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Hi Sean,
thank you! Documentation here in the forum is also a giant help for myself.
Pavlo has really done great work, I already thought about asking him about ABL and multiple extruders but I´m not ready yet and do not want to be a stressor... ;-)
Unfortunately I currently have not so much time for it...but it will be better in some time.
Still I have to think about the laser mount. I would li
by
theothermike
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Polar Machines, SCARA, Robot Arms
Guten Abend zusammen,
ein wahrlich toller Printer und eine super Dokumentation!
Herzlichen Dank für´s zeigen hier, das versetzt mich schon wieder in diesen "ich will auch Wahn"... ;-))
Aber dennoch eine Frage zu den Steppern und das frage ich mich schon ewig bei den ganzen Printern:....normalerweise sind doch Stepper nicht für radiale Kraftaufnahme ausgelegt, oder?
Sind das hier spezial Stepper
by
theothermike
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Projekte
Well....finding free/affordable multiple axis CAM Systems is a pain i.t.a.
Currently, there are two more I know about:
I´ve built a 3 axis cnc (1280 x 800 x 660 mm^3 size over all, giving 900x500x390 work space, approx. 250kg weight) using Nema23, which is more than enough. Speed goes up to 7m/min which was too scaring much for this size and therefore I reduced it to 4m/min.
Stepper Motor Dri
by
theothermike
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CNC Routers, Mills, and Hybrid RepRapping
Hi Didi,
ja, muss man halt Geduld haben....wenn ich an mich und meine Basteleien denke, dann dauert das auch immer ewig lang! Liegt halt daran, dass man vielfältig interessiert ist und eigentlich zu wenig Freizeit für solche Sachen hat...
Bei den 3D-Druckern habe ich halt das Gefühl, dass einfache Druckergeometrien mit bestehender Software halt den Löwenanteil haben.
Solch Robotersteuerung ist
by
theothermike
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Software
Der Arm ist OK, halt ein Testobjekt für die ustepper-Boards...welche ja echt ganz nett sind.
Software ist halt das Problem...
Ich hab mal immer wieder ein wenig in diversen Firmwares rumgepfuscht, aber wirklich zum laufen bekomen habe ich es nie. Irgendwie fehlt mir da noch ein wenig grundlegendes Verständnis...
by
theothermike
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Software
SCARyllA runs quite well using Marlin-5bar Firmware by Pavlo Gryb.
He made it accept g2/g3 commands, so path trajectories exported from inkscape, CAMBAM, etc. should work now!!
g2-movements can be seen here:
by
theothermike
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Polar Machines, SCARA, Robot Arms
Tried several combinations now....think there´s an error concerning the reversed motor direction and xy_max endstops. Nevertheless, it works using the xy_min pins.
This is my working configuration.h:
by
theothermike
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Polar Machines, SCARA, Robot Arms
OK, works !!!
It´s quite logical !! I had to mechanically change from x_max, y_max, z_max to the corresponding min pins.
Great stuff !
One further thing regarding the calculation of the offsets:
The mathematical base zero coordinates (x=0, y=0) without offset sits in between the two shoulder joints ?
by
theothermike
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Polar Machines, SCARA, Robot Arms
What does "FBSIGN" do?
Edit: OK, I see in Marlin_main the parity is changed with it...
I setted:
#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
and
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
But now the xy_max endstops are not effective any more..!
Using "M119" they definitely get t
by
theothermike
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Polar Machines, SCARA, Robot Arms
right now testing Pavlo´s new Firmware.
Installation´s fine, yet the endstops are wrong....needing xy_max instead of xy_min, z_max is jumpered.
by
theothermike
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Polar Machines, SCARA, Robot Arms
Hi Pavlo,
well, indeed, we already watched your video several times the last hours+ ! ;-)
Thank you so much for contributing your great work and for your offer to help on code! I think there might be some questions... ;-)
Kind regards
Mike
by
theothermike
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Polar Machines, SCARA, Robot Arms
Huhu zusammen,
jetzt muss ich mal nachhaken....hier ist es so ruhig geworden.
Wie ist der Status, was macht die Firmware, Hardware,...????
Viele Grüße
Mike
PS:
Ich habe etwas rumgesucht bzgl. Motoren...so könnte man mittels eigenem Arduino einen Servoantrieb mit Positionierung machen, welcher mittels step/dir wie ein Stepper angesteuert werden kann.
by
theothermike
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Software
Yep, it´s great that there are at least "some" more people working on the SCARA stuff...
Perhaps we can ask him also how to implement arc movements (g2/g3)...?
by
theothermike
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Polar Machines, SCARA, Robot Arms
Mr. Gryb (Pavlo Gryb´s Printer) has modified the arm geometry. The extruder sits outside the outer joint, so math is slightly different and cannot be used in this form for "typical" SCARA.
Perhaps he has done parametisation, so that it can be easily switched by defining the offset?
by
theothermike
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Polar Machines, SCARA, Robot Arms
No strange swing.
Just the end stop switch homing routine, as it can be seen here:
The rest depends on where you set your bed zero coordinates, but they are reached in a linear, understandable manner.
Nevertheless, firmware still lacks g2/g3 codes ! :-((
I tested un-uncommenting the g2/g3 routines, but that gives movements out of bound.......
So, if anybody has an idea how to implement g2-m
by
theothermike
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Polar Machines, SCARA, Robot Arms
Success !!! :-)))))) SCARyllA´s alive !
Of course, there were some more issues in my forward calculation program routine. But I was able to debug them using a different procedure.
I defined much more variables than initially needed, calculated each small term and printed them out using the serial-out.
Then I compared the values with the excel sheet and was able to correct each term separately.
by
theothermike
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Polar Machines, SCARA, Robot Arms
Yeahh ! One error found !! It really helps posting here so one is forced to think deeper... :-)
Made an Excel Skript and *BAM* ........should have done that much earlier.
With this I can calculate the arm coordinates to be approx. x=-73 and y=105.4
I have to correct the inverse calculation. When calculating Epsilon, it must be divided by e, not c....
Photo will be posted asap.
by
theothermike
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Polar Machines, SCARA, Robot Arms
Very slow progress...
Magnet holder and HES-box installed:
Distance between Clamp and HES-box surface is 0.5mm:
Best of all: Endstop switches are working ! :-)) x-motor port of Ramps-shield is right shoulder joint, y-motor port is left shoulder joint. Switches are connected to x-max pins.
Proof is here:
And that´s the arm position after homing:
Roughly measured, the real angles after homing
by
theothermike
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Polar Machines, SCARA, Robot Arms
Thanks for the link....while reading through it I remember that I already found it some months ago, but set it aside because it needs several steps of simplification into a more compact mathematical form.
But, indeed, it´s at least one calculation I can still compare ! :-)
by
theothermike
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Polar Machines, SCARA, Robot Arms
Yesterday I tested the hall effect switches (HES) on a breadboard with an LED. Seems to work well when using a pullup resistor.
So I decided to design and manufacture a corresponding HES-box (material is black POM):
The HES´s will be glued into the box to give a sturdy finish.
It will be set into the middle beteen the two gears:
Next step will be a small redesign of the magnet holder clamps...
by
theothermike
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Polar Machines, SCARA, Robot Arms
I think the forward kinematic is the following:
Looks weird (quite nested) and I´m sorry it´s not written very clearly, but it was a first try.
by
theothermike
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Polar Machines, SCARA, Robot Arms
Hi there,
during last days&weeks I had too less time (Currently I´m testing and designing the hall effect switch holders....).
Perhaps that´s why SCARA-Teacup DOES not move the arms...!? I´m not sure, because my programming skills are....rudimentary.
With an helping expert or Mentor I might get it working but currently I do not have enough brain Juice to solve the firmware issue from ground
by
theothermike
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Polar Machines, SCARA, Robot Arms
Do not be disencouraged.
Designing, creating, constructing,....that´s not a given Talent, more or less a skill one obtaines by thinking, trying, reflecting, rethinking, retrying, .... and chosing the right compromises.
Go ahead if you´re having fun, you´re doing it the right way.
It´s all about stepper current and torque. Some steppers can operate with a surface temperature between -40°C up to 1
by
theothermike
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Polar Machines, SCARA, Robot Arms
Yep,...as I said....
but I think at first one should get it running, testing the machines (mechanical) limits and afterwards (perhaps in a second design iteration) one can finetune electronics towards speed, accuracy etc....
Smoothie`s really cool, but with every additional variable things get worse.
Arduino Mega & Ramps 1.4 definitely can drive a SCARA using several different firmwares. Thi
by
theothermike
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Polar Machines, SCARA, Robot Arms
The Marlin armlevel firmware branch by Quentin Harley might work for you....
I had to think about it, but although the Morgan uses two arms, it resembles the single arm kinematics...
by
theothermike
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Polar Machines, SCARA, Robot Arms
...ist halt Linuxcnc und löst noch nicht die Frage nach dem CAM...
by
theothermike
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Software
Hallo zusammen,
mal noch eine etwas abweichende Frage, vll. hat ja jemand eine Idee dazu...
Die ganzen Industrieroboter verwenden ja ein ich sag mal nicht standardisiertes Dateiformat. D.h. aus einem 5-Achs-CAM oder ähnlichem wird gcode erzeugt, welcher dann über einen Robot-Interpreter exakt auf die jeweilige Maschine übersetzt wird (Also einen Controller für einen ABB, Kuka, o.ä....) und damit
by
theothermike
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Software
After receiving the mechanical end switches and seeing the wiggly levers on the end stop mount between the arms I decided to use hall effect switches now.
So I´ll have to redesign the end stop switches mount a bit...
Thought about using the "a3144" sensor and a slightly modified end stop clamp.
by
theothermike
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Polar Machines, SCARA, Robot Arms
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Pages: 12345