From 78d7349fd7df2b0f559c068e20c43d67d3c25072 Mon Sep 17 00:00:00 2001
From: chai-md <48555545+chai-md@users.noreply.github.com>
Date: Mon, 22 Apr 2019 11:06:46 +0900
Subject: [PATCH] Remove extra Z raises in tool change (#13782)
---
Marlin/src/module/tool_change.cpp | 125 ++++++++++++------------------
1 file changed, 48 insertions(+), 77 deletions(-)
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 9108a23ab4..aa9e7ed873 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -280,47 +280,37 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
grabpos = parkingposx[tmp_extruder] + (tmp_extruder ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
/**
- * 1. Raise Z-Axis to give enough clearance
- * 2. Move to park position of old extruder
- * 3. Disengage magnetic field, wait for delay
- * 4. Move near new extruder
- * 5. Engage magnetic field for new extruder
- * 6. Move to parking incl. offset of new extruder
- * 7. Lower Z-Axis
+ * 1. Move to park position of old extruder
+ * 2. Disengage magnetic field, wait for delay
+ * 3. Move near new extruder
+ * 4. Engage magnetic field for new extruder
+ * 5. Move to parking incl. offset of new extruder
+ * 6. Lower Z-Axis
*/
// STEP 1
if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
- current_position[Z_AXIS] += toolchange_settings.z_raise;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
-
- fast_line_to_current(Z_AXIS);
- planner.synchronize();
-
- // STEP 2
-
current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPAIR("(2) Park extruder ", int(active_extruder));
+ DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
}
fast_line_to_current(X_AXIS);
planner.synchronize();
- // STEP 3
+ // STEP 2
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Disengage magnet ");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet ");
pe_deactivate_solenoid(active_extruder);
- // STEP 4
+ // STEP 3
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Move to position near new extruder");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to position near new extruder");
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
@@ -329,8 +319,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
fast_line_to_current(X_AXIS);
planner.synchronize();
- // STEP 5
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Engage magnetic field");
+ // STEP 4
+ 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
@@ -338,16 +328,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
pe_activate_solenoid(tmp_extruder);
- // STEP 6
+ // 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("(6) Unpark extruder", current_position);
+ if (DEBUGGING(LEVELING)) 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 7
+ // STEP 6
current_position[X_AXIS] = midpos
#if HAS_HOTEND_OFFSET
@@ -355,7 +345,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
#endif
;
- if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position);
fast_line_to_current(X_AXIS);
planner.synchronize();
@@ -385,30 +375,20 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
grabxpos = toolheadposx[tmp_extruder];
/**
- * 1. Raise Z to give enough clearance
- * 2. Move to switch position of current toolhead
- * 3. Unlock tool and drop it in the dock
- * 4. Move to the new toolhead
- * 5. Grab and lock the new toolhead
+ * 1. Move to switch position of current toolhead
+ * 2. Unlock tool and drop it in the dock
+ * 3. Move to the new toolhead
+ * 4. Grab and lock the new toolhead
*/
- // 1. Raise Z to give enough clearance
+ // 1. Move to switch position of current toolhead
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
- current_position[Z_AXIS] += toolchange_settings.z_raise;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
-
- fast_line_to_current(Z_AXIS);
- planner.synchronize();
-
- // 2. Move to switch position of current toolhead
-
current_position[X_AXIS] = placexpos;
if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
+ DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
@@ -422,9 +402,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
fast_line_to_current(Y_AXIS);
planner.synchronize();
- // 3. Unlock tool and drop it in the dock
+ // 2. Unlock tool and drop it in the dock
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Unlock and Place Toolhead");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500);
@@ -443,9 +423,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize();
- // 4. Move to the new toolhead
+ // 3. Move to the new toolhead
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Move to new toolhead position");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
current_position[X_AXIS] = grabxpos;
@@ -460,9 +440,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
fast_line_to_current(Y_AXIS);
planner.synchronize();
- // 5. Grab and lock the new toolhead
+ // 4. Grab and lock the new toolhead
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Grab and lock new toolhead ");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead ");
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
@@ -497,30 +477,20 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
grabxpos = toolheadposx[tmp_extruder];
/**
- * 1. Raise Z to give enough clearance
- * 2. Move to switch position of current toolhead
- * 3. Release and place toolhead in the dock
- * 4. Move to the new toolhead
- * 5. Grab the new toolhead and move to security position
+ * 1. Move to switch position of current toolhead
+ * 2. Release and place toolhead in the dock
+ * 3. Move to the new toolhead
+ * 4. Grab the new toolhead and move to security position
*/
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
- // 1. Raise Z to give enough clearance
-
- current_position[Z_AXIS] += toolchange_settings.z_raise;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
-
- planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
- planner.synchronize();
-
- // 2. Move to switch position current toolhead
+ // 1. Move to switch position current toolhead
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
+ SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
@@ -548,9 +518,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder);
planner.synchronize();
- // 3. Release and place toolhead in the dock
+ // 2. Release and place toolhead in the dock
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Release and Place Toolhead");
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(2) Release and Place Toolhead");
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
@@ -566,9 +536,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
planner.synchronize();
- // 4. Move to new toolhead position
+ // 3. Move to new toolhead position
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Move to new toolhead position");
current_position[X_AXIS] = grabxpos;
@@ -577,9 +547,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
- // 5. Grab the new toolhead and move to security position
+ // 4. Grab the new toolhead and move to security position
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab new toolhead and move to security position");
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Grab new toolhead and move to security position");
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
@@ -785,14 +755,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
if (!no_move) {
#if DISABLED(SWITCHING_NOZZLE)
// Do a small lift to avoid the workpiece in the move back (below)
- #if ENABLED(TOOLCHANGE_PARK)
- current_position[X_AXIS] = toolchange_settings.change_point.x;
- current_position[Y_AXIS] = toolchange_settings.change_point.y;
- #endif
current_position[Z_AXIS] += toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
#endif
+ fast_line_to_current(Z_AXIS);
+ #if ENABLED(TOOLCHANGE_PARK)
+ current_position[X_AXIS] = toolchange_settings.change_point.x;
+ current_position[Y_AXIS] = toolchange_settings.change_point.y;
+ #endif
planner.buffer_line(current_position, feedrate_mm_s, active_extruder);
#endif
planner.synchronize();
@@ -875,10 +846,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
if (should_swap && !too_cold) {
#if ENABLED(ADVANCED_PAUSE_FEATURE)
- do_pause_e_move(toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME, toolchange_settings.prime_speed);
+ do_pause_e_move(toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME, MMM_TO_MMS(toolchange_settings.prime_speed));
#else
current_position[E_AXIS] += (toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME) / planner.e_factor[tmp_extruder];
- planner.buffer_line(current_position, toolchange_settings.prime_speed, tmp_extruder);
+ planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), tmp_extruder);
#endif
planner.synchronize();
--
GitLab