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Merge e70d01e6e5 into bf7c10652f
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dekutree64
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2 changed files with 129 additions and 40 deletions
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@ -1090,38 +1090,82 @@
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* Mostly Printed SCARA is an open source design by Tyler Williams. See:
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* https://www.thingiverse.com/thing:2487048
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* https://www.thingiverse.com/thing:1241491
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*
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* Merged into STANDARD_SCARA + crosstalk/elbow dir settings added by dekutree64 in Mar, 2026.
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* Positive angles rotate counterclockwise when looking down from above.
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* Theta is the shoulder angle. 0 degrees points along positive cartesian X axis.
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* Psi is elbow bend. 0° is straight, ±180° is completely folded (right-handed positive, left-handed negative)
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*/
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//#define MORGAN_SCARA
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#define MP_SCARA
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#if ANY(MORGAN_SCARA, MP_SCARA)
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//#define STANDARD_SCARA // Typical SCARA arm with two segments in series
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// Note: Some arms such as Reprap Morgan use a parallellogram linkage to convey the
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// elbow motion, but are kinematically equivalent to serial SCARA.
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//#define MORGAN_SCARA // Preset of STANDARD_SCARA for Reprap Morgan
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#define MP_SCARA // Preset of STANDARD_SCARA for Mostly Printed SCARA
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#if MANY(MP_SCARA, MORGAN_SCARA)
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#error "Select only one SCARA preset."
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#endif
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#if ENABLED(MORGAN_SCARA)
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#define STANDARD_SCARA
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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#define SCARA_LINKAGE_1 150 // (mm)
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#define SCARA_LINKAGE_2 150 // (mm)
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#define SCARA_OFFSET_X 100 // (mm)
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#define SCARA_OFFSET_Y -56 // (mm)
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#define SCARA_HOME_THETA (90+10) // (degrees)
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#define SCARA_HOME_PSI (180-20) // (degrees)
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#define MIDDLE_DEAD_ZONE_R 50 // (mm)
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#define SCARA_ELBOW_DIR 1
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#define SCARA_CROSSTALK_FACTOR 1
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#define QUICKHOME
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#elif ENABLED(MP_SCARA)
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#define STANDARD_SCARA
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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#define SCARA_LINKAGE_1 98.5 // (mm)
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#define SCARA_LINKAGE_2 100 // (mm)
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#define SCARA_OFFSET_X 0 // (mm)
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#define SCARA_OFFSET_Y -120 // (mm)
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#define SCARA_HOME_THETA -20 // (degrees)
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#define SCARA_HOME_PSI 0 // (degrees)
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#define MIDDLE_DEAD_ZONE_R 50 // (mm)
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#define SCARA_ELBOW_DIR 1
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#define SCARA_CROSSTALK_FACTOR 1
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#define BED_CENTER_AT_0_0
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#define QUICKHOME
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#elif ENABLED(STANDARD_SCARA) // Custom configuration
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// If movement is choppy try lowering this value
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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// Length of inner and outer support arms. Measure arm lengths precisely.
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#define SCARA_LINKAGE_1 98.41 // (mm)
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#define SCARA_LINKAGE_2 100.66 // (mm)
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#define SCARA_LINKAGE_1 135 // (mm)
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#define SCARA_LINKAGE_2 135 // (mm)
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// SCARA tower offset (position of Tower relative to bed zero position)
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// SCARA tower offset (position of shoulder axis relative to bed zero position)
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// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
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#define SCARA_OFFSET_X 0 // (mm)
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#define SCARA_OFFSET_Y 0 // (mm)
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#define SCARA_OFFSET_X 0 // (mm)
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#define SCARA_OFFSET_Y -150 // (mm)
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#if ENABLED(MORGAN_SCARA)
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// Radius of unreachable area near shoulder axis
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#define MIDDLE_DEAD_ZONE_R 0 // (mm)
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//#define DEBUG_SCARA_KINEMATICS
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#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
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// Direction of elbow bend. 1 = right-handed (counterclockwise), -1 = left-handed (clockwise)
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#define SCARA_ELBOW_DIR 1
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// Radius around the center where the arm cannot reach
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#define MIDDLE_DEAD_ZONE_R 0 // (mm)
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#elif ENABLED(MP_SCARA)
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#define SCARA_OFFSET_THETA1 12 // degrees
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#define SCARA_OFFSET_THETA2 131 // degrees
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#endif
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// This defines how shoulder movement affects the distal arm angle. Common values:
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// 0.0 if distal arm retains its angle relative to proximal arm (e.g. if elbow motor rides on proximal arm)
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// 1.0 if distal arm retains its angle relative to cartesian X axis (e.g. Morgan and MPSCARA)
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// A two-stage reduction with an intermediate pulley on the shoulder axis has crosstalk =
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// intermediate_pulley_teeth/elbow_pulley_teeth (first reduction stage does not affect crosstalk)
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#define SCARA_CROSSTALK_FACTOR (40.0/60.0)
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// Shoulder and elbow angles when in home position. If left undefined, cartesian home is used and
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// angles are calculated by inverse kinematics (note: M665 home offsets are still angles)
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#define SCARA_HOME_THETA -40
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#define SCARA_HOME_PSI 160
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#endif
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// @section tpara
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@ -1090,37 +1090,82 @@
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* Mostly Printed SCARA is an open source design by Tyler Williams. See:
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* https://www.thingiverse.com/thing:2487048
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* https://www.thingiverse.com/thing:1241491
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*
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* Merged into STANDARD_SCARA + crosstalk/elbow dir settings added by dekutree64 in Mar, 2026.
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* Positive angles rotate counterclockwise when looking down from above.
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* Theta is the shoulder angle. 0 degrees points along positive cartesian X axis.
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* Psi is elbow bend. 0° is straight, ±180° is completely folded (right-handed positive, left-handed negative)
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*/
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#define MORGAN_SCARA
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//#define MP_SCARA
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#if ANY(MORGAN_SCARA, MP_SCARA)
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//#define STANDARD_SCARA // Typical SCARA arm with two segments in series
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// Note: Some arms such as Reprap Morgan use a parallellogram linkage to convey the
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// elbow motion, but are kinematically equivalent to serial SCARA.
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#define MORGAN_SCARA // Preset of STANDARD_SCARA for Reprap Morgan
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//#define MP_SCARA // Preset of STANDARD_SCARA for Mostly Printed SCARA
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#if MANY(MP_SCARA, MORGAN_SCARA)
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#error "Select only one SCARA preset."
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#endif
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#if ENABLED(MORGAN_SCARA)
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#define STANDARD_SCARA
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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#define SCARA_LINKAGE_1 150 // (mm)
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#define SCARA_LINKAGE_2 150 // (mm)
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#define SCARA_OFFSET_X 100 // (mm)
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#define SCARA_OFFSET_Y -56 // (mm)
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#define SCARA_HOME_THETA (90+10) // (degrees)
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#define SCARA_HOME_PSI (180-20) // (degrees)
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#define MIDDLE_DEAD_ZONE_R 50 // (mm)
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#define SCARA_ELBOW_DIR 1
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#define SCARA_CROSSTALK_FACTOR 1
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#define QUICKHOME
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#elif ENABLED(MP_SCARA)
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#define STANDARD_SCARA
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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#define SCARA_LINKAGE_1 98.5 // (mm)
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#define SCARA_LINKAGE_2 100 // (mm)
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#define SCARA_OFFSET_X 0 // (mm)
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#define SCARA_OFFSET_Y -120 // (mm)
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#define SCARA_HOME_THETA -20 // (degrees)
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#define SCARA_HOME_PSI 0 // (degrees)
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#define MIDDLE_DEAD_ZONE_R 50 // (mm)
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#define SCARA_ELBOW_DIR 1
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#define SCARA_CROSSTALK_FACTOR 1
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#define BED_CENTER_AT_0_0
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#define QUICKHOME
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#elif ENABLED(STANDARD_SCARA) // Custom configuration
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// If movement is choppy try lowering this value
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#define DEFAULT_SEGMENTS_PER_SECOND 200
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// Length of inner and outer support arms. Measure arm lengths precisely.
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#define SCARA_LINKAGE_1 150 // (mm)
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#define SCARA_LINKAGE_2 150 // (mm)
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#define SCARA_LINKAGE_1 135 // (mm)
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#define SCARA_LINKAGE_2 135 // (mm)
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// SCARA tower offset (position of Tower relative to bed zero position)
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// SCARA tower offset (position of shoulder axis relative to bed zero position)
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// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
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#define SCARA_OFFSET_X 100 // (mm)
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#define SCARA_OFFSET_Y -56 // (mm)
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#define SCARA_OFFSET_X 0 // (mm)
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#define SCARA_OFFSET_Y -150 // (mm)
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#if ENABLED(MORGAN_SCARA)
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// Radius of unreachable area near shoulder axis
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#define MIDDLE_DEAD_ZONE_R 0 // (mm)
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//#define DEBUG_SCARA_KINEMATICS
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#define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
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// Direction of elbow bend. 1 = right-handed (counterclockwise), -1 = left-handed (clockwise)
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#define SCARA_ELBOW_DIR 1
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// Radius around the center where the arm cannot reach
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#define MIDDLE_DEAD_ZONE_R 0 // (mm)
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#elif ENABLED(MP_SCARA)
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#define SCARA_OFFSET_THETA1 12 // degrees
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#define SCARA_OFFSET_THETA2 131 // degrees
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#endif
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// This defines how shoulder movement affects the distal arm angle. Common values:
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// 0.0 if distal arm retains its angle relative to proximal arm (e.g. if elbow motor rides on proximal arm)
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// 1.0 if distal arm retains its angle relative to cartesian X axis (e.g. Morgan and MPSCARA)
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// A two-stage reduction with an intermediate pulley on the shoulder axis has crosstalk =
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// intermediate_pulley_teeth/elbow_pulley_teeth (first reduction stage does not affect crosstalk)
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#define SCARA_CROSSTALK_FACTOR (40.0/60.0)
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// Shoulder and elbow angles when in home position. If left undefined, cartesian home is used and
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// angles are calculated by inverse kinematics (note: M665 home offsets are still angles)
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#define SCARA_HOME_THETA -40
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#define SCARA_HOME_PSI 160
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#endif
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// @section tpara
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