Scara support ?

[dc42]

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.

[frafa]

Thanks to you for your reactivity !

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

[dc42]

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.

[frafa]

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...

[frafa]

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 ?

[frafa]

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

[dc42]

I've just done that.

[frafa]

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?

[dc42]

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.

[frafa]

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

[dc42]

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.

[frafa]

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?

[dc42]

Where are your endstops, and what sort are they? Photo?

[frafa]

The end stop are hall effect, Logic on 3.3v / v + on 5v
Photos and tests tomorrow scara is at fablab …

Edit:
I need to be able to shift the position after homing to x0 / y0
Either with M206
Either with G92 after move on x0/y0
how to do ?

[frafa]

Hello,

The X/Y travel limiters do not set to zero Z is ok
All End-Stops are well detected the engines stop

My config
Firmware Name: RepRapFirmware for Duet WiFi
Firmware Electronics: Duet WiFi 1.0
Firmware Version: 1.19RC5 (2017-08-06)
WiFi Server Version: 1.19beta10
Web Interface Version: 1.17+2

My file homeall.g

[[language]]
; File homeall.g
;G91                ; relative movement
;G1 Z4 F100         ; ensure head is clear of the bed

; Home proximal joint
G91
G1 S1 X-200 F3000  ; move proximal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 X5          ; move proximal joint anticlockwise by 10 degrees
G1 S1 X-20 F300    ; move proximal joint slowly to the endstop switch again
G90                ; absolute movement
;G1 S2 X0 F3000     ; move proximal joint to centre of range

; Home distal joint
G91                ; relative movement
G1 S1 Y200 F3000   ; move distal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 Y-5         ; move distal joint anticlockwise by 10 degrees
G1 S1 Y20 F300     ; move distal joint slowly to the endstop switch again
G90                ; absolute movement
;G1 S2 Y0 F3000    ; move distal joint to centre of range

; Home Z
G91                ; relative movement
G1 S1 Z400 F250    ; ensure head is clear of the bed
;G1 S2 Z10          ; move proximal joint anticlockwise by 10 degrees
;G1 S1 Z-20 F100    ; move proximal joint slowly to the endstop switch again
G90                ; absolute movement

My file config.g

[[language]]
; General preferences
M111 S0 ; S0 Debugging off S1 ; Debugging on
G21 ; Work in millimetres
G90 ; Send absolute coordinates...
M83 ; ...but relative extruder moves
M555 P2 ; Set firmware compatibility to look like Marlin
M208 X0 Y0 Z0 S1 ; Set axis minima
M208 X300 Y300 Z380 S0 ; Set axis maxima

; Endstops
M574 X1 Y1 S0 ; Define active low microswitches
M574 Z2 S0    ; Define active high microswitches

; Drives - Axis and motor configuration
M569 P0 S0                    ; Drive 0 (X) goes forwards
M569 P1 S1                    ; Drive 1 (Y) goes forwards
M569 P2 S1                    ; Drive 2 (Z) goes forwards
M569 P3 S0                    ; Drive 3 (E0) goes forwards
;M350 X16 Y16 Z16 E16 I1 ; Configure microstepping with interpolation
M350 X256 Y256 Z16 E16 I1 ; Configure 256 microstepping with interpolation

;Calcul Step/mm X/Y (Réduction 80/16) ==> 400*256*(160/16)/360=2844,4444444444444444444444444444
;Calcul Step/mm Z   (Réduction 51/1)  ==> 200*256*51/2.0/20=6528
M92 X2844,4444444444444444444444444444 Y2844,4444444444444444444444444444 Z4080 E550 ; Set steps per mm
M566 X300 Y300 Z15 E75 ; Set maximum instantaneous speed changes (mm/min)
M203 X6000 Y6000 Z300 E1500 ; Set maximum speeds (mm/min)
M201 X300 Y300 Z250 E800 ; Set accelerations (mm/s^2)
M906 X1400 Y1400 Z1400 E1000 I60 ; Set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout
M669 K4 P200 D200 A-175:175 B-175:175 1:0:0 S150 T0.1 X85.0 Y-150.0; set SCARA kinematics parameters ok S200

Upload video in progress catastrophic connection to fablab …

[frafa]

Video
http://dl.free.fr/jhn5CLUfH

[frafa]

if i send

[[language]]
SENDING:G28 X0
Homing file homeproximal.g not found

[[language]]
SENDING:G28 Y0
Homing file homedistal.g not found

poroblem is here ?

[dc42]

I've just corrected the wiki page about configuring a SCARA printer. The proximal joint and distal joint homing files are called homeproximal.g and homedistal.g, not homep.g and homed.g as I documented originally.

[frafa]

Hi

Added files
same problem G28 wont reset coordonate X/Y (Z ok)
position is ok motor stop but X/Y Does not go to zero

see video
http://dl.free.fr/jhn5CLUfH

[frafa]

if i test just

[[language]]
G1 S1 X-200 F3000

```move ok
stop position ok
but not Zero coordonate ….