Hi to all. Long time no see....

I have one new project in which I would like to use duet3d ( maybe the latest version ). It will be something like mobile cnc machine but with additional options. Basically this will be robot with which will use one or two motors to prepare the surface, one motor for pulling material from feeder track and finally screwing the screws into this prepared material. In other words and totally simple : Insert ready made holder, take predefined object from feeder track, move this object to x/y position, tighten the screw into this object, wait for next position/repeat.

For doing this, am planning to use NEMA 32 steppers with gearbox, that i have at home, but in the future, this will be changed with servo motors from Teknic.
So, can this be done with duet3d 3 and without expansion board or should i go with version 2 and expansion board ?

Btw. i saw that there is reseller in Germany but i was wondering how much would it cost to buy directly from you and send it to central Europe ( Croatia ) ? Info about shipment time, taxes etc. is also welcome.

Best regards !
Emil

Hi ! Sorry for late reply.

We have followed this example, but we need inverse version :
https://stackoverflow.com/questions/18162880/how-to-correctly-compute-direct-kinematics-for-a-delta-robot
.................
Regarding the code:
Can we hear us per message or mail ?

A.

Hi to all.
I have one problem and i guess that i use wrong idea for solving it. As i have written in one other post am planning to add offset camera view for our robot but i dont quite understand how to improve tracking and detecting center of the object ( specially because object has irregular shape ). When the camera was set in robot base center i can pick up objects correctly ( maybe with 1 cm off ) but now i must hit exact center of the object. Adding this new camera distance and track speed is not a problem. Main problem is hitting the center of the object throe this offset.

Question:
If the camera is 80 cm away from robot center, how to correctly compute kinematics ?
I dont need robot to camera screen. I need to input camera screen position and based on this i should calculate robot coordinates. Any idea is more then welcome.

This is the code that am using :

xr = x - width / 2 
yr = y - 300 + self.moving_speed robot_angle = math.pi * 34 / 180 
robot_x = math.cos(-robot_angle) * xr - math.sin(-robot_angle) * yr 
robot_y = math.sin(-robot_angle) * xr + math.cos(-robot_angle) * yr 
robot_x = robot_x + 0.05 * robot_x 
robot_y = robot_y + 0.09 * (robot_y-180)

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...

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...

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.

Thank you for your reply. I will drop you a note when we complete the part that i need to finish. Best regards !

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

Hi to all !
I would need some help regarding work in opencv.
Basically it's simple work ( 2-3 days ) for someone who knows opencv package and python. There are multiple reasons why i post this here and if someone has interest in this and similar future project ( based on Duet3d ) i will gladly explain.
Short description:

• robot works as pickup and relocate machine for objects on conveyor track.
• our work on rotary delta robot is 95% done and is working as expected but i would like to add camera offset and synchronize robot pickup time with conveyor track .
• at the moment camera is located in the center of robot axes and it will be relocated some 80 cm away from center.

If someone has interest in such project(s), please let me know.

Thank you all in advance !
A.

Hi !. I got it working. The lower connector is for power supply and upper for "error management". When something is wrong, upper will trigger signal which can be interpreted as error code.

Question:
Where can i connect this error signal (GND and positive wire ) and how can i monitor it ?

I have also problems with pickup. Because the object has bumpy structure gripper does not fit 100% on surface. Do you know if its possible to use higher pressure ? At the time, am using 3 bar

A.