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June 21 2011

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Spent 6h at metlab yesterday. Hacking the firmware of the Ultimaker. Configured Teacup, but it crashes and is extremely slow, no idea why that is yet.
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June 20 2011

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printing the state of liberty to debug the ultimaker toolchain. Kliments printrun is awesome..
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printing the state of liberty and recovering from some serious extruder problem.
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thats a tool for a m3 screw.
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colbert cthulu
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June 19 2011

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z change in netfabb is strange?
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testing ultimaker transfer rate
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June 04 2011

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Raftless, baby
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June 02 2011

Smooth Trajectory in CNC and 3D Printing/reprap

All CNC machines and 3D printers move their heads. They usually are driven by stepper motors. Because the stepper motors have limited torque,the intended movement speed cannot be reached at once, but acceleration is necessary.
From what I found, Makerbots do not apply acceleration yet, while current reprap Firmwares (5D or Teacup) actually can accelerate. Without acceleration, the maximum speed is limited, and/or stepper driver currents very high.

Acceleration linearly increases speed to either the intended velociy, or less if the path is to short. This is quite well explained in the
EMC2 wiki:


One tries to follow either straight lines, or arcs (no reprap derivative seems to be able to do that). However, at each directional change, the machine has to come to a complete stop, because otherwise no sudden change in direction is possible.
To overcome this, and keep velocity at high levels, in good CNC controllers there is a G64 command that defines an allowed tolerance for movement deviations. By creating e.g. arcs, whose radius is defined by the maximum deviation, the machine only needs do break to velocity defined by the radius:

[Source]

For doing arc splitting, I thought of a better method, which should stay closer on the original line. One does a swing-in curve in the opposite direction:



For a single axis of the 4 axis of a 3d-printer, the normal blending can be done quite easily [source]:


If the center of the blendtime is at the original direction change, and one takes the same time-deviation to the left as to the right, the positioning is automatically correct after the blending, because the integral of velocity is the same.

It would be so awesome if something like this were implemented in the RepRap firmware.
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Ultimaker testing at Metalab.
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May 30 2011

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gcode2vtk can create animations.
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May 29 2011

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first "useful" print of a self-designed part using the new Ultimaker. Its a handle for a m13 screw head.
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gcode2vtk: a converter to visualize makerbot/reprap paths in Paraview.
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May 26 2011

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Image from the Ultimaker unboxin at Flickr
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Ultimaker assembled frame
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Drying the paint
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Finished platform for Ultimaker
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