  // Radius around the center where the arm cannot reach
  #define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1008,7 +1008,7 @@
  #define TPARA_OFFSET_Y 0 // (mm)
  #define TPARA_OFFSET_Z 0 // (mm)
 
- #define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+ #define FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 
  // Radius around the center where the arm cannot reach
  #define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1018,6 +1018,59 @@
  #define PSI_HOMING_OFFSET 0
 #endif
 
+// @section polar
+
+/**
+ * POLAR Kinematics
+ * developed by Kadir ilkimen for PolarBear CNC and babyBear
+ * https:/kadirilkimen/Polar-Bear-Cnc-Machine
+ * https:/kadirilkimen/babyBear-3D-printer
+ *
+ * A polar machine can have different configurations.
+ * This kinematics is only compatible with the following configuration:
+ * X : Independent linear
+ * Y or B : Polar
+ * Z : Independent linear
+ *
+ * For example, PolarBear has CoreXZ plus Polar Y or B.
+ *
+ * Motion problem for Polar axis near center / origin:
+ *
+ * 3D printing:
+ * Movements very close to the center of the polar axis take more time than others.
+ * This brief delay results in more material deposition due to the pressure in the nozzle.
+ *
+ * Current Kinematics and feedrate scaling deals with this by making the movement as fast
+ * as possible. It works for slow movements but doesn't work well with fast ones. A more
+ * complicated extrusion compensation must be implemented.
+ *
+ * Ideally, it should estimate that a long rotation near the center is ahead and will cause
+ * unwanted deposition. Therefore it can compensate the extrusion beforehand.
+ *
+ * Laser cutting:
+ * Same thing would be a problem for laser engraving too. As it spends time rotating at the
+ * center point, more likely it will burn more material than it should. Therefore similar
+ * compensation would be implemented for laser-cutting operations.
+ *
+ * Milling:
+ * This shouldn't be a problem for cutting/milling operations.
+ */
+//#define POLAR
+#if ENABLED(POLAR)
+ #define DEFAULT_SEGMENTS_PER_SECOND 180 // If movement is choppy try lowering this value
+ #define PRINTABLE_RADIUS 82.0f // (mm) Maximum travel of X axis
+
+ // Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate
+ // to compensate unwanted deposition related to the near-origin motion problem.
+ #define POLAR_FAST_RADIUS 3.0f // (mm)
+
+ // Radius which is unreachable by the tool.
+ // Needed if the tool is not perfectly aligned to the center of the polar axis.
+ #define POLAR_CENTER_OFFSET 0.0f // (mm)
+
+ #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+#endif
+
 // @section machine
 
 // Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
@@ -1430,13 +1483,13 @@
  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
 
  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position

config/examples/ADIMLab/Gantry v1/Configuration.h

@@ -917,7 +917,7 @@
  #endif
 
  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
- #define DELTA_PRINTABLE_RADIUS 140.0 // (mm)
+ #define PRINTABLE_RADIUS  140.0 // (mm)
 
  // Maximum reachable area
  #define DELTA_MAX_RADIUS 140.0 // (mm)
@@ -971,7 +971,7 @@
  #if ENABLED(MORGAN_SCARA)
 
  //#define DEBUG_SCARA_KINEMATICS
- #define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+ #define FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 
  // Radius around the center where the arm cannot reach
  #define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1006,7 +1006,7 @@
  #define TPARA_OFFSET_Y 0 // (mm)
  #define TPARA_OFFSET_Z 0 // (mm)
 
- #define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+ #define FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 
  // Radius around the center where the arm cannot reach
  #define MIDDLE_DEAD_ZONE_R 0 // (mm)
@@ -1016,6 +1016,59 @@
  #define PSI_HOMING_OFFSET 0
 #endif
 
+// @section polar
+
+/**
+ * POLAR Kinematics
+ * developed by Kadir ilkimen for PolarBear CNC and babyBear
+ * https:/kadirilkimen/Polar-Bear-Cnc-Machine
+ * https:/kadirilkimen/babyBear-3D-printer
+ *
+ * A polar machine can have different configurations.
+ * This kinematics is only compatible with the following configuration:
+ * X : Independent linear
+ * Y or B : Polar
+ * Z : Independent linear
+ *
+ * For example, PolarBear has CoreXZ plus Polar Y or B.
+ *
+ * Motion problem for Polar axis near center / origin:
+ *
+ * 3D printing:
+ * Movements very close to the center of the polar axis take more time than others.
+ * This brief delay results in more material deposition due to the pressure in the nozzle.
+ *
+ * Current Kinematics and feedrate scaling deals with this by making the movement as fast
+ * as possible. It works for slow movements but doesn't work well with fast ones. A more
+ * complicated extrusion compensation must be implemented.
+ *
+ * Ideally, it should estimate that a long rotation near the center is ahead and will cause
+ * unwanted deposition. Therefore it can compensate the extrusion beforehand.
+ *
+ * Laser cutting:
+ * Same thing would be a problem for laser engraving too. As it spends time rotating at the
+ * center point, more likely it will burn more material than it should. Therefore similar
+ * compensation would be implemented for laser-cutting operations.
+ *
+ * Milling:
+ * This shouldn't be a problem for cutting/milling operations.
+ */
+//#define POLAR
+#if ENABLED(POLAR)
+ #define DEFAULT_SEGMENTS_PER_SECOND 180 // If movement is choppy try lowering this value
+ #define PRINTABLE_RADIUS 82.0f // (mm) Maximum travel of X axis
+
+ // Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate
+ // to compensate unwanted deposition related to the near-origin motion problem.
+ #define POLAR_FAST_RADIUS 3.0f // (mm)
+
+ // Radius which is unreachable by the tool.
+ // Needed if the tool is not perfectly aligned to the center of the polar axis.
+ #define POLAR_CENTER_OFFSET 0.0f // (mm)
+
+ #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
+#endif
+
 // @section machine
 
 // Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
@@ -1428,13 +1481,13 @@
  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
 
- #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
+ #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 }
  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
 
  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position