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Patch SCARA example config

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Scott Lahteine
2016-09-11 20:11:39 -05:00
parent 6ab54c60b1
commit 74d7f5e57b
3 changed files with 58 additions and 62 deletions
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Marlin/example_configurations/SCARA/Configuration.h
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@ -75,35 +75,37 @@
//
//===========================================================================
//========================= SCARA Settings ==================================
//============================= SCARA Printer ===============================
//===========================================================================
// SCARA-mode for Marlin has been developed by QHARLEY in ZA in 2012/2013. Implemented
// MORGAN_SCARA for Marlin was 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 // If movement is choppy try lowering this value
// Length of inner support arm
#define Linkage_1 150 //mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter
#define Linkage_2 150 //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
// Specify the specific SCARA model
#define MORGAN_SCARA
//#define MAKERARM_SCARA
#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
#if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
//#define DEBUG_SCARA_KINEMATICS
//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
#define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
// Length of inner support arm
#define SCARA_LINKAGE_1 150 //mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter
#define SCARA_LINKAGE_2 150 //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 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
#endif
//===========================================================================
//========================= SCARA Settings end ==============================
//==================== END ==== SCARA Printer ==== END ======================
//===========================================================================
// @section info