Posts made by v_gerzha

I'm completely confused in the corners. You can draw in what position the X (min/max) and Y (min/max) sensors should be triggered and how the X and Y coordinates are located in your configuration after homeall.g

David, I'm sorry for perseverance, but there's no one else to turn.

That's what it should be.

Result.

What am I doing wrong?

Maybe it makes sense to try the firmware version 1.19 on which you set up your SCARA...

https://miscsolutions.wordpress.com/2017/08/27/converting-the-robotdigg-scara-printer-to-duet-electronics/

The Concies are triggered by the X=0 Y=0
G1 S1 X0 Y0 > X=600(MAX)

DWC shows all the coordinates in mm correctly, but the movement occurs only in degrees, the G90 also works in degrees.

Duet Web Control 3.1.1

config.g
homeall.g

Hello, David! I finally did launch my SCARA. DWC shows all the coordinates in mm correctly, but the movement occurs only in degrees, the G90 also works in degrees. Help me how to transfer commands to the Cartesian coordinate system. I'll be very grateful to you, or I'll soon have "smoke from my ears." Respectfully, Valery.

Duet 0.6 (duet06)
RepRapFirmware for Duet 1.26.1 (2020-02-09b1)

...thanks for your help !!

... typed incorrectly ...
Direct kinematics:
X=Cos(B - A) - Cos(A)
Y= Sin(A) + Sin(B - A)
Inverse kinematics:
Cos (B) = (800-X ^ 2-Y ^ 2) / 800
A = 20 * Tan (X / Y) + (B / 2)

David, you can say these equations are true ...
Direct kinematics:
X = Cos (B-A) - Cos (A)
Y = Sin (A) + Sin (B-A)
Inverse kinematics:
Cos (B) = (800-X ^ 2-Y ^ 2) / 800
A = 20 * Tan (X / Y) + (B / 2)
... for this circuit ...

I can’t open your link to read ... from 6 Mar 2019, 03:18 ...
...I wasn't aware of that patent. I described how I calibrated my SCARA robot in the "Calibration" section of my blog entry at https://miscsolutions.wordpress.com/2017/08/27/converting-the-robotdigg-scara-printer-to-duet-electronics/.

Thanks, Ian.

Nice, I Would like to test it too on my SCARA project and adapt it to the project

Здравствуйте, Дэвид!
Подскажите пожалуйста как корректно в конфигурации SCARA указать передаточный коэффициент проксимального и дистального суставов. В механике, которую я использую передаточный коэффициент проксимального сустава 1:5, а дистального сустава 1:9.
С уважением, Валерий.