SCARA arm plotter / printer using Nema 23 stepper motors January 21, 2022 08:25AM |
Registered: 2 years ago Posts: 4 |
Re: SCARA arm plotter / printer using Nema 23 stepper motors January 21, 2022 10:35AM |
Admin Registered: 16 years ago Posts: 13,888 |
Re: SCARA arm plotter / printer using Nema 23 stepper motors January 22, 2022 08:42PM |
Registered: 3 years ago Posts: 92 |
void scara_set_axis_is_at_home(const AxisEnum axis) { if (axis == Z_AXIS) current_position.z = Z_HOME_POS; else { delta.a = SCARA_OFFSET_THETA1 - scara_home_offset.a; delta.b = SCARA_OFFSET_THETA2 - scara_home_offset.a - scara_home_offset.b; forward_kinematics(delta.a, delta.b); current_position[axis] = cartes[axis]; //DEBUG_ECHOLNPGM("homeposition A:", delta.a, " B:", delta.b); //DEBUG_ECHOLNPGM_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y); update_software_endstops(axis); } }The SCARA_OFFSET_THETA values are the approximate home angles, and you can adjust scara_home_offset using M665 to refine them at runtime. Then save to EEPROM with M500. The elbow angle and SCARA_LINKAGE defines are what determine whether things come out square and proper dimensions. Shoulder angle only rotates the whole coordinate system around the shoulder axis.
Re: SCARA arm plotter / printer using Nema 23 stepper motors January 24, 2022 07:12AM |
Registered: 2 years ago Posts: 4 |