{"id":3966,"date":"2017-02-09T14:58:33","date_gmt":"2017-02-09T14:58:33","guid":{"rendered":"http:\/\/pthat.com\/?post_type=project&p=3966"},"modified":"2026-03-24T15:01:32","modified_gmt":"2026-03-24T15:01:32","slug":"pthat-example-parallelscararobotarm","status":"publish","type":"project","link":"https:\/\/pthat.com\/index.php\/project\/pthat-example-parallelscararobotarm\/","title":{"rendered":"PTHAT controlling Parallel Scara Robot Arm using Instant Commands"},"content":{"rendered":"

[et_pb_section fb_built=”1″ fullwidth=”on” custom_padding_last_edited=”on|desktop” admin_label=”Section” _builder_version=”4.16″ background_color=”#27323a” custom_padding_tablet=”50px|0|50px|0″ transparent_background=”off” padding_mobile=”off” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” global_colors_info=”{}” custom_padding_phone=”50px|0|50px|0″][et_pb_fullwidth_header title=”PTHAT Controlling Parallel Scara Arm using Instant Commands” text_orientation=”center” content_max_width=”none” title_font_color=”#ffffff” admin_label=”Fullwidth Header” _builder_version=”4.16″ title_text_color=”#ffffff” title_font_size=”60″ background_color=”rgba(255, 255, 255, 0)” button_one_letter_spacing_hover=”0″ button_two_letter_spacing_hover=”0″ global_colors_info=”{}” button_one_text_size__hover_enabled=”off” button_two_text_size__hover_enabled=”off” button_one_text_color__hover_enabled=”off” button_two_text_color__hover_enabled=”off” button_one_border_width__hover_enabled=”off” button_two_border_width__hover_enabled=”off” button_one_border_color__hover_enabled=”off” button_two_border_color__hover_enabled=”off” button_one_border_radius__hover_enabled=”off” button_two_border_radius__hover_enabled=”off” button_one_letter_spacing__hover_enabled=”on” button_one_letter_spacing__hover=”0″ button_two_letter_spacing__hover_enabled=”on” button_two_letter_spacing__hover=”0″ button_one_bg_color__hover_enabled=”off” button_two_bg_color__hover_enabled=”off”][\/et_pb_fullwidth_header][\/et_pb_section][et_pb_section fb_built=”1″ custom_padding_last_edited=”on|desktop” admin_label=”section” _builder_version=”4.16″ background_color=”#313f55″ custom_padding_tablet=”50px|0|50px|0″ transparent_background=”off” padding_mobile=”off” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” global_colors_info=”{}” custom_padding_phone=”50px|0|50px|0″][et_pb_row admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}” column_structure=”1_2,1_2″][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Text” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” background_layout=”dark” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]With this example, we show how to control a Parallel Scara Robot Arm with the PTHAT.<\/span><\/p>\n

The Parallel Scara is one of our prototype machines and it set up with a 200mm x 200mm working area.\u00a0<\/span><\/p>\n

Within the software you will see the pulses per revolution set to 80’000 pulses as we used 50:1 harmonic gearboxes and stepper drivers set to 1600 micro steps.<\/span><\/p>\n

\u00a0<\/span><\/p>\n

 
\n[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/pthat.com\/wp-content\/uploads\/2017\/02\/s1.png” align_tablet=”center” align_last_edited=”on|desktop” admin_label=”Image” _builder_version=”4.16″ animation_style=”slide” animation_direction=”left” animation_duration=”500ms” animation_intensity_slide=”10%” use_border_color=”off” border_color=”#ffffff” border_style=”solid” animation=”left” sticky=”off” always_center_on_mobile=”on” global_colors_info=”{}” align_phone=”center”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}” column_structure=”1_2,1_2″][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Text” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” background_layout=”dark” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]Within the application you first connect to your Raspberry Pi serial port by clicking the Connect button.<\/span><\/p>\n

Make sure your Parallel Scara Arm is set to the home position and click on the Reset button.<\/span><\/p>\n

Now set your target movement X and Y and click on the Calculate button. It will not plot where your arms are going to end up being and also do all the\u00a0inverse kinematics calculations to get a final pulse and direction result for both motors.<\/span><\/p>\n

Now finally click on the Send button and it will send out the commands to move the arms to the target setting.<\/span><\/p>\n

Watching the video below will give a better overview.<\/span><\/p>\n

Commands used in this example are:<\/span><\/p>\nSet Axis Command
\n<\/span>
\n<\/span>\nStart Axis Command
\n<\/span>
\n<\/span>\nRequest Current Pulse Count Command
\n<\/span>
\n<\/span>\n

Reset PTHAT
\n<\/span>
\n<\/span>
\n[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/pthat.com\/wp-content\/uploads\/2017\/02\/scara4.jpg” align_tablet=”center” align_last_edited=”on|desktop” admin_label=”Image” _builder_version=”4.16″ animation_style=”slide” animation_direction=”left” animation_duration=”500ms” animation_intensity_slide=”10%” use_border_color=”off” border_color=”#ffffff” border_style=”solid” animation=”left” sticky=”off” always_center_on_mobile=”on” global_colors_info=”{}” align_phone=”center”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}” column_structure=”1_2,1_2″][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Video” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]