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I want to release a new firmware for Scara arm 3d printers

Posted by Wangsamax 
I want to release a new firmware for Scara arm 3d printers
January 21, 2017 11:36AM
Hi all,

I'm developing new firmware for scara arm based on repetier firmware, not marlin and i'm planning to release it as open source firmware which means you can use, modify, sell printers with this firmware for free.

The coolest features are autobed level, autobed correction, semi auto calibration, so it will be easy to calibrate.

I added some new gcode command only for scara arm.
G5 to rotating arm & forearm individually. At user interface i also add command to rotate individually.
G58 to close arm, which will ended with all positions at endstop
G28 homing route which will start with go to endstop and ended with bed center position.

With this firmware you can easy to change your bed center and change your orientation.
Which mean you can make you bed center at front, behind, right or left of your scara center axis.

I'm not using the words theta, psi to define the parameters. They confuse me, i'm using the words shoulder, elbow, arm length, forearm length. They are easy for me to understand, and hopefully easy for you to understand too.

You can see my first run video with this firmware here [youtu.be]
In that video i have problem with my hardware design, I still working on the hardware, there are alot of improvement but i still haven't finish yet with the hardware. So please don't consentrate at the hardware design in that video, look at how it run.

The firmware is running well in that video, it moves as it suppose to.
And with the calibration route, it quite accurate even with my ugly first design.
The difficulty to make scara arm running well is to calibrate the arm, forearm length and steps per degree for each motor.
This firmware is self calculating those parameter, which means you just enter inaccurate values, then do some magic tricks and the robot will self calibrate to get the correct values. The result is you print is accurate and square.

In my opinion, if the hardware is good, it will be as accurate as cartesian with delta speed and very large print area.

Please comment about this firmware, are you interested, are there any other feature that suppose to be there.


Thanks
Kusuma

Edited 6 time(s). Last edit at 01/21/2017 11:05PM by Wangsamax.
Re: I want to release a new firmware for Scara arm 3d printers
January 28, 2017 12:21PM
Of course, we are very interested !!
g2/g3 movements should be possible...
Re: I want to release a new firmware for Scara arm 3d printers
February 01, 2017 02:45AM
Hi all,

I am announcing my version of firmware can be downloaded at this site for free. [www.wangsamas.com]
I develop it from repetier firmware with additional Scara kinematics, Indonesian languages and changed menu.
for Scara Arm I added new Gcodes
G5 X___ for rotating X Axis
G5 Y___ for rotating Y Axis
G50 for calibration

Kusuma Ruslan

Edited 1 time(s). Last edit at 02/01/2017 02:54AM by Wangsamax.
Re: I want to release a new firmware for Scara arm 3d printers
February 21, 2017 01:41PM
Your firmware looks interesting, the LCD user interface has a lot of interesting features, do you think your firmware can be adapted for a Morgan type parallel arm Scara ?
Re: I want to release a new firmware for Scara arm 3d printers
February 28, 2017 07:55AM
Not yet. It works with single arm scara. I will make it works for paralel scara as morgan, maybe in few months later.
Re: I want to release a new firmware for Scara arm 3d printers
March 01, 2017 07:54AM
It's working for plotter in this video

[youtu.be]
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