Enhance IDEX toolchange auto-return w/ no park, full control (#14117)

Marlin/Configuration_adv.h

@@ -1435,6 +1435,7 @@
 #if EXTRUDERS > 1
   // Z raise distance for tool-change, as needed for some extruders
   #define TOOLCHANGE_ZRAISE     2  // (mm)
+  //#define TOOLCHANGE_NO_RETURN   // Never return to the previous position on tool-change
 
   // Retract and prime filament on tool-change
   //#define TOOLCHANGE_FILAMENT_SWAP

Marlin/src/gcode/calibrate/G28.cpp

@@ -242,7 +242,7 @@ void GcodeSuite::G28(const bool always_home_all) {
     #if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
       const uint8_t old_tool_index = active_extruder;
     #endif
-    tool_change(0, 0, true);
+    tool_change(0, true);
   #endif
 
   #if HAS_DUPLICATION_MODE
@@ -428,7 +428,7 @@ void GcodeSuite::G28(const bool always_home_all) {
     #else
       #define NO_FETCH true
     #endif
-    tool_change(old_tool_index, 0, NO_FETCH);
+    tool_change(old_tool_index, NO_FETCH);
   #endif
 
   ui.refresh();

Marlin/src/gcode/calibrate/G33.cpp

@@ -80,7 +80,7 @@ void ac_home() {
 
 void ac_setup(const bool reset_bed) {
   #if HOTENDS > 1
-    tool_change(0, 0, true);
+    tool_change(0, true);
   #endif
 
   planner.synchronize();
@@ -104,7 +104,7 @@ void ac_cleanup(
   #endif
   clean_up_after_endstop_or_probe_move();
   #if HOTENDS > 1
-    tool_change(old_tool_index, 0, true);
+    tool_change(old_tool_index, true);
   #endif
 }
 

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -109,7 +109,7 @@ void GcodeSuite::G34() {
     // Always home with tool 0 active
     #if HOTENDS > 1
       const uint8_t old_tool_index = active_extruder;
-      tool_change(0, 0, true);
+      tool_change(0, true);
     #endif
 
     #if HAS_DUPLICATION_MODE
@@ -263,7 +263,7 @@ void GcodeSuite::G34() {
 
     // Restore the active tool after homing
     #if HOTENDS > 1
-      tool_change(old_tool_index, 0, (
+      tool_change(old_tool_index, (
         #if ENABLED(PARKING_EXTRUDER)
           false // Fetch the previous toolhead
         #else

Marlin/src/gcode/control/T.cpp

@@ -68,7 +68,6 @@ void GcodeSuite::T(const uint8_t tool_index) {
 
     tool_change(
       tool_index,
-      MMM_TO_MMS(parser.linearval('F')),
       (tool_index == active_extruder) || parser.boolval('S')
     );
 

Marlin/src/gcode/feature/pause/M600.cpp

@@ -109,7 +109,7 @@ void GcodeSuite::M600() {
       #if ENABLED(DUAL_X_CARRIAGE)
         && dual_x_carriage_mode != DXC_DUPLICATION_MODE && dual_x_carriage_mode != DXC_MIRRORED_MODE
       #endif
-    ) tool_change(target_extruder, 0, false);
+    ) tool_change(target_extruder, false);
   #endif
 
   // Initial retract before move to filament change position
@@ -170,7 +170,7 @@ void GcodeSuite::M600() {
   #if EXTRUDERS > 1
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
-      tool_change(active_extruder_before_filament_change, 0, false);
+      tool_change(active_extruder_before_filament_change, false);
   #endif
 
   #if ENABLED(MIXING_EXTRUDER)

Marlin/src/gcode/feature/pause/M701_M702.cpp

@@ -92,7 +92,7 @@ void GcodeSuite::M701() {
     // Change toolhead if specified
     uint8_t active_extruder_before_filament_change = active_extruder;
     if (active_extruder != target_extruder)
-      tool_change(target_extruder, 0, false);
+      tool_change(target_extruder, false);
   #endif
 
   // Lift Z axis
@@ -121,7 +121,7 @@ void GcodeSuite::M701() {
   #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
-      tool_change(active_extruder_before_filament_change, 0, false);
+      tool_change(active_extruder_before_filament_change, false);
   #endif
 
   #if ENABLED(MIXING_EXTRUDER)
@@ -191,7 +191,7 @@ void GcodeSuite::M702() {
     // Change toolhead if specified
     uint8_t active_extruder_before_filament_change = active_extruder;
     if (active_extruder != target_extruder)
-      tool_change(target_extruder, 0, false);
+      tool_change(target_extruder, false);
   #endif
 
   // Lift Z axis
@@ -205,7 +205,7 @@ void GcodeSuite::M702() {
     #if EXTRUDERS > 1 && ENABLED(FILAMENT_UNLOAD_ALL_EXTRUDERS)
       if (!parser.seenval('T')) {
         HOTEND_LOOP() {
-          if (e != active_extruder) tool_change(e, 0, false);
+          if (e != active_extruder) tool_change(e, false);
           unload_filament(-fc_settings[e].unload_length, true, PAUSE_MODE_UNLOAD_FILAMENT);
         }
       }
@@ -231,7 +231,7 @@ void GcodeSuite::M702() {
   #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
-      tool_change(active_extruder_before_filament_change, 0, false);
+      tool_change(active_extruder_before_filament_change, false);
   #endif
 
   #if ENABLED(MIXING_EXTRUDER)

Marlin/src/lcd/extensible_ui/ui_api.cpp

@@ -350,7 +350,7 @@ namespace ExtUI {
     #if EXTRUDERS > 1
       const uint8_t e = extruder - E0;
       #if DO_SWITCH_EXTRUDER || EITHER(SWITCHING_NOZZLE, PARKING_EXTRUDER)
-        if (e != active_extruder) tool_change(e, 0, no_move);
+        if (e != active_extruder) tool_change(e, no_move);
       #endif
       active_extruder = e;
     #endif

Marlin/src/module/tool_change.cpp

@@ -365,7 +365,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
 
 #if ENABLED(SWITCHING_TOOLHEAD)
 
-  inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
+  inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, bool no_move/*=false*/) {
     if (no_move) return;
 
     constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
@@ -469,7 +469,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {
 
 #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
 
-  inline void magnetic_switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
+  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,
@@ -653,7 +653,7 @@ inline void invalid_extruder_error(const uint8_t e) {
  * Perform a tool-change, which may result in moving the
  * previous tool out of the way and the new tool into place.
  */
-void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
+void tool_change(const uint8_t tmp_extruder, bool no_move/*=false*/) {
 
   #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
     if (tmp_extruder == active_extruder) return;
@@ -661,7 +661,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
   #if ENABLED(MIXING_EXTRUDER)
 
-    UNUSED(fr_mm_s); UNUSED(no_move);
+    UNUSED(no_move);
 
     if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
       return invalid_extruder_error(tmp_extruder);
@@ -673,13 +673,13 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
   #elif ENABLED(PRUSA_MMU2)
 
-    UNUSED(fr_mm_s); UNUSED(no_move);
+    UNUSED(no_move);
 
     mmu2.tool_change(tmp_extruder);
 
   #elif EXTRUDERS < 2
 
-    UNUSED(fr_mm_s); UNUSED(no_move);
+    UNUSED(no_move);
 
     if (tmp_extruder) invalid_extruder_error(tmp_extruder);
     return;
@@ -702,21 +702,25 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
     if (tmp_extruder >= EXTRUDERS)
       return invalid_extruder_error(tmp_extruder);
 
-    if (!no_move && (!all_axes_homed()
-      #if ENABLED(DUAL_X_CARRIAGE)
-        || dual_x_carriage_mode == DXC_FULL_CONTROL_MODE
-      #endif
-    )) {
+    if (!no_move && !all_axes_homed()) {
       no_move = true;
-      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move on toolchange");
+      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move (not homed)");
     }
 
     #if HAS_LCD_MENU
       ui.return_to_status();
     #endif
 
+    #if ENABLED(DUAL_X_CARRIAGE)
+      const bool idex_full_control = dual_x_carriage_mode == DXC_FULL_CONTROL_MODE;
+    #else
+      constexpr bool idex_full_control = false;
+    #endif
+
+    const bool can_move_away = !no_move && !idex_full_control;
+
     #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
-      const bool should_swap = !no_move && toolchange_settings.swap_length;
+      const bool should_swap = can_move_away && toolchange_settings.swap_length;
       #if ENABLED(PREVENT_COLD_EXTRUSION)
         const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(active_extruder) || thermalManager.targetTooColdToExtrude(tmp_extruder));
       #else
@@ -736,6 +740,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           #else
             current_position[E_AXIS] -= toolchange_settings.swap_length / planner.e_factor[active_extruder];
             planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), active_extruder);
+            planner.synchronize();
           #endif
         }
       }
@@ -747,8 +752,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
         raise_nozzle(active_extruder);
       #endif
 
-      const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
-      feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
+      REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S);
 
       #if HAS_SOFTWARE_ENDSTOPS
         #if HAS_HOTEND_OFFSET
@@ -765,8 +769,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
       set_destination_from_current();
 
-      if (!no_move) {
-        #if DISABLED(SWITCHING_NOZZLE)
+      #if DISABLED(SWITCHING_NOZZLE)
+        if (can_move_away) {
           // Do a small lift to avoid the workpiece in the move back (below)
           current_position[Z_AXIS] += toolchange_settings.z_raise;
           #if HAS_SOFTWARE_ENDSTOPS
@@ -778,9 +782,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
             current_position[Y_AXIS] = toolchange_settings.change_point.y;
           #endif
           planner.buffer_line(current_position, feedrate_mm_s, active_extruder);
-        #endif
-        planner.synchronize();
-      }
+          planner.synchronize();
+        }
+      #endif
 
       #if HAS_HOTEND_OFFSET
         #if ENABLED(DUAL_X_CARRIAGE)
@@ -801,9 +805,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
       #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
         magnetic_parking_extruder_tool_change(tmp_extruder);
       #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
-        switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
+        switching_toolhead_tool_change(tmp_extruder, no_move);
       #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
-        magnetic_switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
+        magnetic_switching_toolhead_tool_change(tmp_extruder, no_move);
       #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS
         // Raise by a configured distance to avoid workpiece, except with
         // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
@@ -837,7 +841,6 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
       // Return to position and lower again
       if (safe_to_move && !no_move && IsRunning()) {
-        if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
 
         #if ENABLED(SINGLENOZZLE)
           #if FAN_COUNT > 0
@@ -884,13 +887,23 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           apply_motion_limits(destination);
         #endif
 
-        // Move back to the original (or tweaked) position
-        do_blocking_move_to(destination);
+        // Should the nozzle move back to the old position?
+        if (can_move_away) {
+          #if ENABLED(TOOLCHANGE_NO_RETURN)
+            // Just move back down
+            if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only");
+            do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
+          #else
+            // Move back to the original (or adjusted) position
+            if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
+            do_blocking_move_to(destination);
+          #endif
+        }
+        else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped");
 
         #if ENABLED(DUAL_X_CARRIAGE)
           active_extruder_parked = false;
         #endif
-        feedrate_mm_s = old_feedrate_mm_s;
       }
       #if ENABLED(SWITCHING_NOZZLE)
         else {

Marlin/src/module/tool_change.h

@@ -96,4 +96,4 @@
  * Perform a tool-change, which may result in moving the
  * previous tool out of the way and the new tool into place.
  */
-void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
+void tool_change(const uint8_t tmp_extruder, bool no_move=false);