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Make switching toolhead compatible with cartesian printers #26956

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Make switching toolhead compatible with cartesian printers #26956

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6bf9909
implement SAFE_TOOLCHANGE_START_Z, SWITCHING_TOOLHEAD_Z_POS
DerAndere1 Apr 10, 2024
96cafb1
Add SAFE_TOOLCHANGE_START_Z and SWITCHING_TOOLHEAD_Z_POS to Configura…
DerAndere1 Apr 10, 2024
abcb22a
overhaul
DerAndere1 Apr 16, 2024
4c3c521
improve compatibility with IS_KINEMATIC
DerAndere1 Jul 15, 2024
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7 changes: 7 additions & 0 deletions Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -316,7 +316,14 @@
*/
//#define ELECTROMAGNETIC_SWITCHING_TOOLHEAD


// Safe toolchange start Z position.
//#define SAFE_TOOLCHANGE_START_Z 200

#if ANY(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
//#define SWITCHING_TOOLHEAD_Z_POS 100 // (mm) Z position of the toolhead dock.
// Leave this option disabled if the bed can move in Z direction
//#define SWITCHING_TOOLHEAD_Z_CLEAR 60 // (mm) Minimum distance from dock along Z for unobstructed X axis if the tools are placed onto the dock in Z direction
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
Expand Down
161 changes: 127 additions & 34 deletions Marlin/src/module/tool_change.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -515,19 +515,58 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.

DEBUG_POS("Start ST Tool-Change", current_position);

current_position.x = placexpos;
current_position.x = SUM_TERN(HAS_HOTEND_OFFSET, placexpos, hotend_offset[active_extruder].x);

DEBUG_ECHOLNPGM("(1) Place old tool ", active_extruder);
DEBUG_POS("Move X SwitchPos", current_position);

fast_line_to_current(X_AXIS);

current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y) - (SWITCHING_TOOLHEAD_Y_CLEAR);

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
DEBUG_POS("Move Y SwitchPos - Y Clear", current_position);

slow_line_to_current(Y_AXIS);
fast_line_to_current(Y_AXIS); // move Y in front of the toolhead dock

#if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
current_position.z = SWITCHING_TOOLHEAD_Z_POS + (SWITCHING_TOOLHEAD_Z_CLEAR);

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Z SwitchPos + Z Clear", current_position);

fast_line_to_current(Z_AXIS); // move Z on top of the toolhead dock

current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y);

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos", current_position);

fast_line_to_current(Y_AXIS); // move Y to the toolhead dock

current_position.z = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Z_POS, hotend_offset[active_extruder].z);

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Z SwitchPos", current_position);

slow_line_to_current(Z_AXIS); // place tool in the toolhead dock

#else
#if defined(SWITCHING_TOOLHEAD_Z_POS)
current_position.z = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Z_POS, hotend_offset[active_extruder].z);

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Z SwitchPos", current_position);

fast_line_to_current(Z_AXIS); // move Z to the toolhead dock
#endif
current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y) - (SWITCHING_TOOLHEAD_Y_SECURITY);

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos + Security", current_position);

slow_line_to_current(Y_AXIS);
#endif

// 2. Unlock tool and drop it in the dock
TERN_(TOOL_SENSOR, tool_sensor_disabled = true);
Expand All @@ -536,47 +575,68 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
switching_toolhead_lock(false);
safe_delay(500);

current_position.y = SWITCHING_TOOLHEAD_Y_POS;
DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS);
#if !defined(SWITCHING_TOOLHEAD_Z_CLEAR)
current_position.y += (SWITCHING_TOOLHEAD_Y_SECURITY);
DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS);
#endif

// Wait for move to complete, then another 0.2s
planner.synchronize();
safe_delay(200);

current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
DEBUG_POS("Move back Y clear", current_position);
slow_line_to_current(Y_AXIS); // move away from docked toolhead
#if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
current_position.z += (SWITCHING_TOOLHEAD_Z_CLEAR);

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move back Z Clear", current_position);

slow_line_to_current(Z_AXIS); // move away from docked toolhead
#else
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;

DEBUG_POS("Move back Y clear", current_position);
slow_line_to_current(Y_AXIS); // move away from docked toolhead
#endif

(void)check_tool_sensor_stats(active_extruder);

// 3. Move to the new toolhead

current_position.x = grabxpos;
current_position.x = SUM_TERN(HAS_HOTEND_OFFSET, grabxpos, hotend_offset[active_extruder].x);

DEBUG_SYNCHRONIZE();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
DEBUG_POS("Move to new toolhead X", current_position);

fast_line_to_current(X_AXIS);

current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
// 4. Grab and lock the new toolhead

DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
#if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
current_position.z = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Z_POS, hotend_offset[active_extruder].z);

slow_line_to_current(Y_AXIS);
DEBUG_SYNCHRONIZE();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
DEBUG_POS("Move Z SwitchPos", current_position);

// 4. Grab and lock the new toolhead
slow_line_to_current(Z_AXIS);
#else
current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y) - SWITCHING_TOOLHEAD_Y_SECURITY;

current_position.y = SWITCHING_TOOLHEAD_Y_POS;
DEBUG_SYNCHRONIZE();
DEBUG_POS("Move Y SwitchPos + Security", current_position);

DEBUG_SYNCHRONIZE();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS);

slow_line_to_current(Y_AXIS);
current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y);

DEBUG_SYNCHRONIZE();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
DEBUG_POS("Move Y SwitchPos", current_position);

slow_line_to_current(Y_AXIS);
#endif

// Wait for move to finish, pause 0.2s, move servo, pause 0.5s
planner.synchronize();
Expand All @@ -586,10 +646,24 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.

switching_toolhead_lock(true);
safe_delay(500);
#if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
#if HAS_HOTEND_OFFSET
current_position.z = SWITCHING_TOOLHEAD_Z_POS + hotend_offset[active_extruder].z - hotend_offset[new_tool].z + (SWITCHING_TOOLHEAD_Z_CLEAR);
#else
current_position.z = SWITCHING_TOOLHEAD_Z_POS + (SWITCHING_TOOLHEAD_Z_CLEAR)
#endif
DEBUG_POS("Move back Z clear", current_position);
slow_line_to_current(Z_AXIS); // Move away from docked toolhead

current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
DEBUG_POS("Move back Y clear", current_position);
slow_line_to_current(Y_AXIS); // Move away from docked toolhead
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
DEBUG_POS("Move back Y clear", current_position);
slow_line_to_current(Y_AXIS); // Move away from docked toolhead

#else
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
DEBUG_POS("Move back Y clear", current_position);
slow_line_to_current(Y_AXIS); // Move away from docked toolhead
#endif
planner.synchronize(); // Always sync the final move

(void)check_tool_sensor_stats(new_tool, true, true);
Expand Down Expand Up @@ -1243,6 +1317,16 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
}
#endif

// Raise to safe Z
#if defined(SAFE_TOOLCHANGE_START_Z)
if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
current_position.z = SAFE_TOOLCHANGE_START_Z;
TERN_(HAS_SOFTWARE_ENDSTOPS, NOMORE(current_position.z, soft_endstop.max.z));
fast_line_to_current(Z_AXIS);
planner.synchronize();
}
#endif

// Toolchange park
#if ENABLED(TOOLCHANGE_PARK) && !HAS_SWITCHING_NOZZLE
if (can_move_away && toolchange_settings.enable_park) {
Expand Down Expand Up @@ -1360,22 +1444,31 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#else
// Move back to the original (or adjusted) position
DEBUG_POS("Move back", destination);

const xyze_pos_t toolchange_destination = destination;

// Raise to safe Z
#if defined(SAFE_TOOLCHANGE_START_Z)
if (TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
do_blocking_move_to_z(SAFE_TOOLCHANGE_START_Z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
}
#endif

#if ENABLED(TOOLCHANGE_PARK)
if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(toolchange_destination, toolchange_destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
#else
do_blocking_move_to_xy(destination, planner.settings.max_feedrate_mm_s[X_AXIS]);
do_blocking_move_to_xy(toolchange_destination, planner.settings.max_feedrate_mm_s[X_AXIS]);

// If using MECHANICAL_SWITCHING extruder/nozzle, set HOTEND_OFFSET in Z axis after running EVENT_GCODE_TOOLCHANGE below.
#if NONE(MECHANICAL_SWITCHING_EXTRUDER, MECHANICAL_SWITCHING_NOZZLE)
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
do_blocking_move_to_z(toolchange_destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
SECONDARY_AXIS_CODE(
do_blocking_move_to_i(destination.i, planner.settings.max_feedrate_mm_s[I_AXIS]),
do_blocking_move_to_j(destination.j, planner.settings.max_feedrate_mm_s[J_AXIS]),
do_blocking_move_to_k(destination.k, planner.settings.max_feedrate_mm_s[K_AXIS]),
do_blocking_move_to_u(destination.u, planner.settings.max_feedrate_mm_s[U_AXIS]),
do_blocking_move_to_v(destination.v, planner.settings.max_feedrate_mm_s[V_AXIS]),
do_blocking_move_to_w(destination.w, planner.settings.max_feedrate_mm_s[W_AXIS])
do_blocking_move_to_i(toolchange_destination.i, planner.settings.max_feedrate_mm_s[I_AXIS]),
do_blocking_move_to_j(toolchange_destination.j, planner.settings.max_feedrate_mm_s[J_AXIS]),
do_blocking_move_to_k(toolchange_destination.k, planner.settings.max_feedrate_mm_s[K_AXIS]),
do_blocking_move_to_u(toolchange_destination.u, planner.settings.max_feedrate_mm_s[U_AXIS]),
do_blocking_move_to_v(toolchange_destination.v, planner.settings.max_feedrate_mm_s[V_AXIS]),
do_blocking_move_to_w(toolchange_destination.w, planner.settings.max_feedrate_mm_s[W_AXIS])
);
#endif
#endif
Expand Down