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from-grbl [2017/02/21 11:47]
arthur
from-grbl [2017/02/21 11:57] (current)
arthur
Line 187: Line 187:
 </​code>​ </​code>​
  
 +=== $100, $101 and $102 – [X,Y,Z] steps/mm
  
 +In GRBL, you set the steps per millimeter for the primary axes by modifying the <​key>​$100</​key>,​ <​key>​$101</​key>​ and <​key>​$102</​key>​ options, while in Smoothie instead modify : 
  
 +<​code>​
 +# Arm solution configuration : Cartesian robot. Translates mm positions into stepper positions
 +# See http://​smoothieware.org/​stepper-motors
 +alpha_steps_per_mm ​                          ​80 ​              # Steps per mm for alpha ( X ) stepper
 +beta_steps_per_mm ​                           80               # Steps per mm for beta ( Y ) stepper
 +gamma_steps_per_mm ​                          ​1600 ​            # Steps per mm for gamma ( Z ) stepper
 +</​code>​
  
 +=== $110, $111 and $112 – [X,Y,Z] Max rate, mm/min
  
 +In GRBL, you set the max rates for the primary axes by modifying the <​key>​$110</​key>,​ <​key>​$111</​key>​ and <​key>​$112</​key>​ options.
 +
 +Note the unit is millimeters per minute
 +
 +In Smoothie, we can specify maximum values for the axes and for the actuators, which allows to more finely respecting the machine'​s limits.
 +
 +We change the maximum feed rate for the main axes by changing : 
 +
 +<​code>​
 +# Cartesian axis speed limits
 +x_axis_max_speed ​                            ​30000 ​           # Maximum speed in mm/min
 +y_axis_max_speed ​                            ​30000 ​           # Maximum speed in mm/min
 +z_axis_max_speed ​                            ​300 ​             # Maximum speed in mm/min
 +</​code>​
 +
 +Note the unit is millimeters per minute.
 +
 +And the maximum feed rates for the main actuators is changed with : 
 +
 +<​code>​
 +alpha_max_rate ​                              ​30000.0 ​         # Maximum rate in mm/min
 +beta_max_rate ​                               30000.0 ​         # Maxmimum rate in mm/min
 +gamma_max_rate ​                              ​300.0 ​           # Maximum rate in mm/min
 +</​code>​
 +
 +Note the unit is millimeters per minute.
 +
 +We can also set the maximum feedrate for each extruder by modifying each extruder'​s module configuration : 
 +
 +<​code>​
 +extruder.hotend.max_speed ​                      ​50 ​           # Maximum speed in mm/s
 +</​code>​
 +
 +Note the unit is millimeters per second ​
 +
 +=== $120, $121, $122 – [X,Y,Z] Acceleration,​ mm/sec^2
 +
 +In GRBL, you set the acceleration for the primary axes by modifying the <​key>​$120</​key>,​ <​key>​$121</​key>​ and <​key>​$122</​key>​ options.
 +
 +While in Smoothie you modify :
 +
 +<​code>​
 +acceleration ​   3000
 +</​code>​
 +
 +To set separate values for each axis, see [[motion-control|Motion control]].
 +
 +=== $130, $131, $132 – [X,Y,Z] Max travel, mm
 +
 +In GRBL, you set the max travel for the primary axes by modifying the <​key>​$130</​key>,​ <​key>​$131</​key>​ and <​key>​$132</​key>​ options.
 +
 +In Smoothie, there are two separate sets of matching options.
 +
 +The axis_<​key>​max</​key>​ values are useful to set the length of an axis in case it's homing direction is set to homing to max : 
 +
 +<​code>​
 +alpha_max ​                                   200              # This gets loaded as the current position after homing when home_to_max is set
 +beta_max ​                                    ​200 ​             # This gets loaded as the current position after homing when home_to_max is set
 +gamma_max ​                                   200              # This gets loaded as the current position after homing when home_to_max is set
 +</​code>​
 +
 +While the max_travel options are useful to make sure the axis doesn'​t move forever if there is a problem with homing missing the endstop for some reason : 
 +
 +<​code>​
 +alpha_max_travel ​                            ​500 ​             # Max travel in mm for alpha/X axis when homing
 +beta_max_travel ​                             500              # Max travel in mm for beta/Y axis when homing
 +gamma_max_travel ​                            ​500 ​             # Max travel in mm for gamma/Z axis when homing
 +</​code>​