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safe_z_home: Fix final z hop to use relative z coordinates (#5879) 

After a G28 z-axis homing, there is a final z hop.
It was hoping to height z_hop as an absolute z height rather than relative.

If the z-axis home leaves the head at a z height higher than z_hop,
e.g. because you were using a probe to do z homing,
this meant that it was z hopping in the negative z direction, which
could result in crashing the toolhead.

Signed-off-by: Joshua Redstone <redstone@gmail.com>
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redstone99 2022-11-22 18:55:43 -05:00 committed by GitHub
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commit 14eec15267
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2 changed files with 10 additions and 1 deletions
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6
docs/Config_Changes.md
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@ -8,6 +8,12 @@ All dates in this document are approximate.
## Changes ## Changes
20221114: Previously, with safe_z_home, it was possible that the
z_hop after the g28 homing would go in the negative z direction.
Now, a z_hop is performed after g28 only if it results in a positive
hop, mirroring the behavior of the z_hop the occurs before
the g28 homing.
20220616: It was previously possible to flash an rp2040 in bootloader 20220616: It was previously possible to flash an rp2040 in bootloader
mode by running `make flash FLASH_DEVICE=first`. The equivalent mode by running `make flash FLASH_DEVICE=first`. The equivalent
command is now `make flash FLASH_DEVICE=2e8a:0003`. command is now `make flash FLASH_DEVICE=2e8a:0003`.

5
klippy/extras/safe_z_home.py
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@ -79,7 +79,10 @@ class SafeZHoming:
self.prev_G28(g28_gcmd) self.prev_G28(g28_gcmd)
# Perform Z Hop again for pressure-based probes # Perform Z Hop again for pressure-based probes
if self.z_hop: if self.z_hop:
toolhead.manual_move([None, None, self.z_hop], self.z_hop_speed) pos = toolhead.get_position()
if pos[2] < self.z_hop:
toolhead.manual_move([None, None, self.z_hop],
self.z_hop_speed)
# Move XY back to previous positions # Move XY back to previous positions
if self.move_to_previous: if self.move_to_previous:
toolhead.manual_move(prevpos[:2], self.speed) toolhead.manual_move(prevpos[:2], self.speed)