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Author Topic: MKS Gen L 6 axis robot arm  (Read 90 times)

Musa

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MKS Gen L 6 axis robot arm
« on: October 02, 2019, 03:07:08 PM »
Hello Everybody.

I  built a 6 axis robot arm based on open source  niryo one robot (https://niryo.com) and I want to use my spare "MKS Gen L" 3d printer motherboard as a control board. I dont have much knowledge on coding, therefore, as you can imagine,  I can not program my robot. For example, when I want to use some google found codes like this: (I have drv8825 drivers)

// Define stepper motor connections and steps per revolution:
#define dirPin 2
#define stepPin 3
#define stepsPerRevolution 200
void setup() {
  // Declare pins as output:
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
}
void loop() {
  // Set the spinning direction clockwise:
  digitalWrite(dirPin, HIGH);
  // Spin the stepper motor 1 revolution slowly:
  for (int i = 0; i < stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(2000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(2000);
  }

I can not define step and direction pins, which can be defined on 2 and 3 on arduino uno board, meanwhile it is different on MKS board obviously. For that, I have delved in marlin firmware, found pinout for MKS in pins_Ramps.h, still couldn't manage to make it work.

Which  approach should I take?

Should I use gcodes as in 3d printing?

Can I modify other  robot arm interfaces?

I can not use the interface of niryo one as it uses raspberry pi and its specific shield.

Your help is truly appreciated.

Here are pictures of my robot and board:




 

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