Hi! 👋
This repo is home to all the notes, thoughts and future plans I have for my build of the amazing AnninRobotics v4 robot arm. Below, you'll find some basic info covering some of the physical and electrical attributes of the arm and the software stack used to control it; There's also a TODO list of features I'm hoping to add in the near future.
If you have any questions or comments, feel free to post on the discussions board! 🙋
- AnninRobotics v4 Design & Kit
- 6 axis robot arm, aluminum core with 3D printed cosmetic panels
- Duet 3 6XD running RepRapFirmware with custom IK code
- DWC interface with http gcode server exposed
- Mechanical Build
- Control/Junction Box (panel cutouts, air vents, estop, board brackets, etc)
- Electronics (cable routing, wiring, soldering, etc)
- Electronics (endstops and encoders)
- Software Basics (provision Duet 3 6XD)
- Software Basics (external drivers configured, steps/deg, speed, accel)
- Software Basics (homing files, homing sequence)
- Open loop control (all 6 axis working)
- End Effector (servo gripper installed, configured and running)
- Upgrade J2 to new higher precision gearbox (#2)
- Get robo viewer plugin set up on DWC
- Change DWC from mm to deg (our config is doing everything in mm, it would make more sense if we started using degrees instead)
- Enable Closed Loop Control (#3)
- Joint Encoders as well
- Get IK set up
- Software based backlash compensation (3.5 - M425)
- Use accelerometer to fine tune ee pose
- Install Panel Due on front of junction box
; Enable network
if {network.interfaces[0].type = "ethernet"}
M551 P"***" ; set password (used when you connect Duet Web Control or via FTP)
M552 P192.168.1.24 S1 ; enable network and bind to, 24 <or your favorite number>
M586 P0 S1 ; enable HTTP
M586 P1 S0 ; disable FTP
M586 P2 S0 ; disable Telnet
else
M552 S1
; Fan
M950 F0 C"!out3" Q250 ; Fan 1 is connected to out_3 pin, PWM at 250Hz (noctua says 25khz)
M106 F0 S0.5 ; 0.0 == off 1.0 == full
; Servo / Gripper
M950 S1 C"vfd" ; Minimum 680 (closed) - Maximum 1080 (opened)
;M280 P1 S1080 ; Open Gripper
; External Driver Config
M569 P0 R0 T2.5:2.5:5:5 S1 ; physical drive 0 goes forwards (change to S0 to reverse it) (with min pulse width commands)
M569 P1 R0 T2.5:2.5:5:5 S1 ; physical drive 1 goes forwards (change to S0 to reverse it) (with min pulse width commands)
M569 P2 R0 T2.5:2.5:5:5 S0 ; physical drive 2 goes reverse (change to S1 to reverse it) (with min pulse width commands)
M569 P3 R0 T2.5:2.5:5:5 S0 ; physical drive 3 goes reverse (change to S1 to reverse it) (with min pulse width commands)
M569 P4 R0 T2.5:2.5:5:5 S1 ; physical drive 4 goes forwards (change to S0 to reverse it) (with min pulse width commands)
M569 P5 R0 T2.5:2.5:5:5 S0 ; physical drive 5 goes reverse (change to S1 to reverse it) (with min pulse width commands)
; Drive to Axis Mapping
M584 X0 Y1 Z2 U3 V4 W5
; Endstops
M574 X1 S1 P"io1.in" ; configure switch-type (e.g. microswitch) endstop for high end on X via pin io1.in
M574 Y1 S1 P"io2.in"
M574 Z1 S1 P"io3.in"
M574 U1 S1 P"io4.in"
M574 V1 S1 P"io5.in"
M574 W1 S1 P"io6.in"
; Configure microstepping with interpolation
M350 X1 Y1 Z1 U1 V1 W1 I0
; Steps per mm
M92 X200.00 Y200.00 Z200.00 U200.00 V200.00 W200.00
; Set maximum instantaneous speed changes (mm/min)
M566 X100.00 Y100.00 Z100.00 U100.00 V100.00 W100.00
; Set maximum speeds (mm/min)
M203 X2000.00 Y2000.00 Z2000.00 U2000.00 V2000.00 W1000.00
; Set accelerations (mm/s^2)
M201 X50.00 Y50.00 Z50.00 U25.00 V25.00 W10.00
;M906 X1460 I30 ; set motor currents (mA) and motor idle factor in per cent
; Set idle timeout
M84 S30
; Axis Limits
; Set axis maxima and high homing switch positions (adjust to suit your machine)
M208 X70 Y35 Z40 U55 V25 W35 S0
; Set axis minima and low homing switch positions (adjust to make X=0 and Y=0 the edges of the bed)
M208 X0 Y0 Z0 U0 V0 W0 S1
| Homing to Ready | Block De-Stacking |
|---|---|
| Closed Loop |
|---|