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    Scara Setup

    Scheduled Pinned Locked Moved
    Tuning and tweaking
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    • DannyDefeundefined
      DannyDefe
      last edited by

      David I'm currently running smoothie with working continuous revolving future and in order for me to switch over this is necessary. I would appreciate if you could stick this into the firmware code.

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      • dc42undefined
        dc42 administrators
        last edited by

        I'll add it to the list, but I have a deadline for the 1.21 release and I may not have time it implement it by then.

        How do you propose to home the proximal arm? Or do you not bother?

        Do you have some sort of slip ring arrangement to allow the proximal arm to rotate continuously without the hot end wires getting twisted?

        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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        • DannyDefeundefined
          DannyDefe
          last edited by

          I have a standard homing sequence for the prox, and after homing this switch is ignored.
          And yes I have continuous slip ring .
          What's the deadline to finish 1.21?

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          • DannyDefeundefined
            DannyDefe
            last edited by

            Prox switch

            [[url]https://www.dropbox.com/s/pd58x96vdv9nci7/20180213_101118.jpg?dl=0]

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            • dc42undefined
              dc42 administrators
              last edited by

              The deadline for the 1.21 release it the end of this month. I will try to include provisional support in the next RC, but I will need you to test it because I don't have a continuous-rotation SCARA arm.

              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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              • DannyDefeundefined
                DannyDefe
                last edited by

                No problem with testing, we just installed Duets on the large scara.

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                • DannyDefeundefined
                  DannyDefe
                  last edited by

                  My first problem is that I have 2 WiFi networks within range. They both show up as available but I would like to only connect to the new router I purchased which is in close proximity of the Duets. How do I get rid of the first router I entered? Because sometimes it can't make up its mind and it gets confusing.

                  I have strong WiFi signal - 36 DB (M122)with the new router I purchase purposely to be close to the unit. But even with that strong signal I get a (Ajax error, reason time out)
                  The Duets will connect up with no problem and the connection is fine until I start to enter commands. So if I ask it to print it doesn't get through the entire homing sequence and the connection is dropped. Then I get the Ajax error message.

                  It reconnects fine and stays connected but if I ask it to even home 1 axis it will disconnect???

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                  • dc42undefined
                    dc42 administrators
                    last edited by

                    1. See the M588 command for how to forget the other WiFi network.

                    2. Check the MaxReps figure in the M122 report after homing and running other commands. A combination of high microstepping and a high homing speed can starve the processor of course cycles, causing WiFi disconnections.

                    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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                    • DannyDefeundefined
                      DannyDefe
                      last edited by

                      Micro stepping is set at 1 and the Homing speed is relatively slow.
                      M92 is 23563.7373. Steps / degree

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                      • dc42undefined
                        dc42 administrators
                        last edited by

                        That's a very high steps/degree! I suggest you position the arm so that it executes a long homing move for both arms, then home the printer, then run M122 (reconnect if necessary first) and read off MaxReps from the report. Note that MaxReps gets reset after you run M122, so only the value in the first M122 after homing is significant.

                        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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                        • dc42undefined
                          dc42 administrators
                          last edited by

                          @DannyDefe:

                          No problem with testing, we just installed Duets on the large scara.

                          I have implemented continuous rotation and my simulations on a bench set up (not an actual printer) seem to indicate it is working. So please try the 1.21RC2 release when it is available a few minutes from now. To enable continuous rotation of a joint, set the min and max angle ranges for that joint in the M669 command such that max - min > 360. Then the min and max values won't be used to limit the travel, however one of them will still be used to determine the position when homed.

                          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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                          • DannyDefeundefined
                            DannyDefe
                            last edited by

                            MaxReps: 0, StepErrors: 0, FreeDm: 240, MinFreeDm 240, MaxWait: 0ms, Underruns: 0, 0

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                            • DannyDefeundefined
                              DannyDefe
                              last edited by

                              M122 link
                              https://www.dropbox.com/s/k0xfx3e99gpzeey/M122.txt?dl=0

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                              • Dougal1957undefined
                                Dougal1957
                                last edited by

                                @dc42:

                                @DannyDefe:

                                No problem with testing, we just installed Duets on the large scara.

                                I have implemented continuous rotation and my simulations on a bench set up (not an actual printer) seem to indicate it is working. So please try the 1.21RC2 release when it is available a few minutes from now. To enable continuous rotation of a joint, set the min and max angle ranges for that joint in the M669 command such that max - min > 360. Then the min and max values won't be used to limit the travel, however one of them will still be used to determine the position when homed.

                                David

                                Are you close to committing this yet have seen the Whatsnew.md but Git is still showing 1.21RC1

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                                • DannyDefeundefined
                                  DannyDefe
                                  last edited by

                                  David I was able to reduce the steps per/ degree down to 736. You were correct because after adjusting some parameters I was able to hold connection over WiFi and complete the Homing sequence. The scara moves at a good fast rate during the Homing sequence, but now the problem is as soon as the print starts it slows down to less than a snail's pace. No matter what speed I set in the g code it just barely moves , it's as if the processor is choking. What do you think

                                  ReplyReply AllForwardEdit as new

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                                  • dc42undefined
                                    dc42 administrators
                                    last edited by

                                    Please post your config.g file.

                                    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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                                    • DannyDefeundefined
                                      DannyDefe
                                      last edited by

                                      ; SCARA #2SHOP
                                      M111 S0 ; Debug off
                                      M550 SCARA ; Machine name and Netbios name (can be anything you like)
                                      M551 Preprap ; Machine password (used for FTP)
                                      ;*** If you have more than one Duet on your network, they must all have different MAC addresses, so change the last digits
                                      M540 P0xBE:0xEF:0xDE:0xAD:0xFE:0xED ; MAC Address

                                      ;*** Networking
                                      M552 S1 ; Turn network on

                                      ;*** Ethernet networking: Adjust the IP address and gateway in the following 2 lines to suit your network
                                      M552 P192.168.1.14 ; (0 = DHCP)
                                      M554 P192.168.1.255 ; Gateway
                                      M553 P255.255.255.0 ; Netmask

                                      M555 P2 ; Set output to look like Marlin
                                      G21 ; Work in mm
                                      G90 ; Send absolute coordinates…
                                      M83 ; ...but relative extruder moves

                                      ; Disable Fan 1 thermostatic mode

                                      M584 X5 Y6 Z7 E3 ;Set drive mapping
                                      ; Axis and motor configuration
                                      M569 P5 S0 R0 T4 ; Drive 0 goes forwards X
                                      M569 P6 S0 R0 T4 ; Drive 1 goes forwards Y
                                      M569 P7 S0 R0 T4 ; Drive 2 goes forwards Z
                                      ;M569 P8 S0 R0 T4 ; Drive 3 goes forwards E
                                      M569 P3 S0 ; Drive 3 goes backwards E
                                      M669 K4 P453.75 D458.75 A-90:90 B-156:156 C0:0:0 T1 ; set SCARA mode and parameters
                                      ;M669 K0;

                                      ;Endstop configuration
                                      M574 X1 Y2 Z2 S0 ; M574 X2 Y2 Z2 S1set endstop configuration (all endstops at high end, active high)
                                      ;*** The homed height is deliberately set too high in the following - you will adjust it during calibration

                                      M666 X0 Y0 Z0
                                      M208 S1 X-90 Y-126 Z-1 ; Axis minima
                                      M208 X90 Y1156 Z150 ; Axis maxima Z WAS 100 ; put your endstop adjustments here, or let auto calibration find them
                                      M350 X1 Y1 Z1 E16 E2 I1 ; Set 1x microstepping with interpolation
                                      M92 X736.36 Y736.36 ; Steps/degree for proximal and distal joints M92 X415.726492 Y273.504273
                                      M92 Z6600 E350 ; Steps/mm for Z and E
                                      M906 X0 Y0 Z0 E1500 I60 ; Set motor currents (mA) and increase idle current to 60%
                                      M201 X100 Y100Z1000 E1000 ; Accelerations (mm/s^2)
                                      M203 X1000Y1000Z5000 E1000 ; Maximum speeds (mm/min) 1000
                                      M566 X10 Y10 Z500 E1200 ; Maximum instant speed changes mm/minute

                                      M581 Z1 S1 C1 ;Configure external trigger

                                      ; Thermistors
                                      ;M305 P0 T100000 B3950 R4700 H30 L0 ; Put your own H and/or L values here to set the bed thermistor ADC correction
                                      ;M305 P1 T100000 B3974 R4700 H30 L0 ; Put your own H and/or L values here to set first nozzle thermistor ADC correction
                                      ;M305 P2 T100000 B3974 R4700 H30 L0 ; Put your own H and/or L values here to set 2nd nozzle thermistor ADC correction

                                      ; Tool definitions
                                      M563 P0 D0 H1
                                      G10 P0 X0 Y0 Z0 ; Set tool 0 axis offsets
                                      G10 P0 R00 S00 ; Set initial tool 0 active and standby temperatures to 0C

                                      M92 E663:663 ; Set extruder steps per mm

                                      ;*** If you are using axis compensation, put the figures in the following command
                                      ;M556 S78 X0 Y0 Z0 ; Axis compensation here

                                      M208 S1 Z200 ;M208 S1 Z-0.2 ; set minimum Z

                                      ;T0 ; select first hot end

                                      ; Pressure advance
                                      ;M572 D0 S0.5

                                      ; Misc
                                      M83
                                      M117 Use https://configurator.reprapfirmware.org/ to set up your printer config
                                      M302 P1
                                      M563 P0 D0 T1 ;enable cold extrusion.

                                      ; Heaters
                                      ;M143 H1 S260 ; Maximum heater temperature
                                      M140 H-1 ; No bed heater
                                      ;M305 P1 T100000 B4138 C0 R4700 ; Thermistor parameters for heater 1
                                      ;M307 H1 A577.0 C199.0 D9.8 S1.00 B0
                                      M665 H100
                                      TO

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                                      • DannyDefeundefined
                                        DannyDefe
                                        last edited by

                                        Did you get a chance to look at my settings, it's been awhile

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                                        • dc42undefined
                                          dc42 administrators
                                          last edited by

                                          Hi Danny,

                                          If you send normal G1 commands (no S1 or S2 parameter) from the command line to move the head in X and Y, what speeds are you able to achieve?

                                          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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                                          • DannyDefeundefined
                                            DannyDefe
                                            last edited by

                                            I'm able to achieve relatively high speeds, so it's completely different when it starts to run the program , it as if the processor can handle it.
                                            Like when I'm homing or moving into position to start the print

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