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madl3x / x-scara

SCARA CNC and 3D printing machine
GNU General Public License v3.0
152 stars 37 forks source link

Marlin 2.0.9.3 #16

Open Riverolf opened 2 years ago

Riverolf commented 2 years ago

I had to download the newest marlin 2.0.9.3 to get my skr e3 v3 board to come up in the beard definitions. When using this version, i follow the CONFIGURE.md file, and the line #define SCARA throws an error, saying that it is now MORGAN_SCARA, So I change it to this. Is this correct?

I also cannot use the #define X_MAX_LENGTH 300 and #define Y_MAX_LENGTH 300 line. It throws an error.

Everytring else is able to compile,but I have not been able to test the machine yet. I am missing some parts. Will this be okay to use, or do I need to change something more?

EDIT: I have tested this firmware on the X-SCARA Machine I have built, but it does not seem to accept the M360-M362 gcodes the right way.

Riverolf commented 2 years ago

I managed to get the printer up and running using MP_SCARA in marlin by following this video, but I cannot find how to define elbow crosstalk. I see that this has been taken care of in the X-SCARA code. Does anybody know how to do this in MP_SCARA?

gnmrc-s commented 2 years ago

You have to add the crosstalk in the kinematics file, like it has been done in the x scara, follow the calculation that madl3x has done. I also tried with MP_SCARA configuration, by how to mechatronics but I wasn't as lucky as you, my arm is not stopped by the endstops during homing, even if they work properly.

Riverolf commented 2 years ago

I am one step further with the MP_SCARA side of things. (Marlin 2.0.9.3) I changed the scara.cpp file in line 129:

// Angle of Arm2 PSI = ATAN2(S2, C2); PSI = PSI + THETA/3; //RSTROMO

I added the line where RSTROMO is commented. This seems to make the prints look more like they should. i will be testing it the next few days.

I also have to disable software endstops to get the arm to print. (M211 S0)