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Been finishing up a build here, and ran into a few dead-ends while doing the final calibrations on the flowchart. Just need some guidance at this point.
1. Which position the arms should be in when the endstops have been triggered for finding home position.
2. What position the arms should be in after the M360 command is issued to move the arm to Theta0. It seems to be over shooting and wanting to spin in a full counter-clockwise circle, and attempting to correct this is a bit has been of an issue. (I’m assuming this is likely because I’m not certain what the correct start point, and end result should be.)
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I’m having similar issues.
M360 works fine and sends Theta to 0.
M361 and M363 (Theta 90) seems to go somewhere behind the middle of the platform. Obviously it can’t as there is a brass pipe in the way.
So here are my questions.
1. Which way is jogging with X+/- and Y+/- supposed to move the printhead? Away or towards the platform? Left or right?
2. Is moving X and Y in pronterface supposed to move the head in a straight line?Thanks
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Hi Francois & Quentin,
I initially had a similar problem with the arms wanting to go behind the top platform – until I realized that one or both of my theta and psi motor connections were probably wrong. Once I got those right the calibration process went smoothly as per Quentin’s flowchart.
In case you are using Ramps electronics and standard motor wiring colors of blue, red, green, black – I got the correct results when both the theta and psi motor plugs were oriented with the blue wires facing the power-connection end of the Ramps board.
Diode
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Hi Francois,
m114 values after home then move to x100, y100.
>>>m114
SENDING:M114
X:-35.75Y:-62.40Z:235.00E:0.00
SCARA Theta:117.22 Psi+Theta:242.69
SCARA Cal – Theta:117.22 Psi+Theta (90):35.47
SCARA step Cal – Theta:268.98 Psi+Theta:296.67
>>>g0 x100 y100
SENDING:G0 X100 Y100
>>>m114
SENDING:M114
X:100.00Y:100.00Z:235.00E:0.00
SCARA Theta:33.82 Psi+Theta:144.72
SCARA Cal – Theta:33.82 Psi+Theta (90):20.90
SCARA step Cal – Theta:77.61 Psi+Theta:262.22Machine has been calibrated to Quentin’s flowchart plus some minor tweaks to the m365 x & y scaling factors to produce a round 154 mm drive wheel. X and Y motors are 0.9 degree per step but I only have drivers capable of 16 micro-steps rather than 32. Arms lengths recorded in Marlin configuration.h are both 149.000 mm. My machine is a repstrap version with aluminium tubing arms and wooden drive wheels – but is otherwise fairly standard.
Diode
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Just saw that the flowchart was updated, and that solved a lot of the confusion for myself. Massively appreciated, as it’s quite well done. Next issue I’m running into, is that I seem to be making some error during the calibration.
As it just seems to be swinging around the wrong way, colliding the arms together, and I can’t get it to head anywhere near where it’s meant to go so it seems. Only way I’m able to get it over the build platform is by increasing the X and Y limits quite a bit Obviously, I’m making errors during some portion of the setup procedure. Just not sure where yet.
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With the bed towards you and the arms behind, the coordinates is as follows:
Pipe
X200 Y0.—————————-X0 Y0
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X200 Y200.————————- X0 Y200Jogging should move in straight lines. Remember that the cooirdinates in Pronterface is the other way around, so the arm should move in the opposite directing you are jogging it on the screen.
Start with M92 X430 Y430 again, but make sure to enter your homing position correctly in the configuration.h in Marlin.
I should make it soft adjustable… On my todo list.
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