Hello every one,
I am trying to build a scara sand table, I put together a scara arm from Wolfspaw, but i have zero knowledge with coding and programming.
i am using MKS DLC32 board running fluid NC with MKS-DLC32-v2.0.yaml configuration file. I cannot get the g code from sandify (exported as polar) working and i am not sure if the .yaml file I am using is correct or i need something specific to run SCARA.
please advise
The scara output from sandify is not for a machine configured as scara. It is for a machine that has no idea it is scara. It just moves the shoulder and elbow as X and Y.
There is a write up here. If that doesn’t help you, then make a very simple pattern (like one square) and try it. Let me know what it does.
Hello Jeffeb3,
Thank you for your respond, the board is running normal XY as I understood, Fluid NC is modified Grbl 1.1 and I didn’t changed any configuration I just uploaded the .yaml file.
I have tried the lines in the testing paragraph in here
and the shoulder turned less than 1 full rotation, same did the elbow with the next line.
i have tried a simple square g code generated via sandify and it was random movements. tried flipping the motor directions also still random
square.gcode (14.2 KB)
Videos for the movement Unique Download Link | WeTransfer
appreciate your help on this
This is likely your only issue. You need to adjust the steps per mm to make it move one rotation in 6 units.
The jackpot config uses steps_per_mm. But we have weird units where one rotation is 6.00 units.
Your stepper has 200 whole steps per rotation. The default fluidnc configs from Ryan use 8 microstops per rotation. So the motor rotates one full rotation in 100*8=1600 microsteps. Divide that by 6 and you get 266.67 steps per unit. I am assuning there isn’t a gear ratio between the motor and the elbow.
You need to do the same for the shoulder.
Thanks for the feedback It is working now! had a very big smile first time it drew the square shape in air! Only when I use steps_per_mm: 1600 in the .yaml file it will do one rotation. Sandify generated square is working as well. however, it will draw a square only when the arm is fully extended, if it is folded it will draw random shape. I am wondering if it has to do with homing.
can you please brief me how I can add homing? is it required? the arm supposed to draw the pattern from any position or not?
I am using hall sensors and I see it acting in the serial viewer.
I noticed that the drivers are getting hot as well during long play, is it normal?
Thanks
I made an assumption that zero is extended out top (I think). If your endstops don’t match that, then I think you can use workspace offsets. You can add any starting gcode you want. Sandify doesn’t assume any. It just generates positional commands.
When you chain patterns together, you need to reset the positions because the shoulder gets really wound up.
You can reduce the current in the config.yaml file. It doesn’t need much for a small sand machine. 100mA-250mA should be plenty.
That is great! I am surprised it took 1600, but if it works, I won’t argue.
closing old topic to help fight spambots