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safe_z_home: Make sure X and Y are homed before homing Z (#3153) 

In it's current behavior, safe_z_home will attempt to home Z if it thinks the toolhead is above the z endstop even if the motors have since been disabled and the toolhead was moved to another position

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
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Florian Heilmann 2020-08-05 17:52:23 +02:00 committed by GitHub
parent fe84968bdc
commit 10987003b0
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1 changed files with 12 additions and 3 deletions
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15
klippy/extras/safe_z_home.py
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@ -30,12 +30,12 @@ class SafeZHoming:
def cmd_G28(self, gcmd): def cmd_G28(self, gcmd):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
# Perform Z Hop if necessary # Perform Z Hop if necessary
if self.z_hop != 0.0: if self.z_hop != 0.0:
pos = toolhead.get_position() pos = toolhead.get_position()
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
# Check if Z axis is homed or has a known position # Check if Z axis is homed or has a known position
if 'z' in kin_status['homed_axes']: if 'z' in kin_status['homed_axes']:
# Check if the zhop would exceed the printer limits # Check if the zhop would exceed the printer limits
@ -65,14 +65,23 @@ class SafeZHoming:
if new_params: if new_params:
g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params) g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params)
self.prev_G28(g28_gcmd) self.prev_G28(g28_gcmd)
# Update the currently homed axes
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
# Home Z axis if necessary # Home Z axis if necessary
if need_z: if need_z:
# Move to safe XY homing position
pos = toolhead.get_position() pos = toolhead.get_position()
prev_x = pos[0] prev_x = pos[0]
prev_y = pos[1] prev_y = pos[1]
pos[0] = self.home_x_pos pos[0] = self.home_x_pos
pos[1] = self.home_y_pos pos[1] = self.home_y_pos
# Throw an error if X or Y are not homed
if ('x' not in kin_status['homed_axes'] or
'y' not in kin_status['homed_axes']):
raise gcmd.error("Must home X and Y axes first")
# Move to safe XY homing position
toolhead.move(pos, self.speed) toolhead.move(pos, self.speed)
self.gcode.reset_last_position() self.gcode.reset_last_position()
# Home Z # Home Z