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    Scara support ?

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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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                    • dc42undefined
                      dc42 administrators
                      last edited by

                      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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                      • frafaundefined
                        frafa
                        last edited by

                        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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                        • dc42undefined
                          dc42 administrators
                          last edited by

                          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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                          • frafaundefined
                            frafa
                            last edited by

                            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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                            • dc42undefined
                              dc42 administrators
                              last edited by

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

                              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

                                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 ?

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

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                                • frafaundefined
                                  frafa
                                  last edited by

                                  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 …

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

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                                  • frafaundefined
                                    frafa
                                    last edited by

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

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

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                                    • frafaundefined
                                      frafa
                                      last edited by

                                      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 ?

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

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                                      • dc42undefined
                                        dc42 administrators
                                        last edited by

                                        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.

                                        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

                                          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

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

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                                          • frafaundefined
                                            frafa
                                            last edited by

                                            if i test just

                                            [[language]]
                                            G1 S1 X-200 F3000
                                            
                                            ```move ok
                                            stop position ok
                                            but not Zero coordonate ….

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

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