#Inkscape laser cutter tutorial serial#
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#Inkscape laser cutter tutorial driver#
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Change (or reverse the motor connector) if an axis goes the wrong way. In case we have it wrong, we can either reverse the wires or change it here in software by setting the INVERT_X_DIR variables to TRUE. The stepper motor direction depends on the way we have connected the wires. The fourth value here is for the extruder stepper, but as we don’t have any extruder here, we don’t have to change it. One unit here is one mm, so we need to divide the 3200 steps by 8, and so we get the value of 400, which is the number of steps needed for the Z axis to move one unit or one mm.

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For the Z axis we have a lead screw with 8mm pitch, which means one full rotation of the motor will results in 8mm linear monition. The second arm has 16:1 speed reduction so the value will be 142.222.

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If we divide this value with 360, we will get the number 177.777, which is actually the number of steps that the program needs to send to the driver in order to rotate the joint one unit or one degree. In addition to that, for the first joint we have 20:1 speed reduction, which means we need 64000 steps for full rotation.

The NEMA 17 stepper motors take 200 steps for full rotation, but as we are using 16 th step resolution, that means we need to send 3200 steps to the driver in order to motor to make full 360 degrees rotation. The math behind the inverse kinematics is based on trigonometry, and the result depends solely on the lengths of the two arms. Briefly, with inverse kinematics we calculate at what angles the two arms should position in order to reach a given X, Y coordinate. In my previous tutorial I already explained what is inverse kinematics and how it works with this SCARA robot so for more details you can check that tutorial out. This is based on an open-source design by Tyler Williams which implements inverse kinematics on the G-codes generated for normal cartesian systems.

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The “MORGAN_SCARA” is for parallel SCARA robot and the “MP_SCARA” is for serial SCARA robot, just like the one we have. # define SCARA_OFFSET_X 300 // (mm) # define SCARA_OFFSET_Y 150 // (mm) Code language: Arduino ( arduino ) # define SCARA_LINKAGE_1 228.15 // Arm 1 lenght - 228(mm) # define SCARA_LINKAGE_2 136.2 // Arm 2 lenght - 136.5(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 MP_SCARA # if EITHER(MORGAN_SCARA, MP_SCARA) // If movement is choppy try lowering this value # define SCARA_SEGMENTS_PER_SECOND 100 // Length of inner and outer support arms. * Mostly Printed SCARA is an open source design by Tyler Williams. * Implemented and slightly reworked by JCERNY in June, 2014.

* MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.

Once I connected everything as explained, I squeezed a little bit the wires and covered electronics so that everything looks nice and clean. As an Amazon Associate I earn from qualifying purchases.Īs for the mechanical components, you can check the original article. Amazon / Banggod / AliExpressĭisclosure: These are affiliate links.

Laser Module ………………………………… Amazon / Banggood / AliExpress.

Arduino MEGA………………….….……… Amazon / Banggood / AliExpress.

A4988 Stepper Driver………………….… Amazon / Banggood / AliExpress.

Stepper Motor – NEMA 17……………… Amazon / Banggood / AliExpress.

You can get the components needed for this project from the links below: For powering everything we need 12V power supply with minimum current rate of 3A.

This pin is PWM capable so we can control the intensity of the laser with it.

#Inkscape laser cutter tutorial drivers#

The steppers motors go right above the drivers and the limit switches which are Normally Closed with two wires go at the endstops S and – pins for each axis respectively.įor controlling the laser module, we will use the pin D9 which in a 3D printer setup is used for controlling a fan.