Y Axis Auto-parallel

Y axis auto parallel involves adding a half-carriage as an extra piece to the X Axis Universal Axis. This was done from v19.02 onwards to prevent the y axes from jamming if the 2 axes are not parallel. By adding an extra half-carriage at the end of the X axis, with rods of the X Axis inside this half carriage - we are allowing the X axis to slide in and out of the Y2 axis (Y1 axis attachment point is fixed). This constrains the X axis at the Y2 Axis in the Y direction, but does not constrain the X axis at the Y2 Axis in the X direction - thereby preventing any jamming due to the distance between the Y1 and Y2 axis not being the same.

When the Y1 and Y2 are not parallel, some non-parallel can be allowed as the Y axes flex. This increases motion resistance. Once the resistance is high enough - the stepper motors cannot overcome it and motion jams, resulting in layer shifts. Additional resistance occurs as soon as the non-parallel is as small as the thickness of a sheet of paper - about 100 microns or 4 thousandths of an inch. The point of this is that it's not possible to achieve this level of accuracy using welded frames, and thus performance would always be suboptimal. For this reason, we have added the auto-paralleling mechanism.