Scara manual control

droftarts

@Fuzionline said in Scara manual control:

No.Only stop when reach the 150 distal angle(420mm of X0 Y0 approximate).

I think that's the default. From 'Serial SCARA' tab of M669 https://docs.duet3d.com/en/User_manual/Reference/Gcodes#m669-set-kinematics-type-and-kinematics-parameters

Rnnn (optional, RRF 2.03 and later only) Minimum permitted printing radius from the proximal axis. If not specified, it will be calculated to be slightly larger than the distance between nozzle and proximal axis when the distal axis is homed.

So it does look like R is being ignored. I'll report it to @dc42 and see what he says.

Ian

Fuzionline

@droftarts
tks for your help

droftarts

@Fuzionline I've raised this as an issue on Github: https://github.com/Duet3D/RepRapFirmware/issues/1045

Ian

droftarts created this issue in Duet3D/RepRapFirmware

open [Bug]: Scara kinematics ignoring M669 R parameter in RRF 3.5.2 #1045

Fuzionline

@droftarts
Tks

Fuzionline

@Fuzionline
hello
Do you have news
tks

T3P3Tony

@Fuzionline did you test this with 3.6beta2 to see if its resolved or not?

Fuzionline

I updated to version 3.6.0 Release Candidate 1, but the M571 command doesn't work. I reverted to Release 3.5.4, and it's working. Thank you.
I have a Duet 2 wifi.

Fuzionline

@Fuzionline
I haven't had the opportunity to test 3.6 beta 2 yet to see if it resolved the issue with M669 R.

dc42

@Fuzionline said in Scara manual control:

I updated to version 3.6.0 Release Candidate 1, but the M571 command doesn't work. I reverted to Release 3.5.4, and it's working. Thank you.
I have a Duet 2 wifi.

Confirmed, M571 doesn't work in 3.6.0-rc.1 and 3.6 beta versions. It will be fixed in rc2.

Fuzionline

@dc42
Hello
Now with the rc2 it´s ok .
Another doubt

When I run a simulation and there is a movement that cannot be executed, the system correctly reports the error and shows the exact line in the G-code where the issue occurs — so far, so good.

However, sometimes the simulation finishes without detecting any errors, but when I start the actual print, I get errors in the console like:

Error: G1: intermediate position outside machine limits

These messages appear either in blue or red, but the printer keeps running without stopping.
Tks

dc42

@Fuzionline the reason for this is that when simulating on a Scara or other machine with nonlinear kinematics, RRF doesn't segment the moves and simulate the segments, but instead simulates the entire move. We tried simulating individual segments but found it was too slow. Unfortunately there are some situations in which out-of-bounds errors are only detected at the segment level; for example, if a move has reachable start and end coordinates but would bring the head too close to the proximal axis on the way between them.