Scara support ?
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Hello
Thanks to you two for the help provided
Monday I retest the homing
Impatient to see your scara !
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Hello
inverted Endstop on y2
Finally i have homigs that workCalibration is complicated it would be nice to think a more simple mode,
It is easy to have precisely the values of X and Y in M669
On the other hand, finding the values A and B is difficult.For example, g28 moves to endstop position,
after we move with G1 x / y precisely to real x0/y0
And with a command define A and B (ex: g92 x0 y0), possible?Possible to forbid z + if limit switch is activated, how to do?
I want to test your IR sensor, offsets are managed on scara ?
https://duet3d.com/wiki/Configuring_RepRapFirmware_for_a_Cartesian_printer#Z_probe_section -
I'm glad you got it working.
The IR sensor is managed on SCARA exactly as for other kinematics. See the Testing and Commissioning section of https://miscsolutions.wordpress.com/mini-height-sensor-board/.
Once the printer has been Z homed, the soft endstop at the Z height configured in your M208 command will be enforced.
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Ordered on duet3d.com
IR Probe
e3d PT100 Sensor
PT100 Daughter Board
Thanks for all -
Hello,
My limit of the Z is currently in max (388)[[language]] M208 X300 Y300 Z388; Set to maximize (adjust to suit your machine) M208 X0 Y0 Z0 S1; Set axis minima (adjust to make X = 0 and Y = 0 the edges of the bed)After homing the Z if I make a g1 z390, this is possible, how to prohibit it?
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I'm sorry, when I refactored the kinematics code I forgot to change the SCARA code to apply the usual limits to all axes other than X and Y. I'll fix this in the next release. There will probably be a 1.19.1 release to tidy up issues such as this one.
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I've been testing the SCARA support on my new SCARA printer. There is a bug in the forward kinematics calculations. No wonder you were having problems! I will have a fix soon (and it will include the Z axis limits too).
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Hehe cool
I look forward to sensor IR sense
The French post office is slow at the moment …
Thanks in advancePossible to see your scara : p
I'm curious to see a business model -
There are pics of my SCARA printer at https://miscsolutions.wordpress.com/2017/08/09/testing-the-robotdigg-scara-arm-3d-printer/. It's a very cheap printer - Duet electronics are too good for it! But it's good enough for me to use it to test the SCARA support.
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My SCARA printer is now working properly. SCARA fixes are in the 1.19+4 bugfix test version - see separate thread.
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Hello
IR sensor received
I removed end-stop from the Z
I connected "IR Sensor" to the end-stop of the Z
I can not run correctly
Can you give me an example for config.g and homeall.g? (hooming Z and auto-levelling bed.g on Scara ?)I put M558 P5 but I have error if i use G30 on homeall.g
[c]G28
Attempt to move the head of a Delta or SCARA printer before homing the towers
Error: Z probe already triggered at start of probing move
Error: Z probe already triggered at start of probing move
Error: Homing failed[/c]I get to operate without G30 in homeall.g in the meantime …
[[language]] ;homeall.g ... Home x/y ok ... G91 ; relative movement G1 S1 Z-400 F250 ; ensure head is clear of the bed G1 S2 Z6 ; move Z by 6 mm G1 S1 Z-10 F100 ; move proximal joint slowly to the endstop switch again G90 ; absolute movement -
The IR sensor should be connected as a Z probe, not an endstop switch. See https://duet3d.com/wiki/Connecting_a_Z_probe. You can keep the existing homing switch if you like and just use the Z probe to do mesh levelling or just to get a more accurate Z=0 position immediately before printing.
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ok
Other problem impossible to move X / Y with G1 in scara if Z is not homing
; homeall.g
; called to home all axes
; File homeall.g
;G91 ; relative movement
;G1 Z4 F100 ; ensure head is clear of the bed; Home proximal joint
G91
G1 S1 X-200 F2000 ; move proximal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 X5 ; move proximal joint anticlockwise by 10 degrees
G1 S1 X-20 F300 ; move proximal joint slowly to the endstop switch again
G90 ; absolute movement
;G1 S2 X0 F2000 ; move proximal joint to centre of range; Home distal joint
G91 ; relative movement
G1 S1 Y200 F2000 ; move distal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 Y-5 ; move distal joint anticlockwise by 10 degrees
G1 S1 Y20 F300 ; move distal joint slowly to the endstop switch again
G90 ; absolute movement
;ko
G90 ; absolute movement
G1 X150 Y150 F2000 ; move distal joint to centre of range; Home Z
G91 ; relative movement
G1 S1 Z-400 F250 ; ensure head is clear of the bed
G1 S2 Z6 ; move Z by 6 mm
G1 S1 Z-10 F100 ; move proximal joint slowly to the endstop switch again
G90 ; absolute movement;ok
G90 ; absolute movement
G1 X150 Y150 F2000 ; move distal joint to centre of range
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In my homeall.g file, after homing the proximal and distal joints I use G90 then G0 S2 Xxxx Yyyy Ffff, where xxx and yyy are the angles that I want the proximal and distal joints to take up prior to Z homing. This gets round the issue of moves to XYZ coordinates not being allowed until all axes have been homed.
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ok ==> G0 S2 Xxxx Yyyy Ffff
It is not conceivable for the futur to RFF support connect IR Sensor to End-Stop Z ?
Would it be cleaner at the wiring level ?
(I do not want to keep Mechanical Z End-Stop) -
No. The IR sensor produces a 4-level analogue output. This is so that the firmware can slow down the probing move when the trigger point is approaching.
You will need to change your homeall.g file, also homez.g if you are using one, to use a G30 probing move instead of a G1 S1 move. See https://duet3d.com/wiki/Configuring_RepRapFirmware_for_a_Cartesian_printer#Homing_Z.
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ok i change connect tomorrow …
Where connect "out" (3-pin IR Sense on duet-wifi)
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Not on the expansion connector at all. Use the Z probe connector and see the link i posted earlier (6 posts back).
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ok
out IR Sense (3-Pin) on ==> Z PROBE IN ? -
Yes. Leave the Mod pin on the Z probe connector unconnected.
