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Revision to ConfiguringRepRapFirmwareSCARAPrinter

Harald Wagener (oliof)

 
If your endstop switches produce active low outputs instead of active high, replace S1 in the M574 command by S0.
 
Here is a sample config.g for an ldegraaf-style SCARA printer ([https://www.thingiverse.com/thing:2487048|MPSCARA]):
 
[code]
; End stops
M574 X0 Y0 Z0 S1 ; proximal and distal homing switches trigger when the arm is fully clockwise and are active high
 
; Motor settings
M569 P0 S1 ; Drive 0 (X) goes forwards
M569 P1 S0 ; Drive 1 (Y) goes backwards
M569 P2 S1 ; Drive 2 (Z) goes forwards
M906 X900 Y900 Z1050 ; set motor currents (mA)
 
; acceleration and speed
M201 X3000 Y3000 Z3000; maximum acceleration mm^2/second
M203 X18000 Y18000 Z360; maximum speeds mm/minute
 
; setup SCARA kinematics
; P, D from https://www.thingiverse.com/thing:2487048 Configuration.h
; A and B roughly measured
M669 K4 P98.41 D100.66 A-108:108 B-108:0 ; setup SCARA kinematics
 
; steps per axis
; values from https://www.thingiverse.com/thing:2487048 Configuration.h
; for red (A4988?) drivers
M92 X28.6738351 Y28.6738351 Z2560;
; axis travel limits
M208 X110 Y160 Z160;
[/code]
 
== Homing files ==
G1 X100 Y100 F2000 ; put head over the centre of the bed, or wherever you want to probe
G30 ; lower head, stop when probe triggered and set Z to trigger height
[/code]
 
Here's an example homeall.g for the [https://www.thingiverse.com/thing:2487048|MPSCARA]:
 
[code]
; home x
G91 ; relative movement
G1 S2 Z4 F100 ; ensure head is clear of the bed
G1 S1 X-200 F3000 ; move proximal joint clockwise up to 200 degrees until the endstop switch is triggered
G1 S2 X10 ; move proximal joint anticlockwise by 10 degrees
G1 S1 X-20 F600 ; move proximal joint slowly to the endstop switch again
M117 "homed proximal arm"
 
; home y
G1 S1 Y-200 F3000 ; move distal joint clockwise up to -200 degrees until the endstop switch is triggered
G1 S2 Y10 ; move distal joint anticlockwise by 10 degrees
G1 S1 Y-20 F600 ; move distal joint slowly to the endstop switch again
M117 "homed distal arm"
 
; home z
G1 S2 Z4 F200 ; raise head 4mm to ensure it is above the switch trigger height
G1 S1 Z-200 F100 ; move Z down until the switch triggers
G90 ; back to absolute mode
[/code]
 

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