Posts made by Arnix

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.

I found error in clearpath setup so after reconfiguration i can use Z axis.
I have copy pasted main conf file to all motors and everything is working accept smooth movement. Btw. the same is happening when i test it in MSP setup. Shortly, motor start to move smoothly but after some 20 cm it starts to "shake". As if it would move every second or third step...

Now,when i took a better look, it looks like that this shaking comes from micro stepping. The upper hand starts to vibrate when it moves up. Ofcourse, when i add lower hands (carbon tubes), everything looks like if it would shake... Edkirk mentioned 200 steps per mm ... Should this solve it ? Btw. am running rotary delta firmware..
A.

Good morning.
Where did you find this text, in which document ?
Am asking this because i have MNR 1834484253 connectors which i got in kit with all other stuff, so this must be it. I just dont know which valve connector should i use ( upper or lower one ) and if I need just one cable ( power supply ) ?

Btw.
I have read the document on your link but it looks like that this is just for PE6 extender.
A.

Thank you for reply.
Yes, it's fancy but very reliable and for professional use.

Do you know what valve pins should i use ?
In other words, where on this valve should i connect power supply and on which pin should i connect trigger line ?

Fan outputs:

• OK
  A.

Hi.
Does someone knows how to control vacuum ejector with duet ?
I have ready one mosfet solution that will be installed between duet and ejector, but i can not find any schematics on how to connect this ejector.

I have two cables so one must be 24V power supply and other one is the control line + GND? But which is which and how to connect ?

This is the ejector that am using:
https://www.aventics.com/de/en/pneumatics-shop/ejector-series-ebs-pro.719962

Any ideas ?

Hi guys ! I had some login problems in the morning but now it's OK.
After vacation and battery recharge i can continue to work.

There are few "problems" that i found during latest testing:

1.)
If i run G91 / G1 S2 X-50 F500 on the X axis motor, i get correct positioning and hand starts to lift, but..

2.)
if i run the same command on Y axis, movement speed and positioning is totally different. In fact, i have to hit emergency stop because upper hand would hit the top of the construction. Funny part is that this will happen equal if i enter Y-10 or Y-100

3.)
For some unknown reason i can not start motor on Z axis. I try to switch positions on different expansion board connectors and i rechecked all, but without luck. Btw. there are 3,3V on this connector so this should work.

I have two power supply's. On one i have hooked X and Y motor and Z is on separate one.
I changed this too but nothing happened.

At the moment, this is my current setting:

M669 K10 U380 L900 A-10:7.3 R15 H1000 B500 ; rotary delta
M669 X150 Y150 Z150 ; rotate +X direction by 150deg
M666 X0 Y0 Z0 ; endstop adjustments
M574 X2 Y2 Z2 S0 ; END STOP SWITCHES

; Drives
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 R0 T3:3:3:3 ; Drive X
M569 P6 R0 T3:3:3:3 ; Drive Y
M569 P7 R0 T3:3:3:3 ; Drive Z
M584 X5 Y6 Z7 E3:4
;-------------------------------
M92 X88.889 Y88.889 Z88.889 ; Set steps per mm
M350 X16 Y16 Z16 I0 ; Configure microstepping without interpolation
;-------------------------------
M566 X2000 Y2000 Z2000 E ; Set maximum instantaneous speed changes (mm/min)
M203 X100000 Y100000 Z100000 E0 ; Set maximum speeds (mm/min)
M201 X8000 Y8000 Z8000 E0 ; Set accelerations (mm/s^2)
M906 X2100 Y2100 Z2100 E800 I70 ;Set motor currents (mA) and motor idle factor
M84 S15 ; Set idle timeout..

A.

I did it ! It's working.
I have retested several times adapter that i hooked up to molex connector and everything was ok.
Connections are soldered and solid.

Finaly i decide to cut it and connect teknic wires directly to new inline connector.
After sending G91 / G1 S2 X50 F1000 motor start to move slowly.

The only thing i can think of is that the adapter wires ware to long and/or to big ( gauge)....

Am working on this for lat 6 hours, and after i changed HW and config for X times i found that mistake is general one.. Damn, i really need start to drink Thank you all for your comments !

Maybe i will need help with fine tuning but this is another story...

Hi EdKirk and thank you for reply.
Really no need to apologize. I am in learning phase with this kind of setup so any reply is more then welcome.

I have tried to connect wires on the exactly same way as you did ( from left to right --> orange/blue/brown/white/yellow/ black ) but there was no movement whatsoever, so i pulled all positive wires (inputA+, inputB+, enable+, HLFB+ ) and hook them to 5V pin. I was thinking that this would help solving the "logic" part because its written in manual that 5V is some startup voltage...

Did you make some other HW changes ?
Btw. this is the setup that am using at the moment and this are the command that i use for test :

; Drives
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 R0 T3:3:3:3
M569 P6 R0 T3:3:3:3
M569 P7 R0 T3:3:3:3
M584 X5 Y6 Z7 E3:4

Commands:
G91
G1 S2 Y50 F600

Maybe there is a problem with my config setup ?

I still can not make any motor movements.
Just to be sure am doing this correctly, please guys, take a look at connections.... So far i have tested direct connection ( without 5V pin ) and with 5V pin. Pictures in attach...
Btw. I have connected white, blue, black and green to 5V pin.

Yes, you will need to add a T parameters to the M569 commands for the external drivers, which I presume are P5 P6 and P7. The Clearpath manual should say what values you need (they are step pulse width, step pulse interval, direction setup time, and direction hold time).

---

I have completed MSP auto config on all motors and they are ready for duet test. I will try with one motor just to see if this will work.

There is one thing that i dont understand...
Dont i need to set M584 command to remap motors to x,y,z, for use on external driver ?

i meant auto calibration as part of MSP software
It's related just to clearpath motor setup.