diff options
| -rw-r--r-- | klippy/kinematics/delta.py | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 2278dbca..bb81ab18 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -65,6 +65,8 @@ class DeltaKinematics: self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z) self.limit_z = min([ep - arm for ep, arm in zip(self.abs_endstops, arm_lengths)]) + self.min_arm_length = min_arm_length = min(arm_lengths) + self.min_arm2 = min_arm_length**2 logging.info( "Delta max build height %.2fmm (radius tapered above %.2fmm)" % (self.max_z, self.limit_z)) @@ -123,7 +125,11 @@ class DeltaKinematics: end_z = end_pos[2] limit_xy2 = self.max_xy2 if end_z > self.limit_z: - limit_xy2 = min(limit_xy2, (self.max_z - end_z)**2) + above_z_limit = end_z - self.limit_z + allowed_radius = self.radius - math.sqrt( + self.min_arm2 - (self.min_arm_length - above_z_limit)**2 + ) + limit_xy2 = min(limit_xy2, allowed_radius**2) if end_xy2 > limit_xy2 or end_z > self.max_z or end_z < self.min_z: # Move out of range - verify not a homing move if (end_pos[:2] != self.home_position[:2] |