Compiled Firmware with 5bar-Scara / Dual-Arm-Scara
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@Enpixa I found an additonal possible cause:
from https://duet3d.dozuki.com/Wiki/Gcode#Section_G0_G1_Move
RepRapFirmware treats G0 and G1 in the same way 'except as follows:
On SCARA and similar architectures that normally require linear motion to be approximated by short segments, a single continuous non-segmented movement will be used if this can be done without the print head dropping below the current Z height. (My understanding is: for a non-extrusion move it uses an unsegmented move, curved in case of a Scara, if there is no danger to destroy something already printed. In general it would be no problem because the move simply wants to go from A to B, without interest which path it uses - i.e. no pen attached... With your pen you extrude without an extrusion command)
Proposal: try simulating extruding with E and Z parameters (E may be sufficient. Whether you need a dummy E stepper, I don't know).
In case you don't know what is meant by segmentation: a curve is not printed as curve, but split into little segments and printed every segment as a line. The better the hardware, the more segments are used (Duet 3 best, Duet 2 good, depending on the memory available). The Delta/Scara printers have non-linearity of X and Y, so they need segmentation. Otherwise there will be a curve, because the calculation of x-y-relation at the start of the line doesn't fit the situation in the middle or end. For Scara it is even worse: not only the movement path, but also the speed varies (resulting in uneven extrusion if not segmented). Both effects are corrected if the movement is split into small segments.
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Is 5bar still be developed or worked on?
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@Phospherus quickly checking the source code, it looks like it's included in 3.4.5 and 3.5beta at least for all supported Duet boards, including Duet2. See also https://forum.duet3d.com/topic/30523/5-bar-scara-on-duet3/14 for a more recent discussion.
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@oliof Thank you. I went ahead and tried 3.4.5 and have my Morgan style moving and all looks correct. Still need to install bed and hot end.
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@Phospherus keep us posted, I'd love to see an OG Morgan up and running!
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@oliof https://youtu.be/9VRnl9GF-Sk Here you go.
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Is anyone actually using 5-bar kinematics on Duet 2? We're looking to remove the more exotic kinematics from the Duet 2 build to free up flash memory space.
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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@dc42 I like to use Duet2 for my experimental/fun builds, but I can accept to stick with RRF3.4x features.
Although the soon_to_come robotics kinematics would be interesting for me, too.Compiling a custom version on my own is no option, but if there was a customizer tool on top of eclipse, where we could choose the features we'd like and get a tailored RRF version, would be cool.
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@o_lampe said in Compiled Firmware with 5bar-Scara / Dual-Arm-Scara:
customizer tool on top of eclipse
that's a good idea IMHO, analgoue to the RRF configurator which produced a config.g, this customizer tool would produce the binaries. With additional options like to configure how many drives are needed => optimizing performance vs memory need (additional options: remove or add mesh compensation for those who don't need or need it etc).
You don't need Eclipse, only to run the make exe and Arm toolchain. But a server on which it runs is needed and a responsible person who wants to invest time to do it.
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@JoergS5 I would think, the configurator tool output could be a good starting point for a customizer tool, but it's not really spot on. Some manual editing is often necessary.
Plus, it would be a nightmare for the devs to test and debug every possible scenario. So, I can understand @dc42 approach of defining one "Duet2_lite" edition for further FW-updates. -
@o_lampe
I could live without "colour mixing" code. It was an interesting feature a few years ago, but who's still using it?
