extra: Add Safe Z home extra

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann 2019-08-06 19:03:42 +00:00 committed by KevinOConnor
parent f958542ebb
commit 3d38211b8a
2 changed files with 101 additions and 0 deletions

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@ -1316,6 +1316,25 @@
# axis. The default is to not force a position for an axis. # axis. The default is to not force a position for an axis.
# Safe Z homing. One may use this mechanism to home the Z axis at a
# specific XY coordinate. This is useful if the toolhead, for example
# has to move to the center of the bed before Z can be homed.
#[safe_z_home]
#home_xy_position:
# A X,Y coordinate (e.g. 100,100) where the Z homing should be
# performed. This parameter must be provided.
#speed: 50.0
# Speed at which the toolhead is moved to the safe Z home coordinate.
# The default is 50 mm/s
#z_hop: 0.0
# Lift the Z axis prior to homing. This is applied to any homing command,
# even if it doesn't home the Z axis. If the Z axis is already homed and
# the zhop would exceed the printer limits, the zhop is ignored.
# The default is 0.0mm.
#z_hop_speed: 20.0
# Speed at which the Z axis is lifted prior to homing. The default is 20mm/s.
# Support manually moving stepper motors for diagnostic purposes. # Support manually moving stepper motors for diagnostic purposes.
# Note, using this feature may place the printer in an invalid state - # Note, using this feature may place the printer in an invalid state -
# see docs/G-Codes.md for important details. # see docs/G-Codes.md for important details.

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# Perform Z Homing at specific XY coordinates.
#
# Copyright (C) 2019 Florian Heilmann <Florian.Heilmann@gmx.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
class SafeZHoming:
def __init__(self, config):
self.printer = config.get_printer()
try:
x_pos, y_pos = config.get("home_xy_position",
default=",").split(',')
self.home_x_pos, self.home_y_pos = float(x_pos), float(y_pos)
except:
raise config.error("Unable to parse home_xy_position in %s" % (
config.get_name()))
self.z_hop = config.getfloat("z_hop", default=0.0)
self.z_hop_speed = config.getfloat('z_hop_speed', 15., above=0.)
self.max_z = config.getsection('stepper_z').getfloat('position_max')
self.speed = config.getfloat('speed', 50.0, above=0.)
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command("G28", None)
self.gcode.register_command("G28", self.cmd_G28)
if config.has_section("homing_override"):
raise config.error("homing_override and safe_z_homing cannot"
+" be used simultaneously")
def cmd_G28(self, params):
toolhead = self.printer.lookup_object('toolhead')
kinematics = toolhead.get_kinematics()
# Perform Z Hop if necessary
if self.z_hop != 0.0:
# Check if the zhop would exceed the printer limits
pos = toolhead.get_position()
kin_status = kinematics.get_status()
if ('Z' in kin_status['homed_axes'] and
pos[2] + self.z_hop > self.max_z):
self.gcode.respond_info(
"No zhop performed, target Z out of bounds: " +
str(pos[2] + self.z_hop)
)
else:
# Perform the Z-Hop
toolhead.set_position(pos, homing_axes=[2])
pos[2] = pos[2] + self.z_hop
toolhead.move(pos, self.z_hop_speed)
self.gcode.reset_last_position()
# Determine which axes we need to home
if not any([axis in params.keys() for axis in ['X', 'Y', 'Z']]):
need_x, need_y, need_z = [True] * 3
else:
need_x, need_y, need_z = tuple(axis in params
for axis in ['X', 'Y', 'Z'])
# Home XY axes if necessary
new_params = {}
if need_x:
new_params['X'] = '0'
if need_y:
new_params['Y'] = '0'
if new_params:
self.gcode.cmd_G28(new_params)
# Home Z axis if necessary
if need_z:
# Move to safe XY homing position
pos = toolhead.get_position()
if self.home_x_pos:
pos[0] = self.home_x_pos
if self.home_y_pos:
pos[1] = self.home_y_pos
toolhead.move(pos, self.speed)
self.gcode.reset_last_position()
# Home Z
self.gcode.cmd_G28({'Z': '0'})
def load_config(config):
return SafeZHoming(config)