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thinkyhead merged 2 commits into from
Apr 11, 2019
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MAGNETIC_SWITCHING_TOOLHEAD #13629

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37021b5
Support for Magnetic Switching Toolhead
chai-md Apr 9, 2019
759f42e
Add MAGNETIC_SWITCHING_TOOLHEAD to configs
thinkyhead Apr 11, 2019
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28 changes: 21 additions & 7 deletions Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -249,13 +249,27 @@
* the E3D Tool Changer. Toolheads are locked with a servo.
*/
//#define SWITCHING_TOOLHEAD
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders

/**
* Magnetic Switching Toolhead
*
* Support swappable and dockable toolheads with a magnetic
* docking mechanism using movement and no servo.
*/
//#define MAGNETIC_SWITCHING_TOOLHEAD

#if EITHER(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_X_SECURITY -35 // (mm) Security distance X axis
#endif
#endif

/**
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2 changes: 1 addition & 1 deletion Marlin/src/lcd/menu/menu_motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -335,7 +335,7 @@ void menu_move() {
else
MENU_ITEM(gcode, MSG_AUTO_HOME, PSTR("G28"));

#if EITHER(SWITCHING_EXTRUDER, SWITCHING_NOZZLE)
#if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, MAGNETIC_SWITCHING_TOOLHEAD)

#if EXTRUDERS == 6
switch (active_extruder) {
Expand Down
145 changes: 144 additions & 1 deletion Marlin/src/module/tool_change.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -487,6 +487,133 @@ inline void fast_line_to_current(const AxisEnum fr_axis) {

#endif // SWITCHING_TOOLHEAD

#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)

inline void magnetic_switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
if (no_move) return;

const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[tmp_extruder];

/**
* 1. Raise Z to give enough clearance
* 2. Move to switch position of current toolhead
* 3. Release and place toolhead in the dock
* 4. Move to the new toolhead
* 5. Grab the new toolhead and move to security position
*/

if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);

// 1. Raise Z to give enough clearance

current_position[Z_AXIS] += toolchange_settings.z_raise;

if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder);
planner.synchronize();

// 2. Move to switch position current toolhead

current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;

if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
planner.synchronize();

current_position[X_AXIS] = placexpos + SWITCHING_TOOLHEAD_X_SECURITY;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos + Security", current_position);

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();

current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder);
planner.synchronize();

current_position[X_AXIS] = placexpos;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move X SwitchPos", current_position);

planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25), active_extruder);
planner.synchronize();

// 3. Release and place toolhead in the dock

if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Release and Place Toolhead");

current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);

planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1), active_extruder);
planner.synchronize();

current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);

planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
planner.synchronize();

// 4. Move to new toolhead position

if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");

current_position[X_AXIS] = grabxpos;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();

// 5. Grab the new toolhead and move to security position

if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab new toolhead and move to security position");

current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);

planner.buffer_line(current_position, (planner.settings.max_feedrate_mm_s[Y_AXIS]), active_extruder);
planner.synchronize();

current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.2, active_extruder);
planner.synchronize();
safe_delay(100);

current_position[X_AXIS] = grabxpos + SWITCHING_TOOLHEAD_X_SECURITY;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position);

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.1, active_extruder);
planner.synchronize();
safe_delay(100);

current_position[Y_AXIS] += SWITCHING_TOOLHEAD_Y_CLEAR;

if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);

planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
planner.synchronize();
}

#endif // MAGNETIC_SWITCHING_TOOLHEAD

inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
SERIAL_CHAR('T'); SERIAL_ECHO(int(e));
Expand Down Expand Up @@ -557,6 +684,11 @@ inline void invalid_extruder_error(const uint8_t e) {
* previous tool out of the way and the new tool into place.
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {

#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
if (tmp_extruder == active_extruder) return;
#endif

#if ENABLED(MIXING_EXTRUDER)

UNUSED(fr_mm_s); UNUSED(no_move);
Expand Down Expand Up @@ -686,6 +818,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
magnetic_parking_extruder_tool_change(tmp_extruder);
#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
magnetic_switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS
// Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
Expand Down Expand Up @@ -755,7 +889,16 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif

// Prevent a move outside physical bounds
apply_motion_limits(destination);
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
// If the original position is within tool store area, go to X origin at once
if (destination[Y_AXIS] < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
current_position[X_AXIS] = 0;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
planner.synchronize();
}
#else
apply_motion_limits(destination);
#endif

// Move back to the original (or tweaked) position
do_blocking_move_to(destination);
Expand Down
28 changes: 21 additions & 7 deletions config/default/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -249,13 +249,27 @@
* the E3D Tool Changer. Toolheads are locked with a servo.
*/
//#define SWITCHING_TOOLHEAD
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders

/**
* Magnetic Switching Toolhead
*
* Support swappable and dockable toolheads with a magnetic
* docking mechanism using movement and no servo.
*/
//#define MAGNETIC_SWITCHING_TOOLHEAD

#if EITHER(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_X_SECURITY -35 // (mm) Security distance X axis
#endif
#endif

/**
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28 changes: 21 additions & 7 deletions config/examples/3DFabXYZ/Migbot/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -249,13 +249,27 @@
* the E3D Tool Changer. Toolheads are locked with a servo.
*/
//#define SWITCHING_TOOLHEAD
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders

/**
* Magnetic Switching Toolhead
*
* Support swappable and dockable toolheads with a magnetic
* docking mechanism using movement and no servo.
*/
//#define MAGNETIC_SWITCHING_TOOLHEAD

#if EITHER(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_X_SECURITY -35 // (mm) Security distance X axis
#endif
#endif

/**
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28 changes: 21 additions & 7 deletions config/examples/AlephObjects/TAZ4/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -249,13 +249,27 @@
* the E3D Tool Changer. Toolheads are locked with a servo.
*/
//#define SWITCHING_TOOLHEAD
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders

/**
* Magnetic Switching Toolhead
*
* Support swappable and dockable toolheads with a magnetic
* docking mechanism using movement and no servo.
*/
//#define MAGNETIC_SWITCHING_TOOLHEAD

#if EITHER(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_X_SECURITY -35 // (mm) Security distance X axis
#endif
#endif

/**
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28 changes: 21 additions & 7 deletions config/examples/AliExpress/CL-260/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -249,13 +249,27 @@
* the E3D Tool Changer. Toolheads are locked with a servo.
*/
//#define SWITCHING_TOOLHEAD
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders

/**
* Magnetic Switching Toolhead
*
* Support swappable and dockable toolheads with a magnetic
* docking mechanism using movement and no servo.
*/
//#define MAGNETIC_SWITCHING_TOOLHEAD

#if EITHER(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_X_SECURITY -35 // (mm) Security distance X axis
#endif
#endif

/**
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28 changes: 21 additions & 7 deletions config/examples/AliExpress/UM2pExt/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -249,13 +249,27 @@
* the E3D Tool Changer. Toolheads are locked with a servo.
*/
//#define SWITCHING_TOOLHEAD
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders

/**
* Magnetic Switching Toolhead
*
* Support swappable and dockable toolheads with a magnetic
* docking mechanism using movement and no servo.
*/
//#define MAGNETIC_SWITCHING_TOOLHEAD

#if EITHER(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock
#define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis
#define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders
#if ENABLED(SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector
#define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
#define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis
#define SWITCHING_TOOLHEAD_X_SECURITY -35 // (mm) Security distance X axis
#endif
#endif

/**
Expand Down
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