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🔧 Update TPARA config (#1156)
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‎config/default/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1119,17 +1119,41 @@
11191119
#define TPARA_LINKAGE_1 120 // (mm)
11201120
#define TPARA_LINKAGE_2 120 // (mm)
11211121

1122-
// TPARA tower offset (position of Tower relative to bed zero position)
1122+
// Height of the Shoulder axis (pivot) relative to the tower floor
1123+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1124+
1125+
// The position of the last linkage relative to the robot arm origin
1126+
// (intersection of the base axis and floor) when at the home position
1127+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1128+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1129+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1130+
1131+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11231132
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1124-
#define TPARA_OFFSET_X 0 // (mm)
1125-
#define TPARA_OFFSET_Y 0 // (mm)
1126-
#define TPARA_OFFSET_Z 0 // (mm)
1133+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1134+
#define TPARA_OFFSET_Y 0.0 // (mm)
1135+
#define TPARA_OFFSET_Z 0.0 // (mm)
1136+
1137+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1138+
// (TCP: tool center/connection point) of the robot,
1139+
// the plane of measured offset must be alligned with home position plane
1140+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1141+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1142+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11271143

11281144
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11291145

1146+
// Need to invert homing axis order, to avoid tool or linkage crashes
1147+
#define HOME_Z_FIRST
1148+
#define HOME_Y_BEFORE_X
1149+
11301150
// Radius around the center where the arm cannot reach
1131-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1132-
#endif
1151+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1152+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1153+
1154+
// Max angle between L1 and L2
1155+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1156+
#endif // AXEL_TPARA
11331157

11341158
// @section polar
11351159

‎config/examples/3DFabXYZ/Migbot/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1121,17 +1121,41 @@
11211121
#define TPARA_LINKAGE_1 120 // (mm)
11221122
#define TPARA_LINKAGE_2 120 // (mm)
11231123

1124-
// TPARA tower offset (position of Tower relative to bed zero position)
1124+
// Height of the Shoulder axis (pivot) relative to the tower floor
1125+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1126+
1127+
// The position of the last linkage relative to the robot arm origin
1128+
// (intersection of the base axis and floor) when at the home position
1129+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1130+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1131+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1132+
1133+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11251134
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1126-
#define TPARA_OFFSET_X 0 // (mm)
1127-
#define TPARA_OFFSET_Y 0 // (mm)
1128-
#define TPARA_OFFSET_Z 0 // (mm)
1135+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1136+
#define TPARA_OFFSET_Y 0.0 // (mm)
1137+
#define TPARA_OFFSET_Z 0.0 // (mm)
1138+
1139+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1140+
// (TCP: tool center/connection point) of the robot,
1141+
// the plane of measured offset must be alligned with home position plane
1142+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1143+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1144+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11291145

11301146
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11311147

1148+
// Need to invert homing axis order, to avoid tool or linkage crashes
1149+
#define HOME_Z_FIRST
1150+
#define HOME_Y_BEFORE_X
1151+
11321152
// Radius around the center where the arm cannot reach
1133-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1134-
#endif
1153+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1154+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1155+
1156+
// Max angle between L1 and L2
1157+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1158+
#endif // AXEL_TPARA
11351159

11361160
// @section polar
11371161

‎config/examples/3DMatik/XL/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1119,17 +1119,41 @@
11191119
#define TPARA_LINKAGE_1 120 // (mm)
11201120
#define TPARA_LINKAGE_2 120 // (mm)
11211121

1122-
// TPARA tower offset (position of Tower relative to bed zero position)
1122+
// Height of the Shoulder axis (pivot) relative to the tower floor
1123+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1124+
1125+
// The position of the last linkage relative to the robot arm origin
1126+
// (intersection of the base axis and floor) when at the home position
1127+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1128+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1129+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1130+
1131+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11231132
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1124-
#define TPARA_OFFSET_X 0 // (mm)
1125-
#define TPARA_OFFSET_Y 0 // (mm)
1126-
#define TPARA_OFFSET_Z 0 // (mm)
1133+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1134+
#define TPARA_OFFSET_Y 0.0 // (mm)
1135+
#define TPARA_OFFSET_Z 0.0 // (mm)
1136+
1137+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1138+
// (TCP: tool center/connection point) of the robot,
1139+
// the plane of measured offset must be alligned with home position plane
1140+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1141+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1142+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11271143

11281144
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11291145

1146+
// Need to invert homing axis order, to avoid tool or linkage crashes
1147+
#define HOME_Z_FIRST
1148+
#define HOME_Y_BEFORE_X
1149+
11301150
// Radius around the center where the arm cannot reach
1131-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1132-
#endif
1151+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1152+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1153+
1154+
// Max angle between L1 and L2
1155+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1156+
#endif // AXEL_TPARA
11331157

11341158
// @section polar
11351159

‎config/examples/ADIMLab/Gantry v1/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1119,17 +1119,41 @@
11191119
#define TPARA_LINKAGE_1 120 // (mm)
11201120
#define TPARA_LINKAGE_2 120 // (mm)
11211121

1122-
// TPARA tower offset (position of Tower relative to bed zero position)
1122+
// Height of the Shoulder axis (pivot) relative to the tower floor
1123+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1124+
1125+
// The position of the last linkage relative to the robot arm origin
1126+
// (intersection of the base axis and floor) when at the home position
1127+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1128+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1129+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1130+
1131+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11231132
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1124-
#define TPARA_OFFSET_X 0 // (mm)
1125-
#define TPARA_OFFSET_Y 0 // (mm)
1126-
#define TPARA_OFFSET_Z 0 // (mm)
1133+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1134+
#define TPARA_OFFSET_Y 0.0 // (mm)
1135+
#define TPARA_OFFSET_Z 0.0 // (mm)
1136+
1137+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1138+
// (TCP: tool center/connection point) of the robot,
1139+
// the plane of measured offset must be alligned with home position plane
1140+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1141+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1142+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11271143

11281144
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11291145

1146+
// Need to invert homing axis order, to avoid tool or linkage crashes
1147+
#define HOME_Z_FIRST
1148+
#define HOME_Y_BEFORE_X
1149+
11301150
// Radius around the center where the arm cannot reach
1131-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1132-
#endif
1151+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1152+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1153+
1154+
// Max angle between L1 and L2
1155+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1156+
#endif // AXEL_TPARA
11331157

11341158
// @section polar
11351159

‎config/examples/ADIMLab/Gantry v2/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1119,17 +1119,41 @@
11191119
#define TPARA_LINKAGE_1 120 // (mm)
11201120
#define TPARA_LINKAGE_2 120 // (mm)
11211121

1122-
// TPARA tower offset (position of Tower relative to bed zero position)
1122+
// Height of the Shoulder axis (pivot) relative to the tower floor
1123+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1124+
1125+
// The position of the last linkage relative to the robot arm origin
1126+
// (intersection of the base axis and floor) when at the home position
1127+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1128+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1129+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1130+
1131+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11231132
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1124-
#define TPARA_OFFSET_X 0 // (mm)
1125-
#define TPARA_OFFSET_Y 0 // (mm)
1126-
#define TPARA_OFFSET_Z 0 // (mm)
1133+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1134+
#define TPARA_OFFSET_Y 0.0 // (mm)
1135+
#define TPARA_OFFSET_Z 0.0 // (mm)
1136+
1137+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1138+
// (TCP: tool center/connection point) of the robot,
1139+
// the plane of measured offset must be alligned with home position plane
1140+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1141+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1142+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11271143

11281144
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11291145

1146+
// Need to invert homing axis order, to avoid tool or linkage crashes
1147+
#define HOME_Z_FIRST
1148+
#define HOME_Y_BEFORE_X
1149+
11301150
// Radius around the center where the arm cannot reach
1131-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1132-
#endif
1151+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1152+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1153+
1154+
// Max angle between L1 and L2
1155+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1156+
#endif // AXEL_TPARA
11331157

11341158
// @section polar
11351159

‎config/examples/Alfawise/U20-bltouch/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1188,17 +1188,41 @@
11881188
#define TPARA_LINKAGE_1 120 // (mm)
11891189
#define TPARA_LINKAGE_2 120 // (mm)
11901190

1191-
// TPARA tower offset (position of Tower relative to bed zero position)
1191+
// Height of the Shoulder axis (pivot) relative to the tower floor
1192+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1193+
1194+
// The position of the last linkage relative to the robot arm origin
1195+
// (intersection of the base axis and floor) when at the home position
1196+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1197+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1198+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1199+
1200+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11921201
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1193-
#define TPARA_OFFSET_X 0 // (mm)
1194-
#define TPARA_OFFSET_Y 0 // (mm)
1195-
#define TPARA_OFFSET_Z 0 // (mm)
1202+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1203+
#define TPARA_OFFSET_Y 0.0 // (mm)
1204+
#define TPARA_OFFSET_Z 0.0 // (mm)
1205+
1206+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1207+
// (TCP: tool center/connection point) of the robot,
1208+
// the plane of measured offset must be alligned with home position plane
1209+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1210+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1211+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11961212

11971213
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11981214

1215+
// Need to invert homing axis order, to avoid tool or linkage crashes
1216+
#define HOME_Z_FIRST
1217+
#define HOME_Y_BEFORE_X
1218+
11991219
// Radius around the center where the arm cannot reach
1200-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1201-
#endif
1220+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1221+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1222+
1223+
// Max angle between L1 and L2
1224+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1225+
#endif // AXEL_TPARA
12021226

12031227
// @section polar
12041228

‎config/examples/Alfawise/U20/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1189,17 +1189,41 @@
11891189
#define TPARA_LINKAGE_1 120 // (mm)
11901190
#define TPARA_LINKAGE_2 120 // (mm)
11911191

1192-
// TPARA tower offset (position of Tower relative to bed zero position)
1192+
// Height of the Shoulder axis (pivot) relative to the tower floor
1193+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1194+
1195+
// The position of the last linkage relative to the robot arm origin
1196+
// (intersection of the base axis and floor) when at the home position
1197+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1198+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1199+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1200+
1201+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11931202
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1194-
#define TPARA_OFFSET_X 0 // (mm)
1195-
#define TPARA_OFFSET_Y 0 // (mm)
1196-
#define TPARA_OFFSET_Z 0 // (mm)
1203+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1204+
#define TPARA_OFFSET_Y 0.0 // (mm)
1205+
#define TPARA_OFFSET_Z 0.0 // (mm)
1206+
1207+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1208+
// (TCP: tool center/connection point) of the robot,
1209+
// the plane of measured offset must be alligned with home position plane
1210+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1211+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1212+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11971213

11981214
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11991215

1216+
// Need to invert homing axis order, to avoid tool or linkage crashes
1217+
#define HOME_Z_FIRST
1218+
#define HOME_Y_BEFORE_X
1219+
12001220
// Radius around the center where the arm cannot reach
1201-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1202-
#endif
1221+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1222+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1223+
1224+
// Max angle between L1 and L2
1225+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1226+
#endif // AXEL_TPARA
12031227

12041228
// @section polar
12051229

‎config/examples/AliExpress/CL-260/Configuration.h‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1119,17 +1119,41 @@
11191119
#define TPARA_LINKAGE_1 120 // (mm)
11201120
#define TPARA_LINKAGE_2 120 // (mm)
11211121

1122-
// TPARA tower offset (position of Tower relative to bed zero position)
1122+
// Height of the Shoulder axis (pivot) relative to the tower floor
1123+
#define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm)
1124+
1125+
// The position of the last linkage relative to the robot arm origin
1126+
// (intersection of the base axis and floor) when at the home position
1127+
#define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position
1128+
#define TPARA_ARM_Y_HOME_POS 0 // (mm)
1129+
#define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor
1130+
1131+
// TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
11231132
// This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
1124-
#define TPARA_OFFSET_X 0 // (mm)
1125-
#define TPARA_OFFSET_Y 0 // (mm)
1126-
#define TPARA_OFFSET_Z 0 // (mm)
1133+
#define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
1134+
#define TPARA_OFFSET_Y 0.0 // (mm)
1135+
#define TPARA_OFFSET_Z 0.0 // (mm)
1136+
1137+
// TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
1138+
// (TCP: tool center/connection point) of the robot,
1139+
// the plane of measured offset must be alligned with home position plane
1140+
#define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
1141+
#define TPARA_TCP_OFFSET_Y 0.0 // (mm)
1142+
#define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
11271143

11281144
#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
11291145

1146+
// Need to invert homing axis order, to avoid tool or linkage crashes
1147+
#define HOME_Z_FIRST
1148+
#define HOME_Y_BEFORE_X
1149+
11301150
// Radius around the center where the arm cannot reach
1131-
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
1132-
#endif
1151+
// For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
1152+
#define MIDDLE_DEAD_ZONE_R 100 // (mm)
1153+
1154+
// Max angle between L1 and L2
1155+
#define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
1156+
#endif // AXEL_TPARA
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11341158
// @section polar
11351159

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