I made a pen-holder to attach to the SCARA robot Z-axis shaft and used it to draw some hilbert curves. The python script to generate the gcode is pretty easy and I’ve put it in a github repository
Lenny the big dumb bot.
A couple years ago I bought an old IBM 7575 scara robot at a surplus auction. The mechanicals are really nice but the control was completely absent. I started a conversion using a Mesa card and Machinekit. I have no serious plans for this but wanted to learn ROS and maybe more about the FreeCAD…