🔧 Config parity with 2.1.x

Marlin/Configuration.h

@@ -57,15 +57,6 @@
  *                      https://www.thingiverse.com/thing:1278865
  */
 
-//===========================================================================
-//========================== DELTA / SCARA / TPARA ==========================
-//===========================================================================
-//
-// Download configurations from the link above and customize for your machine.
-// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
-//
-//===========================================================================
-
 // @section info
 
 // Author info of this build printed to the host during boot and M115
@@ -845,6 +836,141 @@
   #define POLAR_SEGMENTS_PER_SECOND 5
 #endif
 
+// Enable for DELTA kinematics and configure below
+//#define DELTA
+#if ENABLED(DELTA)
+
+  // Make delta curves from many straight lines (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DELTA_SEGMENTS_PER_SECOND 200
+
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
+
+  // Delta calibration menu
+  // uncomment to add three points calibration menu option.
+  // See http://minow.blogspot.com/index.html#4918805519571907051
+  //#define DELTA_CALIBRATION_MENU
+
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
+  #endif
+
+  #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
+    // Set the steprate for papertest probing
+    #define PROBE_MANUALLY_STEP 0.05      // (mm)
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 140.0    // (mm)
+
+  // Maximum reachable area
+  #define DELTA_MAX_RADIUS       140.0    // (mm)
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 250.0        // (mm)
+
+  // Distance between bed and nozzle Z home position
+  #define DELTA_HEIGHT 250.00             // (mm) Get this value from G33 auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 124.0              // (mm) Get this value from G33 auto calibrate
+
+  // Trim adjustments for individual towers
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Delta radius and diagonal rod adjustments (mm)
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+#endif
+
+/**
+ * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
+ * Implemented and slightly reworked by JCERNY in June, 2014.
+ *
+ * Mostly Printed SCARA is an open source design by Tyler Williams. See:
+ *   https://www.thingiverse.com/thing:2487048
+ *   https://www.thingiverse.com/thing:1241491
+ */
+//#define MORGAN_SCARA
+//#define MP_SCARA
+#if EITHER(MORGAN_SCARA, MP_SCARA)
+  // If movement is choppy try lowering this value
+  #define SCARA_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define SCARA_LINKAGE_1 150       // (mm)
+  #define SCARA_LINKAGE_2 150       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define SCARA_OFFSET_X  100       // (mm)
+  #define SCARA_OFFSET_Y  -56       // (mm)
+
+  #if ENABLED(MORGAN_SCARA)
+
+    //#define DEBUG_SCARA_KINEMATICS
+    #define SCARA_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)
+
+    #define THETA_HOMING_OFFSET  0  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+    #define PSI_HOMING_OFFSET    0  // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+
+  #elif ENABLED(MP_SCARA)
+
+    #define SCARA_OFFSET_THETA1  12 // degrees
+    #define SCARA_OFFSET_THETA2 131 // degrees
+
+  #endif
+
+#endif
+
+// Enable for TPARA kinematics and configure below
+//#define AXEL_TPARA
+#if ENABLED(AXEL_TPARA)
+  #define DEBUG_ROBOT_KINEMATICS
+  #define ROBOT_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define ROBOT_LINKAGE_1 120       // (mm)
+  #define ROBOT_LINKAGE_2 120       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define ROBOT_OFFSET_X    0       // (mm)
+  #define ROBOT_OFFSET_Y    0       // (mm)
+  #define ROBOT_OFFSET_Z    0       // (mm)
+
+  #define SCARA_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)
+
+  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+  #define THETA_HOMING_OFFSET  0
+  #define PSI_HOMING_OFFSET    0
+#endif
+
+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
@@ -1001,9 +1127,9 @@
  *   M204 R    Retract Acceleration
  *   M204 T    Travel Acceleration
  */
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration for printing moves
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z ... and E acceleration for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000    // E acceleration for retracts
-#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration for travel (non printing) moves
+#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z ... acceleration for travel (non printing) moves
 
 /**
  * Default Jerk limits (mm/s)
@@ -1185,9 +1311,37 @@
  */
 //#define SENSORLESS_PROBING
 
-//
+/**
-// For Z_PROBE_ALLEN_KEY see the Delta example configurations.
+ * Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
-//
+ * Deploys by touching z-axis belt. Retracts by pushing the probe down.
+ */
+//#define Z_PROBE_ALLEN_KEY
+#if ENABLED(Z_PROBE_ALLEN_KEY)
+  // 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_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_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_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
+  #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down
+  #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear
+  #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 }
+  #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE
+
+#endif // Z_PROBE_ALLEN_KEY
 
 /**
  * Nozzle-to-Probe offsets { X, Y, Z }

Marlin/Configuration_adv.h

@@ -2423,7 +2423,7 @@
 
   /**
    * Extra G-code to run while executing tool-change commands. Can be used to use an additional
-   * stepper motor (e.g., I axis in Configuration.h) to drive the tool-changer.
+   * stepper motor (I axis, see option LINEAR_AXES in Configuration.h) to drive the tool-changer.
    */
   //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // Extra G-code to run while executing tool-change command T0
   //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10"       // Extra G-code to run while executing tool-change command T1