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Change to explain sc path
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TheSin- committed Nov 6, 2024
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7 changes: 3 additions & 4 deletions wiki/Configuration.md
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Expand Up @@ -52,16 +52,15 @@ IE, if you Y park position is -15. Your close Y should be 15. If your Y park pos

The docking path can be confusing for people to understand. Let's try to disect it. Take this path:

params_rods_sb_path: [{'y':9.5 ,'z':8}, {'y':9.5, 'z':2}, {'y':5.5, 'z':0}, {'z':0, 'y':0, 'f':0.5}, {'z':-6, 'y':0}, {'z':-10, 'y':3}, {'z':-10, 'y':16}]
params_sc_path: [{'y':9.5 ,'z':4}, {'y':9.5, 'z':2}, {'y':5.5, 'z':0}, {'z':0, 'y':0, 'f':0.5}, {'z':-10, 'y':0}, {'z':-10, 'y':16}]

When looking at this, understand that the movements are relative to the park position. When dropping off a tool, it will go left to right, and when picking up a tool, it will go right to left on movements. Let's say your park position is x=20 y=-10, z=240 and close_y=20. When dropping off a tool, it will move up and start the sequence essentially at x=20 y=20 z=240. Now add in the first set of items.

* {'y':9.5 ,'z':8} Move to x=20 y=-0.5 z=248
* {'y':9.5 ,'z':4} Move to x=20 y=-0.5 z=244
* {'y':9.5, 'z':2} Move to x=20 y=-0.5 z=242
* {'y':5.5, 'z':0} Move to x=20 y=-4.5 z=240
* {'z':0, 'y':0, 'f':0.5}. This will slowly move you (f is speed in gcode) to docking position of x=20 y=-10, z=240
* {'z':-6, 'y':0} Drop the z down to z=234 so that it starts unhooking.
* {'z':-10, 'y':3} Move to z=230, y=-7, so its starting to move away.
* {'z':-10, 'y':0} Drop the z down to z=230 so that it starts unhooking.
* {'z':-10, 'y':16}. Move to z=230 y=6, we are clear of the tool.

It will then move to the close_y and x of the tool its picking up, and run in reverse order.

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