[Emc-users] SCARA robot arm 3D printer

[transistor]

Hi o

I just went through integrating EMC2 for a 3d ABS/PLA printer

Its detailed here:
transistor-man.com/3dprintbot.html

The control boards have their source files and pcbs listed, i;m working 
on pushing the schematics up this week. I ended up doing exactly what 
was suggested earlier in a previous thread, having MCodes call extrusion 
or heating, and that's about it. I didnt end up purchasing / going with 
the reprap/makerbot control boards as i didn't need the complexity. 
Overall it was simple but took many weeks to get up to speed, learn the 
innerworkings of emc2, and get stepgen to work with nontrivial 
kinematics.

As the printer is a SCARA arm, the kinematics and setup make it quite a 
bit more difficult to calibrate, which also took a bit of time to work 
through.

If there are any questions shoot over an email, hopefully the 
documentation will be helpful for those few folks working with 
non-cartesian platforms (scara / kuka)


-Dane
transis...@transistor-man.com


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Re: [Emc-users] SCARA robot arm 3D printer

[transistor]

On 2012-06-19 10:49, Kent A. Reed wrote:
> On 6/19/2012 10:46 AM, transis...@transistor-man.com wrote:
>> Hi o
>>
>> I just went through integrating EMC2 for a 3d ABS/PLA printer
>>
>> Its detailed here:
>> transistor-man.com/3dprintbot.html
>>
>> The control boards have their source files and pcbs listed, i;m 
>> working
>> on pushing the schematics up this week. I ended up doing exactly 
>> what
>> was suggested earlier in a previous thread, having MCodes call 
>> extrusion
>> or heating, and that's about it. I didnt end up purchasing / going 
>> with
>> the reprap/makerbot control boards as i didn't need the complexity.
>> Overall it was simple but took many weeks to get up to speed, learn 
>> the
>> innerworkings of emc2, and get stepgen to work with nontrivial
>> kinematics.
>>
>> As the printer is a SCARA arm, the kinematics and setup make it 
>> quite a
>> bit more difficult to calibrate, which also took a bit of time to 
>> work
>> through.
>>
>> If there are any questions shoot over an email, hopefully the
>> documentation will be helpful for those few folks working with
>> non-cartesian platforms (scara / kuka)
>>
>>
>> -Dane
>> transis...@transistor-man.com
>>
>>
>> -
>
> In my book, you rate an "A" for the work and an "A" for the 
> documentation.
>
> Go to the head of the class :-)
>
> Regards,
> Kent
>
>
> 
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Haha, thanks!

i should have the updated schematics up for the PID controllers before 
end of week, i will update when they are available
-Dane

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Re: [Emc-users] SCARA robot arm 3D printer

[transistor]

On 2012-06-20 09:14, ceen...@in-front.com wrote:
> This link is for a reprap SCARA: 
> http://www.youtube.com/watch?v=Cquw7dvR80A
>
> There was a conversation a while back about how many plastic Yoda
> heads and other fast prototyped plastic waste would end up in land
> fills.  I see the above reprap SCARA being a positive and 
> constructive
> engineering use for a reprap machine.  The HF06 used stepper motor 
> and
> linear bearings but the rest is pretty much made with a reprap.
>
> Cool stuff.
>
>
> Dennis
>
>
>>  ---Original Message---
>>  From: Jeshua Lacock 
>>  To: Enhanced Machine Controller (EMC) 
>> 
>>  Subject: Re: [Emc-users] SCARA robot arm 3D printer
>>  Sent: Jun 20 '12 02:25
>>
>>
>>  On Jun 19, 2012, at 9:46 AM, andy pugh wrote:
>>
>>  > On 19 June 2012 15:46,   wrote:
>>  >
>>  >> As the printer is a SCARA arm
>>  >
>>  > This is an interesting development, as it has more printable
>>  > components than a conventional RepRap. You could (in theory) 
>> print the
>>  > arms, whereas printing linear slides is more tricky.
>>
>>  Wow, that is a really great idea! Pretty much the only thing you 
>> couldn't print is the steppers (and electrical components) - but those 
>> things are cheap!
>>
>>
>>  Cheers,
>>
>>  Jeshua Lacock
>>  Founder/Engineer
>>  3DTOPO Incorporated
>>  
>>  Phone: 208.462.4171
>>
>
> 
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That is excellent,

I didn't realize it, bit you're correct, there are fewer non-printable 
parts on a scara versus a conventional XY platform. (no linear bearings)

That platform (video) looks really far along. One of the mechanisms IBM 
used in this arm to maintain constant direction on the front facing 
appendage is just link it with a belt to the theta 1 axis. it 
effectively removes the 'turn' on the front axis, so you don't 
necessarily have to have the extruder (or pen) in the video's case in 
the exact center of the front facing part. I can snag a picture later on 
to demo this, which might be useful for printed-out-scara-arms.

@jeshua, thanks! The smiley-face was a reference to the movie 'moon'. 
There's a robot in the film with a very basic display, that looks 
similar to the printout.

I think this is the most-recent for scara-reprap development:
http://forums.reprap.org/read.php?2,128991,128991

if you run into other people developing for that platform i'd be 
curious,

Thanks,
-Dane

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Re: [Emc-users] EMC-Tetris

[transistor]

On 2013-01-08 14:47, Sven Wesley wrote:
> http://youtu.be/MOW5Tooi6ds
>
> :)
> 
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That is awesome!

are you willing to post whatever you used to generate the gcode speed 
-tone mapping?

fantastic work!

-Dane

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Re: [Emc-users] Need help finding servo amp replacement

[transistor]

On 2013-01-13 21:49, Bruce Klawiter wrote:
> Rookie here, I have Glentek circa 1980, analog 90 volt servo amps
> with tacho feedback, one amp is bad so would like to replace them 
> with
> newer amps.
> Am going to convert to LinuxCNC using Mesa cards I think, do I need
> to keep or is it a good Idea to keep the tachometer feedback, what 
> new
> amps have this?
> Was looking a Gecko G320X but don't see any mention of tach.
>
> Your help is greatly appreciated,
> Bruce
> 
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Hi,

I recently started using the G320X, with a quadrature encoder on a 24v 
system, and its working great. what do you mean by 'tachometer' 
feedback?.
The drive goes up to 80v, so if you could reduce your 90v drive 
voltage, to something like 75, it should workout well

-Dane

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