In order to solve the difficult problem of precisely forming complex trajectory in 3D printing of traditional 3-axle continuous fiber

a 5-axis continuous fiber 3D printer with 5 linkage shafts (XYZBC) and 1 auxiliary shaft of resin screw extruder was designed and built. Aiming at the problems of typical 3D printing control scheme

such as small number of linkable shafts

poor expandability and poor real-time performance

the full-software open CNC system was studied and applied in continuous fiber material increment manufacturing. Based on open-source CNC platform LinuxCNC and EtherCAT industrial Ethernet

a full-software open CNC system for 5-axis continuous fiber 3D printer is designed and developed. By optimizing the RT–Preempt real-time core

the HAL module integrated with IgH–EtherCAT was developed to complete the 5-axis linkage control

and the screw extruding shaft was used as the spindle to achieve the accurate control of its speed. The maximum dither control of user-level and core-level scheduling is tested within 5μs

the maximum dither of CNC system with integrated EtherCAT is less than 50μs

which prove that the CNC has good real-time performance. Finally

the feasibility of the 5-axis continuous fiber 3D printing system scheme is verified by standard tensile property test and forming experiment of space lattice structure.