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6axis [2018/06/19 23:39]
143.159.81.0 [Compiling 6 axis.]
6axis [2019/03/24 17:18] (current)
37.165.150.214
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 * [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​upgrade-notes.md|Smoothie'​s upgrade notes]] * [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​upgrade-notes.md|Smoothie'​s upgrade notes]]
  
 +<callout type="​warning"​ icon="​true"​ title="​Workpiece Coordinate System">​
 **NOTE** that currently WCS is not supported for ABC axis (G10 L2...). G92 A0 resets the A axis and does not set the WCS for it (same for B and C). **NOTE** that currently WCS is not supported for ABC axis (G10 L2...). G92 A0 resets the A axis and does not set the WCS for it (same for B and C).
 +</​callout>​
 +
 +<callout type="​warning"​ icon="​true"​ title="​Extruders">​
 **NOTE** You cannot define extruders AND ABC axis they are mutually exclusive and smoothie will not run if they are both defined. **NOTE** You cannot define extruders AND ABC axis they are mutually exclusive and smoothie will not run if they are both defined.
 +</​callout>​
 +
  
 === Compiling 6 axis. === Compiling 6 axis.
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 Means Smoothie is compiled with XYZAB axes, and distances are calculated in the XYZA space. Means Smoothie is compiled with XYZAB axes, and distances are calculated in the XYZA space.
 +
 +<callout type="​info"​ icon="​true"​ title="​Primary Axes">​
 **NOTE** that in most cases you **DO NOT** need to set PAXIS. Only do this if you fully understand the difference between a Cartesian (primary) axis and say a rotary axis. **NOTE** that in most cases you **DO NOT** need to set PAXIS. Only do this if you fully understand the difference between a Cartesian (primary) axis and say a rotary axis.
-**NOTE** if you are having issues with the rotary axis accelerating too fast or not moving at all when XY moves a tiny amount, then do set PAXIS to the same as AXIS.+</​callout>​ 
 + 
  
 Once your firmware is compiled, you can now flash it to the board and start using it. Once your firmware is compiled, you can now flash it to the board and start using it.
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 === Using additional axes === Using additional axes
  
 +<callout type="​warning"​ icon="​true"​ title="​YXZ first">​
 **NOTE** You MUST fully define the alpha, beta and gamma (XYZ) axis before the other axis. They MUST have valid pin definitions for the step and dir pins (enable is optional) If you do not define valid pins for these first three axis smoothie will not boot. **NOTE** You MUST fully define the alpha, beta and gamma (XYZ) axis before the other axis. They MUST have valid pin definitions for the step and dir pins (enable is optional) If you do not define valid pins for these first three axis smoothie will not boot.
 +</​callout>​
  
 You can now add the following to your configuration file : You can now add the following to your configuration file :
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 Optionally if you are using endstops on the A, B or C axis, you need to **replace** your endstops section with the following ( it is also found in the [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​ConfigSamples/​Snippets/​abc-endstop.config|snippets example]] ) : Optionally if you are using endstops on the A, B or C axis, you need to **replace** your endstops section with the following ( it is also found in the [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​ConfigSamples/​Snippets/​abc-endstop.config|snippets example]] ) :
  
 +<callout type="​danger"​ icon="​true"​ title="​Only for more than 3 axes">​
 **NOTE** DO NOT use the following syntax if you only have XYZ axis! use the regular endstop config syntax. **NOTE** DO NOT use the following syntax if you only have XYZ axis! use the regular endstop config syntax.
 +</​callout>​
 +
 +<callout type="​warning"​ icon="​true"​ title="​Hand in hand">​
 **NOTE** If you define a homing axis then there MUST be a defined axis with the same designation (eg B endstop MUST have B axis defined) **NOTE** If you define a homing axis then there MUST be a defined axis with the same designation (eg B endstop MUST have B axis defined)
 +</​callout>​
 +
  
 <​code>​ <​code>​