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| author | Kevin O'Connor <kevin@koconnor.net> | 2021-10-11 11:53:00 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2021-10-11 11:53:00 -0400 |
| commit | afd1058af6e80642412d1aadc18f82b099b5ab07 (patch) | |
| tree | 0fcdef5717dc9a61e78cf437d7204fb33c074205 /klippy | |
| parent | b336a21fe7361c4a0ff177a99e046472dfe0e96b (diff) | |
| download | kutter-afd1058af6e80642412d1aadc18f82b099b5ab07.tar.gz kutter-afd1058af6e80642412d1aadc18f82b099b5ab07.tar.xz kutter-afd1058af6e80642412d1aadc18f82b099b5ab07.zip | |
delta: Don't limit XY+Z moves to max_z_velocity
Scale the max_z_velocity limit by the amount of movement in the Z.
This should improve bed_mesh and vase mode prints on delta printers.
Reported by @hywelmartin and @dalegaard.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/kinematics/delta.py | 8 |
1 files changed, 3 insertions, 5 deletions
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index d5860669..57d3db1f 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -129,7 +129,8 @@ class DeltaKinematics: raise move.move_error() limit_xy2 = -1. if move.axes_d[2]: - move.limit_speed(self.max_z_velocity, move.accel) + z_ratio = move.move_d / abs(move.axes_d[2]) + move.limit_speed(self.max_z_velocity * z_ratio, move.accel) limit_xy2 = -1. # Limit the speed/accel of this move if is is at the extreme # end of the build envelope @@ -138,10 +139,7 @@ class DeltaKinematics: r = 0.5 if extreme_xy2 > self.very_slow_xy2: r = 0.25 - max_velocity = self.max_velocity - if move.axes_d[2]: - max_velocity = self.max_z_velocity - move.limit_speed(max_velocity * r, self.max_accel * r) + move.limit_speed(self.max_velocity * r, self.max_accel * r) limit_xy2 = -1. self.limit_xy2 = min(limit_xy2, self.slow_xy2) def get_status(self, eventtime): |