rotating motor positions - with config file



  • Hi to all !. How can I setup config to rotate motor positions for 90 degrees ?
    From this: https://ibb.co/k5v823j
    to this:
    https://ibb.co/WKfKG45

    I didn't work much lately on this part of project so any help is welcome. Am using Teknic motors that are programmed .

    M669 K10 U500 L1050 A-10:8 R8 H1800 B1000 ; A-10:7.3
    M669 X150 Y150 Z150 ; rotate +X direction by 150deg
    M666 X0 Y0 Z0 ; endstop adj.
    M574 X2 Y2 Z2 S0 ; END STOP SWITCHES
    ; Drives --> changed 03.10 --> from S0 to S1
    M569 P0 S0 ; Drive 0 goes backwards
    M569 P1 S0 ; Drive 1 goes forwards
    M569 P2 S0 ; Drive 2 goes forwards
    M569 P3 S0 ; Drive 3 goes forwards
    ;------------------------------
    M569 P5 S0 T3:3:3:3 ;R0
    M569 P6 S0 T3:3:3:3 ;R0
    M569 P7 S0 T3:3:3:3
    M584 X5 Y6 Z7 E3:4
    ;-------------------------------
    Arnix



  • I looked at the images but have no idea what they are supposed to be showing.

    Can you explain?

    Frederick



  • No problem 🙂 . First picture shows axis of each motor, of our rotary delta robot and the second one shows how new positions should be set. So, X, Y , Z are physical positions of each motor corresponding to axis of delta robot.



  • @Arnix said in rotating motor positions - with config file:

    No problem 🙂 . First picture shows axis of each motor, of our rotary delta robot and the second one shows how new positions should be set. So, X, Y , Z are physical positions of each motor corresponding to axis of delta robot.

    Did you try changing the axis-to-stepper assignments in M584?

    Frederick



  • If I understand you correctly, you have a rotary delta machine, and you want to rotate the entire mechanical system 90-degrees counterclockwise (looking down at the top of the machine) and you want to have the X and Y axes at the extruder lined up as usual.

    Maybe this page can help you. I thin you set the Xnn Ynn Znn parameters in the M669 configuration command.



  • you have a rotary delta machine, and you want to rotate the entire mechanical system 90-degrees counterclockwise

    Correctly, whole robot base should be rotated counterclockwise for 90 degrees.
    Can i change this just by M669 command and if so, how ?
    Just from this : M669 X150 Y150 Z150 to M669 X240 Y240 Z240 ? Or with some other command as Frederick suggested ?. Btw. am using servo motors...


  • administrators

    Yes that should work.

    How is the project going? I haven't heard from you in a long time.



  • Its working. Thank you guys for your help !.
    @dc42
    Dear David, we are 95% done with the project and robot will be online in 2 weeks. There was some problems regarding vacuum and hardware so we have changed the whole approach. We made new HW installation and cover mask design. Now when i think of it, we spend really much time on HW. Finally we choose PIAB vacuum grippers and at the moment vacuum is working at 6 bar pressure with 800 Nl/m... As we discussed long time ago :-), i will need additional 4 boards. Hear you over skype regarding this...


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