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Eliminate extra tool-change park moves #11970

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Eliminate extra tool-change park moves #11970

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14 changes: 4 additions & 10 deletions Marlin/src/module/tool_change.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -379,7 +379,7 @@ inline void invalid_extruder_error(const uint8_t e) {
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
&& (delayed_move_time || current_position[X_AXIS] != xhome) && !no_move
) {
float raised_z = current_position[Z_AXIS] + toolchange_settings.z_raise;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
Expand All @@ -401,14 +401,14 @@ inline void invalid_extruder_error(const uint8_t e) {

planner.buffer_line(CUR_X, CUR_Y, raised_z, CUR_E, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
planner.buffer_line(xhome, CUR_Y, raised_z, CUR_E, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.buffer_line(xhome, CUR_Y, CUR_Z, CUR_E, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);

planner.synchronize();
}

// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
current_position[Z_AXIS] += TOOLCHANGE_ZRAISE;

// Activate the new extruder ahead of calling set_axis_is_at_home!
active_extruder = tmp_extruder;
Expand All @@ -431,12 +431,8 @@ inline void invalid_extruder_error(const uint8_t e) {
inactive_extruder_x_pos = destination[X_AXIS];
break;
case DXC_AUTO_PARK_MODE:
// record raised toolhead position for use by unpark
// record current raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position[Z_AXIS] += toolchange_settings.z_raise;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
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@thinkyhead thinkyhead Oct 16, 2018

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As I recall the reason we added this limit on Z movement was that someone complained about the lack of it. Maybe we should continue to include it.

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@InsanityAutomation InsanityAutomation Oct 18, 2018

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This raise move is being applied in the conditional above covered by a limit statement already. Since the z lower is not being performed between tools, the 2nd z raise is not necessary any longer. Were taking the current position as is, and no longer modifying it so the check is redundant.

active_extruder_parked = true;
delayed_move_time = 0;
break;
Expand All @@ -448,8 +444,6 @@ inline void invalid_extruder_error(const uint8_t e) {
DEBUG_POS("New extruder (parked)", current_position);
}
#endif

// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
}

#endif // DUAL_X_CARRIAGE
Expand Down Expand Up @@ -585,7 +579,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n

// Raise, move, and lower again
if (safe_to_move && !no_move && IsRunning()) {
#if DISABLED(SWITCHING_NOZZLE)
#if DISABLED(SWITCHING_NOZZLE) && DISABLED(DUAL_X_CARRIAGE)
// Do a small lift to avoid the workpiece in the move back (below)
current_position[Z_AXIS] += toolchange_settings.z_raise;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
Expand Down