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Fix for issue #191, allow homing of rotary axes with infinite rotation (max travel = 0)

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Added spindle type property to HAL, "hardened" code.
Added new setting $346 for action to take after tool change: either return controlled point (tool tip) back to the same position as before the M6 command (default) or move spindle to Z home.
This commit is contained in:
Terje Io
2022-10-21 11:50:00 +02:00
parent 2f42b7226b
commit 893f0de66a
17 changed files with 151 additions and 49 deletions
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machine_limits.c
+12 -3
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@@ -272,14 +272,23 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
step_pin[idx] = bit(idx);
#endif
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
// NOTE: settings.max_travel[] is stored as a negative value.
if (bit_istrue(cycle.mask, bit(idx))) {
max_travel = max(max_travel,(-HOMING_AXIS_SEARCH_SCALAR) * settings.axis[idx].max_travel);
// NOTE: settings.axis[].max_travel is stored as a negative value.
if(bit_istrue(cycle.mask, bit(idx))) {
#if N_AXIS > 3
if(bit_istrue(settings.steppers.is_rotational.mask, bit(idx)))
max_travel = max(max_travel, (-HOMING_AXIS_SEARCH_SCALAR) * (settings.axis[idx].max_travel < -0.0f ? settings.axis[idx].max_travel : -360.0f));
else
#endif
max_travel = max(max_travel, (-HOMING_AXIS_SEARCH_SCALAR) * settings.axis[idx].max_travel);
if(bit_istrue(auto_square.mask, bit(idx)))
dual_motor_axis = idx;
}
} while(idx);
if(max_travel == 0.0f)
return true;
if(auto_square.mask) {
float fail_distance = (-settings.homing.dual_axis.fail_length_percent / 100.0f) * settings.axis[dual_motor_axis].max_travel;
fail_distance = min(fail_distance, settings.homing.dual_axis.fail_distance_max);