search

wangsamas / wangsamas-firmware

Wangsamas firmware can be used for cartesian, delta and SCARA 3d printers and can be modified for plotter, CNC and laser.
http://www.wangsamas.com
24 stars 11 forks source link

Motors not moving to Gcode #5

Open Power3DPrinting opened 6 years ago

Power3DPrinting commented 6 years ago

Hi, really glad there are people like yourself helping those who can't program still have access to SCARA firmware! I have recently built my own single arm but have been having trouble getting the firmware to respond to repetier host and gcode however, I'm hoping it is a simple thing I am missing, especially seeing most other people don't bring up the issue.

So to begin, I followed your very helpful video guide and machine demonstration. I configured my machine accordingly and uploaded to a RAMPS Arduino Combo. When I power my machine on, I check M119 and make sure the endstops are fine and then issue a G28 to home in a zyx order. First the z homes, pulls up, and then the y motor either moves a short distance and causes the x axis to move a short distance, machine stops. If the y motor contacts its endstop, the x axis homes properly and centers itself, then the machine stops without the y-axis pulling away and centering itself. I don't know if this has correlation with the repetier interface not being able to move the machine outside of homing or trying to print with gcode where none of the motors seem to respond and repetier believes prints finish in seconds rather than minutes.

I also tried attatching an LCD to manually move the machine but I could only move the z-axis in a very odd manner. First the y motor would jolt 1-2 degrees before I could move the arm up or down. The steps per mm were way too high so I lowered the steps on the z-axis to 25% of its previous value, reuploaded, and when I tried moving the z-axis again, the steps per mm were unchanged.

Could there be something wrong with my hardware? I do get this message from the Arduino IDE that the memory of my Mega is low and "stability problems may occur" but that seems like an out of the ordinary problem for the default board. Thoughts? I've seen some Issue pages where people copy and paste their config.h but that seems to stop people from responding. I'll do it anyways if you want. Many thanks to anyone who is willing to help!

wangsamas commented 6 years ago

I think your problem is in configuration You have to recheck your scara is single or double arm. Then you have to check your endstop position is in min or max angle. Then you have to check your homing & board center position. The low memory may caused slow calculation.

I give special g command to rotate the x & y motor individually, you can also use you lcd interface to rotate them individually in angle. If you can't move them, you might have hardware problem. Maybe your motor broken or it doesn't attach firm.

On 17 Mar 2018 11:03 a.m., "Daniel Power" notifications@github.com wrote:

Hi, really glad there are people like yourself helping those who can't program still have access to SCARA firmware! I have recently built my own single arm but have been having trouble getting the firmware to respond to repetier host and gcode however, I'm hoping it is a simple thing I am missing, especially seeing most other people don't bring up the issue.

So to begin, I followed your very helpful video guide and machine demonstration. I configured my machine accordingly and uploaded to a RAMPS Arduino Combo. When I power my machine on, I check M119 and make sure the endstops are fine and then issue a G28 to home in a zyx order. First the z homes, pulls up, and then the y motor either moves a short distance and causes the x axis to move a short distance, machine stops. If the y motor contacts its endstop, the x axis homes properly and centers itself, then the machine stops without the y-axis pulling away and centering itself. I don't know if this has correlation with the repetier interface not being able to move the machine outside of homing or trying to print with gcode where none of the motors seem to respond and repetier believes prints finish in seconds rather than minutes.

I also tried attatching an LCD to manually move the machine but I could only move the z-axis in a very odd manner. First the y motor would jolt 1-2 degrees before I could move the arm up or down. The steps per mm were way too high so I lowered the steps on the z-axis to 25% of its previous value, reuploaded, and when I tried moving the z-axis again, the steps per mm were unchanged.

Could there be something wrong with my hardware? I do get this message from the Arduino IDE that the memory of my Mega is low and "stability problems may occur" but that seems like an out of the ordinary problem for the default board. Thoughts? I've seen some Issue pages where people copy and paste their config.h but that seems to stop people from responding. I'll do it anyways if you want. Many thanks to anyone who is willing to help!

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BIbMR3tYMNK34ZT-c9vdA5_KnBXDks5tfIsdgaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

Thanks for the quick reply! I'll double check my configuration and see about getting my hands on some spare motors and ramps/arduino to swap things out. I'll update as soon as I can, thanks again!

Power3DPrinting commented 6 years ago

So an update, I need another day or two to get some fresh motors on the machine, but I have swapped out the Arduino, Ramps, and DRV8825's for some new ones and A4988's just to compare. The machine still homes, kind of, the repetier manual control interface is all but useless with exception with the command prompt input. There I issued G28 and I'm kind of still at the same place but worse, z triggers prematurely despite M119 checking out fine, y motor still has the short stop error, x-axis now tries to spin 360 degrees. I'll post another update when the new motors arrive.

In the meantime could you help me with configuring the machine? I genuinely believe I have followed your instructions in the video but you understand your firmware better than I ever could.

define UI_PRINTER_NAME "Kusuma"

define UI_PRINTER_COMPANY "Wangsamas"

define NUM_EXTRUDER 1

define MOTHERBOARD 33 // 33 untuk Arduino Mega 2560 dengan RAMPS 1.3/1.4, lihat BACAini, README atau pins.h untuk PCB lainnya

include "pins.h"

define DRIVE_SYSTEM 7 // Cartesian 0, Delta 3, Scara 7

define SCARA_TYPE SINGLE // If drive system = scara -> choose SINGLE, PARALEL

define FEATURE_CONTROLLER 2 // 2 untuk smart controller LCD 2004, 11 untuk Reprap Graphic LCD, lihat wangsamas.h untuk LCD display lainnya

define DEFAULT_PRINTER_MODE 0 // 3D Printer 0, Laser 1, CNC 2

define X_MAX_LENGTH 100 // Panjang maximum sumbu X //DP: doesn't matter

define Y_MAX_LENGTH 100 // Panjang maximum sumbu Y //DP: doesn't matter

define Z_MAX_LENGTH 515 // Panjang maximum sumbu Z //Height of machine

define X_MIN_POS -100 // Posisi titik X minimum

define Y_MIN_POS -100 // Posisi titik Y minimum

define Z_MIN_POS 0 // Posisi titik Z minimum

define XAXIS_STEPS_PER_UNIT 217.7777778/2 // Cartesian Steps/mm, Delta abaikan, Scara Steps/degree (200/360)32(198/16) = 217.7777778

define YAXIS_STEPS_PER_UNIT 140/2 // Cartesian Steps/mm, Delta abaikan, Scara Steps/degree (200/360)32(126/16) = 140

define ZAXIS_STEPS_PER_UNIT 800/2 // Cartesian Steps/mm, Delta Steps/mm, Scara Steps/mm

// Scara Setting

define ARM_LENGTH 250 // dalam mm. in mm

define FOREARM_LENGTH 250 // dalam mm. in mm

define SHOULDER_MIN_ANGLE 36 // dalam derajat. in degree //DP: for use

define ELBOW_MIN_ANGLE 155 // dalam derajat. in degree //DP: for safety

define SHOULDER_MAX_ANGLE 270 // dalam derajat. in degree //DP: for use

define ELBOW_MAX_ANGLE 5 // dalam derajat. in degree //DP: for safety

define SHOULDER_BED_CENTER_ANGLE 135 // Posisi sudut bahu Scara di pusat papan dalam derajat. Position of Scara shoulder angle at bed center in degree

define ELBOW_BED_CENTER_ANGLE 90 // Posisi sudut siku Scara di pusat papan dalam derajat. Position of Scara elbow angle at bed center in degree

// Delta settings

define DELTA_ALPHA_A 210 // Sudut antara sumbu X positif dengan Tower A dalam derajat, Angle between positive X Axis and Tower A in degree

define DELTA_ALPHA_B 330 // Sudut antara sumbu X positif dengan Tower B dalam derajat, Angle between positive X Axis and Tower B in degree

define DELTA_ALPHA_C 90 // Sudut antara sumbu X positif dengan Tower C dalam derajat, Angle between positive X Axis and Tower C in degree

define DELTA_DIAGONAL_ROD 445 // Panjang diagonal batang dalam mm, diagonal rod length in mm

define DELTA_DIAGONAL_CORRECTION_A 0 // Koreksi panjang batang A in mm, rod A length correction in mm

define DELTA_DIAGONAL_CORRECTION_B 0 // Koreksi panjang batang B in mm, rod B length correction in mm

define DELTA_DIAGONAL_CORRECTION_C 0 // Koreksi panjang batang C in mm, rod C length correction in mm

// ROD_RADIUS = PRINTER_RADIUS - END_EFFECTOR_HORIZONTAL_OFFSET - CARRIAGE_HORIZONTAL_OFFSET // Jika Anda mengisi ROD_RADIUS, rumus diatas diabaikan. Jika Anda tidak mengisi ROD_RADIUS, rumus diatas dijalankan // If you enter ROD_RADIUS value, the formula above is ignored. If you don't enter ROD_RADIUS value, the formula above calculated

define ROD_RADIUS 209.25 // Radius mendatar batang di posisi pusat papan, Horizontal rod radius at bed center position

define DELTA_RADIUS_CORRECTION_A 0 // Koreksi jarak tower A ke pusat papan dalam mm, Tower A distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_B 0 // Koreksi jarak tower B ke pusat papan dalam mm, Tower B distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_C 0 // Koreksi jarak tower C ke pusat papan dalam mm, Tower C distance to bed center correction in mm

define END_EFFECTOR_HORIZONTAL_OFFSET 0 // Jarak mendatar antara effector ke batang, horizontal distance between effector and rod

define CARRIAGE_HORIZONTAL_OFFSET 0 // Jarak mendatar antara carriage ke batang, horizontal distance between carriage and rod

define PRINTER_RADIUS 209.25 // Jarak antara nozzle dan tower, distance between nozzle and tower

define DELTA_MAX_RADIUS 150 // Radius cetak maksimum, max print radius

define MAX_FEEDRATE_X 100 // Kecepatan sumbu X, X Axis speed

define MAX_FEEDRATE_Y 100 // Kecepatan sumbu Y, Y Axis speed

define MAX_FEEDRATE_Z 100 // Kecepatan sumbu Z, Z Axis speed

define HOMING_FEEDRATE_X 5 // Kecepatan sumbu X ketika menuju endstop, X Axis speed when go to endstop

define HOMING_FEEDRATE_Y 5 // Kecepatan sumbu Y ketika menuju endstop, Y Axis speed when go to endstop

define HOMING_FEEDRATE_Z 3 // Kecepatan sumbu Z ketika menuju endstop, Z Axis speed when go to endstop

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_X 1000 // Percepatan max sumbu X ketika mencetak, X Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Y 1000 // Percepatan max sumbu Y ketika mencetak, Y Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Z 100 // Percepatan max sumbu Z ketika mencetak, Z Axis max acceleration when print

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_X 1000 // Percepatan max sumbu X ketika pindah, X Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Y 1000 // Percepatan max sumbu Y ketika pindah, Y Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Z 100 // Percepatan max sumbu Z ketika pindah, Z Axis max acceleration when travel

define MAX_JERK 5 // Hentakan maksimum sumbu XY

define MAX_ZJERK 0.3 // Hentakan maksimum sumbu Z

// ################# XYZ movements ###################

define INVERT_X_DIR 1 // Ganti 0 atau 1 jika gerakan arah sumbu X terbalik

define INVERT_Y_DIR 1 // Ganti 0 atau 1 jika gerakan arah sumbu Y terbalik

define INVERT_Z_DIR 1 // Ganti 0 atau 1 jika gerakan arah sumbu Z terbalik

// ################ Endstop configuration #####################

define X_HOME_DIR -1 // X MIN Hardware endstop -1, X MAX Hardware endstop 1

define Y_HOME_DIR 1 // Y MIN Hardware endstop -1, Y MAX Hardware endstop 1

define Z_HOME_DIR -1 // Z MIN Hardware endstop -1, Z MAX Hardware endstop 1

define DELTA_HOME_ON_POWER 0 // 1 untuk menuju home ketika printer menyala, 0 untuk diam ketika printer menyala

define HOMING_ORDER HOME_ORDER_ZYX // Urutan sumbu menuju endstop X, Y, Z sesuai keinginan

//#define SOFTWARE_LEVELING

define MIN_HARDWARE_ENDSTOP_X true // True Jika Endstop berada pada posisi X minimum, false jika tidak

define MIN_HARDWARE_ENDSTOP_Y false // True Jika Endstop berada pada posisi Y minimum, false jika tidak

define MIN_HARDWARE_ENDSTOP_Z true // True Jika Endstop berada pada posisi Z minimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_X false // True Jika Endstop berada pada posisi X MAXimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_Y true // True Jika Endstop berada pada posisi Y MAXimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_Z false // True Jika Endstop berada pada posisi Z MAXimum, false jika tidak

define min_software_endstop_x false // True jika ingin X minimum dibatasi software, false jika tidak

define min_software_endstop_y true // True jika ingin Y minimum dibatasi software, false jika tidak

define min_software_endstop_z false // True jika ingin Z minimum dibatasi software, false jika tidak

define max_software_endstop_x true // True jika ingin X MAXimum dibatasi software, false jika tidak

define max_software_endstop_y false // True jika ingin Y MAXimum dibatasi software, false jika tidak

define max_software_endstop_z true // True jika ingin Z MAXimum dibatasi software, false jika tidak

define max_software_endstop_r true

define ENDSTOP_X_MIN_INVERTING true

define ENDSTOP_Y_MIN_INVERTING true

define ENDSTOP_Z_MIN_INVERTING false

define ENDSTOP_X_MAX_INVERTING true

define ENDSTOP_Y_MAX_INVERTING true

define ENDSTOP_Z_MAX_INVERTING true

define ENDSTOP_PULLUP_X_MIN true

define ENDSTOP_PULLUP_Y_MIN true

define ENDSTOP_PULLUP_Z_MIN true

define ENDSTOP_PULLUP_X_MAX true

define ENDSTOP_PULLUP_Y_MAX true

define ENDSTOP_PULLUP_Z_MAX true

define ENDSTOP_X_BACK_MOVE 5

define ENDSTOP_Y_BACK_MOVE 5

define ENDSTOP_Z_BACK_MOVE 5

define ENDSTOP_X_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_Y_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_Z_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_X_BACK_ON_HOME 1

define ENDSTOP_Y_BACK_ON_HOME 1

define ENDSTOP_Z_BACK_ON_HOME 1

define ALWAYS_CHECK_ENDSTOPS 1

define STEP_COUNTER

define DELTA_X_ENDSTOP_OFFSET_STEPS 0

define DELTA_Y_ENDSTOP_OFFSET_STEPS 0

define DELTA_Z_ENDSTOP_OFFSET_STEPS 0

define DELTA_FLOOR_SAFETY_MARGIN_MM 15

define X_ENABLE_ON 0

define Y_ENABLE_ON 0

define Z_ENABLE_ON 0

define DISABLE_X 0

define DISABLE_Y 0

define DISABLE_Z 0

define DISABLE_E 0

define ENABLE_BACKLASH_COMPENSATION 0

define X_BACKLASH 0

define Y_BACKLASH 0

define Z_BACKLASH 0

// #################### Z-Probing #####################

define DISTORTION_CORRECTION 0 // Menyesuaikan ketidakrataan papan

define FEATURE_AUTOLEVEL 0 // Menyesuaikan kemiringan papan

define FEATURE_Z_PROBE 0 // Z probe harus aktif untuk distortion correction & autolevel

define Z_PROBE_PIN ORIG_Z_MIN_PIN

img_0361

wangsamas commented 6 years ago

According to your drawing, you calculate the x angle in the wrong direction. You are suppose to always calculate angles counter clock. You x endstop is in your x max angle & your y endstop is in your y min angle.

On Thu, 22 Mar 2018, 07:00 Daniel Power, notifications@github.com wrote:

So an update, I need another day or two to get some fresh motors on the machine, but I have swapped out the Arduino, Ramps, and DRV8825's for some new ones and A4988's just to compare. The machine still homes, kind of, the repetier manual control interface is all but useless with exception with the command prompt input. There I issued G28 and I'm kind of still at the same place but worse, z triggers prematurely despite M119 checking out fine, y motor still has the short stop error, x-axis now tries to spin 360 degrees. I'll post another update when the new motors arrive.

In the meantime could you help me with configuring the machine? I genuinely believe I have followed your instructions in the video but you understand your firmware better than I ever could.

define UI_PRINTER_NAME "Kusuma"

define UI_PRINTER_COMPANY "Wangsamas"

define NUM_EXTRUDER 1

define MOTHERBOARD 33 // 33 untuk Arduino Mega 2560 dengan RAMPS 1.3/1.4,

lihat BACAini, README atau pins.h untuk PCB lainnya

include "pins.h"

define DRIVE_SYSTEM 7 // Cartesian 0, Delta 3, Scara 7

define SCARA_TYPE SINGLE // If drive system = scara -> choose SINGLE,

PARALEL

define FEATURE_CONTROLLER 2 // 2 untuk smart controller LCD 2004, 11

untuk Reprap Graphic LCD, lihat wangsamas.h untuk LCD display lainnya

define DEFAULT_PRINTER_MODE 0 // 3D Printer 0, Laser 1, CNC 2

define X_MAX_LENGTH 100 // Panjang maximum sumbu X //DP: doesn't matter

define Y_MAX_LENGTH 100 // Panjang maximum sumbu Y //DP: doesn't matter

define Z_MAX_LENGTH 515 // Panjang maximum sumbu Z //Height of machine

define X_MIN_POS -100 // Posisi titik X minimum

define Y_MIN_POS -100 // Posisi titik Y minimum

define Z_MIN_POS 0 // Posisi titik Z minimum

define XAXIS_STEPS_PER_UNIT 217.7777778/2 // Cartesian Steps/mm, Delta

abaikan, Scara Steps/degree (200/360)32(198/16) = 217.7777778

define YAXIS_STEPS_PER_UNIT 140/2 // Cartesian Steps/mm, Delta abaikan,

Scara Steps/degree (200/360)32(126/16) = 140

define ZAXIS_STEPS_PER_UNIT 800/2 // Cartesian Steps/mm, Delta Steps/mm,

Scara Steps/mm

// Scara Setting

define ARM_LENGTH 250 // dalam mm. in mm

define FOREARM_LENGTH 250 // dalam mm. in mm

define SHOULDER_MIN_ANGLE 36 // dalam derajat. in degree //DP: for use

define ELBOW_MIN_ANGLE 155 // dalam derajat. in degree //DP: for safety

define SHOULDER_MAX_ANGLE 270 // dalam derajat. in degree //DP: for use

define ELBOW_MAX_ANGLE 5 // dalam derajat. in degree //DP: for safety

define SHOULDER_BED_CENTER_ANGLE 135 // Posisi sudut bahu Scara di pusat

papan dalam derajat. Position of Scara shoulder angle at bed center in degree

define ELBOW_BED_CENTER_ANGLE 90 // Posisi sudut siku Scara di pusat

papan dalam derajat. Position of Scara elbow angle at bed center in degree

// Delta settings

define DELTA_ALPHA_A 210 // Sudut antara sumbu X positif dengan Tower A

dalam derajat, Angle between positive X Axis and Tower A in degree

define DELTA_ALPHA_B 330 // Sudut antara sumbu X positif dengan Tower B

dalam derajat, Angle between positive X Axis and Tower B in degree

define DELTA_ALPHA_C 90 // Sudut antara sumbu X positif dengan Tower C

dalam derajat, Angle between positive X Axis and Tower C in degree

define DELTA_DIAGONAL_ROD 445 // Panjang diagonal batang dalam mm,

diagonal rod length in mm

define DELTA_DIAGONAL_CORRECTION_A 0 // Koreksi panjang batang A in mm,

rod A length correction in mm

define DELTA_DIAGONAL_CORRECTION_B 0 // Koreksi panjang batang B in mm,

rod B length correction in mm

define DELTA_DIAGONAL_CORRECTION_C 0 // Koreksi panjang batang C in mm,

rod C length correction in mm

// ROD_RADIUS = PRINTER_RADIUS - END_EFFECTOR_HORIZONTAL_OFFSET - CARRIAGE_HORIZONTAL_OFFSET // Jika Anda mengisi ROD_RADIUS, rumus diatas diabaikan. Jika Anda tidak mengisi ROD_RADIUS, rumus diatas dijalankan // If you enter ROD_RADIUS value, the formula above is ignored. If you don't enter ROD_RADIUS value, the formula above calculated

define ROD_RADIUS 209.25 // Radius mendatar batang di posisi pusat papan,

Horizontal rod radius at bed center position

define DELTA_RADIUS_CORRECTION_A 0 // Koreksi jarak tower A ke pusat

papan dalam mm, Tower A distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_B 0 // Koreksi jarak tower B ke pusat

papan dalam mm, Tower B distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_C 0 // Koreksi jarak tower C ke pusat

papan dalam mm, Tower C distance to bed center correction in mm

define END_EFFECTOR_HORIZONTAL_OFFSET 0 // Jarak mendatar antara effector

ke batang, horizontal distance between effector and rod

define CARRIAGE_HORIZONTAL_OFFSET 0 // Jarak mendatar antara carriage ke

batang, horizontal distance between carriage and rod

define PRINTER_RADIUS 209.25 // Jarak antara nozzle dan tower, distance

between nozzle and tower

define DELTA_MAX_RADIUS 150 // Radius cetak maksimum, max print radius

define MAX_FEEDRATE_X 100 // Kecepatan sumbu X, X Axis speed

define MAX_FEEDRATE_Y 100 // Kecepatan sumbu Y, Y Axis speed

define MAX_FEEDRATE_Z 100 // Kecepatan sumbu Z, Z Axis speed

define HOMING_FEEDRATE_X 5 // Kecepatan sumbu X ketika menuju endstop, X

Axis speed when go to endstop

define HOMING_FEEDRATE_Y 5 // Kecepatan sumbu Y ketika menuju endstop, Y

Axis speed when go to endstop

define HOMING_FEEDRATE_Z 3 // Kecepatan sumbu Z ketika menuju endstop, Z

Axis speed when go to endstop

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_X 1000 // Percepatan max

sumbu X ketika mencetak, X Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Y 1000 // Percepatan max

sumbu Y ketika mencetak, Y Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Z 100 // Percepatan max sumbu

Z ketika mencetak, Z Axis max acceleration when print

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_X 1000 // Percepatan

max sumbu X ketika pindah, X Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Y 1000 // Percepatan

max sumbu Y ketika pindah, Y Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Z 100 // Percepatan

max sumbu Z ketika pindah, Z Axis max acceleration when travel

define MAX_JERK 5 // Hentakan maksimum sumbu XY

define MAX_ZJERK 0.3 // Hentakan maksimum sumbu Z

// ################# XYZ movements ###################

define INVERT_X_DIR 1 // Ganti 0 atau 1 jika gerakan arah sumbu X terbalik

define INVERT_Y_DIR 1 // Ganti 0 atau 1 jika gerakan arah sumbu Y terbalik

define INVERT_Z_DIR 1 // Ganti 0 atau 1 jika gerakan arah sumbu Z terbalik

// ################ Endstop configuration #####################

define X_HOME_DIR -1 // X MIN Hardware endstop -1, X MAX Hardware endstop

1

define Y_HOME_DIR 1 // Y MIN Hardware endstop -1, Y MAX Hardware endstop 1

define Z_HOME_DIR -1 // Z MIN Hardware endstop -1, Z MAX Hardware endstop

1

define DELTA_HOME_ON_POWER 0 // 1 untuk menuju home ketika printer

menyala, 0 untuk diam ketika printer menyala

define HOMING_ORDER HOME_ORDER_ZYX // Urutan sumbu menuju endstop X, Y, Z

sesuai keinginan //#define SOFTWARE_LEVELING

define MIN_HARDWARE_ENDSTOP_X true // True Jika Endstop berada pada

posisi X minimum, false jika tidak

define MIN_HARDWARE_ENDSTOP_Y false // True Jika Endstop berada pada

posisi Y minimum, false jika tidak

define MIN_HARDWARE_ENDSTOP_Z true // True Jika Endstop berada pada

posisi Z minimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_X false // True Jika Endstop berada pada

posisi X MAXimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_Y true // True Jika Endstop berada pada

posisi Y MAXimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_Z false // True Jika Endstop berada pada

posisi Z MAXimum, false jika tidak

define min_software_endstop_x false // True jika ingin X minimum dibatasi

software, false jika tidak

define min_software_endstop_y true // True jika ingin Y minimum dibatasi

software, false jika tidak

define min_software_endstop_z false // True jika ingin Z minimum dibatasi

software, false jika tidak

define max_software_endstop_x true // True jika ingin X MAXimum dibatasi

software, false jika tidak

define max_software_endstop_y false // True jika ingin Y MAXimum dibatasi

software, false jika tidak

define max_software_endstop_z true // True jika ingin Z MAXimum dibatasi

software, false jika tidak

define max_software_endstop_r true

define ENDSTOP_X_MIN_INVERTING true

define ENDSTOP_Y_MIN_INVERTING true

define ENDSTOP_Z_MIN_INVERTING false

define ENDSTOP_X_MAX_INVERTING true

define ENDSTOP_Y_MAX_INVERTING true

define ENDSTOP_Z_MAX_INVERTING true

define ENDSTOP_PULLUP_X_MIN true

define ENDSTOP_PULLUP_Y_MIN true

define ENDSTOP_PULLUP_Z_MIN true

define ENDSTOP_PULLUP_X_MAX true

define ENDSTOP_PULLUP_Y_MAX true

define ENDSTOP_PULLUP_Z_MAX true

define ENDSTOP_X_BACK_MOVE 5

define ENDSTOP_Y_BACK_MOVE 5

define ENDSTOP_Z_BACK_MOVE 5

define ENDSTOP_X_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_Y_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_Z_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_X_BACK_ON_HOME 1

define ENDSTOP_Y_BACK_ON_HOME 1

define ENDSTOP_Z_BACK_ON_HOME 1

define ALWAYS_CHECK_ENDSTOPS 1

define STEP_COUNTER

define DELTA_X_ENDSTOP_OFFSET_STEPS 0

define DELTA_Y_ENDSTOP_OFFSET_STEPS 0

define DELTA_Z_ENDSTOP_OFFSET_STEPS 0

define DELTA_FLOOR_SAFETY_MARGIN_MM 15

define X_ENABLE_ON 0

define Y_ENABLE_ON 0

define Z_ENABLE_ON 0

define DISABLE_X 0

define DISABLE_Y 0

define DISABLE_Z 0

define DISABLE_E 0

define ENABLE_BACKLASH_COMPENSATION 0

define X_BACKLASH 0

define Y_BACKLASH 0

define Z_BACKLASH 0

// #################### Z-Probing #####################

define DISTORTION_CORRECTION 0 // Menyesuaikan ketidakrataan papan

define FEATURE_AUTOLEVEL 0 // Menyesuaikan kemiringan papan

define FEATURE_Z_PROBE 0 // Z probe harus aktif untuk distortion

correction & autolevel

define Z_PROBE_PIN ORIG_Z_MIN_PIN

[image: img_0361] https://user-images.githubusercontent.com/37273450/37743808-e4a8ba8a-2d39-11e8-843c-a3d1ec5ea86a.JPG

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5#issuecomment-375134729, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BByvDeb71VrNdIfzokBUFLIhhrhNks5tgumXgaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

I really appreciate the catch, I swapped the endstops on the control board and adjusted the config respectfully, I feel like I am asking for too much but could you take a look at these revised sketches down below if I got the angles right? I found if I disabled the pullup on the Z that it now homes properly but after I tried turning off the software endstops and turning them back on the machine now only homes in the z axis and stops whenever the y-endstop is triggered. Haha.. I am just a disaster train with this.. My school's lab was nice enough to let me cannibalize some motors from a partially assembled kit so I'll get to swapping my motors. I am incredibly grateful for your help!

img-0369

define UI_PRINTER_NAME "Kusuma"

define UI_PRINTER_COMPANY "Wangsamas"

define NUM_EXTRUDER 1

define MOTHERBOARD 33 // 33 untuk Arduino Mega 2560 dengan RAMPS 1.3/1.4, lihat BACAini, README atau pins.h untuk PCB lainnya

include "pins.h"

define DRIVE_SYSTEM 7 // Cartesian 0, Delta 3, Scara 7

define SCARA_TYPE SINGLE // If drive system = scara -> choose SINGLE, PARALEL

define FEATURE_CONTROLLER 2 // 2 untuk smart controller LCD 2004, 11 untuk Reprap Graphic LCD, lihat wangsamas.h untuk LCD display lainnya

define DEFAULT_PRINTER_MODE 0 // 3D Printer 0, Laser 1, CNC 2

define X_MAX_LENGTH 100 // Panjang maximum sumbu X //DP: doesn't matter

define Y_MAX_LENGTH 100 // Panjang maximum sumbu Y //DP: doesn't matter

define Z_MAX_LENGTH 515 // Panjang maximum sumbu Z //Height of machine

define X_MIN_POS -100 // Posisi titik X minimum

define Y_MIN_POS -100 // Posisi titik Y minimum

define Z_MIN_POS 0 // Posisi titik Z minimum

define XAXIS_STEPS_PER_UNIT 110 // Cartesian Steps/mm, Delta abaikan, Scara Steps/degree (200/360)32(198/16) = 220

define YAXIS_STEPS_PER_UNIT 70 // Cartesian Steps/mm, Delta abaikan, Scara Steps/degree (200/360)32(126/16) = 140

define ZAXIS_STEPS_PER_UNIT 400 // Cartesian Steps/mm, Delta Steps/mm, Scara Steps/mm

// Scara Setting

define ARM_LENGTH 250 // dalam mm. in mm

define FOREARM_LENGTH 250 // dalam mm. in mm

define SHOULDER_MIN_ANGLE -54 // dalam derajat. in degree //DP: for safety

define ELBOW_MIN_ANGLE 155 // dalam derajat. in degree //DP: for safety

define SHOULDER_MAX_ANGLE 234 // dalam derajat. in degree //DP: for use

define ELBOW_MAX_ANGLE 5 // dalam derajat. in degree //DP: for use

define SHOULDER_BED_CENTER_ANGLE 45 // Posisi sudut bahu Scara di pusat papan dalam derajat. Position of Scara shoulder angle at bed center in degree

define ELBOW_BED_CENTER_ANGLE 90 // Posisi sudut siku Scara di pusat papan dalam derajat. Position of Scara elbow angle at bed center in degree

// ################# XYZ movements ###################

define INVERT_X_DIR 0 // Ganti 0 atau 1 jika gerakan arah sumbu X terbalik

define INVERT_Y_DIR 0 // Ganti 0 atau 1 jika gerakan arah sumbu Y terbalik

define INVERT_Z_DIR 1 // Ganti 0 atau 1 jika gerakan arah sumbu Z terbalik

// ################ Endstop configuration #####################

define X_HOME_DIR 1 // X MIN Hardware endstop -1, X MAX Hardware endstop 1

define Y_HOME_DIR -1 // Y MIN Hardware endstop -1, Y MAX Hardware endstop 1

define Z_HOME_DIR -1 // Z MIN Hardware endstop -1, Z MAX Hardware endstop 1

define DELTA_HOME_ON_POWER 0 // 1 untuk menuju home ketika printer menyala, 0 untuk diam ketika printer menyala

define HOMING_ORDER HOME_ORDER_ZYX // Urutan sumbu menuju endstop X, Y, Z sesuai keinginan

//#define SOFTWARE_LEVELING

define MIN_HARDWARE_ENDSTOP_X false // True Jika Endstop berada pada posisi X minimum, false jika tidak

define MIN_HARDWARE_ENDSTOP_Y true // True Jika Endstop berada pada posisi Y minimum, false jika tidak

define MIN_HARDWARE_ENDSTOP_Z true // True Jika Endstop berada pada posisi Z minimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_X true // True Jika Endstop berada pada posisi X MAXimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_Y false // True Jika Endstop berada pada posisi Y MAXimum, false jika tidak

define MAX_HARDWARE_ENDSTOP_Z false // True Jika Endstop berada pada posisi Z MAXimum, false jika tidak

define min_software_endstop_x true // True jika ingin X minimum dibatasi software, false jika tidak

define min_software_endstop_y false // True jika ingin Y minimum dibatasi software, false jika tidak

define min_software_endstop_z false // True jika ingin Z minimum dibatasi software, false jika tidak

define max_software_endstop_x false // True jika ingin X MAXimum dibatasi software, false jika tidak

define max_software_endstop_y true // True jika ingin Y MAXimum dibatasi software, false jika tidak

define max_software_endstop_z true // True jika ingin Z MAXimum dibatasi software, false jika tidak

define max_software_endstop_r true

define ENDSTOP_X_MIN_INVERTING true

define ENDSTOP_Y_MIN_INVERTING true

define ENDSTOP_Z_MIN_INVERTING false

define ENDSTOP_X_MAX_INVERTING true

define ENDSTOP_Y_MAX_INVERTING true

define ENDSTOP_Z_MAX_INVERTING true

define ENDSTOP_PULLUP_X_MIN false

define ENDSTOP_PULLUP_Y_MIN true

define ENDSTOP_PULLUP_Z_MIN false

define ENDSTOP_PULLUP_X_MAX true

define ENDSTOP_PULLUP_Y_MAX false

define ENDSTOP_PULLUP_Z_MAX false

define ENDSTOP_X_BACK_MOVE 5

define ENDSTOP_Y_BACK_MOVE 5

define ENDSTOP_Z_BACK_MOVE 5

define ENDSTOP_X_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_Y_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_Z_RETEST_REDUCTION_FACTOR 3

define ENDSTOP_X_BACK_ON_HOME 1

define ENDSTOP_Y_BACK_ON_HOME 1

define ENDSTOP_Z_BACK_ON_HOME 1

define ALWAYS_CHECK_ENDSTOPS 1

Power3DPrinting commented 6 years ago

Hi, I swapped several motors but didn't have any different results, I also tried another orientation shown below without luck. Nothing moves when the y-min end stop is triggered, a test print for a 20mm cube finished in 2m3s on repetier host without movement at 60mm/s with 2 perimeters, 10% infill, should have been a 30-40 minute job, only the temperature worked. I'll look to get a third Ramps and Arduino but I'm not really sure what else I can do.

Power3DPrinting commented 6 years ago

img-8409

Power3DPrinting commented 6 years ago

Sorry, I don't know why the image always comes out sideways, but if you click on it, it shows it in the correct orientation

Power3DPrinting commented 6 years ago

Hello?

Power3DPrinting commented 6 years ago

Sorry if I am annoying, I've been stuck on the firmware for a month now and trying to get the machine working has been a stressful ordeal

wangsamas commented 6 years ago

both shoulder and elbow calculated counter clockwise

Power3DPrinting commented 6 years ago

https://www.youtube.com/watch?v=AS3lkB7M3v8

Power3DPrinting commented 6 years ago

Sorry for the long delay, was trying to figure out a way to provide a video of the uncontrolled spinning problem for the shoulder, I tried my best to measure and input all the angles counter clockwise

wangsamas commented 6 years ago

From the video, the your hardware seems fine, nothing broken or not attached correctly.

Maybe the problem is your y min, the y endstop position. With your hardware configuration it suppose to be y max endstop with minus something position. I didn't design it for minus angle.

Try to change the endstop position in positive angle, switch your endstop position to your other side of x bar. So your homing position is like your right human arm folding, and your center is like your human arm writing something.

On 30 Mar 2018 5:06 a.m., "Daniel Power" notifications@github.com wrote:

Sorry for the long delay, was trying to figure out a way to provide a video of the uncontrolled spinning problem for the shoulder, I tried my best to measure and input all the angles counter clockwise

— You are receiving this because you commented.

Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5#issuecomment-377387187, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BOp09mG9ppO13zFyJsqexuVHn1H0ks5tjVsCgaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

Thanks! and interesting, hmm, I'll swap the y-min plug to y-max and reconfigure the firmware to meet it as you say, meanwhile what you're saying about moving the x end stop makes sense, I'll get right away on printing some small pieces as a temporary fix, I wasn't thinking about whether the machine should be right or left handed when I first modeled the parts so it will take me a few days to flip things and print them out.

I did have a stab at swapping the x-max to x-min and configuring the machine as though I were mirroring a right handed arm homing to its min end stops. Thought the worst case would be that the motions would be inverted. Lost control of the acceleration, feedrate, and home offset angle so that was weird. I'll give your suggestions a shot, they sound very promising.

Eternally grateful for the support!

Power3DPrinting commented 6 years ago

Hi! sorry for the long time it took me to update, since I was making some changes to several parts of the body I decided to print more optimal parts to clean the machine up. Anyways, I finally have the machine right handed and I uploaded your firmware, tweaked some parts like inverting the xy motors and endstops to make sure everything was set to home to the min endstops. Unfortunatly, since I have tried to get the machine to home, only the y-endstop rapidly homes, I also scaled the travel, home, and jerk feedrates/accelerations to 1/10 their values and didn't have any effect on the arm. I'll spend the rest of the day to really play around with the configuration and make a recording maybe tonight or tomorrow to show the best results.

Best wishes!

Power3DPrinting commented 6 years ago

https://www.youtube.com/watch?v=Kyh-TKuS01g

wangsamas commented 6 years ago

Seems much better in the video. Now the problem i see is you have mistake in scara setting. From your previous post this is your setting. Your elbow min angle is 155, your max is 5. This is switched. Min is always smaller than max.

With your hardware, your shoulder min angle is when you hit endstop and your elbow max angle is when you hit endstop.

// Scara Setting

define ARM_LENGTH 250 // dalam mm. in mm

define FOREARM_LENGTH 250 // dalam mm. in mm

define SHOULDER_MIN_ANGLE 36 // dalam derajat. in degree //DP: for use

define ELBOW_MIN_ANGLE 155 // dalam derajat. in degree //DP: for safety

define SHOULDER_MAX_ANGLE 270 // dalam derajat. in degree //DP: for use

define ELBOW_MAX_ANGLE 5 // dalam derajat. in degree //DP: for safety

define SHOULDER_BED_CENTER_ANGLE 135 // Posisi sudut bahu Scara di pusat

papan dalam derajat. Position of Scara shoulder angle at bed center in degree

define ELBOW_BED_CENTER_ANGLE 90 // Posisi sudut siku Scara di pusat papan

dalam derajat. Position of Scara elbow angle at bed center in degree

On Mon, Apr 9, 2018, 03:51 Daniel Power notifications@github.com wrote:

https://www.youtube.com/watch?v=Kyh-TKuS01g

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5#issuecomment-379581602, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BB0BccxQsDFBXNMvBnlxvDOje2JQks5tmnhdgaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

Thanks! Not entirely sure what I did to make it move in the video but I am incredibly grateful for your advice, I'll get straight away to swapping the angles in config and the endstops on my board and let you know how it goes! Good grief, kind of a bit embarrassed by how it didn't occur to me it was weird the min angle was larger.

Power3DPrinting commented 6 years ago

Hi, I swapped the y-min to y-max and their min max angles respectively, machine is now homing regularly to 225 degrees to the shoulder and 150 degrees at the elbow, I'll post the recent tweaks I've been making down below. I tried changing the bed center angles but they didn't respond, same for the homing and travel feedrates. Not sure what is restricting me from editing them.

define NUM_EXTRUDER 1

define MOTHERBOARD 33 // 33 untuk Arduino Mega 2560 dengan RAMPS 1.3/1.4, lihat BACAini, README atau pins.h untuk PCB lainnya

include "pins.h"

define DRIVE_SYSTEM 7 // Cartesian 0, Delta 3, Scara 7

define SCARA_TYPE SINGLE // If drive system = scara -> choose SINGLE, PARALEL

define FEATURE_CONTROLLER 2 // 2 untuk smart controller LCD 2004, 11 untuk Reprap Graphic LCD, lihat wangsamas.h untuk LCD display lainnya

define DEFAULT_PRINTER_MODE 0 // 3D Printer 0, Laser 1, CNC 2

define X_MAX_LENGTH 500//400 // Panjang maximum sumbu X

define Y_MAX_LENGTH 500//350 // Panjang maximum sumbu Y

define Z_MAX_LENGTH 515 // Panjang maximum sumbu Z

define X_MIN_POS -500//0//-999 // Posisi titik X minimum

define Y_MIN_POS -500//0//-999 // Posisi titik Y minimum

define Z_MIN_POS 0 // Posisi titik Z minimum

define XAXIS_STEPS_PER_UNIT 110 // Cartesian Steps/mm, Delta abaikan, Scara Steps/degree

define YAXIS_STEPS_PER_UNIT 70 // Cartesian Steps/mm, Delta abaikan, Scara Steps/degree

define ZAXIS_STEPS_PER_UNIT 400 // Cartesian Steps/mm, Delta Steps/mm, Scara Steps/mm

// Scara Setting

define ARM_LENGTH 250 // dalam mm. in mm

define FOREARM_LENGTH 250 // dalam mm. in mm

define SHOULDER_MIN_ANGLE 30//36//45//90 // dalam derajat. in degree

define ELBOW_MIN_ANGLE 0//5//150//155//205//155 //5 // dalam derajat. in degree

define SHOULDER_MAX_ANGLE 330//324//270 // dalam derajat. in degree

define ELBOW_MAX_ANGLE 150//0//5//155//355//5 //180 // dalam derajat. in degree

define SHOULDER_BED_CENTER_ANGLE 180//135//180//135 // Posisi sudut bahu Scara di pusat papan dalam derajat. Position of Scara shoulder angle at bed center in degree

define ELBOW_BED_CENTER_ANGLE 0//45//90//126.87//90 // Posisi sudut siku Scara di pusat papan dalam derajat. Position of Scara elbow angle at bed center in degree

// Delta settings

define DELTA_ALPHA_A 210 // Sudut antara sumbu X positif dengan Tower A dalam derajat, Angle between positive X Axis and Tower A in degree

define DELTA_ALPHA_B 330 // Sudut antara sumbu X positif dengan Tower B dalam derajat, Angle between positive X Axis and Tower B in degree

define DELTA_ALPHA_C 90 // Sudut antara sumbu X positif dengan Tower C dalam derajat, Angle between positive X Axis and Tower C in degree

define DELTA_DIAGONAL_ROD 445 // Panjang diagonal batang dalam mm, diagonal rod length in mm

define DELTA_DIAGONAL_CORRECTION_A 0 // Koreksi panjang batang A in mm, rod A length correction in mm

define DELTA_DIAGONAL_CORRECTION_B 0 // Koreksi panjang batang B in mm, rod B length correction in mm

define DELTA_DIAGONAL_CORRECTION_C 0 // Koreksi panjang batang C in mm, rod C length correction in mm

// ROD_RADIUS = PRINTER_RADIUS - END_EFFECTOR_HORIZONTAL_OFFSET - CARRIAGE_HORIZONTAL_OFFSET // Jika Anda mengisi ROD_RADIUS, rumus diatas diabaikan. Jika Anda tidak mengisi ROD_RADIUS, rumus diatas dijalankan // If you enter ROD_RADIUS value, the formula above is ignored. If you don't enter ROD_RADIUS value, the formula above calculated

define ROD_RADIUS 500//209.25 // Radius mendatar batang di posisi pusat papan, Horizontal rod radius at bed center position

define DELTA_RADIUS_CORRECTION_A 0 // Koreksi jarak tower A ke pusat papan dalam mm, Tower A distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_B 0 // Koreksi jarak tower B ke pusat papan dalam mm, Tower B distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_C 0 // Koreksi jarak tower C ke pusat papan dalam mm, Tower C distance to bed center correction in mm

define END_EFFECTOR_HORIZONTAL_OFFSET 0 // Jarak mendatar antara effector ke batang, horizontal distance between effector and rod

define CARRIAGE_HORIZONTAL_OFFSET 0 // Jarak mendatar antara carriage ke batang, horizontal distance between carriage and rod

define PRINTER_RADIUS 500//209.25 // Jarak antara nozzle dan tower, distance between nozzle and tower

define DELTA_MAX_RADIUS 500//150 // Radius cetak maksimum, max print radius

define MAX_FEEDRATE_X 50//100//5/60//50//100 // Kecepatan sumbu X, X Axis speed

define MAX_FEEDRATE_Y 50//100//5/60//50//100 // Kecepatan sumbu Y, Y Axis speed

define MAX_FEEDRATE_Z 50//100//5/60//50//100 // Kecepatan sumbu Z, Z Axis speed

define HOMING_FEEDRATE_X 15//30//5/60//10//30 // Kecepatan sumbu X ketika menuju endstop, X Axis speed when go to endstop

define HOMING_FEEDRATE_Y 15//30//5/60//10//30 // Kecepatan sumbu Y ketika menuju endstop, Y Axis speed when go to endstop

define HOMING_FEEDRATE_Z 10//20//1/60//20 // Kecepatan sumbu Z ketika menuju endstop, Z Axis speed when go to endstop

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_X 500//1000//50//500//1000 // Percepatan max sumbu X ketika mencetak, X Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Y 500//1000//50//500//1000 // Percepatan max sumbu Y ketika mencetak, Y Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Z 50//100//5//50//100 // Percepatan max sumbu Z ketika mencetak, Z Axis max acceleration when print

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_X 500//1000//50//500//1000 // Percepatan max sumbu X ketika pindah, X Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Y 500//1000//50//500//1000 // Percepatan max sumbu Y ketika pindah, Y Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Z 50//100//5//50//100 // Percepatan max sumbu Z ketika pindah, Z Axis max acceleration when travel

define MAX_JERK .1//1//10 // Hentakan maksimum sumbu XY

define MAX_ZJERK 0.3 // Hentakan maksimum sumbu Z

wangsamas commented 6 years ago

Your bed center angles are the angles positions that you want after touching endstops. They must be between min and max angles.

On Mon, Apr 9, 2018, 23:11 Daniel Power notifications@github.com wrote:

Hi, I swapped the y-min to y-max and their min max angles respectively, machine is now homing regularly to 225 degrees to the shoulder and 150 degrees at the elbow, I'll post the recent tweaks I've been making down below. I tried changing the bed center angles but they didn't respond, same for the homing and travel feedrates. Not sure what is restricting me from editing them.

define NUM_EXTRUDER 1

define MOTHERBOARD 33 // 33 untuk Arduino Mega 2560 dengan RAMPS 1.3/1.4,

lihat BACAini, README atau pins.h untuk PCB lainnya

include "pins.h"

define DRIVE_SYSTEM 7 // Cartesian 0, Delta 3, Scara 7

define SCARA_TYPE SINGLE // If drive system = scara -> choose SINGLE,

PARALEL

define FEATURE_CONTROLLER 2 // 2 untuk smart controller LCD 2004, 11

untuk Reprap Graphic LCD, lihat wangsamas.h untuk LCD display lainnya

define DEFAULT_PRINTER_MODE 0 // 3D Printer 0, Laser 1, CNC 2

define X_MAX_LENGTH 500//400 // Panjang maximum sumbu X

define Y_MAX_LENGTH 500//350 // Panjang maximum sumbu Y

define Z_MAX_LENGTH 515 // Panjang maximum sumbu Z

define X_MIN_POS -500//0//-999 // Posisi titik X minimum

define Y_MIN_POS -500//0//-999 // Posisi titik Y minimum

define Z_MIN_POS 0 // Posisi titik Z minimum

define XAXIS_STEPS_PER_UNIT 110 // Cartesian Steps/mm, Delta abaikan,

Scara Steps/degree

define YAXIS_STEPS_PER_UNIT 70 // Cartesian Steps/mm, Delta abaikan,

Scara Steps/degree

define ZAXIS_STEPS_PER_UNIT 400 // Cartesian Steps/mm, Delta Steps/mm,

Scara Steps/mm

// Scara Setting

define ARM_LENGTH 250 // dalam mm. in mm

define FOREARM_LENGTH 250 // dalam mm. in mm

define SHOULDER_MIN_ANGLE 30//36//45//90 // dalam derajat. in degree

define ELBOW_MIN_ANGLE 0//5//150//155//205//155 //5 // dalam derajat. in

degree

define SHOULDER_MAX_ANGLE 330//324//270 // dalam derajat. in degree

define ELBOW_MAX_ANGLE 150//0//5//155//355//5 //180 // dalam derajat. in

degree

define SHOULDER_BED_CENTER_ANGLE 180//135//180//135 // Posisi sudut bahu

Scara di pusat papan dalam derajat. Position of Scara shoulder angle at bed center in degree

define ELBOW_BED_CENTER_ANGLE 0//45//90//126.87//90 // Posisi sudut siku

Scara di pusat papan dalam derajat. Position of Scara elbow angle at bed center in degree

// Delta settings

define DELTA_ALPHA_A 210 // Sudut antara sumbu X positif dengan Tower A

dalam derajat, Angle between positive X Axis and Tower A in degree

define DELTA_ALPHA_B 330 // Sudut antara sumbu X positif dengan Tower B

dalam derajat, Angle between positive X Axis and Tower B in degree

define DELTA_ALPHA_C 90 // Sudut antara sumbu X positif dengan Tower C

dalam derajat, Angle between positive X Axis and Tower C in degree

define DELTA_DIAGONAL_ROD 445 // Panjang diagonal batang dalam mm,

diagonal rod length in mm

define DELTA_DIAGONAL_CORRECTION_A 0 // Koreksi panjang batang A in mm,

rod A length correction in mm

define DELTA_DIAGONAL_CORRECTION_B 0 // Koreksi panjang batang B in mm,

rod B length correction in mm

define DELTA_DIAGONAL_CORRECTION_C 0 // Koreksi panjang batang C in mm,

rod C length correction in mm

// ROD_RADIUS = PRINTER_RADIUS - END_EFFECTOR_HORIZONTAL_OFFSET - CARRIAGE_HORIZONTAL_OFFSET // Jika Anda mengisi ROD_RADIUS, rumus diatas diabaikan. Jika Anda tidak mengisi ROD_RADIUS, rumus diatas dijalankan // If you enter ROD_RADIUS value, the formula above is ignored. If you don't enter ROD_RADIUS value, the formula above calculated

define ROD_RADIUS 500//209.25 // Radius mendatar batang di posisi pusat

papan, Horizontal rod radius at bed center position

define DELTA_RADIUS_CORRECTION_A 0 // Koreksi jarak tower A ke pusat

papan dalam mm, Tower A distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_B 0 // Koreksi jarak tower B ke pusat

papan dalam mm, Tower B distance to bed center correction in mm

define DELTA_RADIUS_CORRECTION_C 0 // Koreksi jarak tower C ke pusat

papan dalam mm, Tower C distance to bed center correction in mm

define END_EFFECTOR_HORIZONTAL_OFFSET 0 // Jarak mendatar antara effector

ke batang, horizontal distance between effector and rod

define CARRIAGE_HORIZONTAL_OFFSET 0 // Jarak mendatar antara carriage ke

batang, horizontal distance between carriage and rod

define PRINTER_RADIUS 500//209.25 // Jarak antara nozzle dan tower,

distance between nozzle and tower

define DELTA_MAX_RADIUS 500//150 // Radius cetak maksimum, max print

radius

define MAX_FEEDRATE_X 50//100//5/60//50//100 // Kecepatan sumbu X, X Axis

speed

define MAX_FEEDRATE_Y 50//100//5/60//50//100 // Kecepatan sumbu Y, Y Axis

speed

define MAX_FEEDRATE_Z 50//100//5/60//50//100 // Kecepatan sumbu Z, Z Axis

speed

define HOMING_FEEDRATE_X 15//30//5/60//10//30 // Kecepatan sumbu X ketika

menuju endstop, X Axis speed when go to endstop

define HOMING_FEEDRATE_Y 15//30//5/60//10//30 // Kecepatan sumbu Y ketika

menuju endstop, Y Axis speed when go to endstop

define HOMING_FEEDRATE_Z 10//20//1/60//20 // Kecepatan sumbu Z ketika

menuju endstop, Z Axis speed when go to endstop

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_X 500//1000//50//500//1000 //

Percepatan max sumbu X ketika mencetak, X Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Y 500//1000//50//500//1000 //

Percepatan max sumbu Y ketika mencetak, Y Axis max acceleration when print

define MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Z 50//100//5//50//100 //

Percepatan max sumbu Z ketika mencetak, Z Axis max acceleration when print

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_X

500//1000//50//500//1000 // Percepatan max sumbu X ketika pindah, X Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Y

500//1000//50//500//1000 // Percepatan max sumbu Y ketika pindah, Y Axis max acceleration when travel

define MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Z 50//100//5//50//100

// Percepatan max sumbu Z ketika pindah, Z Axis max acceleration when travel

define MAX_JERK .1//1//10 // Hentakan maksimum sumbu XY

define MAX_ZJERK 0.3 // Hentakan maksimum sumbu Z

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5#issuecomment-379806691, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BE0UAZ4ZWuum7qLU_WBU_3eRMjSsks5tm4gagaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

I heard some people might have problems with eeprom settings overriding their controls, I found the one setting in the configuration.h and changed the 1 to -1, I have full control of the printer now!!!!!!!!!!!!!!

wangsamas commented 6 years ago

There is a special g5 command for you to rotate according to angles.

Example G5 x30 means you command x axis to rotate 30 degree counter clockwise G5 y-60 means you command y axis to rotate 60 degree clockwise

Use this to check your directions & steps settings

You can use this command before homing.

On Mon, Apr 9, 2018, 23:35 Daniel Power notifications@github.com wrote:

I heard some people might have problems with eeprom settings overriding their controls, I found the one setting in the configuration.h and changed the 1 to -1, I have full control of the printer now!!!!!!!!!!!!!!

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5#issuecomment-379814375, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BPyf9qPif5bhmHMbtKCsM3Jstmnmks5tm420gaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

Roger that, I'll give that a spin! The excitement is pretty overwhelming aaaahahahaahaha

Power3DPrinting commented 6 years ago

Okay... I hate to be the bringer of bad news, G5 commands are not working, the log always returns this:

11:58:19.345 : X:0.00 Y:0.00 Z:0.000 E:0.0000 11:58:19.349 : Shoulder Angle : 180.00 Elbow Angle : 0.00 11:58:19.353 : X position : 0.00 Y position : 0.00

I do have control of the SCARA settings like steps per unit, feedrate, homing angles, which is stupendous and really grateful for!! I'll try digging around in the eeprom.h if setting eeprom mode from 1 to -1 in the configuration.h disabled a gcode system or anything of the sort, it might also explain why 30min prints finish in a spectacular 30 seconds, one day 3D printing will be that amazing right? haha

wangsamas commented 6 years ago

Some values stored in eeprom. They doesnt change when you re-upload the firmware, you have to change them from eeprom or clear eeprom before re-upload

On Tue, Apr 10, 2018, 00:06 Daniel Power notifications@github.com wrote:

Okay... I hate to be the bringer of bad news, G5 commands are not working, the log always returns this:

11:58:19.345 : X:0.00 Y:0.00 Z:0.000 E:0.0000 11:58:19.349 : Shoulder Angle : 180.00 Elbow Angle : 0.00 11:58:19.353 : X position : 0.00 Y position : 0.00

I do have control of the SCARA settings like steps per unit, feedrate, homing angles, which is stupendous and really grateful for!! I'll try digging around in the eeprom.h if setting eeprom mode from 1 to -1 in the configuration.h disabled a gcode system or anything of the sort, it might also explain why 30min prints finish in a spectacular 30 seconds, one day 3D printing will be that amazing right? haha

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5#issuecomment-379823966, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BB_oCZxrZddZC0rKz8wDwej0FBHlks5tm5UXgaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

Hmm, alright, thank you, that is good to know so I'll run M502 every time I connect just to be sure everything is cleaned out.

wangsamas commented 6 years ago

To clear eeprom you can upload clear eeprom code from arduino ide samples.

On Tue, Apr 10, 2018, 02:46 Daniel Power notifications@github.com wrote:

Hmm, alright, thank you, that is good to know so I'll run M502 every time I connect just to be sure everything is cleaned out.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/wangsamas/wangsamas-firmware/issues/5#issuecomment-379871526, or mute the thread https://github.com/notifications/unsubscribe-auth/AKM_BG6LtgB77HXAw-HwmTxJ2slYEMq6ks5tm7p9gaJpZM4SuqJF .

Power3DPrinting commented 6 years ago

https://www.arduino.cc/en/Tutorial/EEPROMClear

Like in this tutorial? Thank you, it was a good thing to look for.

I have some good news! When the machine homes, its position is set to X183 and Y85, if I run G3 X30 Y30 then the G5 X30, G5 Y-60 commands work! I'm still not sure what is happening but I just ran G1 X200 Y200 and the arm moved from one side to the other. Hmm oddly, if I run G3 X0 Y500 where the arm homes straight out at the shoulder being 180 degrees and the elbow being 0 degrees, I could not get any movement. May have just been a one time error so I'll try some other positions again.

Power3DPrinting commented 6 years ago

I got the machine to make a square by using G28 G1 X100 Y100 G1 X100 Y200 G1 X200 Y200 G1 X200 Y100

The square was not where it should have been but I will try to make a gcode file to see if I can get the machine printing, G5 still needs specific G3's to function.

Power3DPrinting commented 6 years ago

Machine Moving to sliced Gcode, Z axis not moving https://www.youtube.com/watch?v=FvMbkanvk9g

Machine moving to specific commands like G3, G5, and G32 https://www.youtube.com/watch?v=iP52zO3Z-so

phearl3ss1 commented 3 years ago

I've been working with the wangsmas firmware and had the same issue with motors not working. Using dbug I discovered my steps per unit was very low maybe 32 and it appeared the number entered into config h XAXIS_STEPS_PER_UNIT was not the same as the number being displayed. However my number would work using M92 but when I tried using the lcd config low number would go to 999 and stop. My steps per unit is 2160. The config h registered the correct figure when I added a decimal point. ie. 2160.0 Likewise the bed center angle for each arm did not register correctly at 90 degrees but worked using 90.0 deg. The marlin firmware 2.0 indicates to start with the scara config h file in the example folder. However the scara config is not updated to the 2.0 marlin firmware and has all kinds of errors and if you use the confg H example with the older firmware it errors and instructs you to update the firmware. Have been unable to successfully compile to even test.