Reprap Morgan build

[crow]

Hi,
I have taken the plunge and built a morgan. It has taken some time to get it functional. printed most of the parts on a prusa I3.
I must say the morgan is a interesting piece of hardware coming from a I3. Accolades to you Quentin.

I thought I had built everything to spec but I am struggling to get good calibration. I am using smoothieware and following the smoothie cal on this site.

I notice that m360 calibrates the Theta arm and I suspect everything being equal that if the Theta arm is Calibrated the Psi should be as well.

I tried M362 to check the psi arm but with no response.
Is M362 and M363 not enables or and I missing something on its use?

I try printing the calibration stl and after the calibration the theta curved length is 100 but x is 105.
Psi curve is 98 and y is 97.

I am not sure how to proceed to fix. I thought by using M362 I would be able to acquire the correct stepping/degree for the psi arm.

any thought would be greatly recieved.

regards
Trevor

[Quentin Harley]

Hi Crow,

Drop us a copy of the config and config-overide files here.

The dimensions above are for the latest calibration STL you printed right?

[crow]

Hi Quentin, yes that is the details for the last print.
I did not have a config override. so the print was from just the config.
I have done another calibration procedure and included that config overide.
the major difference is that the configure procedure sets a global steps/degree for both theta and psi.

config.
# NOTE Lines must not exceed 132 characters
# Robot module configurations : general handling of movement G-codes and slicing into moves
default_feed_rate 4000 # Default rate ( mm/minute ) for G1/G2/G3 moves
default_seek_rate 4000 # Default rate ( mm/minute ) for G0 moves
mm_per_arc_segment 0.5 # Arcs are cut into segments ( lines ), this is the length for
# these segments. Smaller values mean more resolution,
# higher values mean faster computation
#mm_per_line_segment 0.5 # Lines can be cut into segments ( not usefull with cartesian
# coordinates robots ).
delta_segments_per_second 200 # for deltas only same as in Marlin/Delta, set to 0 to disable
# and use mm_per_line_segment

# Arm solution configuration : SCARA robot. Translates mm positions into stepper positions
arm_solution morgan # selects the morgan arm solution
alpha_steps_per_mm 131.36000 # Steps per mm for alpha stepper
beta_steps_per_mm 133.17000 # Steps per mm for beta stepper
gamma_steps_per_mm 400.00000 # Steps per mm for gamma stepper

arm1_length 150.00 # this is the length of an arm1 (inner) from hinge to hinge
arm2_length 150.00 # this is the length of an arm2 (outer) from hinge to hinge
morgan_offset_x 90.0 # tower offset from bed 0:0 default 100.0
morgan_offset_y -65.0 # tower offset from bed 0:0 default -65.0
morgan_undefined_min 0.95 # Defines undefined SCARA ratio: default 0.95
morgan_undefined_max 0.90 # Defines undefined SCARA ratio: default 0.95
axis_scaling_x 0.957 # In the case of a morgan arm solution, scaling in the X axis
axis_scaling_y 1.022 # In the case of a morgan arm solution, scaling in the y axis
scara_homing true # always home XY together

# Planner module configuration : Look-ahead and acceleration configuration
planner_queue_size 32 # DO NOT CHANGE THIS UNLESS YOU KNOW EXACTLY WHAT YOU ARE DOING
acceleration 600 # Acceleration in mm/second/second.
z_acceleration 60 # Acceleration for Z only moves in mm/s^2, 0 uses acceleration which is the default. DO NOT SET ON A DELTA
acceleration_ticks_per_second 1000 # Number of times per second the speed is updated
junction_deviation 0.05 # Similar to the old “max_jerk”, in millimeters,
# see https://github.com/grbl/grbl/blob/master/planner.c
# and https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.8
# Lower values mean being more careful, higher values means being
# faster and have more jerk
#z_junction_deviation 0.0 # for Z only moves, -1 uses junction_deviation, zero disables junction_deviation on z moves DO NOT SET ON A DELTA
#minimum_planner_speed 0.0 # sets the minimum planner speed in mm/sec

# Stepper module configuration
microseconds_per_step_pulse 1 # Duration of step pulses to stepper drivers, in microseconds
base_stepping_frequency 100000 # Base frequency for stepping, higher gives smoother movement

# Cartesian axis speed limits
x_axis_max_speed 10000 # mm/min
y_axis_max_speed 10000 # mm/min
z_axis_max_speed 600 # mm/min

# Stepper module pins ( ports, and pin numbers, appending “!” to the number will invert a pin )
alpha_step_pin 2.0 # Pin for alpha stepper step signal
alpha_dir_pin 0.5 # Pin for alpha stepper direction
alpha_en_pin 0.4 # Pin for alpha enable pin
alpha_current 1.2 # X stepper motor current
alpha_max_rate 10000.0 # mm/min

beta_step_pin 2.1 # Pin for beta stepper step signal
beta_dir_pin 0.11 # Pin for beta stepper direction
beta_en_pin 0.10 # Pin for beta enable
beta_current 1.2 # Y stepper motor current
beta_max_rate 10000.0 # mm/min

gamma_step_pin 2.2 # Pin for gamma stepper step signal
gamma_dir_pin 0.20! # Pin for gamma stepper direction
gamma_en_pin 0.19 # Pin for gamma enable
gamma_current 1.4 # Z stepper motor current
gamma_max_rate 600.0 # mm/min

# Serial communications configuration ( baud rate default to 9600 if undefined )
uart0.baud_rate 115200 # Baud rate for the default hardware serial port
second_usb_serial_enable true # This enables a second usb serial port (to have both pronterface
# and a terminal connected)
#leds_disable true # disable using leds after config loaded
#play_led_disable true # disable the play led
pause_button_enable true # Pause button enable
#pause_button_pin 2.12 # pause button pin. default is P2.12
#kill_button_enable false # set to true to enable a kill button
#kill_button_pin 2.12 # kill button pin. default is same as pause button 2.12 (2.11 is another good choice)
#msd_disable false # disable the MSD (USB SDCARD) when set to true (needs special binary)
#dfu_enable false # for linux developers, set to true to enable DFU

# Extruder module configuration
extruder.hotend.enable true # Whether to activate the extruder module at all. All configuration is ignored if false
extruder.hotend.steps_per_mm 147.155 # Steps per mm for extruder stepper
extruder.hotend.default_feed_rate 600 # Default rate ( mm/minute ) for moves where only the extruder moves
extruder.hotend.acceleration 500 # Acceleration for the stepper motor, as of 0.6, arbitrary ratio
extruder.hotend.max_speed 100 # mm/s

extruder.hotend.step_pin 2.3 # Pin for extruder step signal
extruder.hotend.dir_pin 0.22 # Pin for extruder dir signal
extruder.hotend.en_pin 0.21 # Pin for extruder enable signal

# extruder offset
#extruder.hotend.x_offset 0 # x offset from origin in mm
#extruder.hotend.y_offset 0 # y offset from origin in mm
#extruder.hotend.z_offset 0 # z offset from origin in mm

# firmware retract settings when using G10/G11, these are the defaults if not defined, must be defined for each extruder if not using the defaults
#extruder.hotend.retract_length 3.7 # retract length in mm
#extruder.hotend.retract_feedrate 100 # retract feedrate in mm/sec
#extruder.hotend.retract_recover_length 0 # additional length for recover
#extruder.hotend.retract_recover_feedrate 50 # recover feedrate in mm/sec (should be less than retract feedrate)
#extruder.hotend.retract_zlift_length 0 # zlift on retract in mm, 0 disables
#extruder.hotend.retract_zlift_feedrate 6000 # zlift feedrate in mm/min (Note mm/min NOT mm/sec)

delta_current 1.4 # First extruder stepper motor current

# Second extruder module configuration
#extruder.hotend2.enable true # Whether to activate the extruder module at all. All configuration is ignored if false
#extruder.hotend2.steps_per_mm 140 # Steps per mm for extruder stepper
#extruder.hotend2.default_feed_rate 600 # Default rate ( mm/minute ) for moves where only the extruder moves
#extruder.hotend2.acceleration 500 # Acceleration for the stepper motor, as of 0.6, arbitrary ratio
#extruder.hotend2.max_speed 50 # mm/s

#extruder.hotend2.step_pin 2.8 # Pin for extruder step signal
#extruder.hotend2.dir_pin 2.13 # Pin for extruder dir signal
#extruder.hotend2.en_pin 4.29 # Pin for extruder enable signal

#extruder.hotend2.x_offset 0 # x offset from origin in mm
#extruder.hotend2.y_offset 25.0 # y offset from origin in mm
#extruder.hotend2.z_offset 0 # z offset from origin in mm
#epsilon_current 1.5 # Second extruder stepper motor current

# Laser module configuration
laser_module_enable false # Whether to activate the laser module at all. All configuration is
# ignored if false.
#laser_module_pin 2.5 # this pin will be PWMed to control the laser. Only P2.0 – P2.5, P1.18, P1.20, P1.21, P1.23, P1.24, P1.26, P3.25, P3.26
# can be used since laser requires hardware PWM
#laser_module_max_power 0.8 # this is the maximum duty cycle that will be applied to the laser
#laser_module_tickle_power 0.0 # this duty cycle will be used for travel moves to keep the laser
# active without actually burning
#laser_module_pwm_period 20 # this sets the pwm frequency as the period in microseconds

# Hotend temperature control configuration
temperature_control.hotend.enable true # Whether to activate this ( “hotend” ) module at all.
# All configuration is ignored if false.
temperature_control.hotend.thermistor_pin 0.24 # Pin for the thermistor to read
temperature_control.hotend.heater_pin 2.7 # Pin that controls the heater, set to nc if a readonly thermistor is being defined 2.7
temperature_control.hotend.thermistor RRRF100K # see http://smoothieware.org/temperaturecontrol#toc5
#temperature_control.hotend.beta 3960 # or set the beta value
temperature_control.hotend.set_m_code 104 #
temperature_control.hotend.set_and_wait_m_code 109 #
temperature_control.hotend.designator T #

#temperature_control.hotend.p_factor 47.7 # permanently set the PID values after an auto pid
#temperature_control.hotend.i_factor 4.620 #
#temperature_control.hotend.d_factor 123 #

#temperature_control.hotend.max_pwm 255 # max pwm, 64 is a good value if driving a 12v resistor with 24v.

# Hotend2 temperature control configuration
#temperature_control.hotend2.enable true # Whether to activate this ( “hotend” ) module at all.
# All configuration is ignored if false.

#temperature_control.hotend2.thermistor_pin 0.25 # Pin for the thermistor to read
#temperature_control.hotend2.heater_pin 1.23 # Pin that controls the heater
#temperature_control.hotend2.thermistor RRRF100K # see http://smoothieware.org/temperaturecontrol#toc5
##temperature_control.hotend2.beta 4066 # or set the beta value
#temperature_control.hotend2.set_m_code 884 #
#temperature_control.hotend2.set_and_wait_m_code 889 #
#temperature_control.hotend2.designator T1 #

#temperature_control.hotend2.p_factor 13.7 # permanently set the PID values after an auto pid
#temperature_control.hotend2.i_factor 0.097 #
#temperature_control.hotend2.d_factor 24 #

#temperature_control.hotend2.max_pwm 64 # max pwm, 64 is a good value if driving a 12v resistor with 24v.

temperature_control.bed.enable true #
temperature_control.bed.thermistor_pin 0.23 #
temperature_control.bed.heater_pin 2.5 # 2.5
temperature_control.bed.thermistor RRRF100K # see http://smoothieware.org/temperaturecontrol#toc5
#temperature_control.bed.beta 3960 # or set the beta value

temperature_control.bed.set_m_code 140 #
temperature_control.bed.set_and_wait_m_code 190 #
temperature_control.bed.designator B #

temperature_control.bed.p_factor 201.0 # permanently set the PID values after an auto pid
temperature_control.bed.i_factor 8.965 #
temperature_control.bed.d_factor 1127 #

#temperature_control.bed.bang_bang false # set to true to use bang bang control rather than PID
#temperature_control.bed.hysteresis 2.0 # set to the temperature in degrees C to use as hysteresis
# when using bang bang

# Switch module for fan control
switch.fan.enable true #
switch.fan.input_on_command M106 #
switch.fan.input_off_command M107 #
switch.fan.output_pin 2.4 #
switch.fan.output_type pwm # pwm output settable with S parameter in the input_on_comand
#switch.fan.max_pwm 255 # set max pwm for the pin default is 255

#switch.misc.enable true #
#switch.misc.input_on_command M42 #
#switch.misc.input_off_command M43 #
#switch.misc.output_pin 2.4 #
#switch.misc.output_type digital # just an on or off pin

# automatically toggle a switch at a specified temperature. Different ones of these may be defined to monitor different temperatures and switch different swithxes
# useful to turn on a fan or water pump to cool the hotend
#temperatureswitch.hotend.enable true #
#temperatureswitch.hotend.designator T # first character of the temperature control designator to use as the temperature sensor to monitor
#temperatureswitch.hotend.switch misc # select which switch to use, matches the name of the defined switch
#temperatureswitch.hotend.threshold_temp 60.0 # temperature to turn on (if rising) or off the switch
#temperatureswitch.hotend.heatup_poll 15 # poll heatup at 15 sec intervals
#temperatureswitch.hotend.cooldown_poll 60 # poll cooldown at 60 sec intervals

# Switch module for spindle control
#switch.spindle.enable false #

# Endstops
endstops_enable true # the endstop module is enabled by default and can be disabled here
#corexy_homing false # set to true if homing on a hbit or corexy
alpha_min_endstop 1.24^ # add a ! to invert if endstop is NO connected to ground
alpha_max_endstop 1.25^! # NOTE set to nc if this is not installed
alpha_homing_direction home_to_max # or set to home_to_max and set alpha_max
alpha_min 0 # this gets loaded after homing when home_to_min is set
alpha_max -80 # this gets loaded after homing when home_to_max is set
beta_min_endstop 1.26^ #
beta_max_endstop 1.27^! #
beta_homing_direction home_to_max #
beta_min 0 #
beta_max -137 #
gamma_min_endstop 1.28^ #
gamma_max_endstop 1.29^ #
gamma_homing_direction home_to_min #
gamma_min 0 #
gamma_max 180 #

# optional order in which axis will home, default is they all home at the same time,
# if this is set it will force each axis to home one at a time in the specified order
#homing_order XYZ # x axis followed by y then z last

# optional enable limit switches, actions will stop if any enabled limit switch is triggered
#alpha_limit_enable false # set to true to enable X min and max limit switches
#beta_limit_enable false # set to true to enable Y min and max limit switches
#gamma_limit_enable false # set to true to enable Z min and max limit switches

alpha_fast_homing_rate_mm_s 50 # feedrates in mm/second
beta_fast_homing_rate_mm_s 50 # ”
gamma_fast_homing_rate_mm_s 4 # ”
alpha_slow_homing_rate_mm_s 25 # ”
beta_slow_homing_rate_mm_s 25 # ”
gamma_slow_homing_rate_mm_s 2 # ”

alpha_homing_retract_mm 5 # distance in mm
beta_homing_retract_mm 5 # ”
gamma_homing_retract_mm 5 # ”

endstop_debounce_count 100 # uncomment if you get noise on your endstops, default is 100

# optional Z probe
zprobe.enable false # set to true to enable a zprobe
zprobe.probe_pin 1.28!^ # pin probe is attached to if NC remove the !
zprobe.slow_feedrate 5 # mm/sec probe feed rate
#zprobe.debounce_count 100 # set if noisy
zprobe.fast_feedrate 100 # move feedrate mm/sec
zprobe.probe_height 5 # how much above bed to start probe
#gamma_min_endstop nc # normally 1.28. Change to nc to prevent conflict,

# associated with zprobe the leveling strategy to use
#leveling-strategy.three-point-leveling.enable true # a leveling strategy that probes three points to define a plane and keeps the Z parallel to that plane
#leveling-strategy.three-point-leveling.point1 100.0,0.0 # the first probe point (x,y) optional may be defined with M557
#leveling-strategy.three-point-leveling.point2 200.0,200.0 # the second probe point (x,y)
#leveling-strategy.three-point-leveling.point3 0.0,200.0 # the third probe point (x,y)
#leveling-strategy.three-point-leveling.home_first true # home the XY axis before probing
#leveling-strategy.three-point-leveling.tolerance 0.03 # the probe tolerance in mm, anything less that this will be ignored, default is 0.03mm
#leveling-strategy.three-point-leveling.probe_offsets 0,0,0 # the probe offsets from nozzle, must be x,y,z, default is no offset
#leveling-strategy.three-point-leveling.save_plane false # set to true to allow the bed plane to be saved with M500 default is false

# optional SCARAcal (highly recommended for Morgan)
scaracal.enable true
scaracal.slow_feedrate 20 # slow enough not to slip, fast enough not to frustrate the user
scaracal.z_move 20 # Move -20 relative to Z-home in order to prevent bed running down from home position

# Panel
panel.enable true # set to true to enable the panel code
#panel.lcd smoothiepanel # set type of panel
#panel.encoder_a_pin 3.25!^ # encoder pin
#panel.encoder_b_pin 3.26!^ # encoder pin

# Example for reprap discount GLCD
# on glcd EXP1 is to left and EXP2 is to right, pin 1 is bottom left, pin 2 is top left etc.
# +5v is EXP1 pin 10, Gnd is EXP1 pin 9
panel.lcd reprap_discount_glcd #
panel.spi_channel 0 # spi channel to use ; GLCD EXP1 Pins 3,5 (MOSI, SCLK)
panel.spi_cs_pin 0.16 # spi chip select ; GLCD EXP1 Pin 4
panel.encoder_a_pin 3.25!^ # encoder pin ; GLCD EXP2 Pin 3
panel.encoder_b_pin 3.26!^ # encoder pin ; GLCD EXP2 Pin 5
panel.click_button_pin 1.30!^ # click button ; GLCD EXP1 Pin 2
panel.buzz_pin 1.31 # pin for buzzer ; GLCD EXP1 Pin 1
panel.back_button_pin 2.11!^ # back button ; GLCD EXP2 Pin 8
panel.external_sd true # set to true if there is an extrernal sdcard on the panel
panel.external_sd.spi_channel 1 # set spi channel the sdcard is on
panel.external_sd.spi_cs_pin 0.28 # set spi chip select for the sdcard (or any spare pin)
panel.external_sd.sdcd_pin 0.27!^ # sd detect signal (set to nc if no sdcard detect) (or any spare pin)
panel.encoder_resolution 3 # pulses per indent

# pins used with other panels
#panel.up_button_pin 0.1! # up button if used
#panel.down_button_pin 0.0! # down button if used
#panel.click_button_pin 0.18! # click button if used

panel.menu_offset 0 # some panels will need 1 here

panel.alpha_jog_feedrate 6000 # x jogging feedrate in mm/min
panel.beta_jog_feedrate 6000 # y jogging feedrate in mm/min
panel.gamma_jog_feedrate 200 # z jogging feedrate in mm/min

panel.hotend_temperature 195 # temp to set hotend when preheat is selected
panel.bed_temperature 70 # temp to set bed when preheat is selected

# Example of a custom menu entry, which will show up in the Custom entry.
# NOTE _ gets converted to space in the menu and commands, | is used to separate multiple commands
custom_menu.power_on.enable true #
custom_menu.power_on.name Power_on #
custom_menu.power_on.command M80 #

custom_menu.power_off.enable true #
custom_menu.power_off.name Power_off #
custom_menu.power_off.command M81 #

# Only needed on a smoothieboard
currentcontrol_module_enable true #

return_error_on_unhandled_gcode false #

# network settings
network.enable true # enable the ethernet network services
network.webserver.enable true # enable the webserver
network.telnet.enable true # enable the telnet server
#network.ip_address auto # use dhcp to get ip address
# uncomment the 3 below to manually setup ip address
network.ip_address 192.168.3.221 # the IP address
network.ip_mask 255.255.255.0 # the ip mask
network.ip_gateway 192.168.3.1 # the gateway address
#network.mac_override xx.xx.xx.xx.xx.xx # override the mac address, only do this if you have a conflict

config override.
; DO NOT EDIT THIS FILE
;Steps per unit:
M92 X132.73172 Y132.73172 Z400.00000
;Acceleration mm/sec^2:
M204 S600.00000 Z60.00000
;X- Junction Deviation, Z- Z junction deviation, S – Minimum Planner speed mm/sec:
M205 X0.05000 Z-1.00000 S0.00000
;Max feedrates in mm/sec, XYZ cartesian, ABC actuator:
M203 X166.66667 Y166.66667 Z10.00000 A761.00000 B750.00000 C250.00000
;Optional arm solution specific settings:
M665 A1.0000 B1.0000 D0.9500 E0.9000 P150.0000 T150.0000 X90.0000 Y-65.0000
;WCS settings
G54
;Digipot Motor currents:
M907 X1.20000 Y1.20000 Z1.40000 E1.40000
;Home offset (mm):
M206 X4.78 Y-1.29 Z0.00
;Trim (mm):
M666 X0.000 Y0.000 Z0.000
;Max Z
M665 Z0.000
;E Steps per mm:
M92 E147.1550 P57988
;E Filament diameter:
M200 D0.0000 P57988
;E retract length, feedrate:
M207 S3.0000 F2700.0000 Z0.0000 Q6000.0000 P57988
;E retract recover length, feedrate:
M208 S0.0000 F480.0000 P57988
;E acceleration mm/sec²:
M204 E500.0000 P57988
;E max feed rate mm/sec:
M203 E100.0000 P57988
;PID settings:
M301 S0 P10.0000 I0.3000 D200.0000 X255.0000 Y255
;Max temperature setting:
M143 S0 P300.0000
;PID settings:
M301 S1 P201.0000 I8.9650 D1127.0000 X255.0000 Y255
;Max temperature setting:
M143 S1 P300.0000

[crow]

I have shared a pic of the cal stl ….on the x the left arm is 4.54mm the right arm of x is 5.46mm

https://onedrive.live.com/redir?resid=FC902E3DF7255022!18445&authkey=!AB6h7870sKaEREw&v=3&ithint=photo%2cjpg

[crow]

A picture of my printer.

https://onedrive.live.com/redir?resid=FC902E3DF7255022!18446&authkey=!APdvg2c0bQE8kGo&v=3&ithint=photo%2cjpg

[Author]

Posts