Homemade single arm SCARA，How to setup the software

I made single arm Scara,4axis
I used Arduino Mega 2560 and RAMPS 1.4 for board .
I used a firmware which Vitaminard modified at [github.com]





// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
// Uncomment to use Morgan scara mode
#define SCARA
#define scara_segments_per_second 200 //careful, two much will decrease performance...
// Length of inner support arm
#define Linkage_1 200 // 200 mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter
#define Linkage_2 150 // 150 mm

// SCARA tower offset (position of Tower relative to bed zero position)
// ARM tower offset (position of Tower relative to bed zero position)
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define SCARA_offset_x ？//mm
#define SCARA_offset_y ？ //mm
#define SCARA_RAD2DEG 57.2957795 // to convert RAD to degrees

#define THETA_HOMING_OFFSET ？ //calculatated from Calibration Guide and command M360 / M114 see picture in [reprap.harleystudio.co.za]
#define PSI_HOMING_OFFSET ？ // calculatated from Calibration Guide and command M364 / M114 see picture in [reprap.harleystudio.co.za]


How to setup the software

endstop position

i dont think you can use the usual scara branch of a firmware as that is meant for a parallel scara ( morgan ) while your is a serial scara. As far as i am aware there is not firmware which supports this configuration for now. The work around would be use a gcode post processor to modify the cartasian gcode to scara gcode . Also looking at the arm length and the gear ratio i dont think you will have sufficient resolution for half decent prints. Yoy need a much higher resolution to do that.

I can help you with a post processor if you can share the cad files . I would also suggest you to increase the belt pulley sizes to have better resolution.

This firmware maybe suite you [github.com]
you can see the drawing for the firmware configuration here [www.wangsamas.com]

Hello
I need a gcode post processor to modify the cartasian gcode to scara gcode
Do you now where I can find one
Tks

SCARA printers normally use regular Cartesian Gcode. The firmware takes care of mapping the kinematics.

Edited 1 time(s). Last edit at 10/11/2020 03:02AM by dc42.

---

Large delta printer [miscsolutions.wordpress.com], E3D tool changer, Robotdigg SCARA printer, Crane Quad and Ormerod

Disclosure: I design Duet electronics and work on RepRapFirmware, [duet3d.com].

Hello DC42 thanks for your quick answer
I spoke in the postprocessor due to go to work with the planet cnc hardware in my scara
If you know of any good postprocessor software, or someone who can program me that, I would appreciate it if you inform me if
tks

MPSCARA has a python script for coordinate conversion [www.thingiverse.com]

Hello
I try the MPSCARA ,but only works with one layer model.
When I put a model with multiple layers ,don t generate the output file
Tks

Hello,
I re-read after some yers this post and now I read with new eyes.

Me and the team of THEREMINO SYSTEM (www.theremino.com) have developed a lot of softwre to manage robot, stepper motors and a way to instruct and control automation using stepper motor.

I would try tomanage your arm using our software.

You have a drawing of all the parts of thsi SCARA?

You really made a good work!

Bye

Leo