+
+- [ABB - IRC - 5 - Controller](https://new.abb.com/products/robotics/controllers/irc5)
+- [ABB - IRC - 5 Manuals](./vendor/abb/IRC5_Operating manual_Trouble shooting_3HAC020738-001_revK_en.pdf)
+- [ABB - IRC - Datasheet](./vendor/abb/IRC5-Industrial-Robot-Controller-data sheet.PDF)
+- [ABB irb 6600 175-2.8](https://library.e.abb.com/public/560fa420555c2d8ac1257b4b0052112c/3HAC023933-001_rev1_en.pdf)
+- [ABB irb 6600 175 - 2.8 - Local](./vendor/abb/IRB_6600_R_US 02_05.pdf)
+- [ABB 660 - Specs](./vendor/abb/ABB-IR-6600-3HAC14064-1_revH_en_library.pdf)
+- [ABB Robotstudio Downloads](https://new.abb.com/products/robotics/robotstudio/downloads)
+
+## Project links
+
+* [Project Slack channel](https://pporgworkspace.slack.com/archives/C01A8G36MRP)
+* [Firmware](https://gitlab.com/plastichub/medusa/firmware)
+
+
+## Follow ups
+
+- [ ] calc. energy overhead, per printed kg of plastic
+- [ ] calc. min. invest to print obvious products
+- [ ] investigate possible OS verticals
+- [ ] develop generic system & functional design for v2.0 candidats, for 6D robots but also cable driven 3D systems
+- [ ] check displacement options for segmented prints, (cheap floor track system?)
+- [ ] check material remove options (see ATIish tool changers [YT](https://www.youtube.com/watch?v=EvsgCZyQuq0&ab_channel=ATIIndustrialAutomation))
diff --git a/extrusion/lydia-print-head-v1/README.md b/extrusion/lydia-print-head-v1/README.md
new file mode 100644
index 000000000..bda7812c6
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/README.md
@@ -0,0 +1,160 @@
+# Robot driven print systems
+
+***brief*** this is part of our work of PP OpenSource contributions, please check our [library](https://library.precious-plastic.org/) or our [main page](https://plastic-hub.com/products/) for more.
+
+The print head is a modification of [Lydia-v4](https://plastic-hub.com/products/lydia-v4.html) and aims at a generic solution for most of it´s components.
+
+**Status** : Confirmed & in progress, ETA Mid. of October
+
+## Todos
+
+* [x] Motor selection
+* [ ] Firmware updates
+ + [x] Check TCP stack memory/CPU footprint on the ControllinoMega
+* [x] Sensors / Audio, LED feedback (status, etc... )
+* [ ] Support [RAPID - ABB robots, but uses customer spec](https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf)
+
+### Todos Frederike@3dtreehouse
+
+monday memo:
+
+* [ ] Gantry mount plate, we need the size and locations of the mount holes. We'd need a test rig here.
+* [ ] Location and size of the cabinet, what on the control panel (controls & plugs) ?
+* [x] We have to know how we share power source & ground among all digital circuits. Currently we're mostly at 24V and we need another source for 12V (fans, etc...)
+* [ ] Clarify RAPID ethernet connectivity
+- [ ] local setup / updates ?
+- [ ] screw tip / max. barrel length / screw mod
+- [ ] Fan control
+
+## Components
+
+* [x] [OMRON MX2 VFD](https://industrial.omron.es/es/products/3G3MX2-A2022-E) [BOM](https://es.wiautomation.com/omron/variadores-motores-proteccion-de-circuitos/3G3MX2A2022E?SubmitCurrency=1&id_currency=1&gclid=Cj0KCQjwy8f6BRC7ARIsAPIXOjgnGbRSd_DaX-o59wjtIBqI2mGllXWWOvjhSC1sPQgOTmGMvc7toncaAqejEALw_wcB)
+* [ ] [3G3MX2-A2015-E](https://es.wiautomation.com/omron/variadores-motores-proteccion-de-circuitos/3G3MX2A2015E?utm_source=shopping_free&utm_medium=organic&utm_content=ES105728&gclid=Cj0KCQjwgYSTBhDKARIsAB8KuksIYzB6ATQnPv1r7SiF5Z1-2ySXLYHNzPDPoK95TaC2jr17-ueXM_8aAtZiEALw_wcB)
+* [x] Controllino - Mega as already mentioned a few times, adds 280 Euro
+* [x] a better motor and gearbox - MotoVario
+* [ ] custom firmware development
+* [x] ModBus capable PID controllers (3x) : [Omron - E5DC-B](https://industrial.omron.eu/en/products/E5DC-QX2ASM-002) - Din - Rail Module [BOM](https://es.wiautomation.com/omron/plc-sistemas/E5DCQX2ASM002?SubmitCurrency=1&id_currency=1&gclid=Cj0KCQjwy8f6BRC7ARIsAPIXOjgWMeg-P2iN7wysDExpeHJHtEHAv06B2pKTz3DQlKjn67Al2K7YvvMaAs4IEALw_wcB)
+* [Hopper - Linear Solenoid](https://uk.farnell.com/guardian-electric/t12x19-c-24d/solenoid-pull-operation-24vdc/dp/1608128?gclid=EAIaIQobChMIn4Xa8LPz6wIVEuntCh2SvwcDEAkYASABEgK3uvD_BwE&gross_price=true&mckv=s7TWt3nIG_dc%7Cpcrid%7C459864482330%7Cplid%7C%7Ckword%7C%7Cmatch%7C%7Cslid%7C%7Cproduct%7C1608128%7Cpgrid%7C114464711464%7Cptaid%7Cpla-323868377918%7C&CMP=KNC-GUK-SHOPPING-SMEC-Whoops-Newstructure-31Aug2020)
+* [ ] Motor [Cidepa](https://www.cidepa-sincron.com/en/25/cfm-parallel-shafts-gearboxes) - CFM-37.3 1/35 1 | 750W | 1.2SF
+
+
+### Noah OS Variant
+
+* [x] [PLC/Proxy for Aux, Sensors, Relays, etc... - CP1L-EM40DT1-D](http://www.ia.omron.com/products/family/1916/lineup.html), works well with [Omron NB NB3Q-TW01B](https://es.wiautomation.com/omron/hmi-pc-industriales/NB3QTW01B?SubmitCurrency=1&id_currency=1&gclid=CjwKCAjwh7H7BRBBEiwAPXjadt5G-53T-xJ8v5VmzdF5wUu8uHT1us-fzXU5913IwC3Kbz4cDg3jnBoC7g0QAvD_BwE)
+
+### Specs
+
+- Voltage : 220V|380V
+- [ ] Max. 120Kg, first rev. might be around 60KG
+- [ ] Controller cable length around 20 meter
+- [ ] PID : +/- 5 degc tolerance, alarm/cooling outputs
+
+### Gantry Mount
+
+- [ ] : run static tests
+* the tool flange is on p30, ([see also ATI Toolchanger - YuTu](https://www.youtube.com/watch?v=kDP-oofDn4w&feature=youtu.be))
+* [Why ATI Manual Tool Changers?](https://www.youtube.com/watch?v=N2Pr0tAsYkU&ab_channel=ATIIndustrialAutomation)
+* [x] we need a laser cut barrel shield which holds the insulation material
+* [x] on the barrel tip, we need some mounting possibilties for fans which are a little heavy as well
+- [ ] ATI mount ([see ATI Tool changers @ 3dcentral](https://www.3dcontentcentral.com/syndication/supplier/ATI%20Industrial%20Automation/147.aspx))
+
+### Firmware
+
+(https://www.controllino.biz/product/controllino-mega/) which gives us Ethernet and RS485. The board has been proven reliable and robust (ideal for prototyping).
+- [-] VFD and PID control is mapped to Serial communication which might accept G-Code
+- [x] VFD will be Omron-M2X series since we can use existing code. The VFD also supports Modbus (rather difficult)
+- [ ] Internal registers/coils (custom PlasticHub Firmware) to Modbus rep
+
+
+
+**[Diagram source](https://app.diagrams.net/#G1L7Prviy9U-2gpcZHm8Z5dj39gxDHd_V_)**
+
+### PID Controller
+
+* [x] We should go for [Omron E5-C](https://assets.omron.com/m/6f7cd0d93654a7a4/original/E5_C-Temperature-Controller-to-NB-Screen-Template-Tech-Guide.pdf) series which come with Modbus (consider EMI and cable length to the main controller)
+* [x] Each PID will be exposed on the internal ModBus mapping
+* There is currently a [custom PID controller](https://gitlab.com/plastichub/pid-controller) in development but as mentioned, it's unlikely that it sees the light before November. However, I can imagine we use sub-routines as they're avaiable
+* [-] We should create logging module as well a an API to set temperature profiles for different materials. The logging module will help analyzing different PID settings as well experimenting with barrel cooling (when overshooting becomes an issue).
+* [-] Additional, we forward alarms for overshooting on the internal bus
+
+* **Changes** : Turns out that the [E5DC / E5DC-B](http://www.ia.omron.com/products/family/3242/) family is better choice.
+
+
+
+### Barrel
+
+- [-] OD should be standard to EU heatbands
+- [ ] Between Nozzel and barrel we might have some adaptery to exchange different screw tips, up to 10 cm
+- [x] should have a mount near the nozzle
+- [x] Barrel - motor flange should have some redunancy to enable different barrels
+
+----
+
+### Hopper interface and Hopper
+
+* [x] should have a thread interface
+
+## Todos
+
+* [x] Investigate Omron - PID feedback to enable more control via M/G codes (purge, ...)
+* [x] Investigate GCode to ROS mapping
+* [x] Investigate screw tip machining, if lucky we get away with 4 axis
+* [-] Test different VFD/PID checksum/parity settings with larger EMI around
+
+# References
+
+## ROS (cancelled)
+
+* [ROS - Github](https://github.com/ros-industrial)
+* [ROS - GBRL - Github](https://github.com/openautomation/ROS-GRBL/wiki/GRBLtron)
+* [ROS - Matlab|SimuLnk](https://www.mathworks.com/help/ros/ug/get-started-with-ros-in-simulink.html)
+* [ROS Modbus - Wiki](http://wiki.ros.org/modbus)
+* [ROS Modbus - PLC - Github](https://github.com/sonyccd/ros_plc_modbus)
+
+## ProfiBus
+
+* [Instructables Arduino](https://www.instructables.com/Profibus-DP-Communication-Between-Arduino-and-PLC/)
+* [Arduino Forum](https://forum.arduino.cc/index.php?topic=458492.0)
+- [Specs - PDF](https://forum.arduino.cc/index.php?topic=458492.0)
+
+## Related Projects
+
+* [Project Noah](https://gitlab.com/plastichub/noah)
+
+### Cable robotics
+
+- [The Cable-robot Analysis and Simulation Platform for Research (CASPR)](https://github.com/darwinlau/CASPR)
+- [CUHK C3 Robotics Laboratory - Youtube](https://www.youtube.com/channel/UCxadDa3g1fUarP4ldAECtLQ)
+
+
+### Rapid - ABB
+
+* [Language specs and docs](./vendor/abb/2CSG445026D0201-ANR-LAN-Modbus-TCP-Protocol.pdf)
+* [ABB - AC_800M - Protocols](./vendor/abb/3BSE035982-511_en_AC_800M_5.1_Feature_Pack_Communication_Protocols.pdf)
+
+### ABB 6600
+
+
+
+- [ABB - IRC - 5 - Controller](https://new.abb.com/products/robotics/controllers/irc5)
+- [ABB - IRC - 5 Manuals](./vendor/abb/IRC5_Operating manual_Trouble shooting_3HAC020738-001_revK_en.pdf)
+- [ABB - IRC - Datasheet](./vendor/abb/IRC5-Industrial-Robot-Controller-data sheet.PDF)
+- [ABB irb 6600 175-2.8](https://library.e.abb.com/public/560fa420555c2d8ac1257b4b0052112c/3HAC023933-001_rev1_en.pdf)
+- [ABB irb 6600 175 - 2.8 - Local](./vendor/abb/IRB_6600_R_US 02_05.pdf)
+- [ABB 660 - Specs](./vendor/abb/ABB-IR-6600-3HAC14064-1_revH_en_library.pdf)
+- [ABB Robotstudio Downloads](https://new.abb.com/products/robotics/robotstudio/downloads)
+
+## Project links
+
+* [Project Slack channel](https://pporgworkspace.slack.com/archives/C01A8G36MRP)
+* [Firmware](https://gitlab.com/plastichub/medusa/firmware)
+
+
+## Follow ups
+
+- [ ] calc. energy overhead, per printed kg of plastic
+- [ ] calc. min. invest to print obvious products
+- [ ] investigate possible OS verticals
+- [ ] develop generic system & functional design for v2.0 candidats, for 6D robots but also cable driven 3D systems
+- [ ] check displacement options for segmented prints, (cheap floor track system?)
+- [ ] check material remove options (see ATIish tool changers [YT](https://www.youtube.com/watch?v=EvsgCZyQuq0&ab_channel=ATIIndustrialAutomation))
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diff --git a/extrusion/lydia-print-head-v1/cad-single/Barrel Flange 10mm.SLDPRT b/extrusion/lydia-print-head-v1/cad-single/Barrel Flange 10mm.SLDPRT
new file mode 100644
index 000000000..75bd75d7b
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/Barrel Flange 10mm.SLDPRT
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc0afc6edd1efce5ea8ac8a7e29c45368db1594b68af940af28fa7e1a535a7eb
+size 112219
diff --git a/extrusion/lydia-print-head-v1/cad-single/Extruder Mount.SLDASM b/extrusion/lydia-print-head-v1/cad-single/Extruder Mount.SLDASM
new file mode 100644
index 000000000..e0fc136ba
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/Extruder Mount.SLDASM
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:507ce88644f6255671004a7ead625acbdde24f799629f4183a7827b9606e7594
+size 1830615
diff --git a/extrusion/lydia-print-head-v1/cad-single/Motor Flange 10mm thick.SLDPRT b/extrusion/lydia-print-head-v1/cad-single/Motor Flange 10mm thick.SLDPRT
new file mode 100644
index 000000000..6fb2f2f31
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/Motor Flange 10mm thick.SLDPRT
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eec4b7a37f276c7e68edf9ea21be08264b1a8978c6851708a62a17658e49bdb
+size 127099
diff --git a/extrusion/lydia-print-head-v1/cad-single/Motor mounting sideplate.SLDPRT b/extrusion/lydia-print-head-v1/cad-single/Motor mounting sideplate.SLDPRT
new file mode 100644
index 000000000..c146b2a01
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/Motor mounting sideplate.SLDPRT
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f421b97c8acbc1d929038d51fc7f8bb508fd9b5fb81f676f9a505c34ed595085
+size 109233
diff --git a/extrusion/lydia-print-head-v1/cad-single/Robot.SLDASM b/extrusion/lydia-print-head-v1/cad-single/Robot.SLDASM
new file mode 100644
index 000000000..f21c616b5
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/Robot.SLDASM
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b50c691f55ff21ffb42cd74048f1d6c571f46f572a268d1b21d17e35c557310
+size 2840781
diff --git a/extrusion/lydia-print-head-v1/cad-single/Toolhead Mounting Boss.SLDPRT b/extrusion/lydia-print-head-v1/cad-single/Toolhead Mounting Boss.SLDPRT
new file mode 100644
index 000000000..9e9509029
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/Toolhead Mounting Boss.SLDPRT
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a461ed3005752af954238616073f6fce4d11b1fbdede305fac526a32131f919d
+size 201740
diff --git a/extrusion/lydia-print-head-v1/cad-single/barrel printhead new.SLDPRT b/extrusion/lydia-print-head-v1/cad-single/barrel printhead new.SLDPRT
new file mode 100644
index 000000000..929052bcf
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/barrel printhead new.SLDPRT
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5318a007b111c811ecefcda315caccba38fbf17a8a23556b3511cbfed24ab04
+size 83204
diff --git a/extrusion/lydia-print-head-v1/cad-single/bearing housing new.SLDPRT b/extrusion/lydia-print-head-v1/cad-single/bearing housing new.SLDPRT
new file mode 100644
index 000000000..a5833aab6
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/cad-single/bearing housing new.SLDPRT
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b99a95e3806cd46513aa88963a27b4456843976b0080337d05a63112bb3c194b
+size 117125
diff --git a/extrusion/lydia-print-head-v1/config.json b/extrusion/lydia-print-head-v1/config.json
new file mode 100644
index 000000000..18302f74b
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/config.json
@@ -0,0 +1,66 @@
+{
+ "slug": "lydia-print-head",
+ "version": "1.0",
+ "code": "LPH45",
+ "category": "extrusion",
+ "name": "Print-Head",
+ "product_perspective": "${abs_url}/${product_rel}/renderings/perspective.jpg",
+ "download": "http://files.osr-plastic.org/files/machines/extrusion/lydia-print-head/",
+ "wiring" : false,
+ "product_page": "${abs_url}/products/${slug}.html",
+ "opensource": true,
+ "bestseller": false,
+ "showParts":false,
+ "showDimensions":false,
+ "forumSupportCat" : 70,
+ "edrawings":"${abs_url}/${product_rel}/resources/edrawings.html",
+ "firmware":"http://files.osr-plastic.org/files/firmware/print-head/",
+ "Preview3d": true,
+ "forum": "https://forum.osr-plastic.org/c/machines/3d-print/70",
+ "forumCategory": 70,
+ "build":{
+ "videos":[
+ {
+ "id":"1tF42bxlHFg",
+ "label":"Machining the motor flange & bearing housing - 1/5"
+ },
+ {
+ "id":"D2JZfCK3y7g",
+ "label":"Machining the motor flange & bearing housing - 2/5"
+ },
+ {
+ "id":"jgMy7XkEqxE",
+ "label":"Machining the motor flange & bearing housing - 3/5"
+ },
+ {
+ "id":"vjDaTPELqgQ",
+ "label":"Machining the motor flange & bearing housing - 4/5"
+ },
+ {
+ "id":"mnGkm5bL5jc",
+ "label":"Machining the extrusion screw shaft extension - 5/5"
+ }
+ ]
+ },
+ "meta":{
+ "videos":[
+ {
+ "id":"N0ZjLyCRHKA",
+ "label":"About Precious Plastic Extruders"
+ }
+ ]
+ },
+ "components": [
+
+ ],
+ "authors": [
+ {
+ "name": "PlasticHub S.L.",
+ "url": "${author_link}"
+ },
+ {
+ "name": "Dan Shirley - Timberstar",
+ "url": "https://www.facebook.com/dan.shirley.33"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/extrusion/lydia-print-head-v1/config.yaml b/extrusion/lydia-print-head-v1/config.yaml
new file mode 100644
index 000000000..f2fdcdb3c
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/config.yaml
@@ -0,0 +1,12 @@
+product_id: lydia-print-head
+tags:
+ - lydia-v4
+ - v4
+ - extrusion
+has_spec: true
+preview: ${product_preview}
+buy: "mailto:sales@plastic-hub.com?subject=Inquiry%20-%20${slug}"
+overview_drawing: true
+teaser: "Powerful extruder for semi profesionall production. Comes with lots of extra safety electronics."
+products: true
+features: true
\ No newline at end of file
diff --git a/extrusion/lydia-print-head-v1/firmware/.gitignore b/extrusion/lydia-print-head-v1/firmware/.gitignore
new file mode 100644
index 000000000..89cc49cbd
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/firmware/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
diff --git a/extrusion/lydia-print-head-v1/firmware/.travis.yml b/extrusion/lydia-print-head-v1/firmware/.travis.yml
new file mode 100644
index 000000000..7c486f183
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/firmware/.travis.yml
@@ -0,0 +1,67 @@
+# Continuous Integration (CI) is the practice, in software
+# engineering, of merging all developer working copies with a shared mainline
+# several times a day < https://docs.platformio.org/page/ci/index.html >
+#
+# Documentation:
+#
+# * Travis CI Embedded Builds with PlatformIO
+# < https://docs.travis-ci.com/user/integration/platformio/ >
+#
+# * PlatformIO integration with Travis CI
+# < https://docs.platformio.org/page/ci/travis.html >
+#
+# * User Guide for `platformio ci` command
+# < https://docs.platformio.org/page/userguide/cmd_ci.html >
+#
+#
+# Please choose one of the following templates (proposed below) and uncomment
+# it (remove "# " before each line) or use own configuration according to the
+# Travis CI documentation (see above).
+#
+
+
+#
+# Template #1: General project. Test it using existing `platformio.ini`.
+#
+
+# language: python
+# python:
+# - "2.7"
+#
+# sudo: false
+# cache:
+# directories:
+# - "~/.platformio"
+#
+# install:
+# - pip install -U platformio
+# - platformio update
+#
+# script:
+# - platformio run
+
+
+#
+# Template #2: The project is intended to be used as a library with examples.
+#
+
+# language: python
+# python:
+# - "2.7"
+#
+# sudo: false
+# cache:
+# directories:
+# - "~/.platformio"
+#
+# env:
+# - PLATFORMIO_CI_SRC=path/to/test/file.c
+# - PLATFORMIO_CI_SRC=examples/file.ino
+# - PLATFORMIO_CI_SRC=path/to/test/directory
+#
+# install:
+# - pip install -U platformio
+# - platformio update
+#
+# script:
+# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N
diff --git a/extrusion/lydia-print-head-v1/firmware/.vscode/extensions.json b/extrusion/lydia-print-head-v1/firmware/.vscode/extensions.json
new file mode 100644
index 000000000..0f0d7401d
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/firmware/.vscode/extensions.json
@@ -0,0 +1,7 @@
+{
+ // See http://go.microsoft.com/fwlink/?LinkId=827846
+ // for the documentation about the extensions.json format
+ "recommendations": [
+ "platformio.platformio-ide"
+ ]
+}
diff --git a/extrusion/lydia-print-head-v1/firmware/License.md b/extrusion/lydia-print-head-v1/firmware/License.md
new file mode 100644
index 000000000..cba6f6a15
--- /dev/null
+++ b/extrusion/lydia-print-head-v1/firmware/License.md
@@ -0,0 +1,660 @@
+### GNU AFFERO GENERAL PUBLIC LICENSE
+
+Version 3, 19 November 2007
+
+Copyright (C) 2007 Free Software Foundation, Inc.
+|
+ Connection timed-out. Reload the page to continue. + |
+