====== Motion System ======

===== Motion System Performance Comparison =====
^ Pulley        ^ Mech. Setup                                                                                                                                            ^ Controller                                                                            ^ theor. resolution [mm]   ^ max. speed of motor [mm/min]                                                                                                                                                                                                 ^ Tested acceleration in y-direction [mm/s²]                     ^ Tested speed [mm/min]                              ^ Evaluation                                                                                                            ^
| 50 teeth GT2  | dual shaft y axis                                                                                                                                      | GRBL                                                                                  | 0,03125 (16x microstep)  | [[http://topcnc.ru/StepperMotorCalculator.html#L=6.5,R=2.7,I=1,A=1.8,lng=1,U=24,W=1,D=100|70517 x/y-motor same]]                                                                                                             | 3500 (with 2 motors on y)                                      | 50.000 working                                     | Accuracy not sufficient. Jumping on fiducials, not dialing in                                                         |
| 20 teeth GT2  | :::                                                                                                                                                    | GRBL                                                                                  | 0,0125 (16x microstep)   | [[http://topcnc.ru/StepperMotorCalculator.html#L=6.5,R=2.7,I=1,A=1.8,lng=1,U=24,W=1,D=40|28207 x-motor]] [[http://topcnc.ru/StepperMotorCalculator.html#L=1.8,R=1.2,I=2.5,A=1.8,lng=1,U=24,W=1,D=40|40743 y-motor]]          | 2000 (with 1 dualshaft motor on y)                             | 30.000 working                                     | slower, but very accurate                                                                                             |
| :::           | :::                                                                                                                                                    | Marlin 1.0@Arduino Mega                                                               | :::                      | :::                                                                                                                                                                                                                          | :::                                                            | :::                                                | switched to marlin for soft endstops and to have 5 stepper driver on ramps avail                                      |
| :::           | :::                                                                                                                                                    | Marlin 2.0@Arduino Due (disabled the S-Curve-Acceleration feature due to lost steps)  | :::                      | :::                                                                                                                                                                                                                          | 2000 (with 1 dualshaft motor on y) \\ 5000 on x is no problem  | 48.000 on y-axis\\ 60.000 on x-axis is no problem  | can't go for higher speed since acceleration is limited, since the stepper driver for y-axis is at its limit (a4988)  |
| :::           | switched in 10-2018 to two separate stepper-motors on y axis and use the dual stepper feature in marlin to align y-axis by means of two endstops on y  | :::                                                                                   | :::                      | [[http://topcnc.ru/StepperMotorCalculator.html#L=6.5,R=2.7,I=1,A=1.8,lng=1,U=24,W=1,D=40|28207 x/y-motor same]]  [[http://topcnc.ru/StepperMotorCalculator.html#L=1.8,R=1.2,I=2.5,A=1.8,lng=1,U=24,W=1,D=40|40743 y-motor]]  | 3.200 reliable on y-axis (2 motors)                            | 48.000 reliable on y-axis  (2 motors)              |                                                                                                                       |

  * Step-Rates: GRBL @ 30kHz, Smoothieware @ 100kHz, Marlin @ 10kHz (base) up to 40kHz (quadstep-mode, automatically used on demand) but uneven step distribution
  * http://reprap.org/wiki/Step_rates/de


===== Motion Controller 2.0 =====
  * Arduino Due + RADDS 1.6@24V
  * 16x microstepping

==== Firmware: Marlin 2.x ====
For reference see the machine specific Marlin 2.0-bugfix settings here and look through the commits: https://github.com/mgrl/Marlin2OnRaddsForOpenPnP


==== Setup Marlin 2.0 ====
  * use M206 Z-0.25 to set the home-offset in z-direction to align the left/right nozzle (save to EEPROM afterwards by issuing M500)
  * use M666 Y-2.0 to align the x-axis by the two y-axis motors. Alignment is done by two endstops in y-direction mounted near x-min and x-max (https://github.com/MarlinFirmware/Marlin/issues/5881)

===== Motion Controller 1.0 =====
  * Arduino Mega + Ramps 1.4@24V in a kit from [[https://www.amazon.de/gp/product/B06XPST1SY/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1|Amazon]]
  * [[https://github.com/mgrl/MarlinOnRamps4OpenPnP|Marlin configuration optimized for OpenPnP]]
  * 16x microstepping

==== Firmware: Marlin 1.x ====
  * Changed the default heater pins to an unused pin to make use of the mosfets for switching with M42 command (see https://github.com/MarlinFirmware/Marlin/issues/6169)
  * MIN_STEPS_PER_SEGMENT 0, to make *really* all the small moves, don't join steps to next move