Firmware - Linux CNC
Combining both SCARA inverse kinematics and CNC capabilities was a challenging task. Since most CNC operations include moving along straight lines or curves at precise feeds, a proper coordination of moves is required. In case of gantry type robots it is not a major problem. In case of more complex layouts, this might be more problemmating as far more calculations are involved. In order to match all requirements, special software had to be either developed or customized. It was decided to use Linux CNC as it provides vast CNC capabilities along with extensive customizability. Furthermore, parts such as interpreter, hardware abstraction layer etc. are already included. A custom configuration utilizing SCARA kinematics was created. It includes .ini file with all physical data, .hal file to handle signals and connect them to physical or virtual pins. Additionally bespoke GUI was set up.