Duet 3 SCARA questions

JoergS5

@jstevewhite in the section "Testing the motors individually" of the doc link is the information in which direction the stepper should rotate. use H2 instead of S2 as parameter (changed for rrf3). H2 means it is ignoring homing or m208 limits.

jstevewhite

@JoergS5

So this config line:

M669 K4 P280 D270 A0:180 B25:160 C0:0:0 ; set to SCARA and set params

results in this:

X:-26.283 Y:-92.346 Z:0.000 E:0.000 E0:0.0 Count 16200 14400 0 Machine -26.283 -92.346 0.000 Bed comp 0.000

Which is sorta right ( -26, -92 is "kinda" sane ) but any motion fails with "Target Position not reachable from current position".

I had created macros to move each motor individually some time ago, and the motion direction is appropriate as described by the section you linked (that's where I got my information above) and without them I mostly can't move the motors because any G1 (any number) is met with "Target position not reachable from current position". When I move the motors individually, the x/y co-ordinates don't make any sense in this configuration.

JoergS5

@jstevewhite I would say if you cannot make any movement with a little G1 (with G91 before to be a relative movement), this means the current position is already outside of the allowed region. Can you please post how you are homing? homeall.g, homedistal.g and homeproximal.g

Your statement
"Any permutation that doesn't have them opposite says X is at 520mm, which would be with the distal arm fully extended." would be a correct position which you can try again to start with, but with parameter B changed to include the 0 degree, so e.g. B-25:160 because otherwise the 0/0 degree angles are outside of the allowed region. To make sure, I would change A also:
A -20:180 B-20:160
and after having the arm in this straight position and all axes marked as homed in the DWC, try something like
G91 G1 X1

JoergS5

@jstevewhite if you are still using your first image configuration, the A angles are between 90.1 and -89.9 degree and B angles are between 20.0 and -130.9 degrees (because clockwise is negative).

So the parameters should be (sorted min values first):
A-89.9:90.1 B-130.9:20.0

(but -130.9 seems to be wrong to me and should be smaller eg -150. The angle should start at the prolongation of proximal and distal arm)

jstevewhite

@JoergS5 said in Duet 3 SCARA questions:

A-89.9:90.1 B-130.9:20.0. < this one results in "Intermediate position outside machine limits" for any move at any point in the machine's actual rotational ability.

So I've tried both of those configurations after (once again) correcting the rotation direction (had the distal arm rotating the wrong direction). The first one is similar to a config I've tried. It allows me to do small moves in X and Y, but the co-ordinates are nonsensical - they look right at homing, but 0,0 is maybe 300mm from the Proximal axis and once you cross it any relative move results in a long move that goes out of the working area. E.g. G91; G1 X1 results in a 90º rotation of the proximal axis.

If I read the docs (and dc42) right, 0,0 should be at the proximal axis pivot. Meaning X and Y should be decreasing as the effector moves away from the axis. I'm wondering if I should be using angles in the lower quadrant (negative going on both axes) because the bot is left handed. e.g. 180-360 instead of 0-180.

jstevewhite

@JoergS5

Here's homedistal.g

G91 ; relative movement
G1 H1 Y-200 F2000 ; move distal joint counter-clockwise until triggers
G1 H2 Y10 ; back off 10 degrees
G1 H1 Y-20 F1200
;G1 H2 Y20
G90

and homeproximal.g

G91 ; relative movement
G1 H1 X200 F1200 ; move distal joint counter-clockwise until triggers
G1 H2 X-10 ; back off 10 degrees
G1 H1 X40 F300
;G1 H2 X20
G90

I do not use homeall.g because I can't make it stop throwing an error trying to home z, even though I have no Z axis configured.

jstevewhite

There is clearly a problem with the angles I'm using here because no combination I have tried puts 0,0 at the Proximal axis.

JoergS5

my post about G92 was wrong, see below

jstevewhite

@JoergS5

I'll sure try that tomorrow, but at one point I had it set with the angles correct in M208 for the endstops and it still didn't have 0,0 in the appropriate location.

I'll report back tomorrow

JoergS5

my post about G92 was wrong, see below

jstevewhite

@JoergS5

Image of robot (drawbot, not printer):
Monosnap 2020-10-17 12-44-17.jpg

Please disregard the marked angles as other than an indication of the range of motion.

I do not understand this bit:

The crosstalk factors define how much the motors interfere with each other. If they are all zero then it is assumed that the X motor affects only the angle between the proximal arm and the X axis, the Y motor affects only the angle between the distal arm and the X axis (not the proximal-to-distal arm angle as you might expect), and the Z motor affects only the nozzle height. If this is true for your printer, you can omit the C parameter. Otherwise, if the parameter is of the form Caaa:bbb:ccc, then:

aaa is the amount by which the X motor (whose primary function is to control the proximal arm) affects the angle between the distal arm and the proximal arm. For example, if movement of the proximal motor affects the proximal-to-distal joint angle in reverse (so that an X motor movement that causes one degree of proximal arm movement also changes the angle between the distal arm and the X axis by one degree in the opposite direction) then this crosstalk factor is 1.

They seem to contradict one another.

G92 does not seem to set the angle the machine believes the arms are at, but instead appear to affect cartesian co-ordinates:

10/18/2020, 11:37:13 AM	M114
X:16.886 Y:150.000 Z:0.000 E:0.000 E0:0.0 Count 1391 22457 0 Machine 16.886 150.000 0.000 Bed comp 0.000
10/18/2020, 11:37:08 AM	G92 Y150
10/18/2020, 11:37:00 AM	M114
X:16.886 Y:95.766 Z:0.000 E:0.000 E0:0.0 Count 0 24915 0 Machine 16.886 95.766 0.000 Bed comp 0.000

As you can see, G92 Y150 resulted in Y being set to 150 and X being unchanged, but the reported angles change to something else entirely.

dc42

@jstevewhite said in Duet 3 SCARA questions:

G92 does not seem to set the angle the machine believes the arms are at, but instead appear to affect cartesian co-ordinates:

That's correct, that is how G92 is defined.

jstevewhite

@dc42
Can you clarify the bit I quoted? That's from the duet docs and is very confusing.

Also, any advice since I made this thing left handed?

Ultimately, I've been unable to come up with any combination of reported angles in M669 that result in 0,0 being at the proximal axis. The only even remotely functional settings I've come up with result in 0,0. being way up top and no moves being rectilinear. I made a law of cosines spreadsheet and calculated the angles but there's clearly some rotation here that I don't understand.

JoergS5

This post is deleted!

dc42

I'm sorry, the documentation was out of date. I have corrected it. It now reads (changed part in italics):

The crosstalk factors define how much the motors interfere with each other. If they are all zero then it is assumed that the X motor affects only the angle between the proximal arm and the X axis, the Y motor affects only the angle between the distal arm and the proximal arm, and the Z motor affects only the nozzle height.