5 Phase steppers (0.72 Deg.) using a SCARA system and Duet 6XD.

dogboy

Hello everyone,

I am currently looking into upgrading a machine I have to use a DUET 3 6XD board.

My existing old machine (Versatronis RV4S pick and place assembly machine), is based on a SCARA system and has 0.72 Deg. 5 phase stepper motors, made by Sanyo Denki. The Stepper drivers (also SanyoDenki) has various micro step settings from 1 to 250. (1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 & 250).

I am new to the world of Duet and have a question.
Using the Duet config tool, initially setting the motion type to Cartesian (followed by setting up for a SCARA system manually), is their anyway I can configure the Duet 6XD board to support the 0.72 deg. steppers with with any of the micro step options.

The initial cartesian settings only offer 0.9, 1.8 or 7.5 Deg. steps.
How can I setup 6XD board for the 0.72 Deg. 5 phase steppers and drivers I have?

Any ideas or perhaps documents pointing me in the right direction would be really appreciated.

Thanks
Paul

jay_s_uk

@dogboy I'm assuming the steppers have their own drivers?
In which case the 6XD doesn't care about the microstepping set. All it cares about are the steps per mm

dogboy

@jay_s_uk Thanks for your reply.
Ah, yes, it did click after I posted this message, but my confusion is how does this relate to a SCARA setup.
Maybe I am missing something here (more than likely) but if each SCARA axis is rotational, how do you measure steps /mm?

Obviously, I am new to all this, but I have just realised of course with external drivers, it does not matter about the micro stepping.
I am just confused about the setup for a SCARA system.

Can you recommend any links or docs that may explain this in more detail for a SCARA setup with a DUET 3 board.

Thanks
Paul

jay_s_uk

@dogboy I've never setup a scara but there are a couple of pages on the duet docs depending on the type of scara.
https://docs.duet3d.com/User_manual/Machine_configuration/Configuration_SCARA
That's for a serial Scara
https://docs.duet3d.com/User_manual/Machine_configuration/Configuration_five_bar_parallel_scara
And that's for a 5 bar parallel scara