Error Message: Ignored key SingleArmScara

Wiki Search Terms

scara, SingleArmScara, kinematics

Controller Board

ESP32Duino

Machine Description

two stepper motors nema17 with arduino cnc shield and A4988 drivers.

Input Circuits

No response

Configuration file

board: ESPDUINO-32
name: PANT.S.

kinematics:
  SingleArmScara:
    upper_arm_mm: 120.000000
    forearm_mm: 120.000000
    segment_mm: 1.000000
    elbow_motor: false
    orientation: 0.000000

axes:
  shared_stepper_disable_pin: gpio.12:high

  x:
    steps_per_mm: 17.778
    max_rate_mm_per_min: 100000
    acceleration_mm_per_sec2: 5000
    max_travel_mm: 1000
    homing:
      cycle: 2
      mpos_mm: 10
      positive_direction: false

    motor0:
      stepstick:
        direction_pin: gpio.16
        step_pin: gpio.26

  y:
    steps_per_mm: 17.778
    max_rate_mm_per_min: 100000
    acceleration_mm_per_sec2: 5000
    max_travel_mm: 1000
    homing:
      cycle: 2
      mpos_mm: 10
      positive_direction: false

    motor0:
      stepstick:
        direction_pin: gpio.27
        step_pin: gpio.25

  z:
    steps_per_mm: 17.778
    max_rate_mm_per_min: 100000
    acceleration_mm_per_sec2: 5000
    max_travel_mm: 1000
    homing:
      cycle: 1
      mpos_mm: 10
      positive_direction: true

    motor0:
      stepstick:
        direction_pin: gpio.14
        step_pin: gpio.17

  a:
    steps_per_mm: 17.778
    max_rate_mm_per_min: 100000
    acceleration_mm_per_sec2: 5000
    max_travel_mm: 1000
    homing:
      cycle: 1
      mpos_mm: 10
      positive_direction: true

    motor0:
      stepstick:
        direction_pin: gpio.18
        step_pin: gpio.19

Startup Messages

[MSG:INFO: uart_channel0 created]
[MSG:RST]
[MSG:INFO: FluidNC v3.7.18 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:ERR: Ignored key SingleArmScara]
[MSG:ERR: Skipping key upper_arm_mm indent 4 this indent 2]
[MSG:ERR: Skipping key forearm_mm indent 4 this indent 2]
[MSG:ERR: Skipping key segment_mm indent 4 this indent 2]
[MSG:ERR: Skipping key elbow_motor indent 4 this indent 2]
[MSG:ERR: Skipping key orientation indent 4 this indent 2]
[MSG:INFO: Machine PANT.S.]
[MSG:INFO: Board ESPDUINO-32]
[MSG:INFO: Stepping:RMT Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Shared stepper disable gpio.12]
[MSG:INFO: Axis X (10.000,1010.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.26 Dir:gpio.16 Disable:NO_PIN]
[MSG:INFO: Axis Y (10.000,1010.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.25 Dir:gpio.27 Disable:NO_PIN]
[MSG:INFO: Axis Z (-990.000,10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.17 Dir:gpio.14 Disable:NO_PIN]
[MSG:INFO: Axis A (-990.000,10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.19 Dir:gpio.18 Disable:NO_PIN]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: STA SSID is not set]
[MSG:INFO: AP SSID FluidNC IP 192.168.0.1 mask 255.255.255.0 channel 1]
[MSG:INFO: AP started]
[MSG:INFO: WiFi on]
[MSG:INFO: Captive Portal Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

User Interface Software

FluidTerm

What happened?

Hi there. I am new with fluidnc. I would like to control an elbow and shoulder with two stepper motors, similar to documentation link here. I used the Kinematic mentioned in that link. Using ESP32Duino with Nema17 and A4988 drivers on a cnc shield, I setup fluidnc v3.7.18 in Mac OS. When loading the yaml file I get the error:

[MSG:ERR: Ignored key SingleArmScara]

It seems that SingleArmScara method is missing in the code. Is this feature under development? Would you recommend I proceed using fluidnc with this functionality?

GCode File

No response

Other Information

No response

bdring / FluidNC