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New Feature: Z_DUAL_ENDSTOPS

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Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z
steppers - Let's call them Z stepper and Z2 stepper.
That way the machine is capable to align the bed during home, since both
Z steppers are homed.
There is also an implementation of M666 (software endstops adjustment)
to this feature.
After Z homing, this adjustment is applied to just one of the steppers
in order to align the bed.
One just need to home the Z axis and measure the distance difference
between both Z axis and apply the math: Z adjust = Z - Z2.
If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it
is.. think about it) and the Z adjust would be positive.
Play a little bit with small adjustments (0.5mm) and check the
behaviour.
The M119 (endstops report) will start reporting the Z2 Endstop as well.
This commit is contained in:
alexborro
2015-03-24 14:06:44 -03:00
parent 512a0056a9
commit 0ce3576685
8 changed files with 228 additions and 19 deletions
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51
Marlin/Marlin_main.cpp
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@ -248,6 +248,8 @@ float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float home_offset[3] = { 0, 0, 0 };
#ifdef DELTA
float endstop_adj[3] = { 0, 0, 0 };
#elif defined(Z_DUAL_ENDSTOPS)
float z_endstop_adj = 0;
#endif
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
@ -973,7 +975,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static float x_home_pos(int extruder) {
if (extruder == 0)
return base_home_pos(X_AXIS) + add_homing[X_AXIS];
return base_home_pos(X_AXIS) + home_offset[X_AXIS];
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
@ -1487,6 +1489,9 @@ static void homeaxis(int axis) {
}
#endif
#endif // Z_PROBE_SLED
#ifdef Z_DUAL_ENDSTOPS
if (axis==Z_AXIS) In_Homing_Process(true);
#endif
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@ -1512,6 +1517,27 @@ static void homeaxis(int axis) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
#ifdef Z_DUAL_ENDSTOPS
if (axis==Z_AXIS)
{
feedrate = homing_feedrate[axis];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
if (axis_home_dir > 0)
{
destination[axis] = (-1) * fabs(z_endstop_adj);
if (z_endstop_adj > 0) Lock_z_motor(true); else Lock_z2_motor(true);
} else {
destination[axis] = fabs(z_endstop_adj);
if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
}
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
Lock_z_motor(false);
Lock_z2_motor(false);
In_Homing_Process(false);
}
#endif
#ifdef DELTA
// retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * axis_home_dir < 0) {
@ -1754,7 +1780,7 @@ inline void gcode_G28() {
enable_endstops(true);
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = current_position[i];
for (int i = X_AXIS; i <= NUM_AXIS; i++) destination[i] = current_position[i];
feedrate = 0.0;
@ -1944,7 +1970,7 @@ inline void gcode_G28() {
if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
current_position[Z_AXIS] = code_value() + home_offset[Z_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING
#if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
#endif
@ -3452,6 +3478,11 @@ inline void gcode_M119() {
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
}
/**
@ -3645,6 +3676,16 @@ inline void gcode_M206() {
}
}
}
#elif defined(Z_DUAL_ENDSTOPS)
/**
* M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
*/
inline void gcode_M666() {
if (code_seen('Z')) z_endstop_adj = code_value();
SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj );
SERIAL_EOL;
}
#endif // DELTA
#ifdef FWRETRACT
@ -4894,6 +4935,10 @@ void process_commands() {
case 666: // M666 set delta endstop adjustment
gcode_M666();
break;
#elif defined(Z_DUAL_ENDSTOPS)
case 666: // M666 set delta endstop adjustment
gcode_M666();
break;
#endif // DELTA
#ifdef FWRETRACT