G4 & G54-G59 updated in all robots
The Stewart platform, Delta Robot, Makelangelo, and Arm3 have all been updated to correctly interpret the G4 dwell command.
All the robots mentioned now also have support for G54…G59 (tool offset) and M06 (tool change)*. This means you can set up multiple tools of different size in advance, and swap them without having to rewrite all the gcode.
For example, say you have two different pens in the Delta Robot v3. One sticks out 1cm and another sticks out 2cm. without tool changes you would have to rewrite all the gcode when you change tools. Instead now you can write
G54 Z-1; // tool one sticks out 1cm G55 Z-2; // tool two sticks out 2cm M06 T0; // change to tool zero G0 Z0; // moves the pen tip to the "floor" without going through G0 z3; // back off M06 T1; // change to tool one G0 Z0; // moves the pen tip to the "floor" without going through G0 z3; // back off - this backs off a different amount because G55
All systems support 6 tools at once. I would like to see someone figure out how to lift/lower many pens at once on the Makelangelo so this feature could allow multicolor drawings in a single pass.
* Makelangelo support is still being tested.
