/** * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . * */ #include "../inc/MarlinConfigPre.h" #include "tool_change.h" #include "probe.h" #include "motion.h" #include "planner.h" #include "temperature.h" #include "../MarlinCore.h" #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #include "../core/debug_out.h" #if EXTRUDERS > 1 toolchange_settings_t toolchange_settings; // Initialized by settings.load() #endif #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) migration_settings_t migration = migration_defaults; bool enable_first_prime; #endif #if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP) bool toolchange_extruder_ready[EXTRUDERS]; #endif #if ENABLED(SINGLENOZZLE_STANDBY_TEMP) uint16_t singlenozzle_temp[EXTRUDERS]; #endif #if BOTH(HAS_FAN, SINGLENOZZLE_STANDBY_FAN) uint8_t singlenozzle_fan_speed[EXTRUDERS]; #endif #if ENABLED(MAGNETIC_PARKING_EXTRUDER) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0) #include "../gcode/gcode.h" #endif #if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, SWITCHING_TOOLHEAD) #include "servo.h" #endif #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER) #include "../feature/solenoid.h" #endif #if ENABLED(MK2_MULTIPLEXER) #include "../feature/snmm.h" #endif #if ENABLED(MIXING_EXTRUDER) #include "../feature/mixing.h" #endif #if HAS_LEVELING #include "../feature/bedlevel/bedlevel.h" #endif #if HAS_FANMUX #include "../feature/fanmux.h" #endif #if ENABLED(PRUSA_MMU2) #include "../feature/mmu2/mmu2.h" #endif #if HAS_LCD_MENU #include "../lcd/ultralcd.h" #endif #if ENABLED(ADVANCED_PAUSE_FEATURE) #include "../feature/pause.h" #endif #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) #include "../gcode/gcode.h" #if TOOLCHANGE_FS_WIPE_RETRACT <= 0 #undef TOOLCHANGE_FS_WIPE_RETRACT #define TOOLCHANGE_FS_WIPE_RETRACT 0 #endif #endif #if DO_SWITCH_EXTRUDER #if EXTRUDERS > 3 #define _SERVO_NR(E) ((E) < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR) #else #define _SERVO_NR(E) SWITCHING_EXTRUDER_SERVO_NR #endif void move_extruder_servo(const uint8_t e) { planner.synchronize(); #if EXTRUDERS & 1 if (e < EXTRUDERS - 1) #endif { MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e]); safe_delay(500); } } #endif // DO_SWITCH_EXTRUDER #if ENABLED(SWITCHING_NOZZLE) #if SWITCHING_NOZZLE_TWO_SERVOS inline void _move_nozzle_servo(const uint8_t e, const uint8_t angle_index) { constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR }; constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES; planner.synchronize(); MOVE_SERVO(sns_index[e], sns_angles[angle_index]); safe_delay(500); } void lower_nozzle(const uint8_t e) { _move_nozzle_servo(e, 0); } void raise_nozzle(const uint8_t e) { _move_nozzle_servo(e, 1); } #else void move_nozzle_servo(const uint8_t angle_index) { planner.synchronize(); MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]); safe_delay(500); } #endif #endif // SWITCHING_NOZZLE inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1) { line_to_current_position(planner.settings.max_feedrate_mm_s[fr_axis] * fscale); } inline void slow_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.5f); } inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis); } #if ENABLED(MAGNETIC_PARKING_EXTRUDER) float parkingposx[2], // M951 R L parkinggrabdistance, // M951 I parkingslowspeed, // M951 J parkinghighspeed, // M951 H parkingtraveldistance, // M951 D compensationmultiplier; inline void magnetic_parking_extruder_tool_change(const uint8_t new_tool) { const float oldx = current_position.x, grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance), offsetcompensation = TERN0(HAS_HOTEND_OFFSET, hotend_offset[active_extruder].x * mpe_settings.compensation_factor); if (axis_unhomed_error(_BV(X_AXIS))) return; /** * Z Lift and Nozzle Offset shift ar defined in caller method to work equal with any Multi Hotend realization * * Steps: * 1. Move high speed to park position of new extruder * 2. Move to couple position of new extruder (this also discouple the old extruder) * 3. Move to park position of new extruder * 4. Move high speed to approach park position of old extruder * 5. Move to park position of old extruder * 6. Move to starting position */ // STEP 1 current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation; if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool)); DEBUG_POS(" to new extruder ParkPos", current_position); } planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); planner.synchronize(); // STEP 2 current_position.x = grabpos + offsetcompensation; if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool)); DEBUG_POS(" to new extruder GrabPos", current_position); } planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); planner.synchronize(); // Delay before moving tool, to allow magnetic coupling gcode.dwell(150); // STEP 3 current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation; if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool)); DEBUG_POS(" back to new extruder ParkPos", current_position); } planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); planner.synchronize(); // STEP 4 current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation; if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool)); DEBUG_POS(" close to old extruder ParkPos", current_position); } planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); planner.synchronize(); // STEP 5 current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation; if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool)); DEBUG_POS(" at old extruder ParkPos", current_position); } planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); planner.synchronize(); // STEP 6 current_position.x = oldx; if (DEBUGGING(LEVELING)) { DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool)); DEBUG_POS(" to starting position", current_position); } planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Autopark done."); } #elif ENABLED(PARKING_EXTRUDER) void pe_solenoid_init() { LOOP_LE_N(n, 1) #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) pe_activate_solenoid(n); #else pe_deactivate_solenoid(n); #endif } void pe_set_solenoid(const uint8_t extruder_num, const uint8_t state) { switch (extruder_num) { case 1: OUT_WRITE(SOL1_PIN, state); break; default: OUT_WRITE(SOL0_PIN, state); break; } #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0 gcode.dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY); #endif } inline void parking_extruder_tool_change(const uint8_t new_tool, bool no_move) { if (!no_move) { constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X; #if HAS_HOTEND_OFFSET const float x_offset = hotend_offset[active_extruder].x; #else constexpr float x_offset = 0; #endif const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5f + x_offset, grabpos = parkingposx[new_tool] + (new_tool ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset; /** * 1. Move to park position of old extruder * 2. Disengage magnetic field, wait for delay * 3. Move near new extruder * 4. Engage magnetic field for new extruder * 5. Move to parking incl. offset of new extruder * 6. Lower Z-Axis */ // STEP 1 if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position); current_position.x = parkingposx[active_extruder] + x_offset; if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder)); DEBUG_POS("Moving ParkPos", current_position); } fast_line_to_current(X_AXIS); // STEP 2 planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet"); pe_deactivate_solenoid(active_extruder); // STEP 3 current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPGM("(3) Move near new extruder"); DEBUG_POS("Move away from parked extruder", current_position); } fast_line_to_current(X_AXIS); // STEP 4 planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field"); // Just save power for inverted magnets TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_activate_solenoid(active_extruder)); pe_activate_solenoid(new_tool); // STEP 5 current_position.x = grabpos + (new_tool ? -10 : 10); fast_line_to_current(X_AXIS); current_position.x = grabpos; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("(5) Unpark extruder", current_position); } slow_line_to_current(X_AXIS); // STEP 6 current_position.x = midpos - TERN0(HAS_HOTEND_OFFSET, hotend_offset[new_tool].x); if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("(6) Move midway between hotends", current_position); } fast_line_to_current(X_AXIS); planner.synchronize(); // Always sync the final move if (DEBUGGING(LEVELING)) DEBUG_POS("PE Tool-Change done.", current_position); } else { // nomove == true // Only engage magnetic field for new extruder pe_activate_solenoid(new_tool); // Just save power for inverted magnets TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_activate_solenoid(active_extruder)); } } #endif // PARKING_EXTRUDER #if ENABLED(SWITCHING_TOOLHEAD) inline void swt_lock(const bool locked=true) { const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES; MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]); } void swt_init() { swt_lock(); } inline void switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) { if (no_move) return; constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS; const float placexpos = toolheadposx[active_extruder], grabxpos = toolheadposx[new_tool]; /** * 1. Move to switch position of current toolhead * 2. Unlock tool and drop it in the dock * 3. Move to the new toolhead * 4. Grab and lock the new toolhead */ // 1. Move to switch position of current toolhead if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position); current_position.x = placexpos; if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); DEBUG_POS("Move X SwitchPos", current_position); } fast_line_to_current(X_AXIS); current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("Move Y SwitchPos + Security", current_position); } fast_line_to_current(Y_AXIS); // 2. Unlock tool and drop it in the dock planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead"); swt_lock(false); safe_delay(500); current_position.y = SWITCHING_TOOLHEAD_Y_POS; if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position); slow_line_to_current(Y_AXIS); // Wait for move to complete, then another 0.2s planner.synchronize(); safe_delay(200); current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); fast_line_to_current(Y_AXIS); // move away from docked toolhead // 3. Move to the new toolhead current_position.x = grabxpos; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); DEBUG_POS("Move to new toolhead X", current_position); } fast_line_to_current(X_AXIS); current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("Move Y SwitchPos + Security", current_position); } fast_line_to_current(Y_AXIS); // 4. Grab and lock the new toolhead current_position.y = SWITCHING_TOOLHEAD_Y_POS; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead"); DEBUG_POS("Move Y SwitchPos", current_position); } slow_line_to_current(Y_AXIS); // Wait for move to finish, pause 0.2s, move servo, pause 0.5s planner.synchronize(); safe_delay(200); swt_lock(); safe_delay(500); current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); fast_line_to_current(Y_AXIS); // Move away from docked toolhead planner.synchronize(); // Always sync the final move if (DEBUGGING(LEVELING)) DEBUG_POS("ST Tool-Change done.", current_position); } #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) inline void magnetic_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) { if (no_move) return; constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS, toolheadclearx[] = SWITCHING_TOOLHEAD_X_SECURITY; const float placexpos = toolheadposx[active_extruder], placexclear = toolheadclearx[active_extruder], grabxpos = toolheadposx[new_tool], grabxclear = toolheadclearx[new_tool]; /** * 1. Move to switch position of current toolhead * 2. Release and place toolhead in the dock * 3. Move to the new toolhead * 4. Grab the new toolhead and move to security position */ if (DEBUGGING(LEVELING)) DEBUG_POS("Start MST Tool-Change", current_position); // 1. Move to switch position current toolhead current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; if (DEBUGGING(LEVELING)) { SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); DEBUG_POS("Move Y SwitchPos + Security", current_position); } fast_line_to_current(Y_AXIS); current_position.x = placexclear; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("Move X SwitchPos + Security", current_position); } fast_line_to_current(X_AXIS); current_position.y = SWITCHING_TOOLHEAD_Y_POS; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("Move Y SwitchPos", current_position); } fast_line_to_current(Y_AXIS); current_position.x = placexpos; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("Move X SwitchPos", current_position); } line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f); // 2. Release and place toolhead in the dock if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_ECHOLNPGM("(2) Release and Place Toolhead"); } current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f); current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("Move Y SwitchPos + Security", current_position); } line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]); // 3. Move to new toolhead position if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); } current_position.x = grabxpos; if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position); fast_line_to_current(X_AXIS); // 4. Grab the new toolhead and move to security position if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position"); } current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position); line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]); current_position.y = SWITCHING_TOOLHEAD_Y_POS; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_POS("Move Y SwitchPos", current_position); } _line_to_current(Y_AXIS, 0.2f); #if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM) #if SWITCHING_TOOLHEAD_PRIME_MM current_position.e += SWITCHING_TOOLHEAD_PRIME_MM; planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_PRIME_FEEDRATE), new_tool); #endif #if SWITCHING_TOOLHEAD_RETRACT_MM current_position.e -= SWITCHING_TOOLHEAD_RETRACT_MM; planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_RETRACT_FEEDRATE), new_tool); #endif #else planner.synchronize(); safe_delay(100); // Give switch time to settle #endif current_position.x = grabxclear; if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position); _line_to_current(X_AXIS, 0.1f); planner.synchronize(); safe_delay(100); // Give switch time to settle current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position); fast_line_to_current(Y_AXIS); // move away from docked toolhead planner.synchronize(); // Always sync last tool-change move if (DEBUGGING(LEVELING)) DEBUG_POS("MST Tool-Change done.", current_position); } #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) inline void est_activate_solenoid() { OUT_WRITE(SOL0_PIN, HIGH); } inline void est_deactivate_solenoid() { OUT_WRITE(SOL0_PIN, LOW); } void est_init() { est_activate_solenoid(); } inline void em_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move) { if (no_move) return; constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS; const float placexpos = toolheadposx[active_extruder], grabxpos = toolheadposx[new_tool]; const xyz_pos_t &hoffs = hotend_offset[active_extruder]; /** * 1. Raise Z-Axis to give enough clearance * 2. Move to position near active extruder parking * 3. Move gently to park position of active extruder * 4. Disengage magnetic field, wait for delay * 5. Leave extruder and move to position near new extruder parking * 6. Move gently to park position of new extruder * 7. Engage magnetic field for new extruder parking * 8. Unpark extruder * 9. Apply Z hotend offset to current position */ if (DEBUGGING(LEVELING)) DEBUG_POS("Start EMST Tool-Change", current_position); // 1. Raise Z-Axis to give enough clearance current_position.z += SWITCHING_TOOLHEAD_Z_HOP; if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position); fast_line_to_current(Z_AXIS); // 2. Move to position near active extruder parking if (DEBUGGING(LEVELING)) { planner.synchronize(); SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder); DEBUG_POS("Moving ParkPos", current_position); } current_position.set(hoffs.x + placexpos, hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR); fast_line_to_current(X_AXIS); // 3. Move gently to park position of active extruder if (DEBUGGING(LEVELING)) { planner.synchronize(); SERIAL_ECHOLNPAIR("(3) Move gently to park position of active extruder", active_extruder); DEBUG_POS("Moving ParkPos", current_position); } current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; slow_line_to_current(Y_AXIS); // 4. Disengage magnetic field, wait for delay planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Disengage magnet"); est_deactivate_solenoid(); // 5. Leave extruder and move to position near new extruder parking if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPGM("(5) Move near new extruder parking"); DEBUG_POS("Moving ParkPos", current_position); } current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; slow_line_to_current(Y_AXIS); current_position.set(hoffs.x + grabxpos, hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR); fast_line_to_current(X_AXIS); // 6. Move gently to park position of new extruder current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; if (DEBUGGING(LEVELING)) { planner.synchronize(); DEBUG_ECHOLNPGM("(6) Move near new extruder"); } slow_line_to_current(Y_AXIS); // 7. Engage magnetic field for new extruder parking planner.synchronize(); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(7) Engage magnetic field"); est_activate_solenoid(); // 8. Unpark extruder current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(8) Unpark extruder"); slow_line_to_current(X_AXIS); planner.synchronize(); // Always sync the final move // 9. Apply Z hotend offset to current position if (DEBUGGING(LEVELING)) DEBUG_POS("(9) Applying Z-offset", current_position); current_position.z += hoffs.z - hotend_offset[new_tool].z; if (DEBUGGING(LEVELING)) DEBUG_POS("EMST Tool-Change done.", current_position); } #endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD #if EXTRUDERS inline void invalid_extruder_error(const uint8_t e) { SERIAL_ECHO_START(); SERIAL_CHAR('T'); SERIAL_ECHO(int(e)); SERIAL_CHAR(' '); SERIAL_ECHOLNPGM(STR_INVALID_EXTRUDER); } #endif #if ENABLED(DUAL_X_CARRIAGE) inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) { if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM("Dual X Carriage Mode "); switch (dual_x_carriage_mode) { case DXC_FULL_CONTROL_MODE: DEBUG_ECHOLNPGM("FULL_CONTROL"); break; case DXC_AUTO_PARK_MODE: DEBUG_ECHOLNPGM("AUTO_PARK"); break; case DXC_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DUPLICATION"); break; case DXC_MIRRORED_MODE: DEBUG_ECHOLNPGM("MIRRORED"); break; } } const float xhome = x_home_pos(active_extruder); if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() && !no_move && (delayed_move_time || current_position.x != xhome) ) { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome); // Park old head current_position.x = xhome; line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]); planner.synchronize(); } // Activate the new extruder ahead of calling set_axis_is_at_home! active_extruder = new_tool; // This function resets the max/min values - the current position may be overwritten below. set_axis_is_at_home(X_AXIS); if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position); switch (dual_x_carriage_mode) { case DXC_FULL_CONTROL_MODE: // New current position is the position of the activated extruder current_position.x = inactive_extruder_x_pos; // Save the inactive extruder's position (from the old current_position) inactive_extruder_x_pos = destination.x; break; case DXC_AUTO_PARK_MODE: // record current raised toolhead position for use by unpark raised_parked_position = current_position; active_extruder_parked = true; delayed_move_time = 0; break; default: break; } if (DEBUGGING(LEVELING)) { DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no"); DEBUG_POS("New extruder (parked)", current_position); } } #endif // DUAL_X_CARRIAGE /** * Prime active tool using TOOLCHANGE_FILAMENT_SWAP settings */ #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) void tool_change_prime() { if (toolchange_settings.extra_prime > 0 && TERN(PREVENT_COLD_EXTRUSION, !thermalManager.targetTooColdToExtrude(active_extruder), 1) ) { destination = current_position; // Remember the old position const bool ok = TERN1(TOOLCHANGE_PARK, all_axes_homed() && toolchange_settings.enable_park); #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 // Store and stop fan. Restored on any exit. REMEMBER(fan, thermalManager.fan_speed[TOOLCHANGE_FS_FAN], 0); #endif // Z raise if (ok) { // Do a small lift to avoid the workpiece in the move back (below) current_position.z += toolchange_settings.z_raise; #if HAS_SOFTWARE_ENDSTOPS NOMORE(current_position.z, soft_endstop.max.z); #endif fast_line_to_current(Z_AXIS); planner.synchronize(); } // Park #if ENABLED(TOOLCHANGE_PARK) if (ok) { TERN(TOOLCHANGE_PARK_Y_ONLY,,current_position.x = toolchange_settings.change_point.x); TERN(TOOLCHANGE_PARK_X_ONLY,,current_position.y = toolchange_settings.change_point.y); planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), active_extruder); planner.synchronize(); } #endif // Prime (All distances are added and slowed down to ensure secure priming in all circumstances) unscaled_e_move(toolchange_settings.swap_length + toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed)); // Cutting retraction #if TOOLCHANGE_FS_WIPE_RETRACT unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed)); #endif // Cool down with fan #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed; gcode.dwell(toolchange_settings.fan_time * 1000); thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = 0; #endif // Move back #if ENABLED(TOOLCHANGE_PARK) if (ok) { #if ENABLED(TOOLCHANGE_NO_RETURN) do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]); #else do_blocking_move_to(destination, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE)); #endif } #endif // Cutting recover unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed)); planner.synchronize(); current_position.e = destination.e; sync_plan_position_e(); // Resume at the old E position } } #endif /** * Perform a tool-change, which may result in moving the * previous tool out of the way and the new tool into place. */ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) { if (TERN0(MAGNETIC_SWITCHING_TOOLHEAD, new_tool == active_extruder)) return; #if ENABLED(MIXING_EXTRUDER) UNUSED(no_move); if (new_tool >= MIXING_VIRTUAL_TOOLS) return invalid_extruder_error(new_tool); #if MIXING_VIRTUAL_TOOLS > 1 // T0-Tnnn: Switch virtual tool by changing the index to the mix mixer.T(new_tool); #endif #elif ENABLED(PRUSA_MMU2) UNUSED(no_move); mmu2.tool_change(new_tool); #elif EXTRUDERS == 0 // Nothing to do UNUSED(new_tool); UNUSED(no_move); #elif EXTRUDERS < 2 UNUSED(no_move); if (new_tool) invalid_extruder_error(new_tool); return; #else // EXTRUDERS > 1 planner.synchronize(); #if ENABLED(DUAL_X_CARRIAGE) // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_MIRRORED_MODE if (new_tool != 0 && dxc_is_duplicating()) return invalid_extruder_error(new_tool); #endif if (new_tool >= EXTRUDERS) return invalid_extruder_error(new_tool); if (!no_move && homing_needed()) { no_move = true; if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move (not homed)"); } TERN_(HAS_LCD_MENU, if (!no_move) ui.return_to_status()); #if ENABLED(DUAL_X_CARRIAGE) const bool idex_full_control = dual_x_carriage_mode == DXC_FULL_CONTROL_MODE; #else constexpr bool idex_full_control = false; #endif const uint8_t old_tool = active_extruder; const bool can_move_away = !no_move && !idex_full_control; #if HAS_LEVELING // Set current position to the physical position TEMPORARY_BED_LEVELING_STATE(false); #endif // First tool priming. To prime again, reboot the machine. #if BOTH(TOOLCHANGE_FILAMENT_SWAP, TOOLCHANGE_FS_PRIME_FIRST_USED) static bool first_tool_is_primed = false; if (new_tool == old_tool && !first_tool_is_primed && enable_first_prime) { tool_change_prime(); first_tool_is_primed = true; toolchange_extruder_ready[old_tool] = true; // Primed and initialized } #endif if (new_tool != old_tool) { destination = current_position; #if BOTH(TOOLCHANGE_FILAMENT_SWAP, HAS_FAN) && TOOLCHANGE_FS_FAN >= 0 // Store and stop fan. Restored on any exit. REMEMBER(fan, thermalManager.fan_speed[TOOLCHANGE_FS_FAN], 0); #endif // Z raise before retraction #if ENABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE) if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) { // Do a small lift to avoid the workpiece in the move back (below) current_position.z += toolchange_settings.z_raise; #if HAS_SOFTWARE_ENDSTOPS NOMORE(current_position.z, soft_endstop.max.z); #endif fast_line_to_current(Z_AXIS); planner.synchronize(); } #endif // Unload / Retract #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) const bool should_swap = can_move_away && toolchange_settings.swap_length, too_cold = TERN0(PREVENT_COLD_EXTRUSION, !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool)) ); if (should_swap) { if (too_cold) { SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD); if (ENABLED(SINGLENOZZLE)) { active_extruder = new_tool; return; } } else { // If first new tool, toolchange without unloading the old not initialized 'Just prime/init the new' if (first_tool_is_primed) unscaled_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed)); first_tool_is_primed = true; // The first new tool will be primed by toolchanging } } #endif TERN_(SWITCHING_NOZZLE_TWO_SERVOS, raise_nozzle(old_tool)); REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S); #if HAS_SOFTWARE_ENDSTOPS #if HAS_HOTEND_OFFSET #define _EXT_ARGS , old_tool, new_tool #else #define _EXT_ARGS #endif update_software_endstops(X_AXIS _EXT_ARGS); #if DISABLED(DUAL_X_CARRIAGE) update_software_endstops(Y_AXIS _EXT_ARGS); update_software_endstops(Z_AXIS _EXT_ARGS); #endif #endif #if DISABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE) if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) { // Do a small lift to avoid the workpiece in the move back (below) current_position.z += toolchange_settings.z_raise; #if HAS_SOFTWARE_ENDSTOPS NOMORE(current_position.z, soft_endstop.max.z); #endif fast_line_to_current(Z_AXIS); } #endif // Toolchange park #if ENABLED(TOOLCHANGE_PARK) && DISABLED(SWITCHING_NOZZLE) if (can_move_away && toolchange_settings.enable_park) { TERN(TOOLCHANGE_PARK_Y_ONLY,,current_position.x = toolchange_settings.change_point.x); TERN(TOOLCHANGE_PARK_X_ONLY,,current_position.y = toolchange_settings.change_point.y); planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), old_tool); planner.synchronize(); } #endif #if HAS_HOTEND_OFFSET xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool]; TERN_(DUAL_X_CARRIAGE, diff.x = 0); #else constexpr xyz_pos_t diff{0}; #endif #if ENABLED(DUAL_X_CARRIAGE) dualx_tool_change(new_tool, no_move); #elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder parking_extruder_tool_change(new_tool, no_move); #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder magnetic_parking_extruder_tool_change(new_tool); #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead switching_toolhead_tool_change(new_tool, no_move); #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead magnetic_switching_toolhead_tool_change(new_tool, no_move); #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching ToolChanger em_switching_toolhead_tool_change(new_tool, no_move); #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo) // Raise by a configured distance to avoid workpiece, except with // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead. if (!no_move) { #if HAS_SOFTWARE_ENDSTOPS const float maxz = _MIN(soft_endstop.max.z, Z_MAX_POS); #else constexpr float maxz = Z_MAX_POS; #endif // Check if Z has space to compensate at least z_offset, and if not, just abort now const float newz = current_position.z + _MAX(-diff.z, 0.0); if (newz > maxz) return; current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz); fast_line_to_current(Z_AXIS); } move_nozzle_servo(new_tool); #endif // Set the new active extruder if (DISABLED(DUAL_X_CARRIAGE)) active_extruder = new_tool; // The newly-selected extruder XYZ is actually at... if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XYZ by { ", diff.x, ", ", diff.y, ", ", diff.z, " }"); current_position += diff; // Tell the planner the new "current position" sync_plan_position(); #if ENABLED(DELTA) //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function const bool safe_to_move = current_position.z < delta_clip_start_height - 1; #else constexpr bool safe_to_move = true; #endif // Return to position and lower again const bool should_move = safe_to_move && !no_move && IsRunning(); if (should_move) { #if BOTH(HAS_FAN, SINGLENOZZLE_STANDBY_FAN) singlenozzle_fan_speed[old_tool] = thermalManager.fan_speed[0]; thermalManager.fan_speed[0] = singlenozzle_fan_speed[new_tool]; #endif #if ENABLED(SINGLENOZZLE_STANDBY_TEMP) singlenozzle_temp[old_tool] = thermalManager.temp_hotend[0].target; if (singlenozzle_temp[new_tool] && singlenozzle_temp[new_tool] != singlenozzle_temp[old_tool]) { thermalManager.setTargetHotend(singlenozzle_temp[new_tool], 0); TERN_(AUTOTEMP, planner.autotemp_update()); TERN_(HAS_DISPLAY, thermalManager.set_heating_message(0)); (void)thermalManager.wait_for_hotend(0, false); // Wait for heating or cooling } #endif #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) if (should_swap && !too_cold) { float fr = toolchange_settings.unretract_speed; #if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP) if (!toolchange_extruder_ready[new_tool]) { toolchange_extruder_ready[new_tool] = true; fr = toolchange_settings.prime_speed; // Next move is a prime unscaled_e_move(0, MMM_TO_MMS(fr)); // Init planner with 0 length move } #endif // Unretract (or Prime) unscaled_e_move(toolchange_settings.swap_length, MMM_TO_MMS(fr)); // Extra Prime unscaled_e_move(toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed)); // Cutting retraction #if TOOLCHANGE_FS_WIPE_RETRACT unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed)); #endif // Cool down with fan #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed; gcode.dwell(toolchange_settings.fan_time * 1000); thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = 0; #endif } #endif // Prevent a move outside physical bounds #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // If the original position is within tool store area, go to X origin at once if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) { current_position.x = 0; planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool); planner.synchronize(); } #else apply_motion_limits(destination); #endif // Should the nozzle move back to the old position? if (can_move_away) { #if ENABLED(TOOLCHANGE_NO_RETURN) // Just move back down if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only"); #if ENABLED(TOOLCHANGE_PARK) if (toolchange_settings.enable_park) #endif do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]); #else // Move back to the original (or adjusted) position if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination); #if ENABLED(TOOLCHANGE_PARK) if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE)); #else do_blocking_move_to_xy(destination); #endif #endif } else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped"); #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) if (should_swap && !too_cold) { // Cutting recover unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed)); current_position.e = 0; sync_plan_position_e(); // New extruder primed and set to 0 // Restart Fan #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 RESTORE(fan); #endif } #endif TERN_(DUAL_X_CARRIAGE, active_extruder_parked = false); } #if ENABLED(SWITCHING_NOZZLE) // Move back down. (Including when the new tool is higher.) if (!should_move) do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]); #endif TERN_(PRUSA_MMU2, mmu2.tool_change(new_tool)); TERN_(SWITCHING_NOZZLE_TWO_SERVOS, lower_nozzle(new_tool)); } // (new_tool != old_tool) planner.synchronize(); #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER) disable_all_solenoids(); enable_solenoid_on_active_extruder(); #endif #if ENABLED(MK2_MULTIPLEXER) if (new_tool >= E_STEPPERS) return invalid_extruder_error(new_tool); select_multiplexed_stepper(new_tool); #endif #if DO_SWITCH_EXTRUDER planner.synchronize(); move_extruder_servo(active_extruder); #endif TERN_(HAS_FANMUX, fanmux_switch(active_extruder)); #ifdef EVENT_GCODE_AFTER_TOOLCHANGE if (!no_move && TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE)) gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_AFTER_TOOLCHANGE)); #endif SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(active_extruder)); #endif // EXTRUDERS > 1 } #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) void extruder_migration() { #if ENABLED(PREVENT_COLD_EXTRUSION) if (thermalManager.targetTooColdToExtrude(active_extruder)) return; #endif // No auto-migration or specified target? if (!migration.target && active_extruder >= migration.last) { migration.automode = false; return; } // Migrate to a target or the next extruder uint8_t migration_extruder = active_extruder; if (migration.target) { // Specified target ok? const int16_t t = migration.target - 1; if (t != active_extruder) migration_extruder = t; } else if (migration.automode && migration_extruder < migration.last && migration_extruder < EXTRUDERS - 1) migration_extruder++; if (migration_extruder == active_extruder) return; // Migration begins migration.in_progress = true; // Prevent runout script planner.synchronize(); // Remember position before migration const float resume_current_e = current_position.e; // Migrate the flow planner.set_flow(migration_extruder, planner.flow_percentage[active_extruder]); // Migrate the retracted state #if ENABLED(FWRETRACT) fwretract.retracted[migration_extruder] = fwretract.retracted[active_extruder]; #endif // Migrate the temperature to the new hotend #if HAS_MULTI_HOTEND thermalManager.setTargetHotend(thermalManager.temp_hotend[active_extruder].target, migration_extruder); TERN_(AUTOTEMP, planner.autotemp_update()); TERN_(HAS_DISPLAY, thermalManager.set_heating_message(0)); thermalManager.wait_for_hotend(active_extruder); #endif // Migrate Linear Advance K factor to the new extruder TERN_(LIN_ADVANCE, planner.extruder_advance_K[active_extruder] = planner.extruder_advance_K[migration_extruder]); // Perform the tool change tool_change(migration_extruder); // Retract if previously retracted #if ENABLED(FWRETRACT) if (fwretract.retracted[active_extruder]) unscaled_e_move(-fwretract.settings.retract_length, fwretract.settings.retract_feedrate_mm_s); #endif // If no available extruder if (EXTRUDERS < 2 || active_extruder >= EXTRUDERS - 2 || active_extruder == migration.last) migration.automode = false; migration.in_progress = false; current_position.e = resume_current_e; planner.synchronize(); planner.set_e_position_mm(current_position.e); // New extruder primed and ready } #endif // TOOLCHANGE_MIGRATION_FEATURE