Dynomotion Forum

I moved my file up the list as you said, it's working! I can move from fully extended arm to 90deg at the elbow and KmotionCNC shows the correct 23.6, 23.6 position. I then tried a simple gcode program that draws a 2" circle at 24,24 and then a cross through the circle. There is still something off,...

I added my header as in include in CoorMotion.cpp to resolve the error. I think this is probably not the right way? But I was clean able to clean and build all libs. Problem now is KmotionCNC is still seeing the old file. So I guess one problem, I probably not building correctly? I did clean and bui...

Tom, I have made the changes you gave and run the test, moving the elbow to 90's (MoveRel6=252000 => 90deg). It mostly worked! Kmotion showed the position after deg 90 move as (7.874, 7.874). These are not my lengths, they are coming from the default scara file. But I think I'm very close. I think I...

I'm making these changes now, thanks, That's a silly bug we've been struggling to get rid of. Once the values are set negative they can't be changed from the GUI. If you exit KMotionCNC and manually edit the file \KMotion\Data\GCodeConfigCNC.txt CountsPerInch parameters to a positive number then the...

Tom, I was going to clarify that I was mostly blindly using the scara kinematics files included (KMotion5.4.1\GCodeInterpreter\KinematicsScara.cpp) with kmotion, with the one change of making the arm lengths match my machine. I opened it to take a closer look, and now I think I am maybe treating 0,0...

Hi Tom, Sorry for not describing the geometry better. It is a yamaha scara robot. I have attached more details but It essentially the same as in your diagram. Both arms are the same length, 23.63 in. PXL_20251206_223200552~2.jpg PXL_20251206_223144943~2.jpg PXL_20251206_215433145.jpg After reading y...

Thanks Tom, Setting the values in the trajectory planner worked. I can now make some xyz motion from KmotionCNC and the results seem reasonable. The image isn't much, but it shows a sharpie drawing straight lines just by jogging x and y and changing the height by jogging z. PXL_20251204_002305304.jp...

I'm following this series of posts to setup a scara robot arm. I think I'm close but missing a couple things. I have copied the provided scara kinematics file and made one change to the arm lengths. But I am missing where I set values for pulses per degree? Maybe these come from setting up KmotionCN...