Posts made by rutku

@mrehorstdmd @dc42 Thank you for your help. I solved the problem by increasing the current through the driver. I will replace the belt based on your advice. I'm putting the wrench there for luck.

@mrehorstdmd
It worked very nicely on Mach3 cnc software. I don't think there is a problem with drivers either. Printer printing area is 1.5mx1m.
From which value will I start the current values?

Hello there,
I built a large corexy printer. I used Nema 34 for x, y and z axes. I used LeadShine M880 drivers. Movement in the x and y axes is excellent. But there is constant shaking in the Z axis and I can move it up by hand. I used 4 ballscrews and 4 nema 34 in the Z axis. How do you think I can solve this problem?

config.g

; Configuration file for Duet WiFi (firmware version 2.03)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.2.3 on Tue Apr 06 2021 20:07:03 GMT+0300 (Doğu Avrupa Yaz Saati)

; General preferences
G90                                     ; send absolute coordinates...
M83                                     ; ...but relative extruder moves
M550 P"SAN-ART"                      ; set printer name
M669 K1                                 ; select CoreXY mode

; Network
M552 S1                                 ; enable network
M586 P0 S1                              ; enable HTTP
M586 P1 S0                              ; disable FTP
M586 P2 S0                              ; disable Telnet

; Drives
M569 P5 R1 T2.5:2.5:5:5 S1    ; physical drive 5 goes forwards (X)
M569 P6 R1 T2.5:2.5:5:5 S1    ; physical drive 6 goes forwards (Y)
M569 P7 R1 T2.5:2.5:2.5:2.5 S1    ; physical drive 8 goes forwards (Z)
M569 P3 S0                    ; physical drive 3 goes forwards

M584 X5 Y6 Z7 E3  ; set drive mapping

;M569 P0 S1                              ; physical drive 0 goes forwards
;M569 P1 S1                              ; physical drive 1 goes forwards
;M569 P2 S1                              ; physical drive 2 goes forwards
;M584 X0 Y1 Z2 E3                        ; set drive mapping
M350 X256 Y256 Z16 E16 I1                 ; configure microstepping with interpolation
M92 X14.00 Y14.00 Z357.00 E420.00       ; set steps per mm
M566 X8000.00 Y8000.00 Z60.00 E1000.00     ; set maximum instantaneous speed changes (mm/min)
M203 X8000.00 Y8000.00 Z500.00 E1000.00 ; set maximum speeds (mm/min)
M201 X2000.00 Y2000.00 Z500.00 E1000.00     ; set accelerations (mm/s^2)
M906 X1800 Y1800 Z800 E800 I30            ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                 ; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1                        ; set axis minima
M208 X900 Y900 Z1000 S0                 ; set axis maxima

; Endstops
M574 X1 Y1 Z1 S1                        ; set active high endstops

; Z-Probe
M558 P0 H5 F120 T6000                   ; disable Z probe but set dive height, probe speed and travel speed
M557 X15:215 Y15:195 S20                ; define mesh grid

; Heaters
M307 H0 B0 S1.00                        ; disable bang-bang mode for the bed heater and set PWM limit
M305 P0 T100000 B4138 R4700             ; set thermistor + ADC parameters for heater 0
M143 H0 S120                            ; set temperature limit for heater 0 to 120C
M305 P1 T100000 B4138 R4700             ; set thermistor + ADC parameters for heater 1
M143 H1 S280                            ; set temperature limit for heater 1 to 280C

; Fans
M106 P0 S0 I0 F500 H-1                  ; set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P1 S1 I0 F500 H1 T45               ; set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned on

; Tools
M563 P0 D0 H1 F0                        ; define tool 0
G10 P0 X0 Y0 Z0                         ; set tool 0 axis offsets
G10 P0 R0 S0                            ; set initial tool 0 active and standby temperatures to 0C

; Custom settings are not defined

@joergs5 said in Five bar Parallel SCARA print area problem:

The imperfection is IMHO due to reasons like swinging arms, hinge backlash (play which has negative results if you change direction) and similar reasons.

Yes, I will include the bearing on the hinges. The friction will be on the bearing.

The somewhat wobbly line will be due to the resistance of the pen on the surface, a kind of slip stick effect. A felt-tip pen on foil will probably work better, or using fine grained paper.

I want to place hotend. I want to fix it with 3D prints.

0,0 is not accessible due to singularity (distal arms are in opposite, straight line), this is not solvable. You can change offset by setting the X and Y coordinates of the actuators to other values (eg instead of X -95,95 set to 5,195), but this doesn't help, the singularity remains (is then at X100,Y0). Singularity are unprintable areas.

So how are we going to escape this singularity? How do we create a square or circle printing area?

one hint I wanted to add: when you approach singularity areas, you will often experience that the stepper has more work to do. This may lead to lost steps, you may hear the sound of it. Result is, the firmware and actual position of the steppers doesn't fit any more. You must run homing again to set the positions right then. Lost steps often result in layer shifts, but in case of Scara the algorithm will be at the wrong place and the result wrong additionally.

Is it logical to use the closed loop stepper? I took my printer to the office. I will review the codes you are writing. I will try to add things.

@joergs5 Nice development. X and Y axis No access to points 0. How do I do offset?

@joergs5
Akismet makes me crazy.
debug.txt

@joergs5 I have changed the way you say. I have achieved the square shape after changing the direction of the arms. I guess codes don't have hard trouble. It remains to arrange the print area.

@joergs5 I plotted the square about right. How to Calibration from this process step? There are spaces in the part of the pen. I will fix them and do drawing again.

square.gcode

G90
G1 X0 Y150
G1 X0 Y200
G1 X50 Y200
G1 X50 Y150
G1 X0 Y150

@joergs5

config.g

M669 K9 L1 X-95:93 Y0:0 P126:133 D210:213:0:0 B51:90 A15:165:0:360:0:360 C-80:260:-80:260 

debug

G28

MotorStepsToCartesian => thetaL:220.74=MotorPosX:204064.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:220.74=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-190.46,yL:-82.23,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -190.46 firstY: -82.23 secondX: 93.00 secondY: 133.00
getTurn => turn:-40677.33 = (x2:-119.27 - x1:-190.46) * (y3:133.00 - y1:-82.23) - (y2:115.33 - y1:-82.23) * (x3:93.00 - x1:-190.46)
getTurn => turn:40677.32 = (x2:18.96 - x1:-190.46) * (y3:133.00 - y1:-82.23) - (y2:-66.72 - y1:-82.23) * (x3:93.00 - x1:-190.46)
getTurn => turn:-13005.09 = (x2:-190.46 - x1:-95.00) * (y3:115.33 - y1:0.00) - (y2:-82.23 - y1:0.00) * (x3:-119.27 - x1:-95.00)
getTurn => turn:28231.32 = (x2:93.00 - x1:93.00) * (y3:115.33 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-119.27 - x1:93.00)
getForwad => workmode:1 turnLeft:-13005.09 turnRight:28231.32
MotorStepsToCartesian => MachinePosX:nan MachinePosY:nan XYZ_AXES:3 numVisibleAxes:3
MotorStepsToCartesian => thetaL:51.00=MotorPosX:47147.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:51.00=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-15.71,yL:97.92,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -15.71 firstY: 97.92 secondX: 93.00 secondY: 133.00
getTurn => turn:-23253.28 = (x2:-29.16 - x1:-15.71) * (y3:133.00 - y1:97.92) - (y2:307.49 - y1:97.92) * (x3:93.00 - x1:-15.71)
getTurn => turn:23253.28 = (x2:95.88 - x1:-15.71) * (y3:133.00 - y1:97.92) - (y2:-79.98 - y1:97.92) * (x3:93.00 - x1:-15.71)
getTurn => turn:17934.62 = (x2:-15.71 - x1:-95.00) * (y3:307.49 - y1:0.00) - (y2:97.92 - y1:0.00) * (x3:-29.16 - x1:-95.00)
getTurn => turn:16246.89 = (x2:93.00 - x1:93.00) * (y3:307.49 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-29.16 - x1:93.00)
getForwad => workmode:1 turnLeft:17934.62 turnRight:16246.89
MotorStepsToCartesian => MachinePosX:-29.16 MachinePosY:307.49 XYZ_AXES:3 numVisibleAxes:3
MotorStepsToCartesian => thetaL:51.00=MotorPosX:47147.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:51.00=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-15.71,yL:97.92,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -15.71 firstY: 97.92 secondX: 93.00 secondY: 133.00
getTurn => turn:-23253.28 = (x2:-29.16 - x1:-15.71) * (y3:133.00 - y1:97.92) - (y2:307.49 - y1:97.92) * (x3:93.00 - x1:-15.71)
getTurn => turn:23253.28 = (x2:95.88 - x1:-15.71) * (y3:133.00 - y1:97.92) - (y2:-79.98 - y1:97.92) * (x3:93.00 - x1:-15.71)
getTurn => turn:17934.62 = (x2:-15.71 - x1:-95.00) * (y3:307.49 - y1:0.00) - (y2:97.92 - y1:0.00) * (x3:-29.16 - x1:-95.00)
getTurn => turn:16246.89 = (x2:93.00 - x1:93.00) * (y3:307.49 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-29.16 - x1:93.00)
getForwad => workmode:1 turnLeft:17934.62 turnRight:16246.89
MotorStepsToCartesian => MachinePosX:-29.16 MachinePosY:307.49 XYZ_AXES:3 numVisibleAxes:3
MotorStepsToCartesian => thetaL:49.00=MotorPosX:45298.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:49.00=MotorPosY:81351.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-12.34,yL:95.09,xR:97.64,yR:132.92)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -12.34 firstY: 95.09 secondX: 97.64 secondY: 132.92
getTurn => turn:-23641.96 = (x2:-28.62 - x1:-12.34) * (y3:132.92 - y1:95.09) - (y2:304.46 - y1:95.09) * (x3:97.64 - x1:-12.34)
getTurn => turn:23641.95 = (x2:103.61 - x1:-12.34) * (y3:132.92 - y1:95.09) - (y2:-80.00 - y1:95.09) * (x3:97.64 - x1:-12.34)
getTurn => turn:18855.43 = (x2:-12.34 - x1:-95.00) * (y3:304.46 - y1:0.00) - (y2:95.09 - y1:0.00) * (x3:-28.62 - x1:-95.00)
getTurn => turn:17578.94 = (x2:97.64 - x1:93.00) * (y3:304.46 - y1:0.00) - (y2:132.92 - y1:0.00) * (x3:-28.62 - x1:93.00)
getForwad => workmode:1 turnLeft:18855.43 turnRight:17578.94
MotorStepsToCartesian => MachinePosX:-28.62 MachinePosY:304.46 XYZ_AXES:3 numVisibleAxes:3
MotorStepsToCartesian => thetaL:51.00=MotorPosX:47147.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:51.00=MotorPosY:81351.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-15.71,yL:97.92,xR:97.64,yR:132.92)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -15.71 firstY: 97.92 secondX: 97.64 secondY: 132.92
getTurn => turn:-24075.32 = (x2:-24.02 - x1:-15.71) * (y3:132.92 - y1:97.92) - (y2:307.76 - y1:97.92) * (x3:97.64 - x1:-15.71)
getTurn => turn:24075.33 = (x2:95.73 - x1:-15.71) * (y3:132.92 - y1:97.92) - (y2:-80.07 - y1:97.92) * (x3:97.64 - x1:-15.71)
getTurn => turn:17452.44 = (x2:-15.71 - x1:-95.00) * (y3:307.76 - y1:0.00) - (y2:97.92 - y1:0.00) * (x3:-24.02 - x1:-95.00)
getTurn => turn:16982.36 = (x2:97.64 - x1:93.00) * (y3:307.76 - y1:0.00) - (y2:132.92 - y1:0.00) * (x3:-24.02 - x1:93.00)
getForwad => workmode:1 turnLeft:17452.44 turnRight:16982.36
MotorStepsToCartesian => MachinePosX:-24.02 MachinePosY:307.76 XYZ_AXES:3 numVisibleAxes:3
MotorStepsToCartesian => thetaL:51.00=MotorPosX:47147.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:51.00=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-15.71,yL:97.92,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -15.71 firstY: 97.92 secondX: 93.00 secondY: 133.00
getTurn => turn:-23253.28 = (x2:-29.16 - x1:-15.71) * (y3:133.00 - y1:97.92) - (y2:307.49 - y1:97.92) * (x3:93.00 - x1:-15.71)
getTurn => turn:23253.28 = (x2:95.88 - x1:-15.71) * (y3:133.00 - y1:97.92) - (y2:-79.98 - y1:97.92) * (x3:93.00 - x1:-15.71)
getTurn => turn:17934.62 = (x2:-15.71 - x1:-95.00) * (y3:307.49 - y1:0.00) - (y2:97.92 - y1:0.00) * (x3:-29.16 - x1:-95.00)
getTurn => turn:16246.89 = (x2:93.00 - x1:93.00) * (y3:307.49 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-29.16 - x1:93.00)
getForwad => workmode:1 turnLeft:17934.62 turnRight:16246.89
MotorStepsToCartesian => MachinePosX:-29.16 MachinePosY:307.49 XYZ_AXES:3 numVisibleAxes:3
constraintsOK => cachedInvalid:0 cachedX0:0.00 cachedY0:0.00
getInverse => not cantilevered proximalL:126.00 distalL:210.00 xOrigL:-95.00 yOrigL:0.00 x_0:-29.16 y_0:307.49
getIntersec firstRadius: 126.00 secondRadius: 210.00 firstX: -95.00 firstY: 0.00 secondX: -29.16 secondY: 307.49
getTurn => turn:-17934.62 = (x2:-127.24 - x1:-95.00) * (y3:307.49 - y1:0.00) - (y2:121.80 - y1:0.00) * (x3:-29.16 - x1:-95.00)
getTurn => turn:17934.62 = (x2:-15.71 - x1:-95.00) * (y3:307.49 - y1:0.00) - (y2:97.92 - y1:0.00) * (x3:-29.16 - x1:-95.00)
getTheta => workmode: 1 thetaA:104.83 thetaB:51.00 proxturnA:-17934.62 proxturnB:-17934.62
getTheta => use: 2 x2: -15.71 y2: 97.92 thetaB: 51.00 x1: -127.24 y1: 121.80 thetaA: 104.83
getInverse => not cantilevered proximalR:133.00 distalR:213.00 xOrigR:93.00 yOrigR:0.00 x_0:-29.16 y_0:307.49
getIntersec firstRadius: 133.00 secondRadius: 213.00 firstX: 93.00 firstY: 0.00 secondX: -29.16 secondY: 307.49
getTurn => turn:-16246.89 = (x2:1.73 - x1:93.00) * (y3:307.49 - y1:0.00) - (y2:96.74 - y1:0.00) * (x3:-29.16 - x1:93.00)
getTurn => turn:16246.89 = (x2:93.00 - x1:93.00) * (y3:307.49 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-29.16 - x1:93.00)
getTheta => workmode: 1 thetaA:133.33 thetaB:90.00 proxturnA:-16246.89 proxturnB:-16246.89
getTheta => use: 2 x2: 93.00 y2: 133.00 thetaB: 90.00 x1: 1.73 y1: 96.74 thetaA: 133.33
getInverse => value thetaL:51.00
getInverse => value thetaR:90.00
getInverse => cachedInvalid 0 cachedX0:-29.16 cachedY0:307.49 cachedX1:-29.16 cachedY1:307.49
getInverse => cachedXL:-15.71 cachedYL:97.92 cachedXR:93.00 cachedYR:133.00 cachedThetaR:90.00 cachedXR:93.00
getInverse => cachedYR:133.00 cachedThetaL:51.00 cachedXL:-15.71 cachedYL:97.92
getInverse => cachedInvalid:0 x_0:-29.16 y_0:307.49 xL:-15.71 yL:97.92 thetaL:51.00 xR:93.00 yR:133.00 thetaR:90.00 x1:-29.16 y1:307.49
constraintsOK => cachedInvalid:0 actuatorAngleLMin:-80.00<0 && thetaL:51.00>actuatorAngleLMax:260.00
constraintsOK => cachedInvalid:0 thetaL:51.00 < actuatorAngleLMin:-80.00 || thetaL:51.00 > actuatorAngleLMax:260.00 return false
constraintsOK => cachedInvalid:0 actuatorAngleRMin:-80.00<0 && thetaR:90.00>actuatorAngleRMax:260.00
constraintsOK => cachedInvalid:0 thetaR:90.00 < actuatorAngleRMin:-80.00 || thetaR:90.00 > actuatorAngleRMax:260.00 return false
getAngle => x1:-15.71 y1:97.92 x2:-29.16 y2:307.49 x3:93.00 y3:133.00
getAngle => angle:31.32 = angle2:305.00 - angle1:273.67
constraintsOK => achedInvalid:0 headAngle:31.32 < headAngleMin:15.00 || headAngle:31.32 > headAngleMax:165.00 isnan(headAngle):0 return false
getAngle => x1:-95.00 y1:0.00 x2:-15.71 y2:97.92 x3:-29.16 y3:307.49
getAngle => angle:222.67 = 360 + angle2:93.67 - angle1:231.00
constraintsOK => cachedInvalid:0 angleProxDistL:222.67 < proxDistLAngleMin:0.00 || angleProxDistL:222.67 > proxDistLAngleMax:360.00 isnan(angleProxDistL):0 return false
getAngle => x1:93.00 y1:0.00 x2:93.00 y2:133.00 x3:-29.16 y3:307.49
getAngle => angle:215.00 = 360 + angle2:125.00 - angle1:270.00
constraintsOK => cachedInvalid:0 angleProxDistR:215.00 < proxDistRAngleMin:0.00 || angleProxDistR:215.00 > proxDistRAngleMax:360.00 isnan(angleProxDistR):0 return false
constraintsOK => cachedInvalid:0 cachedX0:-29.16 cachedY0:307.49
CartesianToMotorSteps => motorPosX = cachedThetaL:51.00 * stespPermm[X_AXIS]924.44
 motorPosY = cachedThetaR:90.00 * stepsPermm[Y_AXIS]924.44
CartesianToMotorSteps => machinePos[0]:-29.16 machinePos[1]:307.49 motorPosX:0.00 motorPosY:924.44
CartesianToMotorSteps => XYZ_AXES:3 numVisibleAxes:3
constraintsOK => cachedInvalid:0 cachedX0:-29.16 cachedY0:307.49
CartesianToMotorSteps => motorPosX = cachedThetaL:51.00 * stespPermm[X_AXIS]924.44
 motorPosY = cachedThetaR:90.00 * stepsPermm[Y_AXIS]924.44
CartesianToMotorSteps => machinePos[0]:-29.16 machinePos[1]:307.49 motorPosX:0.00 motorPosY:924.44
CartesianToMotorSteps => XYZ_AXES:3 numVisibleAxes:3ok
WiFi module is connected to access point Utku, IP address 192.168.1.12
M114
X:-29.157 Y:307.490 Z:0.000 E:0.000 E0:0.0 Count 47147 83200 0 Machine -29.157 307.490 0.000 Bed comp 0.000
ok
G90 G1 H2 Y90 F200
ok
G90 G1 H2 X90 F200

MotorStepsToCartesian => thetaL:90.00=MotorPosX:83200.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:90.00=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-95.00,yL:126.00,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -95.00 firstY: 126.00 secondX: 93.00 secondY: 133.00
getTurn => turn:-35633.12 = (x2:-11.42 - x1:-95.00) * (y3:133.00 - y1:126.00) - (y2:318.65 - y1:126.00) * (x3:93.00 - x1:-95.00)
getTurn => turn:35633.12 = (x2:2.68 - x1:-95.00) * (y3:133.00 - y1:126.00) - (y2:-59.90 - y1:126.00) * (x3:93.00 - x1:-95.00)
getTurn => turn:-10531.36 = (x2:-95.00 - x1:-95.00) * (y3:318.65 - y1:0.00) - (y2:126.00 - y1:0.00) * (x3:-11.42 - x1:-95.00)
getTurn => turn:13887.57 = (x2:93.00 - x1:93.00) * (y3:318.65 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-11.42 - x1:93.00)
getForwad => workmode:1 turnLeft:-10531.36 turnRight:13887.57
MotorStepsToCartesian => MachinePosX:nan MachinePosY:nan XYZ_AXES:3 numVisibleAxes:3ok

MotorStepsToCartesian => thetaL:90.00=MotorPosX:83200.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:90.00=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-95.00,yL:126.00,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -95.00 firstY: 126.00 secondX: 93.00 secondY: 133.00
getTurn => turn:-35633.12 = (x2:-11.42 - x1:-95.00) * (y3:133.00 - y1:126.00) - (y2:318.65 - y1:126.00) * (x3:93.00 - x1:-95.00)
getTurn => turn:35633.12 = (x2:2.68 - x1:-95.00) * (y3:133.00 - y1:126.00) - (y2:-59.90 - y1:126.00) * (x3:93.00 - x1:-95.00)
getTurn => turn:-10531.36 = (x2:-95.00 - x1:-95.00) * (y3:318.65 - y1:0.00) - (y2:126.00 - y1:0.00) * (x3:-11.42 - x1:-95.00)
getTurn => turn:13887.57 = (x2:93.00 - x1:93.00) * (y3:318.65 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-11.42 - x1:93.00)
getForwad => workmode:1 turnLeft:-10531.36 turnRight:13887.57
MotorStepsToCartesian => MachinePosX:nan MachinePosY:nan XYZ_AXES:3 numVisibleAxes:3

Unfortunately something has not changed. Still in an unknown area.

@joergs5 said in Five bar Parallel SCARA print area problem:

@rutku I thought about merging work modes. This is difficult, because while changing the mode, the position of the hotend changes and during the change and rotations, time is lost. So it must be while not printing and should probably be placed in the slicer, not the firmware. If the firmware decides, it will break the print process at places one doesn't wish.

It doesn't matter. I will think of something in the future. My priority is the work of the 3d printer. After working, I will understand better the codes you wrote.

@joergs5 said in Five bar Parallel SCARA print area problem:

I concentrate on code verification, i.e. whether the code is correct for work mode 1 for your test scenario (later for the other modes too), and improve the existing code like I describe in the other thread.

Yes, I'm looking forward to the result. My 11 month old baby started breaking my 3d printer. I can only debug on my small laptop. My eyes are dying. Tomorrow I will take my 3d printer to my office. I'm going to review your actions on the big monitor in my office. My eyes will be relieved. Have a nice day...

@joergs5 I'm following the topic. I'll be happy to test new updates. Thanks, I'll continue with the other thread.

@joergs5 An excellent idea. I was thinking about this idea. I didn't mean to do that without running the system. Also are not required offset for X and Y axes?

@joergs5 said in Five bar Parallel SCARA print area problem:

Please give me your config.g content and the current homing file. Please tell me which firmware version you use. I'll setup a printer like yours. Give me a few days please until thursday.

Ok I'm waiting for you. Thank you so much.

m115
FIRMWARE_NAME: RepRapFirmware for STM32F4 based Boards FIRMWARE_VERSION: 3.2.2_2 ELECTRONICS: STM32F4 FIRMWARE_DATE: 2021-05-02
ok

config.g

; General preferences
G90 ; Send absolute coordinates...
M83 ; ...but relative extruder moves
M552 S1 ; Turn network on

M586 P0 S1 ; Enable HTTP
M586 P1 S0 ; Enable FTP
M586 P2 S0 ; Enable Telnet

; Drives
M569 P0 S0 ; Drive 0 (X) goes forwards
M569 P1 S0 ; Drive 1 (Y) goes forwards
;M569 P2 S1 ; Drive 2 (Z) goes forwards
;M569 P3 S1 ; Drive 3 (E0) goes forwards
M584 X0 Y1 ; set drive mapping

M350 X128 Y128 I1 ;S3 ; Configure microstepping with interpolation
M669 K9 L1 X-95:93 Y0:0 P126:133 D210:213:0:0 B51:90 A15:165:0:360:0:360 C-90:270:-90:270 
M92 X924.444444 Y924.444444 ; Set steps per mm

M203 X10000 Y10000 ; maximum speeds mm/minute

M566 X15 Y15 ; Set maximum instantaneous speed changes (mm/min)
M201 X40 Y40 ; Set accelerations (mm/s^2)
M906 X1200 Y1200 ; Set motor currents (mA) and motor idle factor in per cent

M84 S0 ; Set idle timeout

; Axis Limits
 M208 X-1000:1000 Y-1000:1000 ; set axis minima and maxima

; Endstops
M574 X1 S1 P"xstop"   ; X min active high endstop switch
M574 Y2 S1 P"ystop"   ; Y min active high endstop switch
;M574 Z0 S1 P"zstop"   ; Z min active high endstop switch

home5barscara.g

G91              ; relative positioning
 
G1 H1 X100 Y300  F400 ; move quickly to endstop and stop there (first pass)
G1 H1 X300 F400
G1 H1 Y300 F400
G1 H2 X-2 Y-2 F400      ; go back a few degrees
G1 H1 X100 F90  ; move slowly to endstop once more (second pass)
G1 H1 Y100 F90  ; move slowly to endstop once more (second pass)
;G1 H2 X-5 Y-5 F400      ; go back a few degrees
 
G92 Z0
G90              ; absolute positioning
;G0 X0 Y90 ; move to a reasonable position

@joergs5 said in Five bar Parallel SCARA print area problem:

Step 3 (check for curved line)

homing✓
run G90 G1 H2 X90 F200 and G90 G1 H2 Y90 F200 and verify that both arms are 90 degree and the hotend is on the X0 line✓
run G90 G1 X0 Y100 F200 and verify that arm 1 rotated counterclockwise by about 10 degree and arm 2 rotated clockwise by about 10 degree

This command is very strange sounds. I repeat the same action four times. The same sound continued to go out.

---

Strange Sounds

debug

G90 G1 X0 Y100 F200

constraintsOK => cachedInvalid:0 cachedX0:-29.16 cachedY0:307.49
getInverse => not cantilevered proximalL:126.00 distalL:210.00 xOrigL:-95.00 yOrigL:0.00 x_0:0.00 y_0:100.00
getIntersec firstRadius: 126.00 secondRadius: 210.00 firstX: -95.00 firstY: 0.00 secondX: 0.00 secondY: 100.00
getTurn => turn:-16759.64 = (x2:-206.06 - x1:-95.00) * (y3:100.00 - y1:0.00) - (y2:59.51 - y1:0.00) * (x3:0.00 - x1:-95.00)
getTurn => turn:16759.64 = (x2:-29.87 - x1:-95.00) * (y3:100.00 - y1:0.00) - (y2:-107.86 - y1:0.00) * (x3:0.00 - x1:-95.00)
getTheta => workmode: 1 thetaA:151.82 thetaB:301.12 proxturnA:-16759.64 proxturnB:-16759.64
getTheta => use: 2 x2: -29.87 y2: -107.86 thetaB: 301.12 x1: -206.06 y1: 59.51 thetaA: 151.82
getInverse => not cantilevered proximalR:133.00 distalR:213.00 xOrigR:93.00 yOrigR:0.00 x_0:0.00 y_0:100.00
getIntersec firstRadius: 133.00 secondRadius: 213.00 firstX: 93.00 firstY: 0.00 secondX: 0.00 secondY: 100.00
getTurn => turn:-17592.40 = (x2:21.18 - x1:93.00) * (y3:100.00 - y1:0.00) - (y2:-111.94 - y1:0.00) * (x3:0.00 - x1:93.00)
getTurn => turn:17592.40 = (x2:209.85 - x1:93.00) * (y3:100.00 - y1:0.00) - (y2:63.52 - y1:0.00) * (x3:0.00 - x1:93.00)
getTheta => workmode: 1 thetaA:237.32 thetaB:28.53 proxturnA:-17592.40 proxturnB:-17592.40
getTheta => use: 2 x2: 209.85 y2: 63.52 thetaB: 28.53 x1: 21.18 y1: -111.94 thetaA: 237.32
getInverse => cachedInvalid 0 cachedX0:0.00 cachedY0:100.00 cachedX1:0.00 cachedY1:100.00
getInverse => cachedXL:-29.87 cachedYL:-107.86 cachedXR:209.85 cachedYR:63.52 cachedThetaR:28.53 cachedXR:209.85
getInverse => cachedYR:63.52 cachedThetaL:301.12 cachedXL:-29.87 cachedYL:-107.86
getInverse => cachedInvalid:0 x_0:0.00 y_0:100.00 xL:-29.87 yL:-107.86 thetaL:301.12 xR:209.85 yR:63.52 thetaR:28.53 x1:0.00 y1:100.00
constraintsOK => cachedInvalid:0 actuatorAngleLMin:-90.00<0 && thetaL:301.12>actuatorAngleLMax:270.00
constraintsOK => thetaL(-58.88) -=360
constraintsOK => cachedInvalid:0 thetaL:-58.88 < actuatorAngleLMin:-90.00 || thetaL:-58.88 > actuatorAngleLMax:270.00 return false
constraintsOK => cachedInvalid:0 actuatorAngleRMin:-90.00<0 && thetaR:28.53>actuatorAngleRMax:270.00
constraintsOK => cachedInvalid:0 thetaR:28.53 < actuatorAngleRMin:-90.00 || thetaR:28.53 > actuatorAngleRMax:270.00 return false
getAngle => x1:-29.87 y1:-107.86 x2:0.00 y2:100.00 x3:209.85 y3:63.52
getAngle => angle:88.32 = angle2:350.14 - angle1:261.82
constraintsOK => achedInvalid:0 headAngle:88.32 < headAngleMin:15.00 || headAngle:88.32 > headAngleMax:165.00 isnan(headAngle):0 return false
getAngle => x1:-95.00 y1:0.00 x2:-29.87 y2:-107.86 x3:0.00 y3:100.00
getAngle => angle:320.70 = 360 + angle2:81.82 - angle1:121.12
constraintsOK => cachedInvalid:0 angleProxDistL:320.70 < proxDistLAngleMin:0.00 || angleProxDistL:320.70 > proxDistLAngleMax:360.00 isnan(angleProxDistL):0 return false
getAngle => x1:93.00 y1:0.00 x2:209.85 y2:63.52 x3:0.00 y3:100.00
getAngle => angle:321.61 = 360 + angle2:170.14 - angle1:208.53
constraintsOK => cachedInvalid:0 angleProxDistR:321.61 < proxDistRAngleMin:0.00 || angleProxDistR:321.61 > proxDistRAngleMax:360.00 isnan(angleProxDistR):0 return false
constraintsOK => cachedInvalid:0 cachedX0:0.00 cachedY0:100.00
CartesianToMotorSteps => motorPosX = cachedThetaL:301.12 * stespPermm[X_AXIS]924.44
 motorPosY = cachedThetaR:28.53 * stepsPermm[Y_AXIS]924.44
CartesianToMotorSteps => machinePos[0]:0.00 machinePos[1]:100.00 motorPosX:0.00 motorPosY:924.44
CartesianToMotorSteps => XYZ_AXES:3 numVisibleAxes:3ok

@joergs5 said in Five bar Parallel SCARA print area problem:

which means the arms 1 and 2 cannot have an angle greater than 90 degree. The Step 3 and 4 tests will not work, because they need bigger angles. Please set the C parameter to C-90:180:-90:180. Even your Step 2 test is at the boundary of the 90 degree limit, maybe this is the reason for the M114 9999.9 values.

I did what you said. but gave the same mistake. I wrote 270 degrees, gave the same mistake.

config.g

M669 K9 L1 X-95:93 Y0:0 P126:133 D210:213:0:0 B51:90 A15:165:0:360:0:360 C-90:270:-90:270 
M208 X-1000:1000 Y-1000:1000 ; set axis minima and maxima

m114

M114
X:9999.900 Y:9999.900 Z:0.000 E:0.000 E0:0.0 Count 101689 64711 0 Machine 9999.900 9999.900 0.000 Bed comp 0.000
ok

I'm going on by skipping the M114 command.

@joergs5 said in Five bar Parallel SCARA print area problem:

You're still using 128 microsteps, so please add F200 to all the following G1 commands, so the processor has more time to calculate values and to generate the steps. Hiccups (= lost steps) will probably not being reported by your hardware.

Step1: (check direction and M92)

• run homing, arm 1 shall be 53 degree, arm 2 90 degree arm 1 = new 51 degree
• run G90 G1 H2 X90 F200 and verify that arm 1 is 90 degree now and rotated counterclockwise ✓
• run G90 G1 H2 Y70 F200 and verify that arm 2 is 70 degree now and rotated clockwise ✓

If one or both arms rotated wrong, change S0 to S1 or S1 to S0 for the corresponding stepper (P0, P1) and redo the test until the arms rotate as expected. If the resulting degree is wrong, search the reason. One possible reason is if the belts have too low tension. Another one is too much play in the hinges.

Step 2: (check X0 symmetry)

• homing ✓
• run G90 G1 H2 X90 F200 and G90 G1 H2 Y90 F200 and verify that both arms are 90 degree and the hotend is on the X0 line ✓
• run M114 and note X and Y positions. X should be near 0, Y somewhere at 140

m114

M114 
X:9999.900 Y:9999.900 Z:0.000 E:0.000 E0:0.0 Count 83200 83200 0 Machine 9999.900 9999.900 0.000 Bed comp 0.000
ok

The M114 command does not give X and Y positions for some reason. Your help is thanks.

@joergs5 Hi, yes the problem is solved. Completed the movement as you say. But when I want to draw a square, the machine works on the back section.

@joergs5 said in Five bar Parallel SCARA print area problem:

M569 P0 S1 ; Drive 0 (X) goes forwards

sqaure.gcode

G90
G1 X0 Y90
G1 X0 Y140
G1 X50 Y140
G1 X50 Y90
G1 X0 Y90

---

SQUARE VIDEO

@joergs5 said in Five bar Parallel SCARA print area problem:

on the image the arm rotated to position 141, but it should be 143, so you can make the M92 value a bit higher. But I don't know the reason, can be some error in arm length or hinge play.

There is some curvature in angle gauge. showing two degrees missing.

@joergs5 Hi, I have done the steps you say. But I have received different results.

m122

m122
=== Diagnostics ===
RepRapFirmware for STM32F4 based Boards version 3.2.2_2 running on STM32F4
Used output buffers: 1 of 40 (11 max)
=== RTOS ===
Static ram: 32296
Dynamic ram: 60988 of which 380 recycled
Never used RAM 18200, free system stack 214 words
Tasks: NETWORK(ready,144) HEAT(blocked,369) MAIN(running,572) IDLE(ready,19)
Owned mutexes: WiFi(NETWORK) USB(MAIN)
=== Platform ===
Last reset 00:11:55 ago, cause: [power on/off]
Last software reset at 2021-05-19 00:16, reason: User, GCodes spinning, available RAM 18200, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00454000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,134218187,134218187
MCU temperature: min 31.6, current 42.0, max 42.5
Driver 0: position 48996, standstill, SG min/max 0/32, error r/w 0/0, ifcnt 16, cnt r/w 61932/16, timeout 0, failedOp 0xff
Driver 1: position 83200, standstill, SG min/max 0/40, error r/w 0/0, ifcnt 17, cnt r/w 61931/17, timeout 0, failedOp 0xff
Driver 2: position 0, standstill, SG min/max 0/0, error r/w 0/0, ifcnt 9, cnt r/w 61938/9, timeout 0, failedOp 0xff
Driver 3: position 0, standstill, SG min/max 0/0, error r/w 0/0, ifcnt 9, cnt r/w 61938/9, timeout 0, failedOp 0xff
Driver 4: position 0
Driver 5: position 0
Driver 6: position 0
Driver 7: position 0
Driver 8: position 0
Driver 9: position 0
Driver 10: position 0
Date/time: 2021-05-29 13:37:04
Slowest loop: 17.76ms; fastest: 0.07ms
=== Storage ===
Free file entries: 10
SD card 0 detected
SD card longest read time 2.8ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 83, maxWait 328438ms, bed compensation in use: none, comp offset 0.000
=== DDARing ===
Scheduled moves 6, completed moves 6, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters = -1, chamberHeaters = -1
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP is idle in state(s) 0
File is idle in state(s) 0
USB is ready with "m122" in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 7.11ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0)
HTTP sessions: 1 of 8
- WiFi -
Network state is active
WiFi module is connected to access point 
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.25-01S-D
WiFi MAC address 50:78:b3:f3:41:84
WiFi Vcc 3.38, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 36832
WiFi IP address 192.168.1.20
WiFi signal strength -73dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00004002
Socket states: 0 0 0 0 0 0 0 0
ok

config.g

M350 X128 Y128 I1 ;S3 ; Configure microstepping with interpolation
M669 K9 L1 X-95:93 Y0:0 P126:133 D210:213:0:0 B53:90 A15:165:0:360:0:360 C-90:90:-90:90 
M92 X924.444444 Y924.444444 ; Set steps per mm

m114

m114
X:-24.654 Y:310.557 Z:0.000 E:0.000 E0:0.0 Count 48996 83200 0 Machine -24.654 310.557 0.000 Bed comp 0.000
ok

924.444444 * 53 = 48.995,55532 OK....!

G91 G1 H2 X90

G91 G1 H2 X90

MotorStepsToCartesian => thetaL:143.00=MotorPosX:132196.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:143.00=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-195.63,yL:75.83,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -195.63 firstY: 75.83 secondX: 93.00 secondY: 133.00
getTurn => turn:-44706.59 = (x2:-82.95 - x1:-195.63) * (y3:133.00 - y1:75.83) - (y2:253.04 - y1:75.83) * (x3:93.00 - x1:-195.63)
getTurn => turn:44706.59 = (x2:-23.91 - x1:-195.63) * (y3:133.00 - y1:75.83) - (y2:-45.05 - y1:75.83) * (x3:93.00 - x1:-195.63)
getTurn => turn:-26376.60 = (x2:-195.63 - x1:-95.00) * (y3:253.04 - y1:0.00) - (y2:75.83 - y1:0.00) * (x3:-82.95 - x1:-95.00)
getTurn => turn:23401.72 = (x2:93.00 - x1:93.00) * (y3:253.04 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-82.95 - x1:93.00)
getForwad => workmode:1 turnLeft:-26376.60 turnRight:23401.72
MotorStepsToCartesian => MachinePosX:nan MachinePosY:nan XYZ_AXES:3 numVisibleAxes:3ok

MotorStepsToCartesian => thetaL:143.00=MotorPosX:132196.00/StepsPermmX:924.44 
MotorStepsToCartesian => thetaR:143.00=MotorPosY:83200.00/StepsPermmY:924.44 
getForwad => getIntersec(distalL:210.00,distalR:213.00,xL:-195.63,yL:75.83,xR:93.00,yR:133.00)
getIntersec firstRadius: 210.00 secondRadius: 213.00 firstX: -195.63 firstY: 75.83 secondX: 93.00 secondY: 133.00
getTurn => turn:-44706.59 = (x2:-82.95 - x1:-195.63) * (y3:133.00 - y1:75.83) - (y2:253.04 - y1:75.83) * (x3:93.00 - x1:-195.63)
getTurn => turn:44706.59 = (x2:-23.91 - x1:-195.63) * (y3:133.00 - y1:75.83) - (y2:-45.05 - y1:75.83) * (x3:93.00 - x1:-195.63)
getTurn => turn:-26376.60 = (x2:-195.63 - x1:-95.00) * (y3:253.04 - y1:0.00) - (y2:75.83 - y1:0.00) * (x3:-82.95 - x1:-95.00)
getTurn => turn:23401.72 = (x2:93.00 - x1:93.00) * (y3:253.04 - y1:0.00) - (y2:133.00 - y1:0.00) * (x3:-82.95 - x1:93.00)
getForwad => workmode:1 turnLeft:-26376.60 turnRight:23401.72
MotorStepsToCartesian => MachinePosX:nan MachinePosY:nan XYZ_AXES:3 numVisibleAxes:3

m114

m114
X:9999.900 Y:9999.900 Z:0.000 E:0.000 E0:0.0 Count 132196 83200 0 Machine 9999.900 9999.900 0.000 Bed comp 0.000
ok

132196 / 924.44444 = 143,0004814567331 degree .Why?

@joergs5

microsteps = 128
stepper Degree = 1.8
Teeth bigwheel = 260
Teeth smallwheel = 20

M92 = (128/1.8) * (260/20) = 924.444444

square.gcode

G90
G1 X0 Y90
G1 X0 Y140
G1 X50 Y140
G1 X50 Y90
G1 X0 Y90

@joergs5 @o_lampe
Hi, I didn't get the calibration. I've been dealing with a week calibration but draws the same shapes. @bondus had not shared a detail about calibration. I didn't mean to bother @JoergS5 on that.

I didn't understand the "Step Calibration" portion in the file where the bond is shared.

https://forum.duet3d.com/post/138052