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Homemade single arm SCARA,How to setup the software

Posted by diycnc 
Homemade single arm SCARA,How to setup the software
July 24, 2016 04:54AM
I made single arm Scara,4axis
I used Arduino Mega 2560 and RAMPS 1.4 for board .
I used a firmware which Vitaminard modified at [github.com]





// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
// Uncomment to use Morgan scara mode
#define SCARA
#define scara_segments_per_second 200 //careful, two much will decrease performance...
// Length of inner support arm
#define Linkage_1 200 // 200 mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter
#define Linkage_2 150 // 150 mm

// SCARA tower offset (position of Tower relative to bed zero position)
// ARM tower offset (position of Tower relative to bed zero position)
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define SCARA_offset_x ?//mm
#define SCARA_offset_y ? //mm

#define SCARA_RAD2DEG 57.2957795 // to convert RAD to degrees

#define THETA_HOMING_OFFSET ? //calculatated from Calibration Guide and command M360 / M114 see picture in [reprap.harleystudio.co.za]
#define PSI_HOMING_OFFSET ? // calculatated from Calibration Guide and command M364 / M114 see picture in [reprap.harleystudio.co.za]



How to setup the software
Re: Homemade single arm SCARA,How to setup the software
July 24, 2016 05:32AM


endstop position
Re: Homemade single arm SCARA,How to setup the software
July 24, 2016 06:37PM
i dont think you can use the usual scara branch of a firmware as that is meant for a parallel scara ( morgan ) while your is a serial scara. As far as i am aware there is not firmware which supports this configuration for now. The work around would be use a gcode post processor to modify the cartasian gcode to scara gcode . Also looking at the arm length and the gear ratio i dont think you will have sufficient resolution for half decent prints. Yoy need a much higher resolution to do that.

I can help you with a post processor if you can share the cad files . I would also suggest you to increase the belt pulley sizes to have better resolution.
Re: Homemade single arm SCARA,How to setup the software
March 17, 2017 07:46AM
This firmware maybe suite you [github.com]
you can see the drawing for the firmware configuration here [www.wangsamas.com]
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