traditional xy in Makelangelo

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  • #14883
    AvatarAnonymous
    Inactive

    Hi, I want to install Makelangelo in a traditional xy mechanical structure.
    I have seen that it is possible to configure this way by decomposing Polargraph.

    The big problem I have is that the X axis carries two cloned motors and the Adafruit controller only serves two motors. Is it possible to clone the available output?
    Thank you

    #14885
    DanDan
    Keymaster

    The Makelangelo firmware supports several kinematic models and boards, including traditional xy gantry layout.

    https://github.com/MarginallyClever/Makelangelo-firmware/blob/master/configure.h#L33

    #define MACHINE_STYLE TRADITIONALXY // change it to this

    https://github.com/MarginallyClever/Makelangelo-firmware/blob/master/configure.h#L57

    #define MOTHERBOARD BOARD_RUMBA // change this to your controller type.

    https://github.com/MarginallyClever/Makelangelo-firmware/blob/master/robot_traditionalxy.h

    You might have to tweak some of these values for your machine.

    #14886
    DanDan
    Keymaster

    I re-read your question…. the X gantry has one motor on both sides and the Y gantry has one motor. The AMS shield will not supply enough amps to drive three stepper motors – one of the L293 chips will melt.

    Better to use a RAMPs or RUMBA board with a Y shaped cable for the two X motors, same as used on z axis of 3D printers like Prusa.

    #14889
    AvatarAnonymous
    Inactive

    Dan, I do not have ramps and rumba, but if two adafruit and two arduino, is it possible to combine them?

    thank you very much

    #14892
    DanDan
    Keymaster

    Only with a lot of code rewriting.

    #14900
    AvatarAnonymous
    Inactive

    Could it be with a Polarshield?
    I have one
    regards!

    #14901
    DanDan
    Keymaster

    We don’t support the polarshield at the moment. More code writing.

    #15008
    AvatarAnonymous
    Inactive

    I got ramps 1.4 shield. How to activate Makelangelo firmware for two x-axis motors
    Thank you!

    #15010
    DanDan
    Keymaster

    you should be able to change the configure.h file

    #define BOARD_TYPE RAMPS
    #define MACHINE_STYLE TRADITIONALXY

    and in traditionalxy.h you may want to make further adjustments for speeds.

    once the code is uploaded, run makelangelo app, connect to the robot, and do your configuration setup.

    I have not personally tested the code for the makelangelo on a traditional gantry, so please report back. I’m here to help!

    #15019
    AvatarAnonymous
    Inactive

    Thanks for your help, it’s great.
    the configuration would be like this

    https://photos.google.com/photo/AF1QipOdIBcXd8plJr6W12qegQIi7jiDMYuSVqf0locn

    #15020
    AvatarAnonymous
    Inactive

    Can you tell me where the drivers in ramps controller are?

    https://photos.google.com/photo/AF1QipNafc5VLGkrxZeXukGOuJFv-A1C7bWGzsFtKcM1

    Do I have to make any changes to clone the x axis?

    Thank you!

    #15025
    DanDan
    Keymaster

    eh, those links are 404.

    the drivers on OUR ramps are a4988, 1/16th microstepping.

    #15063
    AvatarAnonymous
    Inactive

    https://photos.app.goo.gl/i6ZKzJrD8xnXn6WG2

    https://photos.app.goo.gl/i6ZKzJrD8xnXn6WG2

    Can you now see images?
    I asked him why the driver clone Y axis in Ramps.

    I also said that I can not load Makelangelo firmware, I send video error.

    Thank you!!!

    #15064
    DanDan
    Keymaster

    Makelangelo-firmware is not a library.

    I don’t know why you are using #include many times in your sketch.

    I’m not sure what you’re trying to do.

    #15065
    AvatarAnonymous
    Inactive

    Do you have firmware upload tutorial?

    #15066
    AvatarAnonymous
    Inactive

    ok, I already got firmware running.
    Now, what connection of ramps to clone Y axis?

    https://i2.wp.com/www.hta3d.com/image/catalog/Impresoras/P3Steel/Esquemas/RAMPS-1.4-ES–sinsensor-alt.jpg

    #15067
    AvatarAnonymous
    Inactive
    #15069
    AvatarAnonymous
    Inactive

    Is it possible to clone Y axis to E1 of Ramps 1.4?
    is the best … is it difficult?

    Thank you!

    #15072
    DanDan
    Keymaster

    some people use a Y shaped cable to drive two motors from one axis driver. be careful about current limit! each driver has max 1.5a without cooling, 2 with cooling.

    #23328
    Avatarclatos2000
    Participant

    Hello everyone, first of all my congratulations, this is an incredible project! a great job!!
    I’m from Argentina and put together my version of Makelangelo with the polargraph type mechanical structure and it worked the first time, it worked perfectly.
    Now I intend to make it walk with the traditional type structure x,y and the problems came … as I had to place a motor directly on the x axis another motor on the y axis (this has a gear reduction and pinion), the calculations for each of them are different.
    How can I tell the firmware this difference?
    What should I add and where?
    Can you help me, please?? From already thank you very much

    #23329
    DanDan
    Keymaster

    I’m excited someone tries the traditional XY mode. Please post pictures and keep us updated.

    In robot_traditionalxy.cpp method IK() you will see

    motorStepArray[0] = lround(x / THREAD_PER_STEP);
    motorStepArray[1] = lround(y / THREAD_PER_STEP);

    the THREAD_PER_STEP is really the difference between mm and steps-per-mm for each axis. For your solution you will want to change it a bit like this:

    motorStepArray[0] = lround(x / STEPS_PER_MM_X );
    motorStepArray[1] = lround(y / STEPS_PER_MM_Y );

    and then define each new value based on your gear reduction, microstepping, and so on.

    #23330
    DanDan
    Keymaster

    I made an update to the dev branch. the values are defined in robot_traditionalxy.h, adjust them there and everything should continue as normal.

    #23334
    Avatarclatos2000
    Participant

    thank you for your attention Dan, I will test the changes as soon as possible and when ready I will upload images. a big hug

    #23361
    Avatarclatos2000
    Participant

    Hello, I managed to get the first images, but I could not upload them, so I sent them by email … Sorry
    It’s still a long time before it’s finished, it’s just the beginning.
    Now I have a new problem, the engines get very hot when they are at rest, that is, when one motor moves, the other is magnetized and at that moment it gets very hot.

    it would be possible from the firmware to tell each engine that when it does not receive movement commands it is in disable mode and when it receives orders to move it will be in enable mode ?? Thank you

    #23362
    Avatarclatos2000
    Participant

    Well … I try to show the images
    1“>
    2“>
    3“>
    4“>
    regards

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