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();