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Changed the homing routine to avoid crashing into the right end stop.

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This commit is contained in:
bubnikv 2017-09-25 15:20:39 +02:00
parent b0ca2477c8
commit c6e9896257
1 changed files with 37 additions and 81 deletions
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118
Firmware/Marlin_main.cpp
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@ -1517,106 +1517,62 @@ void homeaxis(int axis)
tmc2130_home_enter(X_AXIS_MASK << axis); tmc2130_home_enter(X_AXIS_MASK << axis);
#endif #endif
// Move right a bit, so that the print head does not touch the left end position,
// and the following left movement has a chance to achieve the required velocity
// for the stall guard to work.
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// destination[axis] = 11.f;
destination[axis] = 3.f;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// Move left away from the possible collision with the collision detection disabled.
endstops_hit_on_purpose();
enable_endstops(false);
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = - 1.;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// Now continue to move up to the left end stop with the collision detection enabled.
enable_endstops(true);
destination[axis] = - 1.1 * max_length(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// Move right from the collision to a known distance from the left end stop with the collision detection disabled.
endstops_hit_on_purpose();
enable_endstops(false);
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 10.f; destination[axis] = 10.f;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
endstops_hit_on_purpose();
current_position[axis] = 0; // Now move left up to the collision, this time with a repeatable velocity.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); enable_endstops(true);
destination[axis] = 1.5 * max_length(axis) * axis_home_dir; destination[axis] = - 15.f;
feedrate = homing_feedrate[axis]/2;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -10.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
destination[axis] = 15.f * axis_home_dir;
feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
/*
tmc2130_home_pause(axis);
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
#ifdef TMC2130
tmc2130_home_restart(axis);
#endif
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
tmc2130_home_resume(axis);
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
//#ifdef TMC2130
// feedrate = homing_feedrate[axis];
//#else
feedrate = homing_feedrate[axis] / 2;
//#endif
#ifdef TMC2130
tmc2130_home_restart(axis);
#endif
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
*/
// tmc2130_home_pause(axis);
axis_is_at_home(axis); axis_is_at_home(axis);
axis_known_position[axis] = true;
#ifdef TMC2130 #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
#endif #endif
// Move the X carriage away from the collision.
// If this is not done, the X cariage will jump from the collision at the instant the Trinamic driver reduces power on idle.
//FIXME this is to ensure that the axis does not remain in tension, endstops_hit_on_purpose();
// leading to step losses when the Trinamic lowers the motor current on idle. enable_endstops(false);
//current_position[axis] = -0.32 * axis_home_dir;
{ {
if (1) { // Two full periods (4 full steps).
// try to run to zero phase before powering the Z motor. float gap = 0.32f * 2.f;
// Move in negative direction
if (axis == X_AXIS) {
WRITE(X_DIR_PIN, !INVERT_X_DIR);
for (uint16_t phase = 64 - ((tmc2130_rd_MSCNT(X_TMC2130_CS) + 7) >> 4); phase > 0; -- phase) {
// Until the phase counter is reset to zero.
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
delay(2);
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
delay(2);
}
}
else {
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
for (uint16_t phase = 64 - ((tmc2130_rd_MSCNT(Y_TMC2130_CS) + 7) >> 4); phase > 0; -- phase) {
// Until the phase counter is reset to zero.
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
delay(2);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
delay(2);
}
}
// Round the current micro-micro steps to micro steps.
}
float gap = 0.32f;
current_position[axis] -= gap; current_position[axis] -= gap;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position[axis] += gap; current_position[axis] += gap;
} }
axis_known_position[axis] = true;
endstops_hit_on_purpose();
enable_endstops(false);
destination[axis] = current_position[axis]; destination[axis] = current_position[axis];
delay(200);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.3f*feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.3f*feedrate/60, active_extruder);
st_synchronize(); st_synchronize();