Testing 5 axis Duet Robot Kinematic firmware

A small gcode program to test machine movements and Z-axis limits with Duet Robot kinematics firmware installed.
Firmware:
github.com/JoergS5/RepRapFirm...
Documentation:
docs.duet3d.com/User_manual/M...
5 axis Corexyac 3D printer:
github.com/Buzzloopster/Voron...
The program first home the printer then moves with nozzle to Y-100 and Z55 from the centre of the bed and then rotates A axis in between A45 and A-45 with C axis rotation 360 degrees following the point on the rotary bed Y-100 and Z55, at the end goes to Y0.

[@jamieclarke321]

This is how i imagine 5 axis printers would look

[@strongme80]

This is about the most beautiful thing I have seen this year for additive manufacturing. You my guy have built something truly remarkable. This is coming from an Aerospace Additive Professional.

[@m_IDEX]

Beautiful machine dance ❤

[@NeoIsrafil]

Pretty solid man, a thing of beauty and a joy to watch. ❤

[@angelofdeath96]

Awesome job! can't wait for updates

[@EatRawGarlic]

Excellent work!👌 I can't wait until it will be supported in slicers.

[@shushruthmg4630]

Print something in the next video If you had made a Tutorial on how to make this, it would have been really helpful

[@steevepay]

It’s a 5 axis vinyle player

[@Lcperez511]

I like this a lot. Does the bed really require all those mounting points, couldn’t you get by with just 3?

[@loopster77]

Thanks, I think it might be possible to mount the bed with only 3 points, but then the adjustment of the screws will be more complicated. The 3 screws will be more suitable for smaller bed diameters.

[@Lcperez511]

@@loopster77 I am wondering if more than 3 screws will over constrain your bed. You only need 3 points to define a plane. Any more and it makes leveling more difficult. There is a book that I think you might find interesting called “Exact Constraint: Machine Design Using Kinematic Processing” by Douglas Blanding.

[@fastindy]

​@@Lcperez511There's a few practical considerations and problems that a minimally constrained bed is always stuck with. 1 is that other than having another subframe dedicated to FLATTENING the bed, the bed is stuck with whatever warp or skew it was produced with. 2 is that depending on the kinematics of the machine, the bed can be subject to high accelerations and having an additional bed support can benefit in terms of reducing resonance or deflection in the bed during accelerations. For both of these reasons I went back to a 4 point bed from a 3 point.

[@keithcress1335]

Be interesting to chuck a pen in it and see if it could write accurately on a piece of paper taped to the platter while executing that same full motion.

[@loopster77]

I have tested the same g code program with a custom pin printed out on the same position Y-100 X0 and Z height 55mm to see how precise the printer is. The printer passed the test without problems. So happy the kinematics works😀

[@keithcress1335]

@@loopster77 That's great! I've been really pleased with my Duet revamp of my core x-y printer. I'm looking forward to you trying printing.