Universal components required for any Rep5x 5-axis printer conversion. These parts are compatible across all supported printer models.

Universal 3D printed components

All files available in ../3d-printed-parts/current/3mf/.

Recommended material: PETG for all components.

Component	File	Description
A-driven-pulley	A-driven-pulley_v1.1.0.3mf	Drive pulley for A-axis
B-driven-pulley	b-driven-pulley_v1.1.0.3mf	Custom pulley for B-axis drive
B_arm	B_arm_v1.0.0.3mf	Rotational arm for B-axis
Slip ring holder	slip-ring-holder_v1.1.0.3mf	Mount for slip ring assembly
Spacer 3mm	spacer-3mm_v1.0.0.3mf	3mm spacer component
Hotend spacer	hotend-spacer_v1.0.0.3mf	Spacer for hotend mounting

Universal COTS components

Qty	Part Number	Description	Notes	Purchase links
2	Nema17 stepper motor	Stepper motors for A and B axis	Standard 42mm body	AliExpress Amazon
2	GT2 20T 5mm bore	Drive pulleys for A and B axis	20 teeth, 5mm bore	AliExpress Amazon
1	GT2 timing belt 6x188mm	Drive belt for A-axis	6mm wide, 188mm length	AliExpress Amazon
1	GT2 timing belt 6x158mm	Drive belt for B-axis	6mm wide, 158mm length	AliExpress Amazon
2	608 2RS bearing DIN625	Ball bearings for B-axis rotation	Standard skateboard bearings	AliExpress Amazon
2	61804 bearing	Thin section bearing for carriage mount	For A-axis rotation	AliExpress Amazon
1	Microswitch	Endstop switch for B-axis	2-pin micro limit switch	AliExpress Amazon
1	Optical sensor	A-axis homing sensor	3-pin optical endstop sensor	AliExpress Amazon
1	Control board	6+ stepper driver board	See tested control boards section	AliExpress Amazon
6	TMC2208	Stepper drivers	UART mode, for all 6 axes	AliExpress Amazon
1	MST-005-12A slipring	Slipring assembly	12 channels, 2A each, 5mm bore	AliExpress Amazon
1	Wire/cables	Connection wires	For slip ring and stepper connections	-
1	JST connectors (optional)	Removable connectors	For easy maintenance	AliExpress Amazon
1	Cable organizers (optional)	Zip ties, cable clips, or spiral wrap	For clean wire routing	-

Universal fasteners

Qty	Description	Purchase links
8	DIN912 M3x6mm socket head cap bolt	AliExpress Amazon
8	DIN912 M3x10mm socket head cap bolt	AliExpress Amazon
2	M3 heat-set insert for plastic	AliExpress Amazon

Electronics requirements

Control board requirements

• Minimum stepper drivers: 6 (X, Y, Z, E, A, B)
• Processor: 32-bit ARM recommended
• Communication: USB, UART support
• Power: 24V DC input capability

Tested control boards

• BTT Octopus V1.1 (STM32F446ZE) - 8 stepper drivers, proven working

Stepper drivers

• Required: 6x TMC2208 (UART) or equivalent
• Configuration: X, Y, Z, Extruder, A-axis, B-axis
• Benefits: Unified driver type simplifies wiring and configuration

Component specifications

Slipring (MST-005-12A)

• Channels: 12 electrical channels
• Current rating: 2A per channel
• Through-bore: 5mm diameter
• Purpose: Allows continuous rotation

Printer-specific components

The following components require printer-specific adaptation:

1. Carriage mount - Varies by printer X-carriage design
2. Endstop positions - May require relocation or addition

See printer-specific folders for adaptation requirements.

Complete build instructions for converting any compatible 3D printer to 5-axis capability. Based on proven build process from working prototypes.

Throughout this guide you'll find affiliate links to components. Purchases through these links support the Rep5x project development and help keep the project open source.

Before you start

Important: Read through this entire document before beginning assembly. This will help you understand the complete process, identify any missing components, and plan your build timeline effectively.

Contributing improvements

If you discover easier methods, better techniques, or have suggestions for improvement during your build, please contribute back to the project:

• Open a Pull Request on GitHub with your proposed changes
• Document your improvements with photos and clear explanations
• Share your experience in our Discord community
• Help make Rep5x better for everyone!

Prerequisites

Tools required

• 3D printer - For printing Rep5x components
• Hex keys - M2.5, M3 sizes (long hex key needed for A-axis stepper installation)
• Wire strippers and connecting tools - For wire connections (crimping tools if using JST, soldering iron if soldering)
• Multimeter - For electrical testing
• Computer - For firmware flashing and calibration

Skills required

• Basic 3D printing - Print settings and quality control
• Basic electronics - Wiring and wire connections (soldering or crimping)
• Firmware flashing - Arduino IDE or VSCode with PlatformIO
• Mechanical assembly - Heat insert installation, bearing installation

Time estimate

• Electronics preparation: 4-6 hours (board flashing, testing, slip ring prep)
• Component preparation: 2-3 hours (steps 5-9)
• Mechanical assembly and installation: 4-6 hours (steps 10-14)
• Final testing and calibration: 2-4 hours (step 15)
• Total: 12-19 hours over several days

Part 1: Electronics preparation

Step 1: Gather all materials

Verify you have all components from:

• Universal BOM - All shared components
• Printer-specific BOM - Additional printer-specific components
• 3D printed parts - All components printed and quality checked

Step 2: Flash your control board

Download firmware configuration

Download the Marlin firmware configuration from your printer-specific folder: Find your printer's firmware config

Flash firmware

1. Download Marlin 2.1.x from official repository
2. Replace configuration files with Rep5x versions
3. Compile and upload to control board
4. Verify upload successful via serial connection

Step 3: Remove old control board

1. Power down printer completely
2. Disconnect all cables from old control board
3. Remove old board from electronics enclosure

Step 4: Install new control board and test basic functions

Install control board

1. Place new board next to your printer
2. Set all jumpers correctly according to the wiring diagram for your control board
3. Install TMC2208 drivers in all 6 positions (X, Y, Z, E, A, B)
4. Connect all printer components (steppers, end-stopsm , heated bed, thermistors, hot-end etc.)
5. Connect power supply and verify 24V input

Test all components work correctly

Test each component with G-code commands:

Motors (movement test):

G28        ; Home all axes
G1 X100    ; Test X motor
G1 Y100    ; Test Y motor  
G1 Z50     ; Test Z motor
G1 E10     ; Test extruder motor
G1 A10     ; Test A-axis motor (yaw rotation)
G1 B10     ; Test B-axis motor (tilt rotation)

Heated bed:

M140 S60   ; Set bed temperature to 60°C
M105       ; Check temperatures
M140 S0    ; Turn off bed heater

Hotend:

M104 S180  ; Set hotend to 180°C
M105       ; Check temperatures
M104 S0    ; Turn off hotend

Thermistors:

M105       ; Read all temperatures - should show room temperature

Endstops:

M119       ; Check all endstop status - should show current state

Important: All basic printer functions must work before proceeding.

Part 2: Component preparation

Step 5: Prepare slip ring with wire connections

Slip ring wiring requirements

The slip ring needs the following connections:

• 1x 4-pin connection - For B-axis stepper motor
• 4x 2-pin connections - For: hotend fan, hotend heater, hotend thermistor, B-axis endstop

Wire connection preparation

1. Cut wires to appropriate lengths for routing through slip ring (or keep full length for safety - prevents wires being too short, though cable management is harder)
2. Connect wires using your preferred method:
   • JST connectors (recommended) - Clean, removable connections
   • Direct soldering - Permanent but reliable, no prep needed for now
   • Wire nuts or terminal blocks - Alternative connection methods
3. Test continuity of all connections using a multimeter

Note: JST connectors are not required but preferred over permanent soldering for easier maintenance and troubleshooting.

Figure 1: Slip ring prepared with JST connectors for easy connection and disconnection

Step 6: Prepare B-driven-pulley

Heat insert installation

1. Install 2x M3 heat-set inserts in B-driven-pulley
2. Install M3x10 socket head bolt in one insert
3. Adjust bolt position - should stick out slightly to trigger microswitch endstop
4. Test fit - bolt should protrude ~1-2mm for reliable endstop triggering

Figure 2: B-driven-pulley with heat-set inserts and endstop trigger screw installed

Step 7: Install bearings in B_arm

Bearing installation

1. Install 2x 608 bearings in B_arm bearing pockets
2. Press fit carefully - bearings should sit flush and rotate smoothly

Step 8: Install and position microswitch in B_arm

Microswitch preparation

1. Install microswitch in B_arm mounting location
2. Trim or remove metal actuator needed for proper positioning
3. Test position - Install B-driven-pulley temporarily and check when screw clicks microswitch
4. Find sweet spot - Adjust for reliable triggering without interference
5. Secure with hot glue once optimal position found

Figure 3: B_arm assembly showing installed bearings and positioned microswitch

Figure 4: B_arm connected to B-driven-pulley, showing complete tilt mechanism

Step 9: Prepare carriage mount

Bearing installation

1. Install 2x 61804 bearings in carriage mount
2. Verify smooth rotation and proper seating

Note: Do not install the A-driven-pulley yet - this must be done after attaching to the printer since the pulley blocks access to mounting screws on some printers like the Ender 3 V3 SE.

Figure 5: Carriage mount with 61804 bearings installed - ready for mounting to printer

Part 3: Installation on printer

Step 10: Install carriage mount to X-axis

Carriage mount installation

1. Remove original hotend assembly from printer
2. Attach carriage mount to X-carriage using original mounting screws
3. Verify clearance with frame and motion systems

Figure 8: Carriage mount attached to printer's X-carriage

Step 11: Install A-axis drive system

A-axis pulley, stepper and drive installation

1. Install A-driven-pulley in carriage mount
2. Add optical sensor to carriage mount for A-axis position sensing
3. Mount A-axis (yaw) stepper motor to carriage mount using 4x M3x6mm bolts
4. Use long hex key to access stepper motor mounting bolts
5. Install GT2 timing belt connecting stepper motor to A-driven-pulley
6. Tension belt properly - should be snug but not over-tensioned
7. Route slip ring wires through the A-driven-pulley center hole
8. Connect A-axis stepper directly to control board (not through slip ring)

Step 12: Install B_arm and connect wiring

B_arm installation and wire routing

1. Route all wires and Bowden tube through B_arm center
2. Attach B_arm to carriage mount using 2x M3x10mm bolts
3. Verify clearances - Both A and B axes should move freely
4. Test mechanical limits - Check rotation range without collisions
5. Secure wire routing - No pinching or interference during motion

Figure 10: B_arm connected to carriage mount with proper wire routing

Step 13: Install B-axis drive system

B-axis drive system installation

1. Install B-axis (tilt) stepper motor to B_arm mounting points
2. Install GT2 timing belt connecting B-axis stepper to b-driven-pulley
3. Tension belt properly - should be snug but allow smooth rotation

Step 14: Install hotend and final wiring

Hotend installation and complete wiring

1. Attach hotend assembly to B_arm mounting points
2. Connect all hotend components through slip ring connections:
   • Hotend heater (2-pin connection)
   • Hotend thermistor (2-pin connection)
   • Hotend cooling fan (2-pin connection)
3. Connect B-axis stepper through slip ring (4-pin connection)
4. Connect B-axis endstop through slip ring (2-pin connection)
5. Check slip ring rotation - should rotate freely without binding wires

Cable management

1. Organize all wiring for clean routing
2. Secure loose cables to prevent interference
3. Test full motion range with all cables connected

Part 4: Testing and calibration

Step 15: System verification and testing

System verification

1. Power up system and verify no error messages
2. Test all 6 axes with careful manual G-code commands:
   • X, Y, Z axes: G1 X10 F1000 (move slowly, verify direction)
   • A-axis: G1 A45 F1000 (rotate in 45° increments)
   • B-axis: G1 B10 F1000 (tilt slowly, watch for collisions)
   • Extruder: G1 E10 F100 (extrude 10mm slowly)
3. Verify endstops trigger properly with M119 command
4. Check thermal systems:
   • Hotend heating: M104 S200 (heat to 200°C)
   • Bed heating: M140 S60 (heat to 60°C)
   • Verify temperature readings are stable

Extruder calibration

Why calibrate the extruder:

• Incorrect E-steps leads to over/under-extrusion, poor print quality

How to calibrate E-steps:

1. Mark filament - Make a mark 120mm above the extruder entrance
2. Heat hotend - M104 S200 (or your printing temperature)
3. Extrude 100mm - Send command: G1 E100 F100
4. Measure remaining distance - Measure from extruder entrance to your mark
5. Calculate actual extrusion - Should be 20mm remaining (120mm - 100mm)
6. Calculate new E-steps:
   • If more than 20mm remains → extruding too little
   • If less than 20mm remains → extruding too much
   • Formula: New E-steps = (Current E-steps × 100) / Actual distance extruded
   • Example: Mark is at 25mm instead of 20mm → only 95mm extruded
   • New E-steps = (Current × 100) / 95
7. Update firmware - M92 E[new value] then M500 to save
8. Verify - Repeat test to confirm accuracy

5-axis kinematic calibration

1. Use Rep5x calibration tool at calibrator.rep5x.com
2. Follow cone or camera-based calibration procedure:
   • Cone method: Print calibration cone and measure deviations
   • Camera method: Use computer vision to detect tool center point offset
3. Update firmware with calibrated kinematic parameters:
   • A-axis offset
   • B-axis offset
   • Tool center point (TCP) coordinates
4. Test print simple geometry to verify functionality

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Assembly complete! Your Rep5x 5-axis conversion should now be ready for calibration and first prints. Join our Discord community for support and to share your successful build!