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¡Buenas!¿Te refieres al archivo .bat? ; Si es eso, la verdad es que no se ayudarte, porque yo lo ejecuto directamente utilizando el comando “python asgard.py” en la consola. He estado revisando el video de ferrete y no sé muy bien qué es lo que puede estar fallando… 🙁
Hi!
I know this reply will arrive very late, but I’ll answer it anyway just in case.First problem (motors not holding position) seems to me like the parameter $1 is not 255, as it should be. Probably the rest of the problems are about $$ parameters. Check this page of the Thor’s wiki where I posted my $$ settings so you can adjust yours!
Best regards,Angel LMHi Erin!
I’m not 100% sure about the 1.1 Version, but there were some differences between grbl 0.9 and Thor’s grbl. The main one is the amount of steppers supported. If I recall correctly GRBL 0.9 supports up to 6 stepper motors and I had to tweak it to add 2 more.
Hope it helps!Angel LMWow Fer!
It looks very nice! Thanks for sharing! If you don’t mind I’m gonna add it to the Thor’s Readme so anyone can find it! 🙂
Angel LMHi Erin,
Sorry for the late reply! Each stepper driver has 3 legs named “MS1”, “MS2” and “MS3”. Each of those legs is conected to a pin in the ControlPCB. Jumpers connect “MS” legs to “HIGH” level signal (5V). So, having the 3 jumpers connected means to have a 1/16th configuration (this image ilustrates all the possible configurations). My recommendation is to connect all pins to get a 1/16th configuration, but if you want a different one you have to put the jumpers and modify grbl according to the new configuration.
Hope it helps!Angel LM¡Hola!
Ha pasado ya algún tiempo desde esta pregunta, pero la contesto por si acaso no lo has solucionado todavía.Yo coloqué la seta de emergencia cortando los cables de alimentación de la PCB. Ten en cuenta que si le quitas la alimentación al robot por completo, los motores perderán su fuerza y el robot se desplomará al no tener ningún tipo de anclaje pasivo.
Un saludo,Angel LM¡Hola!
Comparte por favor qué pasos has seguido hasta ahora para poder ayudarte mejor. ¿Instalaste python? ¿Te salta algún error al intentar ejecutarlo?
¡Un saludo!Angel LMHi Boluwarin,
I’m sorry but I don’t understand the question… Do you want to know what’s the minimum amps that you need to move all motors, how the PCB was designed or how the processor manage the motors?
Best regards!ÁngelSure Jose,
Inside the folder “freecad-src” at Thor’s Github you can find the ThorAssembly.fcstd file it is in FreeCAD format, but is easy to export the parts you need to other format (stp, stl, etc…)
Hope it helps!ÁngelHi Jose,
I have done the calculations for the Forward Kinematics using SymPy, but not for the Inverse.Here is the code I used for the FK calculus, it may be helpful!
Best regards,Angel LMHi Hüseyín:
Here you have some links:
- Software: https://github.com/AngelLM/asgard
- Firmware: https://github.com/AngelLM/grbl
- Wiring Diagram: https://raw.githubusercontent.com/AngelLM/Thor/developer/electronics/ControlPCB/WireDiagram-v1_0.png
Please, for following posts, use a normal font size.
Best regards,Angel LMHi David!
I’m not sure about the total weight of Thor… I would have to check it.
About the optimization, it sounds great. Of course we would be able to increase the payload by reducing the arm weight. I designed Thor without caring too much about the printed pieces weight, so it could be a very nice improvement!
Best regards,Ángel LMHello Emre,
First of all, sorry for the late reply!
You can find the links to the Asgard Software and the Firmware that Thor uses in the Repository-Index.
Hope it helps!
