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Revision to ConfiguringRepRapFirmwareSCARAPrinter

Harald Wagener (oliof)

 
[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 according to https://www.thingiverse.com/thing:2487048 Configuration.h
 
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
 
; K4 for SCARA arms
 
; P, D from https://www.thingiverse.com/thing:2487048 Configuration.h
 
; A and B guesswork

; C from https://forum.duet3d.com/topic/9346/mpscara-g28-intermediate-position-outside-machine-limits

; X from https://www.thingiverse.com/thing:2487048 Configuration.h plus some slack

; C from https://forum.duet3d.com/topic/9346/mpscara-g28-intermediate-position-outside-machine-limits

; X from https://www.thingiverse.com/thing:2487048 Configuration.h plus some slack
; Y guesswork
;; M669 K4 P98.41 D100.66 A-108:108 B-108:0 Y-120; setup SCARA kinematics
M669 K4 P98.41 D100.66 A-108:108 B0:140 C-1:0:0 X90 Y-125 S200 T0.1 ; setup SCARA kinematics
 
M208 X109 Y250M669 K4 P98.41 D100.66 A-108:108 B0:140 C-1:0:0 X100 Y-100

; axis travel limits

M208 X63 Y200
Z160; if you want more X, reduce Y (don't forget to adjust Y offset in M669)
M208 X109 Y250M669 K4 P98.41 D100.66 A-108:108 B0:140 C-1:0:0 X100 Y-100

; axis travel limits

M208 X63 Y200
Z160; if you want more X, reduce Y (don't forget to adjust Y offset in M669)
 
; steps per axis
 
; values from https://www.thingiverse.com/thing:2487048 Configuration.h
 
; for red (A4988?) drivers
 
M92 X28.6738351 Y28.6738351 Z2560;
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== Homing files ==
G1 S1 Z-200 F100 ; move Z down until the switch triggers
G90 ; back to absolute mode
G1 S2 X-60 Y60; move into printable area
G0 X0 Y0; move to zero point
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