# This file contains the parameters that describes the machine for
# the linc binary
# The effector-pivot-points describe the positions of the effector pivot
# points relative to the tip of the nozzle.
effector-pivot-A1: ( 220.0, -140.0, 130.0)
effector-pivot-A2: (-220.0, -140.0, 130.0)
effector-pivot-B1: ( 230.0, -130.0, 130.0)
effector-pivot-B2: ( 5.0, 270.0, 130.0)
effector-pivot-C1: ( -5.0, 270.0, 130.0)
effector-pivot-C2: (-230.0, -130.0, 130.0)
# The anchor-pivot-points describe the positions of the anchor pivot
# points relative to the origin.
anchor-pivot-A1: ( 220.00, -1744.54, 15.92)
anchor-pivot-A2: ( -220.00, -1744.54, 15.92)
anchor-pivot-B1: ( 1542.51, 1140.88, -32.19)
anchor-pivot-B2: ( 1317.51, 1540.88, -32.19)
anchor-pivot-C1: (-1435.30, 1011.60, -31.23)
anchor-pivot-C2: (-1670.30, 611.63, -31.23)
# Explanation:
# We use the term "pivot point" when we mean "the point where
# a line enters or exits something, like an effector,
# or a lineroller on an anchor".
# In the A-direction, there are two effector-pivot points, one in each of the
# two corners that are closest to the A-anchor.
# If your HP has mechanical advantage, and therefore multiple enter/exit points
# for each line in each corner, use the enter/exit position of the lowest line
# as the effector-pivot point.
# Example:
# To get to the first effector-A-pivot point from the tip of the nozzle, one has to travel
# 220.0 mm in the x-direction, -140.0 mm in the y-direction, and 130.0 mm in the
# z-direction. Hence:
# effector-pivot-A1: ( 220.0, -140.0, 130.0)
# The positions of effector-D-pivot points need not be specified, since D-lines can never
# touch a print during normal printing anyways.
# The following config line is copy/pasted from the Hangprinter in question's RepRapFirmware config.g
# The numbers describe the position of the anchor-pivot point relative to the effector-pivot,
# taken along one line in each direction
# M669 A0.0:-1604.54:-114.08 B1312.51:1270.88:-162.19 C-1440.27:741.63:-161.23 D2345.00
# The M669 values are relative to the effector-pivot points, measured at a time when the
# tip of the nozzle was at the origin.
# To get the positions of the anchor points relative to the origin, we need
# to add positions of pivot points to M669-values.
#
# So from the M669 we can read out:
# Ax = 0.0
# Ay = -1604.54
# Az = -114.08
# Bx = 1312.51
# By = 1270.88
# Bz = -162.19
# Cx = -1440.27
# Cy = 741.63
# Cz = -161.23
#
# Now anchor pivot positions are calculated like:
#
# anchor-pivot-A1-x = effector-pivot-A1-x + Ax
# ... and so on
#
# Example:
# Calculating the first anchor-A-pivot point relative to the origin
# 220.0 + 0.0 = 220.0
# -140.0 - 1604.54 = -1744.54
# 130.0 - 114.08 = 15.92
# Calculating the second anchor-A-pivot point
# -220.0 + 0.0 = -220.0
# -140.0 - 1604.56 = -1744.54
# 130.0 - 114.08 = 15.92
# These values should be possible to verify by measuring
# from origin to anchor pivot on your pysical machine.
# Calculating anchor-B-pivots
# 230.0 + 1312.51 = 1542.51
# -130.0 + 1270.88 = 1140.88
# 130.0 - 162.19 = -32.19
# 5.0 + 1312.51 = 1317.51
# 270.0 + 1270.88 = 1540.88
# 130.0 - 162.19 = -32.19
# Calculating anchor-C-pivots
# 5.0 - 1440.27 = -1435.3
# 270.0 + 741.63 = 1011.6
# 130.0 - 161.23 = -31.23
# -230.0 - 1440.27 = -1670.3
# -130.0 + 741.63 = 611.63
# 130.0 - 161.23 = -31.23