rotating motor positions - with config file
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Hi to all !. How can I setup config to rotate motor positions for 90 degrees ?
From this: https://ibb.co/k5v823j
to this:
https://ibb.co/WKfKG45I didn't work much lately on this part of project so any help is welcome. Am using Teknic motors that are programmed .
M669 K10 U500 L1050 A-10:8 R8 H1800 B1000 ; A-10:7.3
M669 X150 Y150 Z150 ; rotate +X direction by 150deg
M666 X0 Y0 Z0 ; endstop adj.
M574 X2 Y2 Z2 S0 ; END STOP SWITCHES
; Drives --> changed 03.10 --> from S0 to S1
M569 P0 S0 ; Drive 0 goes backwards
M569 P1 S0 ; Drive 1 goes forwards
M569 P2 S0 ; Drive 2 goes forwards
M569 P3 S0 ; Drive 3 goes forwards
;------------------------------
M569 P5 S0 T3:3:3:3 ;R0
M569 P6 S0 T3:3:3:3 ;R0
M569 P7 S0 T3:3:3:3
M584 X5 Y6 Z7 E3:4
;-------------------------------
Arnix -
I looked at the images but have no idea what they are supposed to be showing.
Can you explain?
Frederick
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No problem
. First picture shows axis of each motor, of our rotary delta robot and the second one shows how new positions should be set. So, X, Y , Z are physical positions of each motor corresponding to axis of delta robot. -
@Arnix said in rotating motor positions - with config file:
No problem
. First picture shows axis of each motor, of our rotary delta robot and the second one shows how new positions should be set. So, X, Y , Z are physical positions of each motor corresponding to axis of delta robot.Did you try changing the axis-to-stepper assignments in M584?
Frederick
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If I understand you correctly, you have a rotary delta machine, and you want to rotate the entire mechanical system 90-degrees counterclockwise (looking down at the top of the machine) and you want to have the X and Y axes at the extruder lined up as usual.
Maybe this page can help you. I thin you set the Xnn Ynn Znn parameters in the M669 configuration command.
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you have a rotary delta machine, and you want to rotate the entire mechanical system 90-degrees counterclockwise
Correctly, whole robot base should be rotated counterclockwise for 90 degrees.
Can i change this just by M669 command and if so, how ?
Just from this : M669 X150 Y150 Z150 to M669 X240 Y240 Z240 ? Or with some other command as Frederick suggested ?. Btw. am using servo motors... -
Yes that should work.
How is the project going? I haven't heard from you in a long time.
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Its working. Thank you guys for your help !.
@dc42
Dear David, we are 95% done with the project and robot will be online in 2 weeks. There was some problems regarding vacuum and hardware so we have changed the whole approach. We made new HW installation and cover mask design. Now when i think of it, we spend really much time on HW. Finally we choose PIAB vacuum grippers and at the moment vacuum is working at 6 bar pressure with 800 Nl/m... As we discussed long time ago :-), i will need additional 4 boards. Hear you over skype regarding this...
