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    Scara support ?

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    • frafaundefined
      frafa
      last edited by

      Oup's…
      I had not seen page 2 of the post 😞
      A big thank you for your responsiveness !
      I test this afternoon at fablab

      Scara with DuetWifi => Scarlette3D
      https://youtu.be/mBF5cO8vGhI

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      • frafaundefined
        frafa
        last edited by

        Hello,
        Again a big thank you for your responsiveness
        My tests:

        The M669 command used (X150.0 Y-61.0):
        M669 K4 P200 D200 A-175:175 B-175:175 1:0:0 S200 X150.0 Y-61.0; set SCARA kinematics parameters

        ok
        Test moves First arm of 20 ° it's ok?
        G1 S2 X10 ;anticlockwise
        G1 S2 X-10 ;clockwise

        ok
        Test moves second arm of 20 ° it's ok?
        G1 S2 Y10 ;anticlockwise
        G1 S2 Y-10 ;clockwise

        All movements in Pronterface in debug mode return:
        SENDING:G92 X0 Y0
        [ERROR] Traceback (most recent call last):
        File "printrun\printcore.pyc", line 241, in _readline
        File "printrun\pronterface.pyc", line 1713, in recvcb
        File "printrun\pronterface.pyc", line 1669, in update_pos
        ValueError: could not convert string to float:

        Homing goes in the right direction x/y/z

        I manually move the arms to position x0/y0
        I power on with Pronterface I send command G92 X0 Y0

        I'm testing x/y placements everything works but upside down
        When i do x + i get an x-
        And when i do a y + i get a y-

        I reverse the engines in config.g and the displacements do anything?
        I put the file config.g normal, and I reverse the connector of the engines,
        Same results the movements do anything

        In short I did not succeed in reversing the meaning, how to do?
        It's almost perfect we're not far 🙂

        Scara with DuetWifi => Scarlette3D
        https://youtu.be/mBF5cO8vGhI

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        • dc42undefined
          dc42 administrators
          last edited by

          In writing the firmware I assumed that the bed is to the right of the proximal joint, and the zero angle position of both arms is with them stretched out to the right so that they point towards the +X direction. Do you by any chance have your arm mounted the other way round?

          Duet WiFi hardware designer and firmware engineer
          Please do not ask me for Duet support via PM or email, use the forum
          http://www.escher3d.com, https://miscsolutions.wordpress.com

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          • frafaundefined
            frafa
            last edited by

            hi
            My Kinematics
            for later 😛 End-stops (hall effect +on5v) are on X22.00 Y-35.00

            Scara with DuetWifi => Scarlette3D
            https://youtu.be/mBF5cO8vGhI

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            • dc42undefined
              dc42 administrators
              last edited by

              Ok, so what i have assumed is +X is your +Y, and what I have assumed is +Y is your -X. Thinking about it, there are 4 possible orientations of the bed if we only consider the obvious ones, and I guess the firmware should allow any of them in a configuration option. Or maybe it should allow an arbitrary bed rotation angle.

              For now, if you define the top left corner of the bed in your diagram as (0,0) and the axis directions as I have assumed them, then you should be able to print

              Regarding homing, I was assuming there will be a limit switch at one end of the travel of each joint.

              Duet WiFi hardware designer and firmware engineer
              Please do not ask me for Duet support via PM or email, use the forum
              http://www.escher3d.com, https://miscsolutions.wordpress.com

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              • frafaundefined
                frafa
                last edited by

                Of course I'm stupid, I did not think about it
                I test this afternoon

                Scara with DuetWifi => Scarlette3D
                https://youtu.be/mBF5cO8vGhI

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                • frafaundefined
                  frafa
                  last edited by

                  Hi
                  define the top left corner of the bed, change on M669 x/y
                  and print…
                  ok 🙂

                  Video, sorry the machine is under development all is not clean ...
                  http://www.openhardware.eu/tmp/DuetWifi/VID.mp4

                  I still have to solve the same vibrations as with Smoothie …

                  My M669
                  M669 K4 P200 D200 A-175:175 B-175:175 1:0:0 S200 X118.0 Y-150;

                  My reduction motor and pulley
                  Motor 400 step/revolution 0.9°
                  Pulley 80/16
                  Microstepping 256
                  Calcul Step/° X/Y (Réduct 80/16) ==> 400256(80/16)/360=1422,2222222222222222222222222222

                  What can be the cause in your opinion not enough mechanical reduction, or other ?


                  Thank you very much !

                  Scara with DuetWifi => Scarlette3D
                  https://youtu.be/mBF5cO8vGhI

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                  • dc42undefined
                    dc42 administrators
                    last edited by

                    I'm glad you are making progress.

                    Have you tried adjusting the segments/sec and minimum segment length in the M669 command, to see whether it affects the vibration?

                    Duet WiFi hardware designer and firmware engineer
                    Please do not ask me for Duet support via PM or email, use the forum
                    http://www.escher3d.com, https://miscsolutions.wordpress.com

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                    • frafaundefined
                      frafa
                      last edited by

                      I am also pleased ! 🙂
                      Not tried, i test tomorrow.

                      Scara with DuetWifi => Scarlette3D
                      https://youtu.be/mBF5cO8vGhI

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                      • frafaundefined
                        frafa
                        last edited by

                        Hello,

                        I've done a lot of testing, and the best configuration seems to be
                        M669 S200 T0.5
                        It's not perfect, but it's better

                        But on another piece the result is not satisfactory

                        Saturday I tried on cubes and diamonds to try to understand,
                        Because the vibrations seem to be present only on the diagonals of the bed …
                        If you have an idea to improve ...

                        I will redo the arm to pass in reduct of 160/16
                        And GT2 belts 10mm high to see if it improves
                        http://www.openhardware.eu/tmp/DuetWifi/VID_20170713_181706.mp4

                        Scara with DuetWifi => Scarlette3D
                        https://youtu.be/mBF5cO8vGhI

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                        • frafaundefined
                          frafa
                          last edited by

                          Hello,
                          I'm Happy 🙂
                          It is almost perfect there are still some vibrations but I think I can further refine the firmware settings

                          I completely redraw the arms of scara
                          Now reduction 160/16
                          pulley DIY gt2 lasercut and Wide belt 10mm high
                          New experimental firmware 1.19beta10

                          http://www.openhardware.eu/tmp/DuetWifi/new/VID_20170721_171557.mp4

                          Scara with DuetWifi => Scarlette3D
                          https://youtu.be/mBF5cO8vGhI

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                          • number40fanundefined
                            number40fan
                            last edited by

                            I can't help to think how a set of shock absorbers would help. You have so much mass hung out so far that you are trying to stop and start. Am I wrong in thinking that something that could help dampen the movement would help?

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                            • dc42undefined
                              dc42 administrators
                              last edited by

                              I'm glad you are making progress! You are the first person to use RRF or a Duet on a Scara printer.

                              I'll try to implement Scara homing before the 1.19 release. You will need a microswitch at one end of the movement range of each joint.

                              Duet WiFi hardware designer and firmware engineer
                              Please do not ask me for Duet support via PM or email, use the forum
                              http://www.escher3d.com, https://miscsolutions.wordpress.com

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                              • frafaundefined
                                frafa
                                last edited by

                                Thanks to you for your reactivity !

                                The endstop will be hall effect 3v logic / v+ on 5v (banggood model)

                                Scara with DuetWifi => Scarlette3D
                                https://youtu.be/mBF5cO8vGhI

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                                • dc42undefined
                                  dc42 administrators
                                  last edited by

                                  Is your SCARA printer home designed and built, or is the mechanics built from a kit? We're looking for some SCARA mechanics to use as a test bed for the SCARA support in RRF.

                                  Duet WiFi hardware designer and firmware engineer
                                  Please do not ask me for Duet support via PM or email, use the forum
                                  http://www.escher3d.com, https://miscsolutions.wordpress.com

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                                  • frafaundefined
                                    frafa
                                    last edited by

                                    Hello
                                    This is a model designed by me being created,
                                    It will be open-source when finished
                                    Download Sketchup 2016 model of the current model being developed: http://www.openhardware.eu/tmp/DuetWifi/scara-v5.skp
                                    humm … google translate ...
                                    Evolutions in progress not final model, but functional...

                                    Scara with DuetWifi => Scarlette3D
                                    https://youtu.be/mBF5cO8vGhI

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                                    • frafaundefined
                                      frafa
                                      last edited by

                                      Hello,
                                      A big thank you for the support of Scara and end stops on version 1.19RC1
                                      I test tomorrow 🙂

                                      My end stops are not exactly on X0/Y0 M206 is supported ?
                                      and move in X0/Y0 after homing ?

                                      Scara with DuetWifi => Scarlette3D
                                      https://youtu.be/mBF5cO8vGhI

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                                      • frafaundefined
                                        frafa
                                        last edited by

                                        Hello,
                                        Is it possible that you explain how to set up Homing on Scara
                                        https://duet3d.com/wiki/Configuring_RepRapFirmware_for_a_SCARA_printer

                                        Scara with DuetWifi => Scarlette3D
                                        https://youtu.be/mBF5cO8vGhI

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                                        • dc42undefined
                                          dc42 administrators
                                          last edited by

                                          I've just done that.

                                          Duet WiFi hardware designer and firmware engineer
                                          Please do not ask me for Duet support via PM or email, use the forum
                                          http://www.escher3d.com, https://miscsolutions.wordpress.com

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                                          • frafaundefined
                                            frafa
                                            last edited by

                                            Hello
                                            A big thank you for all your work!

                                            My end-stop limit is not exactly in X0 / Y0
                                            Before with smoothie I used M206 to specify offset and move on real X0/Y0 after homing

                                            How to do with ReprapFirmware?

                                            Scara with DuetWifi => Scarlette3D
                                            https://youtu.be/mBF5cO8vGhI

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