diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 9a6a588b5f9868cda2dc31c8a70892f1f8a3d910..420128f6a946266036912210c9f3ca1f3748eea8 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -135,11 +135,11 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
- float parkingposx[2] , // M951 R L
- parkinggrabdistance , // M951 I
- parkingslowspeed, // M951 J
- parkinghighspeed , // M951 H
- parkingtraveldistance, // M951 D
+ float parkingposx[2], // M951 R L
+ parkinggrabdistance, // M951 I
+ parkingslowspeed, // M951 J
+ parkinghighspeed, // M951 H
+ parkingtraveldistance, // M951 D
compensationmultiplier;
inline void magnetic_parking_extruder_tool_change(const uint8_t tmp_extruder) {
@@ -290,52 +290,50 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// STEP 1
- if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
-
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
}
-
fast_line_to_current(X_AXIS);
- planner.synchronize();
// STEP 2
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet ");
-
+ planner.synchronize();
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet");
pe_deactivate_solenoid(active_extruder);
// STEP 3
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move near new extruder");
-
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
-
+ if (DEBUGGING(LEVELING)) {
+ DEBUG_ECHOLNPGM("(3) Move near new extruder");
+ DEBUG_POS("Move away from parked extruder", current_position);
+ }
fast_line_to_current(X_AXIS);
- planner.synchronize();
// STEP 4
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
+ planner.synchronize();
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- pe_activate_solenoid(active_extruder); //just save power for inverted magnets
+ pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
#endif
-
pe_activate_solenoid(tmp_extruder);
// STEP 5
current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
fast_line_to_current(X_AXIS);
+
current_position[X_AXIS] = grabpos;
- if (DEBUGGING(LEVELING)) DEBUG_POS("(5) Unpark extruder", current_position);
+ if (DEBUGGING(LEVELING)) {
+ planner.synchronize();
+ DEBUG_POS("(5) Unpark extruder", current_position);
+ }
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
- planner.synchronize();
// STEP 6
@@ -344,13 +342,14 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
- hotend_offset[X_AXIS][tmp_extruder]
#endif
;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position);
-
+ if (DEBUGGING(LEVELING)) {
+ planner.synchronize();
+ DEBUG_POS("(6) Move midway between hotends", current_position);
+ }
fast_line_to_current(X_AXIS);
- planner.synchronize();
+ planner.synchronize(); // Always sync the final move
- DEBUG_ECHOLNPGM("Autopark done.");
+ DEBUG_ECHOLNPGM("PE Tool-Change done.");
}
else { // nomove == true
// Only engage magnetic field for new extruder
@@ -383,86 +382,80 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// 1. Move to switch position of current toolhead
- if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
current_position[X_AXIS] = placexpos;
-
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
-
fast_line_to_current(X_AXIS);
- planner.synchronize();
-
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
+ current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
+ if (DEBUGGING(LEVELING)) {
+ planner.synchronize();
+ DEBUG_POS("Move Y SwitchPos + Security", current_position);
+ }
fast_line_to_current(Y_AXIS);
- planner.synchronize();
// 2. Unlock tool and drop it in the dock
+ planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
-
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
-
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
+ planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5f, active_extruder);
- planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
+ // Wait for move to complete, then another 0.2s
planner.synchronize();
safe_delay(200);
- current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
+ current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
-
fast_line_to_current(Y_AXIS); // move away from docked toolhead
- planner.synchronize();
// 3. Move to the new toolhead
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
-
current_position[X_AXIS] = grabxpos;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
-
+ if (DEBUGGING(LEVELING)) {
+ planner.synchronize();
+ DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
+ DEBUG_POS("Move to new toolhead X", current_position);
+ }
fast_line_to_current(X_AXIS);
- planner.synchronize();
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
+ current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
+ if (DEBUGGING(LEVELING)) {
+ planner.synchronize();
+ DEBUG_POS("Move Y SwitchPos + Security", current_position);
+ }
fast_line_to_current(Y_AXIS);
- planner.synchronize();
// 4. Grab and lock the new toolhead
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead ");
-
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
-
+ if (DEBUGGING(LEVELING)) {
+ planner.synchronize();
+ DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
+ DEBUG_POS("Move Y SwitchPos", current_position);
+ }
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
- planner.synchronize();
+ // Wait for move to finish, pause 0.2s, move servo, pause 0.5s
+ planner.synchronize();
safe_delay(200);
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
safe_delay(500);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
-
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
+ fast_line_to_current(Y_AXIS); // Move away from docked toolhead
+ planner.synchronize(); // Always sync the final move
- fast_line_to_current(Y_AXIS); // move away from docked toolhead
- planner.synchronize();
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done.");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("ST Tool-Change done.");
}
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)