From 3a37d4a2085b6f4cbe4b3713bda2056c36d64d43 Mon Sep 17 00:00:00 2001 From: Master92 Date: Wed, 18 Sep 2019 15:37:33 +0200 Subject: [PATCH] safe_z_home: Hop only if necessary and add option to move xy back Once a hop is performed, it will only be re-issued if the z-axis has been moved in the meantime. Usually it is only moved by a z-homing so doing so will cause safe_z_home to do the hop on the next homing action. When z-axis is homed, x and y positions are known. When setting this boolean option, these are set back to their last positions. Whenever a hop is specified it is re-issued after the Z axis has been homed. This is especially necessary when a pressure-based probe is used. Also, the module decides if a hop is necessary, based on either a known Z position or a flag that is set whenever the motors are disabled. Signed-off-by: Nils Friedchen --- config/example-extras.cfg | 9 ++++++- docs/Config_Changes.md | 4 +++ klippy/extras/safe_z_home.py | 50 +++++++++++++++++++++++++----------- 3 files changed, 47 insertions(+), 16 deletions(-) diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 17af0acc..d18d777c 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -313,10 +313,17 @@ #z_hop: 0.0 # Lift the Z axis prior to homing. This is applied to any homing command, # even if it doesn't home the Z axis. If the Z axis is already homed and -# the zhop would exceed the printer limits, the zhop is ignored. +# the zhop would exceed the printer limits, the zhop is ignored. If a lift +# has already been performed or the Z axis is known to be equally or higher +# than this distance, the zhop is ignored. After homing Z completed, the +# printhead is lifted to zhop, respecting the probe's z_offset. # The default is 0.0mm. #z_hop_speed: 20.0 # Speed at which the Z axis is lifted prior to homing. The default is 20mm/s. +#move_to_previous: True +# When set to True, xy are reset to their previous positions after z homing. +# The default is True. + # Homing override. One may use this mechanism to run a series of # g-code commands in place of a G28 found in the normal g-code input. diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md index 28f20635..d5d3dca3 100644 --- a/docs/Config_Changes.md +++ b/docs/Config_Changes.md @@ -6,6 +6,10 @@ All dates in this document are approximate. # Changes +20190918: The zhop option in [safe_z_homing] is always re-applied +after Z axis homing completed. This might need users to update custom +scripts based on this module. + 20190806: The SET_NEOPIXEL command has been renamed to SET_LED. 20190726: The mcp4728 digital-to-analog code has changed. The default diff --git a/klippy/extras/safe_z_home.py b/klippy/extras/safe_z_home.py index dc3fbf5d..6f52b3ca 100644 --- a/klippy/extras/safe_z_home.py +++ b/klippy/extras/safe_z_home.py @@ -9,7 +9,7 @@ class SafeZHoming: self.printer = config.get_printer() try: x_pos, y_pos = config.get("home_xy_position", - default=",").split(',') + default=",").split(',') self.home_x_pos, self.home_y_pos = float(x_pos), float(y_pos) except: raise config.error("Unable to parse home_xy_position in %s" % ( @@ -19,36 +19,35 @@ class SafeZHoming: self.z_hop_speed = config.getfloat('z_hop_speed', 15., above=0.) self.max_z = config.getsection('stepper_z').getfloat('position_max') self.speed = config.getfloat('speed', 50.0, above=0.) + self.move_to_previous = config.getboolean('move_to_previous', True) self.gcode = self.printer.lookup_object('gcode') self.gcode.register_command("G28", None) self.gcode.register_command("G28", self.cmd_G28) if config.has_section("homing_override"): raise config.error("homing_override and safe_z_homing cannot" - +" be used simultaneously") + +" be used simultaneously") def cmd_G28(self, params): - toolhead = self.printer.lookup_object('toolhead') kinematics = toolhead.get_kinematics() # Perform Z Hop if necessary if self.z_hop != 0.0: - # Check if the zhop would exceed the printer limits pos = toolhead.get_position() kin_status = kinematics.get_status() - if ('Z' in kin_status['homed_axes'] and - pos[2] + self.z_hop > self.max_z): - self.gcode.respond_info( - "No zhop performed, target Z out of bounds: " + - str(pos[2] + self.z_hop) - ) + # Check if Z axis is homed or has a known position + if 'Z' in kin_status['homed_axes']: + # Check if the zhop would exceed the printer limits + if pos[2] + self.z_hop > self.max_z: + self.gcode.respond_info( + "No zhop performed, target Z out of bounds: " + + str(pos[2] + self.z_hop) + ) + elif pos[2] < self.z_hop: + self._perform_z_hop(pos) else: - # Perform the Z-Hop - toolhead.set_position(pos, homing_axes=[2]) - pos[2] = pos[2] + self.z_hop - toolhead.move(pos, self.z_hop_speed) - self.gcode.reset_last_position() + self._perform_z_hop(pos) # Determine which axes we need to home if not any([axis in params.keys() for axis in ['X', 'Y', 'Z']]): @@ -69,6 +68,8 @@ class SafeZHoming: if need_z: # Move to safe XY homing position pos = toolhead.get_position() + prev_x = pos[0] + prev_y = pos[1] if self.home_x_pos: pos[0] = self.home_x_pos if self.home_y_pos: @@ -77,6 +78,25 @@ class SafeZHoming: self.gcode.reset_last_position() # Home Z self.gcode.cmd_G28({'Z': '0'}) + # Perform Z Hop again for pressure-based probes + pos = toolhead.get_position() + if self.z_hop: + pos[2] = self.z_hop + toolhead.move(pos, self.z_hop_speed) + # Move XY back to previous positions + if self.move_to_previous: + pos[0] = prev_x + pos[1] = prev_y + toolhead.move(pos, self.speed) + self.gcode.reset_last_position() + + def _perform_z_hop(self, pos): + toolhead = self.printer.lookup_object('toolhead') + # Perform the Z-Hop + toolhead.set_position(pos, homing_axes=[2]) + pos[2] = pos[2] + self.z_hop + toolhead.move(pos, self.z_hop_speed) + self.gcode.reset_last_position() def load_config(config): return SafeZHoming(config)