Hi there, I have also had this exact same issue as reported here from day 1. I have not progressed from drawing to laser engraving or 3D printing as the results are so bad it seems pointless to try.
I am running uArm studio 1.1.15-a1 with uArm firmware 3.2.0
I have tried running the blockly script you suggest on another thread
This seems to work OK but does not pick up on the XY plane misalignment, here is a video of this running;
Trying a drawing in uArm studio shows the pen lifting off issue;
I align the pen with a block under the universal gripper to ensure that the pen is touching the paper;
Here is a video of this running;
As you can see in the video, the pen leaves the page quickly. I have also had runs where the pen digs into the page so much the base starts to rotate!
I have used the readout from the “move to” component in blockly to read off test coordinates on the drawing surface. I have then input these to Rhino3D to look at the best fit surface through these points. This shows a significant angle in two directions relative to the base.
I have tried the calibration routine recommended issuing commands M2019 and M2401 B using the Arduino IDE, but this has not improved the situation at all.
To the naked eye the arm seems mechanically sound with no obvious bent components.
I have never attempted 3D printing or laser engraving with the arm as I doubt it would work given the issues I have just with drawing with the pen. What can you recommend, do I just have a dud arm?