[bliksem]

Thank you, that fixed one of my issues.

[bliksem]

{
“robotType”: “SandTableScaraMatt”,
“cmdsAtStart”: “”,
“webui”: “SandUI”,
“evaluators”: {
“thrContinue”: 0
},
“robotGeom”: {
“model”: “SingleArmScara”,
“homing”: {
“homingSeq”: “FR10;A+10000N;B-10000;#;A+5000n;B-5000;#;B+10000N;#;B+5000n;#;A=h;B=h;$”,
“maxHomingSecs”: 120
},
“blockDistanceMM”: 1,
“allowOutOfBounds”: 0,
“stepEnablePin”: “12”,
“stepEnLev”: 0,
“stepDisableSecs”: 10,
“axis0”: {
“maxSpeed”: 9,
“maxAcc”: 50,
“maxRPM”: 2,
“stepsPerRot”: 9600,
“unitsPerRot”: 628.318,
“maxVal”: 185,
“stepPin”: “14”,
“dirnPin”: “32”,
“endStop0”: {
“sensePin”: “36”,
“actLvl”: 0,
“inputType”: “INPUT_PULLUP”
}
},
“axis1”: {
“maxSpeed”: 9,
“maxAcc”: 50,
“stepsPerRot”: 9600,
“unitsPerRot”: 628.318,
“maxRPM”: 2,
“maxVal”: 185,
“stepPin”: “27”,
“dirnPin”: “15”,
“endStop0”: {
“sensePin”: “39”,
“actLvl”: 0,
“inputType”: “INPUT_PULLUP”
}
}
},
“fileManager”: {
“spiffsEnabled”: 1,
“spiffsFormatIfCorrupt”: 1,
“sdEnabled”: 1,
“sdMOSI”: “18”,
“sdMISO”: “19”,
“sdCLK”: “5”,
“sdCS”: “21”
},
“wifiLed”: {
“hwPin”: “14”,
“onLevel”: 1,
“onMs”: 200,
“shortOffMs”: 200,
“longOffMs”: 750
},
“ledStrip”: {
“ledPin”: “4”,
“sensorPin”: “34”
}
}

[bliksem]

I had the wrong config loaded… after rereading everything for the umpteenth time I realized that I need to load the modified config posted below

[bliksem]

I only have a multimeter, I checked accross the inner and outer pairs of the STEP1 and STEP2 pins.
On STEP1 (which is working) I get fluctuating voltages as expected, on STEP2 I get a constant 1.5V

[bliksem]

I’m basically at the same point, home only moves the lower arm. If I swap around the stepper motor cables on the board at STEP1 and STEP2 then the top arm rotates, but not the lower. I swapped around the stepper drivers and the top or lower arm rotates depending on which one is connected to STEP1.
So stepper drivers are good, stepper motor cables are good.
I resoldered all the joints on the board in case I missed something, or had a dry joint.

Just as a side note, the stepper driver heat sinks burnt my finger when I accidentally touched them, they were super hot. Vref was set at 1.2V and I dropped it to 0.8V, they are running much cooler now.

[bliksem]

You only need the STL files in the github at this link:
https://github.com/grammesm/Sandbot-Models

Ignore everything else for now.

This is a list of files I have:
Axle Stabilizer x2.stl
bottom gear lock optical limit v2.stl
Elbow Clip Optical Endstop v5.stl
ElbowGear.stl
Furniture DC and USB panel v5.stl
LED Holder.stl
Lower Arm 184.5.stl
lower optical limit switch holder v3.stl
LowerCenterGear.stl
Magnet holder v1.stl
MotorFrameBottom_LaserCut_5mm.stl
MotorFrameTop_LaserCut_5mm.stl
MotorSpacer x2.stl
PCB Support v1.stl
Robot Plate Spacers v3.stl
slim legs v2.stl
Upper Arm 184.5.stl
upper sensor arm v1.stl
upper sensor holder v1.stl
UpperArmBracket.stl
UpperCenterGear Belt Separator.stl
UpperCenterGear.stl

[bliksem]

Thank you, very much appreciated

[bliksem]

I’ll take a board if you have any left, email sent.

[Author]

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