Remove extra Z raises in tool change (#13782)
This commit is contained in:
chai-md
Scott Lahteine
parent
875e673a8c
commit
78d7349fd7
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@ -280,47 +280,37 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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grabpos = parkingposx[tmp_extruder] + (tmp_extruder ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
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/**
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* 1. Raise Z-Axis to give enough clearance
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* 2. Move to park position of old extruder
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* 3. Disengage magnetic field, wait for delay
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* 4. Move near new extruder
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* 5. Engage magnetic field for new extruder
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* 6. Move to parking incl. offset of new extruder
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* 7. Lower Z-Axis
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* 1. Move to park position of old extruder
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* 2. Disengage magnetic field, wait for delay
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* 3. Move near new extruder
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* 4. Engage magnetic field for new extruder
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* 5. Move to parking incl. offset of new extruder
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* 6. Lower Z-Axis
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*/
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// STEP 1
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if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
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current_position[Z_AXIS] += toolchange_settings.z_raise;
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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fast_line_to_current(Z_AXIS);
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planner.synchronize();
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// STEP 2
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current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPAIR("(2) Park extruder ", int(active_extruder));
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DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
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DEBUG_POS("Moving ParkPos", current_position);
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}
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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// STEP 3
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// STEP 2
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Disengage magnet ");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet ");
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pe_deactivate_solenoid(active_extruder);
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// STEP 4
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// STEP 3
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Move to position near new extruder");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to position near new extruder");
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current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
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@ -329,8 +319,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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// STEP 5
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Engage magnetic field");
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// STEP 4
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_solenoid(active_extruder); //just save power for inverted magnets
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@ -338,16 +328,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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pe_activate_solenoid(tmp_extruder);
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// STEP 6
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// STEP 5
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current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
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fast_line_to_current(X_AXIS);
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current_position[X_AXIS] = grabpos;
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS("(5) Unpark extruder", current_position);
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
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planner.synchronize();
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// STEP 7
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// STEP 6
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current_position[X_AXIS] = midpos
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#if HAS_HOTEND_OFFSET
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@ -355,7 +345,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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#endif
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;
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if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Move midway between hotends", current_position);
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fast_line_to_current(X_AXIS);
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planner.synchronize();
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@ -385,30 +375,20 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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grabxpos = toolheadposx[tmp_extruder];
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/**
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* 1. Raise Z to give enough clearance
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* 2. Move to switch position of current toolhead
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* 3. Unlock tool and drop it in the dock
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* 4. Move to the new toolhead
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* 5. Grab and lock the new toolhead
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* 1. Move to switch position of current toolhead
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* 2. Unlock tool and drop it in the dock
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* 3. Move to the new toolhead
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* 4. Grab and lock the new toolhead
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*/
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// 1. Raise Z to give enough clearance
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// 1. Move to switch position of current toolhead
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
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current_position[Z_AXIS] += toolchange_settings.z_raise;
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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fast_line_to_current(Z_AXIS);
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planner.synchronize();
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// 2. Move to switch position of current toolhead
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current_position[X_AXIS] = placexpos;
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if (DEBUGGING(LEVELING)) {
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DEBUG_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
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DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
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DEBUG_POS("Move X SwitchPos", current_position);
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}
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@ -422,9 +402,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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fast_line_to_current(Y_AXIS);
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planner.synchronize();
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// 3. Unlock tool and drop it in the dock
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// 2. Unlock tool and drop it in the dock
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Unlock and Place Toolhead");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
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MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
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safe_delay(500);
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@ -443,9 +423,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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fast_line_to_current(Y_AXIS); // move away from docked toolhead
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planner.synchronize();
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// 4. Move to the new toolhead
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// 3. Move to the new toolhead
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Move to new toolhead position");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
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current_position[X_AXIS] = grabxpos;
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@ -460,9 +440,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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fast_line_to_current(Y_AXIS);
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planner.synchronize();
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// 5. Grab and lock the new toolhead
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// 4. Grab and lock the new toolhead
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Grab and lock new toolhead ");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead ");
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
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@ -497,30 +477,20 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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grabxpos = toolheadposx[tmp_extruder];
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/**
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* 1. Raise Z to give enough clearance
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* 2. Move to switch position of current toolhead
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* 3. Release and place toolhead in the dock
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* 4. Move to the new toolhead
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* 5. Grab the new toolhead and move to security position
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* 1. Move to switch position of current toolhead
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* 2. Release and place toolhead in the dock
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* 3. Move to the new toolhead
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* 4. Grab the new toolhead and move to security position
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*/
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if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
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// 1. Raise Z to give enough clearance
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current_position[Z_AXIS] += toolchange_settings.z_raise;
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.synchronize();
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// 2. Move to switch position current toolhead
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// 1. Move to switch position current toolhead
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
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SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
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DEBUG_POS("Move Y SwitchPos + Security", current_position);
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}
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@ -548,9 +518,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder);
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planner.synchronize();
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// 3. Release and place toolhead in the dock
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// 2. Release and place toolhead in the dock
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Release and Place Toolhead");
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(2) Release and Place Toolhead");
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
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@ -566,9 +536,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
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planner.synchronize();
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// 4. Move to new toolhead position
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// 3. Move to new toolhead position
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Move to new toolhead position");
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current_position[X_AXIS] = grabxpos;
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@ -577,9 +547,9 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
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planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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// 5. Grab the new toolhead and move to security position
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// 4. Grab the new toolhead and move to security position
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab new toolhead and move to security position");
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Grab new toolhead and move to security position");
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
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@ -785,14 +755,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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if (!no_move) {
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#if DISABLED(SWITCHING_NOZZLE)
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// Do a small lift to avoid the workpiece in the move back (below)
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#if ENABLED(TOOLCHANGE_PARK)
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current_position[X_AXIS] = toolchange_settings.change_point.x;
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current_position[Y_AXIS] = toolchange_settings.change_point.y;
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#endif
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current_position[Z_AXIS] += toolchange_settings.z_raise;
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#if HAS_SOFTWARE_ENDSTOPS
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NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
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#endif
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fast_line_to_current(Z_AXIS);
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#if ENABLED(TOOLCHANGE_PARK)
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current_position[X_AXIS] = toolchange_settings.change_point.x;
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current_position[Y_AXIS] = toolchange_settings.change_point.y;
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#endif
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planner.buffer_line(current_position, feedrate_mm_s, active_extruder);
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#endif
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planner.synchronize();
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@ -875,10 +846,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
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if (should_swap && !too_cold) {
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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do_pause_e_move(toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME, toolchange_settings.prime_speed);
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do_pause_e_move(toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME, MMM_TO_MMS(toolchange_settings.prime_speed));
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#else
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current_position[E_AXIS] += (toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME) / planner.e_factor[tmp_extruder];
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planner.buffer_line(current_position, toolchange_settings.prime_speed, tmp_extruder);
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planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), tmp_extruder);
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#endif
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planner.synchronize();
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