@Fabrice_fabrap does it support probing G-Codes, e-stops and homing/end-stops?
For a mere gripper or tilting the gripper acceleration is not required as the movement is slow anyway.
This looks more promising every day.
Damn…
http://reprap.org/wiki/Marlin
it’s too much geared to 3D printing.
It probes but does not support a probe command but instead assumes that the prove is for the Z axis only.
Axis A and B are for feed and temperature only and it does…things with these axis using filament diameter variables.
So these can not be controlled via G1, G2, G2 like X, Y and Z can.
marlin support probing and homing
a and b axis (e0 and e1) can be controlled with g1
But probing should be G30. G1 is a movement and I don’t wand to probe the Axis A or B.
I want a movemnt like G30 P4 X2400 Y-400 Z-12 .
With a robot arm I wouldn’t proba a single axis but move the entire kinematic towards a location until the probe input 4 triggers or the location is reached, to self-calibrate every cycle during weeks of running.
http://reprap.org/wiki/G-code#G30:_Single_Z-Probe
I did mistakenly assume the supported G-Code list at
http://reprap.org/wiki/Marlin
was comprehensive but now I see that it only contains the differences to the sprinter firmware. I need to check that one later.
The linked wiki pages do not contain lists of supported g-codes.
Marlin probe only on x y and z axis
You can move 5 axis but only probe 3
Not good for you robot arm
Maybe try with a duet or a smoothieboard
X, Y and Z (at the same time) with the proper storage of the result in the defined registers would be okay. X, Y or Z one at a time would not.
I’m evaluating the L6470 driver boards.
They sync among each other and accept a target location, speed, acceleration and decelleration via SPI instead of1980th style STEP+DIR pins. Probes are directly supported in the stepper driver board.
A Raspberry Pi without any Atmel chips would then do g-code parsing and just transmit each movement to the drivers (with a shared SSELECT signal, so all start synchronized)
X y z work in the same time
Quite interesting these driver!