Programming Guide

Preliminary documentation. This product is in pre-launch preview; specifications and commands may change before shipping.

The SCARA controller runs the same GCode firmware family as our Delta robot. Inverse kinematics run on the ESP32, so you command positions in Cartesian space.

Coordinate frame

• Origin: centre of the base at desk level.
• X points forward (away from the cable exit), Y to the left, Z up.
• R is the wrist angle in degrees, 0° aligned with the forearm.
• Reachable area: an annulus from 60 mm to 280 mm radius; Z from 0 to 100 mm.

Moves outside the envelope are rejected with error: out of range — the arm does not move.

Motion commands

I/O and end effector

Speed and acceleration

M203 J1:180 J2:180 Z:50 R:360   ; max joint speed (deg/s, mm/s)
M204 A800                         ; Cartesian acceleration, mm/s²

Lower acceleration for heavy or tall parts to avoid dropping them.

Python helper

The nenpower_scara helper module ships with the controller source package.

from nenpower_scara import Scara

arm = Scara("/dev/ttyUSB0")      # COM3 on Windows
arm.home()
arm.move(200, 0, 50)
arm.move(150, 120, 20, r=45, speed=3000)
arm.grip(80)

Example: move four blocks into a row

from nenpower_scara import Scara

arm = Scara("/dev/ttyUSB0")
arm.home()

pick = [(180, -80), (180, -40), (180, 0), (180, 40)]
place_y = 120

for i, (x, y) in enumerate(pick):
    arm.move(x, y, 40)
    arm.move(x, y, 5)
    arm.grip(80)
    arm.move(x, y, 40)
    arm.move(120 + i * 35, place_y, 40, r=90)
    arm.move(120 + i * 35, place_y, 6, r=90)
    arm.release()
    arm.move(120 + i * 35, place_y, 40, r=90)

arm.move(200, 0, 60)