bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Park heads with electromagnet (#14023)

Browse Source
This commit is contained in:
Aliaksei Kvitsinski
2019-07-01 13:55:23 +03:00
committed by Scott Lahteine
parent fb9d30673f
commit 2f932a11b3
114 changed files with 1522 additions and 169 deletions
Download Patch File Download Diff File Expand all files Collapse all files

159
Marlin/src/module/tool_change.cpp
View File

@ -310,7 +310,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
// STEP 3
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move to position near new extruder");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Move near new extruder");
current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
@ -370,8 +370,8 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
placexpos = toolheadposx[active_extruder],
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[tmp_extruder];
/**
@ -465,15 +465,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done.");
}
#endif // SWITCHING_TOOLHEAD
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
inline void magnetic_switching_toolhead_tool_change(const uint8_t tmp_extruder, bool no_move/*=false*/) {
if (no_move) return;
const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
placexpos = toolheadposx[active_extruder],
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[tmp_extruder];
/**
@ -582,7 +580,138 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
planner.synchronize();
}
#endif // MAGNETIC_SWITCHING_TOOLHEAD
#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
inline void est_activate_solenoid() { OUT_WRITE(SOL0_PIN, HIGH); }
inline void est_deactivate_solenoid() { OUT_WRITE(SOL0_PIN, LOW); }
void est_init() { est_activate_solenoid(); }
inline void electromagnetic_switching_toolhead(const uint8_t tmp_extruder, bool no_move) {
if (no_move) return;
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[tmp_extruder];
/**
* 1. Raise Z-Axis to give enough clearance
* 2. Move to position near active extruder parking
* 3. Move gently to park position of active extruder
* 4. Disengage magnetic field, wait for delay
* 5. Leave extruder and move to position near new extruder parking
* 6. Move gently to park position of new extruder
* 7. Engage magnetic field for new extruder parking
* 8. Unpark extruder
* 9. Apply Z hotend offset to current position
*/
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Autopark", current_position);
#endif
// 1. Raise Z-Axis to give enough clearance
current_position[Z_AXIS] += SWITCHING_TOOLHEAD_Z_HOP;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position);
#endif
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
// 2. Move to position near active extruder parking
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder);
DEBUG_POS("Moving ParkPos", current_position);
}
#endif
current_position[X_AXIS] = placexpos + hotend_offset[X_AXIS][active_extruder];
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR + hotend_offset[Y_AXIS][active_extruder];
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
// 3. Move gently to park position of active extruder
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPAIR("(3) Move gently to park position of active extruder", active_extruder);
DEBUG_POS("Moving ParkPos", current_position);
}
#endif
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
// 4. Disengage magnetic field, wait for delay
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Disengage magnet");
#endif
planner.synchronize();
est_deactivate_solenoid();
// 5. Leave extruder and move to position near new extruder parking
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("(5) Move near new extruder parking");
DEBUG_POS("Moving ParkPos", current_position);
}
#endif
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5f, active_extruder);
current_position[X_AXIS] = grabxpos + hotend_offset[X_AXIS][active_extruder];
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR + hotend_offset[Y_AXIS][active_extruder];
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
// 6. Move gently to park position of new extruder
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPGM("(6) Move near new extruder");
}
#endif
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5f, active_extruder);
// 7. Engage magnetic field for new extruder parking
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(7) Engage magnetic field");
#endif
planner.synchronize();
est_activate_solenoid();
// 8. Unpark extruder
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(8) Unpark extruder");
#endif
current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5f, active_extruder);
// 9. Apply Z hotend offset to current position
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("(9) Applying Z-offset", current_position);
}
#endif
}
#endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
@ -800,15 +929,17 @@ void tool_change(const uint8_t tmp_extruder, bool no_move/*=false*/) {
#if ENABLED(DUAL_X_CARRIAGE)
dualx_tool_change(tmp_extruder, no_move);
#elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
#elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
parking_extruder_tool_change(tmp_extruder, no_move);
#elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
#elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
magnetic_parking_extruder_tool_change(tmp_extruder);
#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
switching_toolhead_tool_change(tmp_extruder, no_move);
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
magnetic_switching_toolhead_tool_change(tmp_extruder, no_move);
#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS
#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching ToolChanger
electromagnetic_switching_toolhead(tmp_extruder, no_move);
#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo)
// Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
current_position[Z_AXIS] += MAX(-zdiff, 0.0) + toolchange_settings.z_raise;

4
Marlin/src/module/tool_change.h
View File

@ -92,6 +92,10 @@
#endif
#endif
#if ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
void est_init();
#endif
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.