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    Scara manual control

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    • Fuzionlineundefined
      Fuzionline @Fuzionline
      last edited by

      @Fuzionline
      Good afternoon! Are there any updates?

      droftartsundefined 1 Reply Last reply Reply Quote 0
      • droftartsundefined
        droftarts administrators @Fuzionline
        last edited by

        @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

        Fuzionlineundefined 1 Reply Last reply Reply Quote 0
        • Fuzionlineundefined
          Fuzionline @droftarts
          last edited by

          @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).

          droftartsundefined 1 Reply Last reply Reply Quote 0
          • droftartsundefined
            droftarts administrators @Fuzionline
            last edited by

            @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

            Fuzionlineundefined 1 Reply Last reply Reply Quote 0
            • Fuzionlineundefined
              Fuzionline @droftarts
              last edited by

              @droftarts
              tks for your help

              droftartsundefined 1 Reply Last reply Reply Quote 0
              • droftartsundefined
                droftarts administrators @Fuzionline
                last edited by

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

                Ian

                droftarts created this issue 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

                Fuzionlineundefined 1 Reply Last reply Reply Quote 0
                • Fuzionlineundefined
                  Fuzionline @droftarts
                  last edited by

                  @droftarts
                  Tks

                  Fuzionlineundefined 1 Reply Last reply Reply Quote 0
                  • Fuzionlineundefined
                    Fuzionline @Fuzionline
                    last edited by

                    @Fuzionline
                    hello
                    Do you have news
                    tks

                    T3P3Tonyundefined 1 Reply Last reply Reply Quote 0
                    • T3P3Tonyundefined
                      T3P3Tony administrators @Fuzionline
                      last edited by

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

                      www.duet3d.com

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                      • Fuzionlineundefined
                        Fuzionline
                        last edited by

                        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.

                        Fuzionlineundefined dc42undefined 2 Replies Last reply Reply Quote 0
                        • Fuzionlineundefined
                          Fuzionline @Fuzionline
                          last edited by

                          @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
                          • dc42undefined
                            dc42 administrators @Fuzionline
                            last edited by

                            @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

                            Fuzionlineundefined 1 Reply Last reply Reply Quote 0
                            • Fuzionlineundefined
                              Fuzionline @dc42
                              last edited by

                              @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

                              dc42undefined 1 Reply Last reply Reply Quote 0
                              • dc42undefined
                                dc42 administrators @Fuzionline
                                last edited by

                                @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

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