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Config_Reference.html

@@ -548,6 +548,13 @@
     Linear Delta Kinematics
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#deltesian-kinematics" class="md-nav__link">
+    Deltesian Kinematics
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -2455,6 +2462,13 @@
     Linear Delta Kinematics
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#deltesian-kinematics" class="md-nav__link">
+    Deltesian Kinematics
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -3603,8 +3617,7 @@ pins such as "extra_mcu:ar9" may then be used elsewhere in the config
 kinematics:
 #   The type of printer in use. This option may be one of: cartesian,
 #   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
-#   polar, winch, or none. This
-#   parameter must be specified.
+#   deltesian, polar, winch, or none. This parameter must be specified.
 max_velocity:
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
 #   print). This parameter must be specified.
@@ -3824,6 +3837,77 @@ radius:
 #   just prior to starting a probe operation. The default is 5.
 </code></pre></div>
 
+<h3 id="deltesian-kinematics">Deltesian Kinematics<a class="headerlink" href="#deltesian-kinematics" title="Permanent link">&para;</a></h3>
+<p>See <a href="https://github.com/Klipper3d/klipper/blob/master/config/example-deltesian.cfg">example-deltesian.cfg</a> for an
+example deltesian kinematics config file.</p>
+<p>Only parameters specific to deltesian printers are described here - see
+<a href="#common-kinematic-settings">common kinematic settings</a> for available
+ parameters.</p>
+<div class="highlight"><pre><span></span><code>[printer]
+kinematics: deltesian
+max_z_velocity:
+#   For deltesian printers, this limits the maximum velocity (in mm/s) of
+#   moves with z axis movement. This setting can be used to reduce the
+#   maximum speed of up/down moves (which require a higher step rate
+#   than other moves on a deltesian printer). The default is to use
+#   max_velocity for max_z_velocity.
+#max_z_accel:
+#   This sets the maximum acceleration (in mm/s^2) of movement along
+#   the z axis. Setting this may be useful if the printer can reach higher
+#   acceleration on XY moves than Z moves (eg, when using input shaper).
+#   The default is to use max_accel for max_z_accel.
+#minimum_z_position: 0
+#   The minimum Z position that the user may command the head to move
+#   to. The default is 0.
+#min_angle: 5
+#   This represents the minimum angle (in degrees) relative to horizontal
+#   that the deltesian arms are allowed to achieve. This parameter is
+#   intended to restrict the arms from becomming completely horizontal,
+#   which would risk accidental inversion of the XZ axis. The default is 5.
+#print_width:
+#   The distance (in mm) of valid toolhead X coordinates. One may use
+#   this setting to customize the range checking of toolhead moves. If
+#   a large value is specified here then it may be possible to command
+#   the toolhead into a collision with a tower. This setting usually
+#   corresponds to bed width (in mm).
+#slow_ratio: 3
+#   The ratio used to limit velocity and acceleration on moves near the
+#   extremes of the X axis. If vertical distance divided by horizontal
+#   distance exceeds the value of slow_ratio, then velocity and
+#   acceleration are limited to half their nominal values. If vertical
+#   distance divided by horizontal distance exceeds twice the value of
+#   the slow_ratio, then velocity and acceleration are limited to one
+#   quarter of their nominal values. The default is 3.
+
+# The stepper_left section is used to describe the stepper controlling
+# the left tower. This section also controls the homing parameters
+# (homing_speed, homing_retract_dist) for all towers.
+[stepper_left]
+position_endstop:
+#   Distance (in mm) between the nozzle and the bed when the nozzle is
+#   in the center of the build area and the endstops are triggered. This
+#   parameter must be provided for stepper_left; for stepper_right this
+#   parameter defaults to the value specified for stepper_left.
+arm_length:
+#   Length (in mm) of the diagonal rod that connects the tower carriage to
+#   the print head. This parameter must be provided for stepper_left; for
+#   stepper_right, this parameter defaults to the value specified for
+#   stepper_left.
+arm_x_length:
+#   Horizontal distance between the print head and the tower when the
+#   printers is homed. This parameter must be provided for stepper_left;
+#   for stepper_right, this parameter defaults to the value specified for
+#   stepper_left.
+
+# The stepper_right section is used to desribe the stepper controlling the
+# right tower.
+[stepper_right]
+
+# The stepper_y section is used to describe the stepper controlling
+# the Y axis in a deltesian robot.
+[stepper_y]
+</code></pre></div>
+
 <h3 id="corexy-kinematics">CoreXY Kinematics<a class="headerlink" href="#corexy-kinematics" title="Permanent link">&para;</a></h3>
 <p>See <a href="https://github.com/Klipper3d/klipper/blob/master/config/example-corexy.cfg">example-corexy.cfg</a> for an example
 corexy (and h-bot) kinematics file.</p>