Scara tutorial

I've built many machines using LinuxCnc as a standard x,y,z table and like it very much. I found a video someone used LinuxCnc to drive a SCARA style system, where it was simply two motors clamped to a couple of brackets. Impressively simple design!

I would like to make one, but I'm having trouble getting started. Does anyone have links or a tutorial for the Scara style? I went through the wiki a couple of times and got some vague information. I might have missed something, but I was kind of looking for a start-up setup example or something I can use to work off of.

The Wiki might not be the best place to start.
You probably want to use scarakins:
linuxcnc.org/docs/2.7/html/man/man9/kins.9.html
There is a sample config to study, with a 3D model of the robot
pick sim/axis/vismach/scara/scara.ini in the config picker to see it in action.

How to program scara to draw a circle ?

You can use G2 or G3 command.

You can try it:
 

Hi, I'm also doing one with ethercat motors. I'm having a lot of trouble. I recently managed to communicate in ethercat and now I'm having trouble connecting ethercat instead of pulse in scara. Does anyone have any other links or manuals?

viski post=288949 userid=14009How to program scara to draw a circle ?

Assuming you have set up your SCARA arm appropriately using the correct kinematics, you would program it to do a circle exactly the same way as you would program a circle for an ordinary XYZ Cartesian machine that used Trivkins.   The kinematics program will automatically convert the rotary angular movement of the joints into linear XYZ Cartesian coordinates and vice versa.

The tricky part ia collecting all of the precise measurements and calibration settings that you will need to make the kinematics model work correctly.for your machine.

Dr. Stein, how are you?

Could you share how you managed to communicate the ethercat drivers and the scara cinematics? I've been doing this for months without much progress.

If you are not able to jog the motors then your problem is most likely with the ethercat setup itself. The kinematics (ie scarakins) has nothing to do with ethercat communication whatsoever.

So, I can find ethercat slaves and they appear there, but I'm stuck in communication. Would you be willing to do remote access to help me? I can do it for a fee too... because I'm already one step away from giving up, 5 months trying...

I don't know anything about ethercat so I'm afraid I cannot assist you with that. You may want to post you question in the 'EtherCat' section of the forum.
forum.linuxcnc.org/ethercat