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 CNC machines with additional axes I, (J, (K)) that drive pumps or other tools, e.g. 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!
Not for production use. Use with caution!
Marlin2forPipetBot is a branch of the Marlin fork by DerAndere (based on https://github.com/MarlinFirmware/Marlin/commit/90cd1ca68d3f4f5ede56cbea4913f06ca4782a94 ).
This branch is for patches to the latest Marlin2ForPipetBot release version.
Marlin2ForPipetBot supports up to six non-extruder axes (LINEAR_AXES) plus extruders (e.g. XYZIJK+E or XYZUVW+E).
Default axis names are:
| LINEAR_AXES | Axis codes |
|---|---|
| 3 | X, Y, Z, E |
| 4 | X, Y, Z, A, E |
| 5 | X, Y, Z, A, B, E |
| 6 | X, Y, Z, A, B, C, E |
Example syntax for movement (G-code G1) with LINEAR_AXES 6:
G1 [Xx.xxxx] [Yy.yyyy] [Zz.zzzz] [Aa.aaaa] Bb.bbbb] [Cc.cccc] [Ee.eeee] [Ff.ffff]
Configuration is done by editing the file Marlin/Configuration.h. E.g. change
define LINEAR_AXES 3
to:
define LINEAR_AXES 4
Important options are:
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.
LINEAR_AXES:
The number of axes that are not used for extruders (axes that
benefit from endstops and homing). LINEAR_AXES > 3 requires definition of
[[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 LINEAR_AXES.
Allowed values: [3, 4, 5, 6]
AXIS4_NAME, AXIS5_NAME, AXIS6_NAME:
Axis codes for additional axes:
This defines the axis code that is used in G-code commands to
reference a specific axis.
- '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).
Allowed values: ['A', 'B', 'C', 'U', 'V', 'W']
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 Marlin bugfix-2.0.x from 2021-08-30, https://github.com/MarlinFirmware/Marlin/commit/90cd1ca68d3f4f5ede56cbea4913f06ca4782a94 or later. Users that feel comfortable with configuring the firmware themselves should use MarlinFirmware/Marlin instead, which is more up to date.
-
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_PR1 branch is used to develop support for up to 10 non-extruder axes. This branch needs to be rebased onto https://github.com/MarlinFirmware/Marlin/tree/bugfix-2.0 and a pull request targeting https://github.com/MarlinFirmware/Marlin/tree/bugfix-2.0 has to be prepared.
-
Other branches: Deprecated legacy code. Use current MarlinFirmware/Marlin instead.
Marlin 2.0 introduces a layer of abstraction so that all the existing high-level code can be built for 32-bit platforms while still retaining full 8-bit AVR compatibility. Retaining AVR compatibility and a single code-base is important to us, because we want to make sure that features and patches get as much testing and attention as possible, and that all platforms always benefit from the latest improvements.
| board | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Arduino AVR | ATmega, ATTiny, etc. | 16-20MHz | 64-256k | 2-16k | 5V | no |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Arduino Due, RAMPS-FD, etc. | SAM3X8E ARM-Cortex M3 | 84MHz | 512k | 64+32k | 3.3V | no |
| board | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| ESP32 | Tensilica Xtensa LX6 | 160-240MHz variants | --- | --- | 3.3V | --- |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Re-ARM | LPC1768 ARM-Cortex M3 | 100MHz | 512k | 32+16+16k | 3.3-5V | no |
| MKS SBASE | LPC1768 ARM-Cortex M3 | 100MHz | 512k | 32+16+16k | 3.3-5V | no |
| Selena Compact | LPC1768 ARM-Cortex M3 | 100MHz | 512k | 32+16+16k | 3.3-5V | no |
| Azteeg X5 GT | LPC1769 ARM-Cortex M3 | 120MHz | 512k | 32+16+16k | 3.3-5V | no |
| Smoothieboard | LPC1769 ARM-Cortex M3 | 120MHz | 512k | 64k | 3.3-5V | no |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Adafruit Grand Central M4 | SAMD51P20A ARM-Cortex M4 | 120MHz | 1M | 256k | 3.3V | yes |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Arduino STM32 | STM32F1 ARM-Cortex M3 | 72MHz | 256-512k | 48-64k | 3.3V | no |
| Geeetech3D GTM32 | STM32F1 ARM-Cortex M3 | 72MHz | 256-512k | 48-64k | 3.3V | no |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| STEVAL-3DP001V1 | STM32F401VE Arm-Cortex M4 | 84MHz | 512k | 64+32k | 3.3-5V | yes |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Teensy++ 2.0 | AT90USB1286 | 16MHz | 128k | 8k | 5V | no |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Teensy 3.2 | MK20DX256VLH7 ARM-Cortex M4 | 72MHz | 256k | 32k | 3.3V-5V | yes |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Teensy 3.5 | MK64FX512VMD12 ARM-Cortex M4 | 120MHz | 512k | 192k | 3.3-5V | yes |
| Teensy 3.6 | MK66FX1M0VMD18 ARM-Cortex M4 | 180MHz | 1M | 256k | 3.3V | yes |
| boards | processor | speed | flash | sram | logic | fpu |
|---|---|---|---|---|---|---|
| Teensy 4.0 | IMXRT1062DVL6A ARM-Cortex M7 | 600MHz | 1M | 2M | 3.3V | yes |
| Teensy 4.1 | IMXRT1062DVJ6A ARM-Cortex M7 | 600MHz | 1M | 2M | 3.3V | yes |
Proposed patches should be submitted as a Pull Request against the (bugfix-2.0.x) branch.
- This branch is for fixing bugs and integrating any new features for the duration of the Marlin 2.0.x 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 current Marlin dev team consists of:
- Scott Lahteine [@thinkyhead] - USA
- Roxanne Neufeld [@Roxy-3D] - USA
- Bob Kuhn [@Bob-the-Kuhn] - USA
- Chris Pepper [@p3p] - UK
- João Brazio [@jbrazio] - Portugal
- Erik van der Zalm [@ErikZalm] - Netherlands
Marlin2ForPipetBot is modified by:
- DerAndere [@DerAndere1] - Germany
- Garbriel Beraldo @GabrielBeraldo] - Brasil
- Olivier Briand @hobiseven] - France
- Wolverine @MohammadSDGHN - Undisclosed
- bilsef @bilsef - Undisclosed
- FNeo31 @FNeo31 - Undisclosed
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.