[phearl3ss1]

I found this software for a scara today and am looking it over. It seems like it will have issues for a scara, but it won’t be difficult to find out. The issue I have noticed is the motors and steps per degree are assumed to be the same for both motors and for a scara the x motor also moves the Y motor and are different. The Sara h. file

#define BICEP_LENGTH_MM      (350.0)
#define FOREARM_LENGTH_MM    (287.81)

In the motors.h it states // choose one of the following

//#define NORMAL_MOTOR_STEPS   200  // 1.8 degrees per step
#define NORMAL_MOTOR_STEPS   400  // 0.9 degrees per step

whereas the firmware I am using now in the Config h. file:

#define XAXIS_STEPS_PER_UNIT 2170.0  //Cartesian Steps/mm, Delta abaikan, Scara Steps/degree
#define YAXIS_STEPS_PER_UNIT 1910.0 // Cartesian Steps/mm, Delta abaikan, Scara Steps/degree
#define ZAXIS_STEPS_PER_UNIT 2.00  // Cartesian Steps/mm, Delta Steps/mm, Scara Steps/mm
// Scara Setting
#define ARM_LENGTH 350.00                        // dalam mm. in mm
#define FOREARM_LENGTH 287.81              // dalam mm. in mm

Will it work without each motor having it’s own steps defined?

• This reply was modified 5 years, 5 months ago by Dan.
• This reply was modified 5 years, 5 months ago by Dan.

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