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Scara manual control

Scheduled Pinned Locked Moved
Tuning and tweaking
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  • undefined
    Fuzionline @Fuzionline
    last edited by 11 Sept 2024, 13:38

    @Fuzionline
    Good afternoon! Are there any updates?

    undefined 1 Reply Last reply 11 Sept 2024, 14:12 Reply Quote 0
    • undefined
      droftarts administrators @Fuzionline
      last edited by 11 Sept 2024, 14:12

      @Fuzionline Ah, yes, M599 doesn't work on Duet 2 due to memory limitations.

      Looking at your config.g, you seem to have your machine limits set to allow the Scara arm to go anywhere in a donut shape around the centre. Your M208 XY limits are +/- 1200mm, which is roughly the length of your proximal (765mm) and distal (475mm) arms, with a central no-go area of 450mm radius (ie 900mm diameter). Is this correct?

      If you command it to go into any area within the 900mm diameter central area, I would think it should stop at the point it gets within 450mm of X0 Y0. If it continues to attempt to get there, I think that sounds like a bug. Can you confirm that's what you see?

      Ian

      Bed-slinger - Mini5+ WiFi/1LC | RRP Fisher v1 - D2 WiFi | Polargraph - D2 WiFi | TronXY X5S - 6HC/Roto | CNC router - 6HC | Tractus3D T1250 - D2 Eth

      undefined 1 Reply Last reply 12 Sept 2024, 13:32 Reply Quote 0
      • undefined
        Fuzionline @droftarts
        last edited by 12 Sept 2024, 13:32

        @droftarts

        @droftarts said in Scara manual control:

        Looking at your config.g, you seem to have your machine limits set to allow the Scara arm to go anywhere in a donut shape around the centre. Your M208 XY limits are +/- 1200mm, which is roughly the length of your proximal (765mm) and distal (475mm) arms, with a central no-go area of 450mm radius (ie 900mm diameter). Is this correct?

        Regarding the M208 limits, everything is fine; when it reaches -1200/1200, it doesn't allow further movement.
        However, there is an issue with the R value. I even increased it to R500, but it exceeds this value and continues until it reaches the limit defined by the distal angle, which is 150(endstop). If it continues to be commanded in that direction, it moves in the opposite direction and stops at the -151 distal angle.
        It seems to me that the situation starts with it ignoring the value set in R.

        @droftarts said in Scara manual control:

        If you command it to go into any area within the 900mm diameter central area, I would think it should stop at the point it gets within 450mm of X0 Y0. If it continues to attempt to get there, I think that sounds like a bug. Can you confirm that's what you see?

        No.Only stop when reach the 150 distal angle(420mm of X0 Y0 approximate).

        undefined 1 Reply Last reply 13 Sept 2024, 20:22 Reply Quote 0
        • undefined
          droftarts administrators @Fuzionline
          last edited by 13 Sept 2024, 20:22

          @Fuzionline said in Scara manual control:

          No.Only stop when reach the 150 distal angle(420mm of X0 Y0 approximate).

          I think that's the default. From 'Serial SCARA' tab of M669 https://docs.duet3d.com/en/User_manual/Reference/Gcodes#m669-set-kinematics-type-and-kinematics-parameters

          Rnnn (optional, RRF 2.03 and later only) Minimum permitted printing radius from the proximal axis. If not specified, it will be calculated to be slightly larger than the distance between nozzle and proximal axis when the distal axis is homed.

          So it does look like R is being ignored. I'll report it to @dc42 and see what he says.

          Ian

          Bed-slinger - Mini5+ WiFi/1LC | RRP Fisher v1 - D2 WiFi | Polargraph - D2 WiFi | TronXY X5S - 6HC/Roto | CNC router - 6HC | Tractus3D T1250 - D2 Eth

          undefined 1 Reply Last reply 14 Sept 2024, 09:56 Reply Quote 0
          • undefined
            Fuzionline @droftarts
            last edited by 14 Sept 2024, 09:56

            @droftarts
            tks for your help

            undefined 1 Reply Last reply 18 Sept 2024, 14:26 Reply Quote 0
            • undefined
              droftarts administrators @Fuzionline
              last edited by 18 Sept 2024, 14:26

              @Fuzionline I've raised this as an issue on Github: https://github.com/Duet3D/RepRapFirmware/issues/1045

              Ian

              droftarts created this issue 18 Sept 2024, 14:24 in Duet3D/RepRapFirmware

              open [Bug]: Scara kinematics ignoring M669 R parameter in RRF 3.5.2 #1045

              Bed-slinger - Mini5+ WiFi/1LC | RRP Fisher v1 - D2 WiFi | Polargraph - D2 WiFi | TronXY X5S - 6HC/Roto | CNC router - 6HC | Tractus3D T1250 - D2 Eth

              undefined 1 Reply Last reply 18 Sept 2024, 14:40 Reply Quote 0
              • undefined
                Fuzionline @droftarts
                last edited by 18 Sept 2024, 14:40

                @droftarts
                Tks

                undefined 1 Reply Last reply 7 Oct 2024, 19:39 Reply Quote 0
                • undefined
                  Fuzionline @Fuzionline
                  last edited by 7 Oct 2024, 19:39

                  @Fuzionline
                  hello
                  Do you have news
                  tks

                  undefined 1 Reply Last reply 26 Nov 2024, 11:22 Reply Quote 0
                  • undefined
                    T3P3Tony administrators @Fuzionline
                    last edited by 26 Nov 2024, 11:22

                    @Fuzionline did you test this with 3.6beta2 to see if its resolved or not?

                    www.duet3d.com

                    1 Reply Last reply Reply Quote 0
                    • undefined
                      Fuzionline
                      last edited by 20 Mar 2025, 08:42

                      I updated to version 3.6.0 Release Candidate 1, but the M571 command doesn't work. I reverted to Release 3.5.4, and it's working. Thank you.
                      I have a Duet 2 wifi.

                      undefined undefined 2 Replies Last reply 20 Mar 2025, 08:44 Reply Quote 0
                      • undefined
                        Fuzionline @Fuzionline
                        last edited by 20 Mar 2025, 08:44

                        @Fuzionline
                        I haven't had the opportunity to test 3.6 beta 2 yet to see if it resolved the issue with M669 R.

                        1 Reply Last reply Reply Quote 0
                        • undefined
                          dc42 administrators @Fuzionline
                          last edited by 21 Mar 2025, 10:20

                          @Fuzionline said in Scara manual control:

                          I updated to version 3.6.0 Release Candidate 1, but the M571 command doesn't work. I reverted to Release 3.5.4, and it's working. Thank you.
                          I have a Duet 2 wifi.

                          Confirmed, M571 doesn't work in 3.6.0-rc.1 and 3.6 beta versions. It will be fixed in rc2.

                          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

                          undefined 1 Reply Last reply 14 Apr 2025, 19:03 Reply Quote 0
                          • undefined
                            Fuzionline @dc42
                            last edited by 14 Apr 2025, 19:03

                            @dc42
                            Hello
                            Now with the rc2 it´s ok .
                            Another doubt

                            When I run a simulation and there is a movement that cannot be executed, the system correctly reports the error and shows the exact line in the G-code where the issue occurs — so far, so good.

                            However, sometimes the simulation finishes without detecting any errors, but when I start the actual print, I get errors in the console like:

                            Error: G1: intermediate position outside machine limits

                            These messages appear either in blue or red, but the printer keeps running without stopping.
                            Tks

                            undefined 1 Reply Last reply 18 Apr 2025, 08:31 Reply Quote 0
                            • undefined
                              dc42 administrators @Fuzionline
                              last edited by 18 Apr 2025, 08:31

                              @Fuzionline the reason for this is that when simulating on a Scara or other machine with nonlinear kinematics, RRF doesn't segment the moves and simulate the segments, but instead simulates the entire move. We tried simulating individual segments but found it was too slow. Unfortunately there are some situations in which out-of-bounds errors are only detected at the segment level; for example, if a move has reachable start and end coordinates but would bring the head too close to the proximal axis on the way between them.

                              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

                              1 Reply Last reply Reply Quote 0
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