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Scara support ?

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  • undefined
    dc42 administrators
    last edited by 12 Jul 2017, 09:27

    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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    • undefined
      frafa
      last edited by 12 Jul 2017, 09:54

      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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      • undefined
        frafa
        last edited by 12 Jul 2017, 18:36

        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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        • undefined
          dc42 administrators
          last edited by 12 Jul 2017, 18:49

          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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          • undefined
            frafa
            last edited by 12 Jul 2017, 18:54

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

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

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            • undefined
              frafa
              last edited by 13 Jul 2017, 21:21

              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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              • undefined
                frafa
                last edited by 21 Jul 2017, 23:32

                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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                • undefined
                  number40fan
                  last edited by 21 Jul 2017, 23:39

                  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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                  • undefined
                    dc42 administrators
                    last edited by 22 Jul 2017, 06:33

                    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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                    • undefined
                      frafa
                      last edited by 22 Jul 2017, 10:16

                      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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                      • undefined
                        dc42 administrators
                        last edited by 26 Jul 2017, 16:08

                        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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                        • undefined
                          frafa
                          last edited by 26 Jul 2017, 20:12

                          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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                          • undefined
                            frafa
                            last edited by 3 Aug 2017, 22:45

                            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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                            • undefined
                              frafa
                              last edited by 5 Aug 2017, 17:37

                              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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                              • undefined
                                dc42 administrators
                                last edited by 6 Aug 2017, 09:30

                                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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                                • undefined
                                  frafa
                                  last edited by 8 Jun 2017, 11:37 6 Aug 2017, 11:37

                                  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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                                  • undefined
                                    dc42 administrators
                                    last edited by 6 Aug 2017, 12:38

                                    Your endstops need to be at one end of each of the proximal and distal joint limits as described in the wiki. They detect the limits of movements of the joint angles. Those limits are wherever you say they are in the M669 command.

                                    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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                                    • undefined
                                      frafa
                                      last edited by 8 Jun 2017, 15:49 6 Aug 2017, 15:17

                                      ok I understood
                                      I test tomorrow the scara is at the fablab

                                      It is posible to move x / y after homing on scara and to redefine origin with with G92 x0 y0? (I wish to work only in the square of the bed)

                                      In the documentation the command M669 I no longer see the X and Y parameters
                                      https://duet3d.com/wiki/Configuring_RepRapFirmware_for_a_SCARA_printer

                                      Example for me
                                      K4 P200 D200 A-175: 175 B-175: 175 1: 0: 0 S200 T0.1 X84.0 Y-150.0;
                                      How the calculation is done if we do not specify or is X0 / Y0 with respect to the axis

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

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                                      • undefined
                                        dc42 administrators
                                        last edited by 6 Aug 2017, 16:15

                                        No you can't redefine the origin with G92. However, you can use the M669 X and Y parameters to set the origin wherever you like, as we discussed previously.

                                        The way the calculation is done is as follows:

                                        • The X axis is the direction that the proximal arm points along when its angle is zero. You can choose where you consider the zero angle to be, however it would generally be sensible to have it near the middle of its range of movement. When you have chosen the position that you consider to be zero angle, that determines what the minimum and maximum angles are, which you specify in the M669 D P parameters (and either the minimum or the maximum one is the trigger point of the proximal joint homing switch).

                                        • The zero angle of the distal joint is defined as the angle when both arms are lined up.

                                        • If you specify X and Y offsets of zero in the M669 command, then X0 Y0 will be the position of the axis of the proximal joint (which is an unreachable position in most SCARA architectures). So specify X and Y in the M669 command relative to that. I would expect that in a typical case, the X offset will be positive by an amount somewhat smaller than the square printable X range, and the Y offset will be negative by about half the square printable Y range.

                                        I will add this info to the wiki.

                                        There is a SCARA printer kit on its way to me, so I should be able to test all of this in a couple of weeks.

                                        HTH David

                                        EDIT: I've corrected the above text, and added it and a Calibration section to the wiki page.

                                        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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                                        • undefined
                                          frafa
                                          last edited by 6 Aug 2017, 17:32

                                          OK
                                          So for the moment I am obliged to declare in M669 xxx / yyy exactly at the position of the endstops

                                          No way to shift the origins to have x0 / y0 at the exact angle of the bed?

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

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