# Arm solution configuration : Rotatable Delta robot. Translates mm positions into stepper positions
arm_solution rotatable_delta # selects the delta arm solution
-delta_e 131.636 # End effector length
-delta_f 190.526 # Base length
-delta_re 270.000 # Carbon rod length
-delta_rf 90.000 # Servo horn length
-
-delta_z_offset 268.0 #290.700 # Distance from delta 8mm rod/pulley to table/bed
- # NOTE: For OpenPnP, set the zero to be about 25mm above the bed.
-delta_ee_offs 15.000 # Ball joint plane to bottom of end effector surface
-tool_offset 30.500 # Distance between end effector ball joint plane and tip of tool (PnP)
-z_home_angle -67.200 # This is the angle where the arms hit the endstop sensor
-delta_printable_radius 150.0 # Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-
-xyz_full_steps_per_rotation 400.0 # stepper motor steps per 360 full rotation
- # for 1.8 degree this is 200 for 0.9 degree this is 400
-xyz_microsteps 32.0 # stepper motor drive usuall 8.0, 16.0 or 32.0
-small_pulley_teeth 16.0 # how many teeth as on the pulley on the stepper motor
-big_pulley_teeth 150.0 # how many teeth are on the main pulley note if your robot does not use a pulley
- # reduction system, make it the same as small_pulley_teeth to get 1:1
+delta_e 131.636 # End effector length
+delta_f 190.526 # Base length
+delta_re 270.000 # Carbon rod length
+delta_rf 90.000 # Servo horn length
+
+delta_z_offset 268.0 # Distance from delta 8mm rod/pulley to table/bed
+ # NOTE: For OpenPnP, set the zero to be about 25mm above the bed.
+delta_ee_offs 15.000 # Ball joint plane to bottom of end effector surface
+tool_offset 30.500 # Distance between end effector ball joint plane and tip of tool (PnP)
+z_home_angle -67.200 # This is the angle where the arms hit the endstop sensor
+delta_printable_radius 150.0 # Print surface diameter/2 minus unreachable space
+
+xyz_full_steps_per_rotation 400.0 # stepper motor steps per 360 full rotation
+ # for 1.8 degree this is 200 for 0.9 degree this is 400
#the steps per mm are calculated as (xyz_full_steps_per_rotation*xyz_microsteps*(big_pulley_teeth/small_pulley_teeth))/360
# for a 0.9 degree stepper motor (400 steps per rotation) and an a4988 driver set for 16 microsteps = (400 * 16 * (150/16))/360 = 166.67
beta_steps_per_mm 331.49 # Steps per mm for beta stepper
gamma_steps_per_mm 331.49 # Steps per mm for gamma stepper
-#arm_length 250.0 # this is the length of an arm from hinge to hinge
-#arm_radius 124.0 # this is the horizontal distance from hinge to hinge
-# # when the effector is centered
-
# Planner module configuration : Look-ahead and acceleration configuration
planner_queue_size 32 # DO NOT CHANGE THIS UNLESS YOU KNOW EXACTLY WHAT YOU ARE DOING
acceleration 3000 # Acceleration in mm/second/second.
#extruder.hotend.retract_zlift_length 0 # zlift on retract in mm, 0 disables
#extruder.hotend.retract_zlift_feedrate 6000 # zlift feedrate in mm/min (Note mm/min NOT mm/sec)
-delta_current 1.5 # First extruder stepper motor current
+delta_current 1.5 # First extruder stepper motor current
# Second extruder module configuration example
-#extruder.hotend2.enable true # Whether to activate the extruder module at all. All configuration is ignored if false
-#extruder.hotend2.steps_per_mm 140 # Steps per mm for extruder stepper
-#extruder.hotend2.default_feed_rate 600 # Default rate ( mm/minute ) for moves where only the extruder moves
-#extruder.hotend2.acceleration 500 # Acceleration for the stepper motor, as of 0.6, arbitrary ratio
-#extruder.hotend2.max_speed 50 # mm/s
-
-#extruder.hotend2.step_pin 2.8 # Pin for extruder step signal
-#extruder.hotend2.dir_pin 2.13 # Pin for extruder dir signal
-#extruder.hotend2.en_pin 4.29 # Pin for extruder enable signal
-
-#extruder.hotend2.x_offset 0 # x offset from origin in mm
-#extruder.hotend2.y_offset 25.0 # y offset from origin in mm
-#extruder.hotend2.z_offset 0 # z offset from origin in mm
-#epsilon_current 1.5 # Second extruder stepper motor current
+#extruder.hotend2.enable true # Whether to activate the extruder module at all. All configuration is ignored if false
+#extruder.hotend2.steps_per_mm 140 # Steps per mm for extruder stepper
+#extruder.hotend2.default_feed_rate 600 # Default rate ( mm/minute ) for moves where only the extruder moves
+#extruder.hotend2.acceleration 500 # Acceleration for the stepper motor, as of 0.6, arbitrary ratio
+#extruder.hotend2.max_speed 50 # mm/s
+
+#extruder.hotend2.step_pin 2.8 # Pin for extruder step signal
+#extruder.hotend2.dir_pin 2.13 # Pin for extruder dir signal
+#extruder.hotend2.en_pin 4.29 # Pin for extruder enable signal
+
+#extruder.hotend2.x_offset 0 # x offset from origin in mm
+#extruder.hotend2.y_offset 25.0 # y offset from origin in mm
+#extruder.hotend2.z_offset 0 # z offset from origin in mm
+#epsilon_current 1.5 # Second extruder stepper motor current
# Laser module configuration
laser_module_enable false # Whether to activate the laser module at all. All configuration is
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