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狂吠的小疯狗 large avatar
MakerLab创客实验室  ›  固件

有谁对marlin固件里面的SCARA机械臂的配置有了解?

By 狂吠的小疯狗 at 8 个月前 , 1574 次浏览

自己diy了一个机械臂。用的marlin里面的scara固件。有以下一段配置,实在不知道填写什么参数

SCARA_segments_per_second , linkage1、2(这个是臂长) offset_x offset_y RAD2DEG 这几个参数是什么?
//===========================================================================
//========================= SCARA Settings ==================================
//===========================================================================
// SCARA-mode for Marlin has been developed by QHARLEY in ZA in 2012/2013. Implemented
// and slightly reworked by JCERNY in 06/2014 with the goal to bring it into Master-Branch
// QHARLEYS Autobedlevelling has not been ported, because Marlin has now Bed-levelling
// 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 60 //mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter
#define Linkage_2 45 //mm

// SCARA 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 100 //mm
#define SCARA_offset_y -56 //mm
#define SCARA_RAD2DEG 57.2957795 // to convert RAD to degrees

#define THETA_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
#define PSI_HOMING_OFFSET 0 // calculatated from Calibration Guide and command M364 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073

//some helper variables to make kinematics faster
#define L1_2 sq(Linkage_1) // do not change
#define L2_2 sq(Linkage_2) // do not change

//===========================================================================
//========================= SCARA Settings end ==================================
//===========================================================================

1 回复
aape01 medium avatar
#1 - 5 个月前
aape01

百度贴吧,技术宅吧,《桌面机械臂DARM 制作教程》作者知道你的问题吧