Additional documentation can be found in the repository DerAndere1/Marlin at https://github.com, the Wiki or on the PipetBot-A8 project homepage that is part of the authors homepage. For multi-axis CNC machines and lab robots (liquid handling robots, "pipetting robots"). Please test this firmware and let us know if it misbehaves in any way. Volunteers are standing by!
Marlin supports up to nine non-extruder axes plus extruders (e.g. XYZABCUVW+E or XYZABCW+E or XYZCUVW+E or XYZABC+E or XYZUVW+E).
The G-code syntax of Marlin2ForPipetBot closely resembles that of LinuxCNC (the successor of NIST RS274NGC interpreter - version 3). Here is a list of G-codes that deviated in official MarlinFirmware/Marlin and that are brought more in line with LinuxCNC syntax:
- F (feedrate for G0, G1, G2, G3, G4, G5, G81, G82, G83)
- G10 (set offsets)
- G43 (simple tool length compensation)
- G49 (cancel tool length compensation and cancel tool centerpoint control)
- G81, G82, G83 (drilling canned cycles)
New G-codes:
- G43.4 (tool centerpoint control)
Example syntax for movement (G-code G1) with 9 axes plus extruder (default axis names: XYZABCUVW+E):
G1 [Xx.xxxx] [Yy.yyyy] [Zz.zzzz] [Aa.aaaa] [Bb.bbbb] [Cc.cccc] [Uu.uuuu] [Vv.vvvv] [Ww.wwww] [Ee.eeee] [Ff.ffff]
Position in the cartesian coordinate system consisting of primary linear axes X, Y and Z. Unit: mm (after G-code G21) or imperial inch (after G-code G20)
Angular position in the pseudo-cartesian coordinate system consisting of rotational axes A, B, and C that are parallel to axes X, Y and Z, respectively. Unit: degrees
Position in the cartesian coordinate system consisting of secondary linear axes U, V and W that are parallel to axes X, Y and Z. Unit: mm (after G-code G21) or imperial inch (after G-code G20)
Distance the E stepper should move. Unit: mm (after G-code G21) or imperial inch (after G-code G20)
Feedrate as defined by LinuxCNC:
- For motion involving one or more of the X, Y, and Z axes (with or without motion of other axes), the feed rate means length units per minute along the programmed XYZ path, as if the other axes were not moving.
- For motion involving one or more of the secondary linear axes (axis names 'U', 'V', or 'W') with the X, Y , and Z axes not moving (with or without motion of rotational axes), the feed rate means length units per minute along the programmed UVW path (using the usual Euclidean metric in the UVW coordinate system), as if the rotational axes were not moving.
- For motion involving one or more of the rotational axes (axis names 'A', 'B' or 'C') with linear axes not moving, the rate is applied as follows. Let
dA,dB, anddCbe the angles of rotation around axes A, B, and C axes, respectively, in units of degrees. LetD = sqrt((dA)^2 + (dB)^2 + (dC)^2). Conceptually,Dis a measure of total angular motion, using the usual Euclidean metric. The motion involving rotational axes should be a coordinated linear motion so that the elapsed total time (in minutes) from the start to the end of the motion isT = D / Fplus any time required for acceleration or deceleration.
To change the feed rate interpretation the option ARTICULATED_ROBOT_ARM can be defined. With that option enabled, feed reference are all axes. This means that in all cases all axes are moved in coordinated linear motion so that the time (in minutes) required for the move is T = sqrt((dA)^2 + (dB)^2 + (dC)^2 + (dU)^2 + (dV)^2 + (dW)^2) / F plus any time for acceleration or deceleration.
Set offsets. See the following references:
- https://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G10-L1_
- https://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G10-L2_
- https://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G10-L11
- https://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G10-L20
Enable simple tool length compensation. See the following references:
Currently, no H word is supported. The tool offsets (set by G10) for the current tool are applied.
Enable tool centerpoint control. See the following references:
- https://www.linkedin.com/pulse/g434-tool-center-point-control-tcp-abhilash-am?trk=read_related_article-card_title
- https://www.haascnc.com/service/codes-settings.type=gcode.machine=mill.value=G234.html
Currently, no H word is supported. The tool offsets (set by G10) for the current tool are applied.
Disable tool length compensation (G43) and disable tool centerpoint control (G43.4). Enter direct joint control mode. See the following references:
- https://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G43
- https://www.haascnc.com/service/codes-settings.type=gcode.machine=mill.value=G49.html
Drilling cycle. See the following references:
- Requires
DRILLING_CANNED_CYCLES - Currently, no
Lword (repeat cycle) is supported. - Currently, only OLD_Z retract mode (G98) is supported.
- Currently, this only works when the XY plane (G17) is active
- Usually, all rotational axes must be in neutral (zero) position so that the table is oriented horizontally and the tool is oriented vertically.
Drilling cycle with a dwell. See the following references:
- Requires
DRILLING_CANNED_CYCLES - Currently, no
Lword (repeat cycle) is supported. - Currently, only OLD_Z retract mode (G98) is supported.
- Currently, this only works when the XY plane (G17) is active
- Usually, all rotational axes must be in neutral (zero) position so that the table is oriented horizontally and the tool is oriented vertically.
Peck drilling cycle. See the following references:
- Requires
DRILLING_CANNED_CYCLES - Currently, no
Lword (repeat cycle) is supported. - Currently, only OLD_Z retract mode (G98) is supported.
- Currently, this only works when the XY plane (G17) is active
- Usually, all rotational axes must be in neutral (zero) position so that the table is oriented horizontally and the tool is oriented vertically.
Configure PENTA_AXIS_TRT and PENTA_AXIS_HT geometry values.
M665 [X<MRZP-offset>] [Y<MRZP-offset>] [Z<MRZP-offset>] [S<segments-per-second>] [I<rotational-joint-offset>] [J<rotational-joint-offset>] [K<rotational-joint-offset>]
Set the machine rotary zero point (MRZP) Z offset.
- For 5 axis CNC machines with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the Z axis from machine zero point to the center of rotation. The center of rotation is usually the center of the top surface of the table.
- For 5 axis CNC machines in head-table configuration (PENTA_AXIS_HT) this is the distance along the Z axis from the machine zero point to the horizontal centerline of the joint that tilts the tool head when all axes are in zero position.
See DEFAULT_MRZP_OFFSET_Z and see the definition of the pivot point (Pz) in reference https://linuxcnc.org/docs/html/motion/5-axis-kinematics.html
Set the machine rotary zero point (MRZP) X offset. For 5 axis CNC machines with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the X axis from machine zero point to the center of rotation when all axes are in neutral (zero) position. The center of rotation is usually the center of the top surface of the table.
See DEFAULT_MRZP_OFFSET_X and see the definition of the pivot point (Px) in reference https://linuxcnc.org/docs/html/motion/5-axis-kinematics.html
Set the machine rotary zero point (MRZP) Y offset. For 5 axis CNC machines with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the Y axis from machine zero point to the center of rotation when all axes are in neutral (zero) position. The center of rotation is usually the center of the top surface of the table.
See the definition of the pivot point (Py) in reference https://linuxcnc.org/docs/html/motion/5-axis-kinematics.html
Set the rotational joint X offset. For a 5 axis CNC machine with a tilting rotary table (PENTA_AXIS_TRT) with XYZBC axes this is the distance along the X axis from the vertical centerline of the joint of the rotary table to the horizontal centerline of the joint that tilts the table. Measured when all rotational axes are in neutral (zero) position so that the table is oriented horizontally.
See DEFAULT_ROTATIONAL_JOINT_OFFSET_X. Also, see definition of Dx in sections "5.3. Transformations for a xyzbc-trt machine with rotary axis offsets" and "7. Custom Kinematics Components" in this reference:
Set the rotational joint Y offset. For a 5 axis CNC machine with a tilting rotary table (PENTA_AXIS_TRT) with XYZAC axes this is the distance along the Y axis from the vertical centerline of the joint of the rotary table to the horizontal centerline of the joint that tilts the table. Measured when all rotational axes are in neutral (zero) position so that the table is oriented horizontally.
See DEFAULT_ROTATIONAL_JOINT_OFFSET_Y. Also, see definition of Dy in sections "5.3. Transformations for a xyzbc-trt machine with rotary axis offsets" and "7. Custom Kinematics Components" in this reference:
Set the rotational joint Z offset. For a 5 axis CNC machine with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the Z axis from the surface at the top of the table to the horizontal centerline of the joint that tilts the table. Measured when all rotational axes are in neutral (zero) position so that the table is oriented horizontally.
See DEFAULT_ROTATIONAL_JOINT_OFFSET_Z. Also, see definition of Dz in sections "5.3. Transformations for a xyzbc-trt machine with rotary axis offsets" and "7. Custom Kinematics Components" in this reference:
Set whether printing should abort or moves should be clamped in the event of any software endstop being triggered. This provides a fast way to abort a print in the event of mechanical failure such as loose couplings, lost steps, diverted axes, binding, etc., which lead to axes being very far out of position.
-
Requires
SOFTWARE_ENDSTOPS_*for at least one axis. -
Use
ENDSTOPS_ALWAYS_ON_DEFAULTorM120to ensure that monitoring of limit switches is enabled.
M211 S<flag> H<flag>
Whether (1) or not (0) to enable software endstops.
Whether (1) to abort machining on software endstops hit or whether to clamp moves to the software endstops (0). Requires ABORT_ON_SOFTWARE_ENDSTOP
Configuration is done by editing the file Marlin/Configuration.h. E.g. change
//#define I_DRIVER_TYPE A4988
to:
#define I_DRIVER_TYPE A4988
The following is a list of options in Marlin2ForPipetBot that are relevant for machines with more than three axes or that deviate from those of MarlinFirmware/Marlin:
X_DRIVER_TYPE, Y_DRIVER_TYPE, Z_DRIVER_TYPE, I_DRIVER_TYPE, J_DRIVER_TYPE, K_DRIVER_TYPE, U_DRIVER_TYPE, V_DRIVER_TYPE, W_DRIVER_TYPE: These settings allow Marlin to tune stepper driver timing and enable advanced options for stepper drivers that support them. You may also override timing options in Configuration_adv.h.
Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers.
Each driver is associated with an axis (internal axis identifiers:
X, Y, Z, I, J, K, U, V, W) or an extruder (E0 to E7).
Each axis gets its own stepper control and endstops depending on the following settings:
[[I, [J, [K...]]]_STEP_PIN, [I, [J, [K...]]]_ENABLE_PIN, [I, [J, [K...]]]_DIR_PIN,
[I, [J, [K...]]]_STOP_PIN, USE_[I, [J, [K...]]][MIN || MAX]_PLUG,
[I, [J, [K...]]]_ENABLE_ON, DISABLE_[I, [J, [K...]]], [I, [J, [K...]]]_MIN_POS,
[I, [J, [K...]]]_MAX_POS, [I, [J, [K...]]]_HOME_DIR, possibly DEFAULT_[I, [J, [K...]]]JERK,
and definition of the respective values of DEFAULT_AXIS_STEPS_PER_UNIT, DEFAULT_MAX_FEEDRATE,
DEFAULT_MAX_ACCELERATION, HOMING_FEEDRATE_MM_M, AXIS_RELATIVE_MODES, MICROSTEP_MODES,
MANUAL_FEEDRATE and possibly also values of HOMING_BUMP_DIVISOR,
HOMING_BACKOFF_POST_MM, BACKLASH_DISTANCE_MM.
For bed-leveling, NOZZLE_TO_PROBE_OFFSETS has to be extended with elemets of value 0
until the number of elements is equal to the value of NUM_AXES.
Allowed values: [A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01, TB6560, TB6600, TMC2100, TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE, TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE, TMC26X, TMC26X_STANDALONE, TMC2660, TMC2660_STANDALONE, TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE]
AXIS4_ROTATES, AXIS5_ROTATES, AXIS6_ROTATES, AXIS7_ROTATES, AXIS8_ROTATES, AXIS9_ROTATES:
If enabled, the corresponding axis is a rotational axis for which positions are specified in angular degrees.
For moves involving only rotational axes, feedrate is interpreted in angular degrees.
AXIS4_NAME, AXIS5_NAME, AXIS6_NAME, AXIS7_NAME, AXIS8_NAME, AXIS9_NAME:
Axis codes for additional axes:
This defines the axis code that is used in G-code commands to reference a specific axis. Conventional axis names are as follows:
- 'A' for rotational axis parallel to X
- 'B' for rotational axis parallel to Y
- 'C' for rotational axis parallel to Z
- 'U' for secondary linear axis parallel to X
- 'V' for secondary linear axis parallel to Y
- 'W' for secondary linear axis parallel to Z
Regardless of the settings, firmware-internal axis names are I (AXIS4), J (AXIS5), K (AXIS6), U (AXIS7), V (AXIS8), W (AXIS9).
Allowed values: ['A', 'B', 'C', 'U', 'V', 'W']
When enabled, feed rate (the F-word in G1 G-code commands) is interpreted with all axes as the feed reference. For compatibility with Marlin <= 2.0.9.3, grblHAL/grblHAL-core, Duet3D/RepRap-Firmware, synthetos/g2core and for compatibility with articulated robots (robot arms) for which inverse kinematics are not yet implemented in Marlin. For a detailed description of feedrate, see first section.
Define FOAMCUTTER_XYUV kinematics for a hot wire cutter with parallel horizontal axes X, U where the hights of the two wire ends are controlled by parallel axes Y, V. Currently only works with *_DRIVER_TYPE defined for 5 axes (X, Y, Z, I and J). A dummy pin number can be assigned to pins for the unused Z axis. Leave FOAMCUTTER_XYUV disabled for default behaviour (stepper velocities are calculated using multidimensional linear interpolation over all axes). Host software and CAM software for 4 axis foam cutters can be found at https://rckeith.co.uk/file-downloads/ and https://www.jedicut.com/en/download/ .
Define PENTA_AXIS_TRT kinematics for a 5 axis CNC machine in tilting-rotating-table configuration to add support for tool center point control (see section G43.4 tool center point control). These machines have 3 mutually orthogonal prismatic ("linear") joints aligned with axes XYZ plus a rotary table (C axis) mounted on a tilting table (A or B axis). Two different machine geometries of this type are supported:
- XYZAC TRT machine: The rotational joint of the tilting table is parallel to the X axis and the joint that rotates the table is parallel to the Z axis when all axes are at zero position. This requires
AXIS4_NAME 'A'andAXIS5_NAME 'C'. - XYZBC TRT machine: The rotational joint of the tilting table is parallel to the Y axis and the joint that rotates the table is parallel to the Z axis when all axes are at zero position. This requires
AXIS4_NAME 'B'andAXIS5_NAME 'C'(see sectionAXIS4_NAME).
Define PENTA_AXIS_HT kinematics for a 5 axis CNC machine in head-table configuration to add support for tool center point control (see section G43.4 tool center point control). These machines have 3 mutually orthogonal prismatic ("linear") joints aligned with axes XYZ plus a swivel head (A or B axis) and a horizontal rotary table (C axis). There are two possible machine geometries:
- XYZAC head-table machine: The rotational joint of the swivel head is parallel to the X axis when all axes are at zero position. This requires
AXIS4_NAME 'A'andAXIS5_NAME 'C'. - XYZBC head-table machine: The rotational joint of the swivel head is parallel to the Y axis when all axes are at zero position. This requires
AXIS4_NAME 'B'andAXIS5_NAME 'C'(see sectionAXIS4_NAME).
Machine rotary zero point (MRZP) Z offset.
- For 5 axis CNC machines with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the Z axis from machine zero point to the center of rotation. The center of rotation is usually the center of the top surface of the table when all axes are in zero position.
- For 5 axis CNC machines in head-table configuration (PENTA_AXIS_HT) this is the distance along the Z axis from the machine zero point to the horizontal centerline of the joint that tilts the tool head when all axes are in zero position.
See the definition of the pivot point (Pz) in this reference:
Machine rotary zero point (MRZP) X offset. For 5 axis CNC machines with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the X axis from machine zero point to the center of rotation when all axes are in neutral (zero) position. The center of rotation is usually the center of the top surface of the table.
See the definition of the pivot point (Px) in this reference:
Machine rotary zero point (MRZP) Y offset. For 5 axis CNC machines with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the Y axis from machine zero point to the center of rotation when all axes are in neutral (zero) position. The center of rotation is usually the center of the top surface of the table.
See the definition of the pivot point (Pz) in this reference:
For a 5 axis CNC machine with a tilting rotary table (PENTA_AXIS_TRT) with XYZBC axes this is the distance along the X axis from the vertical centerline of the joint of the rotary table to the horizontal centerline of the joint that tilts the table. Measured when all rotational axes are in neutral (zero) position so that the table is oriented horizontally.
See definition of Dx in this reference:
For a 5 axis CNC machine with a tilting rotary table (PENTA_AXIS_TRT) with XYZAC axes this is the distance along the Y axis from the vertical centerline of the joint of the rotary table to the horizontal centerline of the joint that tilts the table. Measured when all rotational axes are in neutral (zero) position so that the table is oriented horizontally.
See definition of Dy in this reference:
For a 5 axis CNC machine with a tilting rotary table (PENTA_AXIS_TRT) this is the distance along the Z axis from the surface at the top of the table to the horizontal centerline of the joint that tilts the table. Measured when all rotational axes are in neutral (zero) position so that the table is oriented horizontally.
See definition of Dz in this reference:
Number of tools, including extruders. Lower tool indices, starting with 0, must be assigned to extruders. Offsets of each tool from tool 0 must be defined with HOTEND_OFFSET_X, HOTEND_OFFSET_Y and HOTEND_OFFSET_Z.
Abort printing when any software endstop is triggered. This feature is enabled with 'M211 H1' or from the LCD menu. Software endstops must be activated for this option to work.
SAFE_BED_LEVELING_START_X, SAFE_BED_LEVELING_START_Y, SAFE_BED_LEVELING_START_Z, SAFE_BED_LEVELING_START_I, SAFE_BED_LEVELING_START_J, SAFE_BED_LEVELING_START_K, SAFE_BED_LEVELING_START_U, SAFE_BED_LEVELING_START_V, SAFE_BED_LEVELING_START_W:
Safe bed leveling start coordinates. If enabled, the respective axis is moved to the specified position at the beginning of the bed leveling procedure.
Required for multi-axis machines (I_DRIVER_TYPE ... defined).
Values must be chosen so that the bed is oriented horizontally and so that the Z-probe is oriented vertically.
Note: If inverse kinematics for your machine are not implemented, bed leveling produces wrong results for all moves where the bed is not oriented horizontally or where the tool head is not oriented vertically. In these cases, bed leveling must be disabled.
Show the position of secondary axes I[J[K]] instead of icons on an DOGM LCD (e.g. REPRAP_FULL_GRAPHICS_DISPLAY).
If all axes are homed, first raise Z, then move all axes except Z simultaneously to their home position. Once the first axis reaches its home position, the axes will be homed individually in sequence XYZIJKUVW. Requires QUICK_HOME.
Enables support for G81, G82, G83 drilling canned cycles.
Not for production use. Use with caution!
Marlin2forPipetBot is a branch of the Marlin fork by DerAndere (based on https://github.com/MarlinFirmware/Marlin/tree/3e9fb34892e85bc4069acf5baddbf12d6cd47789).
This branch is for patches to the latest Marlin2ForPipetBot release version.
Before you can build Marlin for your machine you'll need a configuration for your specific hardware. Upon request, your vendor will be happy to provide you with the complete source code and configurations for your machine, but you'll need to get updated configuration files if you want to install a newer version of Marlin. Fortunately, Marlin users have contributed dozens of tested configurations to get you started. Visit the MarlinFirmware/Configurations repository to find the right configuration for your hardware.
To build Marlin2ForPipetBot you'll need PlatformIO. The Marlin team has posted detailed instructions on Building Marlin with PlatformIO. Marlin2ForPipetBot is preconfigured for the Anet-V1.0 board of the PipetBot-A8. When using the default build environment (default_env = melzi_optiboot), upload of the compiled Marlin2ForPipetBot firmware to the board via USB using the optiboot bootloader requires burning of the optiboot bootloader onto the board as described in the SkyNet3D/anet-board documentation.
The different branches in the git repository https://github.com/DerAndere1/Marlin reflect different stages of development:
-
Marlin2ForPipetBot branch is the stable release branch for tagged releases of Marlin2ForPipetBot firmware. It is optimized and preconfigured for the PipetBot-A8 by default. Currently it is based on MarlinFirmware/Marlin bugfix-2.1.x from 2022-06-07, https://github.com/MarlinFirmware/Marlin/tree/3e9fb34892e85bc4069acf5baddbf12d6cd47789 or later. In addition to MarlinFirmware/Marlin's support for 9 axes, including rotational axes (
AXISn_ROTATES), it adds simultaneous homing of all axes except Z (QUICK_HOME_ALL_NON_Z_AXES), a second controller fan pin (CONTROLLER_FAN2_PIN), and it can be configured to show positions of secondary axes on an LCD (LCD_SHOW_SECONDARY_AXES). -
Marlin2ForPipetBot_dev branch is used to develop and test bugfixes for Marlin2ForPipetBot. After successful testing, it will be merged into Marlin2ForPipetBot.
-
6axis_PR1 branch was merged into upstream MarlinFirmware/Marlin (pull request MarlinFirmware#19112). This branch is now outdated. Use current MarlinFirmware/Marlin instead.
-
9axis_PR2 branch was merged into upstream MarlinFirmware/Marlin (pull request MarlinFirmware#23112 branch is now outdated. Use current MarlinFirmware/Marlin instead.
-
Other branches: Deprecated legacy code. Use current MarlinFirmware/Marlin instead.
Marlin includes an abstraction layer to provide a common API for all the platforms it targets. This allows Marlin code to address the details of motion and user interface tasks at the lowest and highest levels with no system overhead, tying all events directly to the hardware clock.
Every new HAL opens up a world of hardware. At this time we need HALs for RP2040 and the Duet3D family of boards. A HAL that wraps an RTOS is an interesting concept that could be explored. Did you know that Marlin includes a Simulator that can run on Windows, macOS, and Linux? Join the Discord to help move these sub-projects forward!
A core tenet of this project is to keep supporting 8-bit AVR boards while also maintaining a single codebase that applies equally to all machines. We want casual hobbyists to benefit from the community's innovations as much as possible just as much as those with fancier machines. Plus, those old AVR-based machines are often the best for your testing and feedback!
| Platform | MCU | Example Boards |
|---|---|---|
| Arduino AVR | ATmega | RAMPS, Melzi, RAMBo |
| Teensy++ 2.0 | AT90USB1286 | Printrboard |
| Arduino Due | SAM3X8E | RAMPS-FD, RADDS, RAMPS4DUE |
| ESP32 | ESP32 | FYSETC E4, E4d@BOX, MRR |
| LPC1768 | ARM® Cortex-M3 | MKS SBASE, Re-ARM, Selena Compact |
| LPC1769 | ARM® Cortex-M3 | Smoothieboard, Azteeg X5 mini, TH3D EZBoard |
| STM32F103 | ARM® Cortex-M3 | Malyan M200, GTM32 Pro, MKS Robin, BTT SKR Mini |
| STM32F401 | ARM® Cortex-M4 | ARMED, Rumba32, SKR Pro, Lerdge, FYSETC S6, Artillery Ruby |
| STM32F7x6 | ARM® Cortex-M7 | The Borg, RemRam V1 |
| STM32G0B1RET6 | ARM® Cortex-M0+ | BigTreeTech SKR mini E3 V3.0 |
| STM32H743xIT6 | ARM® Cortex-M7 | BigTreeTech SKR V3.0, SKR EZ V3.0, SKR SE BX V2.0/V3.0 |
| SAMD51P20A | ARM® Cortex-M4 | Adafruit Grand Central M4 |
| Teensy 3.5 | ARM® Cortex-M4 | |
| Teensy 3.6 | ARM® Cortex-M4 | |
| Teensy 4.0 | ARM® Cortex-M7 | |
| Teensy 4.1 | ARM® Cortex-M7 | |
| Linux Native | x86/ARM/etc. | Raspberry Pi |
Proposed patches should be submitted as a Pull Request against the (Marlin2ForPipetBot_dev) branch. I sometimes rebase that branch wich results in merge conflicts when you submit a Pull Request. Please ignore merge conflics and just submit the Pull Request with unresolved conflicts. I will take care of it.
- This branch is for fixing bugs and integrating any new features for the duration of the Marlin2ForPipetBot life-cycle.
- Follow the Coding Standards to gain points with the maintainers.
- Please submit Feature Requests and Bug Reports to the Issue Queue. Support resources are also listed there.
- Whenever you add new features, be sure to add tests to
buildroot/testsand then run your tests locally, if possible.- It's optional: Running all the tests on Windows might take a long time, and they will run anyway on GitHub.
- If you're running the tests on Linux (or on WSL with the code on a Linux volume) the speed is much faster.
- You can use
make tests-all-localormake tests-single-local TEST_TARGET=.... - If you prefer Docker you can use
make tests-all-local-dockerormake tests-all-local-docker TEST_TARGET=....
The Issue Queue is reserved for Bug Reports and Feature Requests. To get help with configuration and troubleshooting, please use the following resources:
- Marlin Documentation - Official Marlin documentation
- Multi-Axis-Marlin Wiki - Information related to machines with more than 3 axes
- Marlin Configuration on YouTube
- Marlin2ForPipetBot issue queue
Marlin is constantly improving thanks to a huge number of contributors from all over the world bringing their specialties and talents. Huge thanks are due to all the contributors who regularly patch up bugs, help direct traffic, and basically keep Marlin from falling apart. Marlin's continued existence would not be possible without them.
Marlin2ForPipetBot (https://github.com/DerAndere1/Marlin)
Copyright 2024 DerAndere
Marlin2ForPipetBot is modified by:
- DerAndere [@DerAndere1] - Germany - Marlin2ForPipetBot Project Maintainer 💸 Donate
- Garbriel Beraldo @GabrielBeraldo] - Brasil
- Olivier Briand @hobiseven] - France
- Wolverine @MohammadSDGHN - Undisclosed
- bilsef @bilsef - Undisclosed
- FNeo31 @FNeo31 - Undisclosed
- HendrikJan-5D @HendrikJan-5D - Undisclosed
- Scott Lahteine [@thinkyhead] - USA - MarlinFirmware Maintainer 💸 Donate
Marlin2ForPipetBot is based on:
MarlinFirmware/Marlin Marlin 3D Printer Firmware (https://github.com/MarlinFirmware/Marlin)
Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
| Author | Contact | Contribution |
|---|---|---|
| DerAndere | @DerAndere1 | main developer of multi-axis support, idea, initial implementation, added features AXIS4_NAME, I_DRIVER_TYPE ... W_DRIVER_TYPE, PENTA_AXIS_HT, PENTA_AXIS_TRT, TOOLS, EVENT_GCODE_TOOLCHANGE_T0, EVENT_GCODE_TOOLCHANGE_T1, SAFE_BED_LEVELING_POSITION_X, AXIS4_ROTATES, FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM, QUICK_HOME_ALL_NON_Z_AXES, LCD_SHOW_SECONDARY_AXES, added commands G10, G43, G43.4, G49, bugfixes |
| Gabriel Beraldo | @GabrielBeraldo | hardware debugging, bugfixes yielding first working prototype (make additional axes move, fix EEPROM) |
| Olivier Briand | @hobiseven | testing, added experimental compatibility with different configurations, code review, FOAMCUTTER_XYUV feed rate interpretation mode |
| Wolverine | @MohammadSDGHN | added experimental compatibility with different configurations (BigTreeTech SKR Pro 1.1, Trinamic TMC drivers, StealthChop, sensorless homing) |
| bilsef | @bilsef | testing, code review, bugfixes (fix movement of additional axes, fix types.h, fix EEPROM) |
| FNeo31 | @FNeo31 | added experimental drilling cyles (G81, G82, G83) |
| HendrikJan-5D | @HendrikJan-5D | testing bed leveling and Trinamic TMC, bugfixes yielding first working 9 axis printer prototype |
| Paloky | @paloky | Initial extension of multi-axis support from 6 to 8 axes |
| Keith | @rcKeith | Testing of FOAMCUTTER_XYUV and LCD_SHOW_SECONDARY_AXES |
| Phillipp Webb | @Domush | Added commands G10 L2, G10 L20 |
| Scott Lahteine | @thinkyhead | code review, refactoring |
| MarlinFirmware | @MarlinFirmware | Marlin 3D Printer firmware |
Marlin2ForPipetBot is published under the GPL license because we believe in open development. The GPL comes with both rights and obligations. Whether you use Marlin firmware as the driver for your open or closed-source product, you must keep Marlin open, and you must provide your compatible Marlin source code to end users upon request. The most straightforward way to comply with the Marlin license is to make a fork of Marlin on Github, perform your modifications, and direct users to your modified fork.
While we can't prevent the use of this code in products (3D printers, CNC, etc.) that are closed source or crippled by a patent, we would prefer that you choose another firmware or, better yet, make your own.