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| author | redstone99 <redstone@gmail.com> | 2022-11-22 18:55:43 -0500 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-11-22 18:55:43 -0500 |
| commit | 14eec15267d395d0f72109838bf67c4080f30d4e (patch) | |
| tree | 8d0d70517a7ca8c9bfea1aa7027acb9f5c60a21a | |
| parent | c51f169c06921152a2e9c386016660d0bb09f767 (diff) | |
| download | kutter-14eec15267d395d0f72109838bf67c4080f30d4e.tar.gz kutter-14eec15267d395d0f72109838bf67c4080f30d4e.tar.xz kutter-14eec15267d395d0f72109838bf67c4080f30d4e.zip | |
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>
| -rw-r--r-- | docs/Config_Changes.md | 6 | ||||
| -rw-r--r-- | klippy/extras/safe_z_home.py | 5 |
2 files changed, 10 insertions, 1 deletions
diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md index bbf81fe1..ada67ad0 100644 --- a/docs/Config_Changes.md +++ b/docs/Config_Changes.md @@ -8,6 +8,12 @@ All dates in this document are approximate. ## 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 mode by running `make flash FLASH_DEVICE=first`. The equivalent command is now `make flash FLASH_DEVICE=2e8a:0003`. diff --git a/klippy/extras/safe_z_home.py b/klippy/extras/safe_z_home.py index 581c9878..ca9b8eb5 100644 --- a/klippy/extras/safe_z_home.py +++ b/klippy/extras/safe_z_home.py @@ -79,7 +79,10 @@ class SafeZHoming: self.prev_G28(g28_gcmd) # Perform Z Hop again for pressure-based probes 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 if self.move_to_previous: toolhead.manual_move(prevpos[:2], self.speed) |