traditional xy in Makelangelo

[Anonymous]

Hi, I want to install Makelangelo in a traditional xy mechanical structure.
I have seen that it is possible to configure this way by decomposing Polargraph.

The big problem I have is that the X axis carries two cloned motors and the Adafruit controller only serves two motors. Is it possible to clone the available output?
Thank you

[Dan]

The Makelangelo firmware supports several kinematic models and boards, including traditional xy gantry layout.

https://github.com/MarginallyClever/Makelangelo-firmware/blob/master/configure.h#L33

#define MACHINE_STYLE TRADITIONALXY // change it to this

https://github.com/MarginallyClever/Makelangelo-firmware/blob/master/configure.h#L57

#define MOTHERBOARD BOARD_RUMBA // change this to your controller type.

https://github.com/MarginallyClever/Makelangelo-firmware/blob/master/robot_traditionalxy.h

You might have to tweak some of these values for your machine.

[Dan]

I re-read your question…. the X gantry has one motor on both sides and the Y gantry has one motor. The AMS shield will not supply enough amps to drive three stepper motors – one of the L293 chips will melt.

Better to use a RAMPs or RUMBA board with a Y shaped cable for the two X motors, same as used on z axis of 3D printers like Prusa.

[Anonymous]

Dan, I do not have ramps and rumba, but if two adafruit and two arduino, is it possible to combine them?

thank you very much

[Dan]

Only with a lot of code rewriting.

[Anonymous]

Could it be with a Polarshield?
I have one
regards!

[Dan]

We don’t support the polarshield at the moment. More code writing.

[Anonymous]

I got ramps 1.4 shield. How to activate Makelangelo firmware for two x-axis motors
Thank you!

[Dan]

you should be able to change the configure.h file

#define BOARD_TYPE RAMPS
#define MACHINE_STYLE TRADITIONALXY

and in traditionalxy.h you may want to make further adjustments for speeds.

once the code is uploaded, run makelangelo app, connect to the robot, and do your configuration setup.

I have not personally tested the code for the makelangelo on a traditional gantry, so please report back. I’m here to help!

[Anonymous]

Thanks for your help, it’s great.
the configuration would be like this

https://photos.google.com/photo/AF1QipOdIBcXd8plJr6W12qegQIi7jiDMYuSVqf0locn

[Anonymous]

Can you tell me where the drivers in ramps controller are?

https://photos.google.com/photo/AF1QipNafc5VLGkrxZeXukGOuJFv-A1C7bWGzsFtKcM1

Do I have to make any changes to clone the x axis?

Thank you!

[Dan]

eh, those links are 404.

the drivers on OUR ramps are a4988, 1/16th microstepping.

[Anonymous]

https://photos.app.goo.gl/i6ZKzJrD8xnXn6WG2

https://photos.app.goo.gl/i6ZKzJrD8xnXn6WG2

Can you now see images?
I asked him why the driver clone Y axis in Ramps.

I also said that I can not load Makelangelo firmware, I send video error.

https://youtu.be/-rHhi1rN1_M

Thank you!!!

[Dan]

Makelangelo-firmware is not a library.

I don’t know why you are using #include many times in your sketch.

I’m not sure what you’re trying to do.

[Anonymous]

Do you have firmware upload tutorial?

[Anonymous]

ok, I already got firmware running.
Now, what connection of ramps to clone Y axis?

https://i2.wp.com/www.hta3d.com/image/catalog/Impresoras/P3Steel/Esquemas/RAMPS-1.4-ES–sinsensor-alt.jpg

[Anonymous]

https://www.instructables.com/id/Wiring-Your-Z-Stepper-Motors-in-Series/

https://i.pinimg.com/originals/b5/e8/de/b5e8de1586e910e94112c2fd9137bd1b.jpg

it is this ?

[Anonymous]

Is it possible to clone Y axis to E1 of Ramps 1.4?
is the best … is it difficult?

Thank you!

[Dan]

some people use a Y shaped cable to drive two motors from one axis driver. be careful about current limit! each driver has max 1.5a without cooling, 2 with cooling.

[clatos2000]

Hello everyone, first of all my congratulations, this is an incredible project! a great job!!
I’m from Argentina and put together my version of Makelangelo with the polargraph type mechanical structure and it worked the first time, it worked perfectly.
Now I intend to make it walk with the traditional type structure x,y and the problems came … as I had to place a motor directly on the x axis another motor on the y axis (this has a gear reduction and pinion), the calculations for each of them are different.
How can I tell the firmware this difference?
What should I add and where?
Can you help me, please?? From already thank you very much

[Dan]

I’m excited someone tries the traditional XY mode. Please post pictures and keep us updated.

In robot_traditionalxy.cpp method IK() you will see

motorStepArray[0] = lround(x / THREAD_PER_STEP);
motorStepArray[1] = lround(y / THREAD_PER_STEP);

the THREAD_PER_STEP is really the difference between mm and steps-per-mm for each axis. For your solution you will want to change it a bit like this:

motorStepArray[0] = lround(x / STEPS_PER_MM_X );
motorStepArray[1] = lround(y / STEPS_PER_MM_Y );

and then define each new value based on your gear reduction, microstepping, and so on.

[Dan]

I made an update to the dev branch. the values are defined in robot_traditionalxy.h, adjust them there and everything should continue as normal.

[clatos2000]

thank you for your attention Dan, I will test the changes as soon as possible and when ready I will upload images. a big hug

[clatos2000]

Hello, I managed to get the first images, but I could not upload them, so I sent them by email … Sorry
It’s still a long time before it’s finished, it’s just the beginning.
Now I have a new problem, the engines get very hot when they are at rest, that is, when one motor moves, the other is magnetized and at that moment it gets very hot.

it would be possible from the firmware to tell each engine that when it does not receive movement commands it is in disable mode and when it receives orders to move it will be in enable mode ?? Thank you

[clatos2000]

Well … I try to show the images
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regards

[Author]

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