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Remove extra Z raises in tool change (#13782)

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chai-md 2019-04-22 11:06:46 +09:00 committed by Scott Lahteine
parent 875e673a8c
commit 78d7349fd7
1 changed files with 48 additions and 77 deletions
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125
Marlin/src/module/tool_change.cpp
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@ -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; grabpos = parkingposx[tmp_extruder] + (tmp_extruder ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
/** /**
* 1. Raise Z-Axis to give enough clearance * 1. Move to park position of old extruder
* 2. Move to park position of old extruder * 2. Disengage magnetic field, wait for delay
* 3. Disengage magnetic field, wait for delay * 3. Move near new extruder
* 4. Move near new extruder * 4. Engage magnetic field for new extruder
* 5. Engage magnetic field for new extruder * 5. Move to parking incl. offset of new extruder
* 6. Move to parking incl. offset of new extruder * 6. Lower Z-Axis
* 7. Lower Z-Axis
*/ */
// STEP 1 // STEP 1
if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position); 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; current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
if (DEBUGGING(LEVELING)) { 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); DEBUG_POS("Moving ParkPos", current_position);
} }
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
planner.synchronize(); 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); 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 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); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize();
// STEP 5 // STEP 4
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Engage magnetic field"); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) #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
@ -338,16 +328,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
pe_activate_solenoid(tmp_extruder); pe_activate_solenoid(tmp_extruder);
// STEP 6 // STEP 5
current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10); current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
fast_line_to_current(X_AXIS); fast_line_to_current(X_AXIS);
current_position[X_AXIS] = grabpos; 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.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
planner.synchronize(); planner.synchronize();
// STEP 7 // STEP 6
current_position[X_AXIS] = midpos current_position[X_AXIS] = midpos
#if HAS_HOTEND_OFFSET #if HAS_HOTEND_OFFSET
@ -355,7 +345,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
#endif #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); fast_line_to_current(X_AXIS);
planner.synchronize(); planner.synchronize();
@ -385,30 +375,20 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
grabxpos = toolheadposx[tmp_extruder]; grabxpos = toolheadposx[tmp_extruder];
/** /**
* 1. Raise Z to give enough clearance * 1. Move to switch position of current toolhead
* 2. Move to switch position of current toolhead * 2. Unlock tool and drop it in the dock
* 3. Unlock tool and drop it in the dock * 3. Move to the new toolhead
* 4. Move to the new toolhead * 4. Grab and lock the new toolhead
* 5. 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); 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; current_position[X_AXIS] = placexpos;
if (DEBUGGING(LEVELING)) { 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); 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); fast_line_to_current(Y_AXIS);
planner.synchronize(); 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]); MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500); 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 fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); 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; 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); fast_line_to_current(Y_AXIS);
planner.synchronize(); 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; 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]; grabxpos = toolheadposx[tmp_extruder];
/** /**
* 1. Raise Z to give enough clearance * 1. Move to switch position of current toolhead
* 2. Move to switch position of current toolhead * 2. Release and place toolhead in the dock
* 3. Release and place toolhead in the dock * 3. Move to the new toolhead
* 4. Move to the new toolhead * 4. Grab the new toolhead and move to security position
* 5. Grab the new toolhead and move to security position
*/ */
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
// 1. Raise Z to give enough clearance // 1. Move to switch position current toolhead
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
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) { 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); 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.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder);
planner.synchronize(); 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; 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.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
planner.synchronize(); 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; 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.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize(); 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; 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 (!no_move) {
#if DISABLED(SWITCHING_NOZZLE) #if DISABLED(SWITCHING_NOZZLE)
// Do a small lift to avoid the workpiece in the move back (below) // 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; current_position[Z_AXIS] += toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS #if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max); NOMORE(current_position[Z_AXIS], soft_endstop[Z_AXIS].max);
#endif #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); planner.buffer_line(current_position, feedrate_mm_s, active_extruder);
#endif #endif
planner.synchronize(); 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 ENABLED(TOOLCHANGE_FILAMENT_SWAP)
if (should_swap && !too_cold) { if (should_swap && !too_cold) {
#if ENABLED(ADVANCED_PAUSE_FEATURE) #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 #else
current_position[E_AXIS] += (toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME) / planner.e_factor[tmp_extruder]; 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 #endif
planner.synchronize(); planner.synchronize();