Changing Tools - Revision history

Poofjunior: /* Implementation */

2020-07-29T23:07:59Z

Implementation

Poofjunior: /* Behavior: */

2020-07-20T17:25:05Z

Behavior:

Poofjunior: /* Behavior: */

2020-07-20T17:22:11Z

Behavior:

Poofjunior: /* Duet2/3 */

2020-07-20T17:11:23Z

Duet2/3

Poofjunior: /* Duet2/3 */

2020-07-20T17:10:55Z

Duet2/3

Poofjunior: /* Behavior: */

2020-07-20T17:09:39Z

Behavior:

Poofjunior: /* Behavior: */

2020-07-20T17:08:08Z

Behavior:

Poofjunior: /* Duet2/3 */

2020-07-07T20:59:34Z

Duet2/3

Poofjunior: /* Swapping Between Tools */

2020-07-07T20:51:35Z

Swapping Between Tools

Poofjunior: /* Starting State: */

2020-07-07T20:47:40Z

Starting State:

@@ Line 50: / Line 50: @@
 ==Implementation==
 ===Duet2/3===
-Duet 2 and Duet 3 boards use the built-in [https://duet3d.dozuki.com/Wiki/Macros#Section_Tool_change tool change macros] to implement the behavior specified above. Invoking a tool change with <code>T<x></code>, where <code><x></code> is the tool number, runs a series of certain macros (specified in the link above), depending on (1) the current tool loaded and (2) the next tool to pick up. Additionally, before invoking these macros, the Duet [https://duet3d.dozuki.com/Wiki/Gcode#Section_M120_Push saves the machine state]. After the macros finish execution, the machine [https://duet3d.dozuki.com/Wiki/Gcode#Section_M121_Pop restores the machine state]. This behavior enables the macro to freely toggle between absolute and relative mode within the macro without needing to worry about the mode that the machine started in.
+Duet 2 and Duet 3 boards use the built-in [https://duet3d.dozuki.com/Wiki/Macros#Section_Tool_change tool change macros] to implement the behavior specified above. Invoking a tool change with <code>T<x></code>, where <code><x></code> is the tool number, runs a series of certain macros (specified in the link above), depending on (1) the current tool loaded and (2) the next tool to pick up. Additionally, before invoking these macros, the Duet does two things. First, it [https://duet3d.dozuki.com/Wiki/Gcode#Section_M120_Push saves the machine state]. After the macros finish execution, the machine [https://duet3d.dozuki.com/Wiki/Gcode#Section_M121_Pop restores the machine state]. This behavior enables the macro to freely toggle between absolute and relative mode within the macro without needing to worry about the mode that the machine started in. Second, the Duet saves the current location to save slot 0. This is the equivalent of invoking <code> G60 S2</code>. This is a convenience. This position can be restored in the macro by invoking <code> G1 R2</code>. This position can also be restored only on specific degrees of freedom (X, Y, or Z). In the 2.1.2 implementation and beyond, this feature is used to restore the Z height before retracting the new tool such that the tool tip does not crash into the bed if the next tool is longer than the previous tool.
 ===Klipper===
 In the works!

@@ Line 34: / Line 34: @@
 ====Behavior:====
 # The machine saves the current control point location z value to a save slot. Let this location be the ''prior position z''.
 # The machine rapids to the ''pre-park position'' for tool 0. This position is a point specified in space that is directly behind tool 0's parking location by about 10mm. Because tool offsets are in effect, issuing a move command to this location needs to either (1) account for the tool offset or (2) specify the movement in "world" coordinates such that the tool offsets are ignored. (Option 2 can be done by prefixing GCode based movement commands with <code>G53</code>.) This point can be the same same as the ''pre-pickup'' position for tool 0.
 # The machine saves ''x'' and ''y'' of this ''pre-park position'' in a save slot.

@@ Line 33: / Line 33: @@
 ====Behavior:====
-# The machine rapids to the ''pre-park position'' for tool 0. This position is a point specified in space that is directly behind tool 0's parking location by about 10mm. Because tool offsets are in effect, issuing a move command to this location needs to either (1) account for the offset or (2) specify the movement in "world" coordinates such that the tool offsets are ignored. (Option 2 can be done by prefixing GCode based movement commands with <code>G53</code>.) This point can be the same same as the ''pre-pickup'' position for tool 0.
+# The machine saves the current control point location z value to a save slot. Let this location be the ''prior position z''.
-# The machine saves this ''pre-park position'' in a save slot.
+# The machine rapids to the ''pre-park position'' for tool 0. This position is a point specified in space that is directly behind tool 0's parking location by about 10mm. Because tool offsets are in effect, issuing a move command to this location needs to either (1) account for the tool offset or (2) specify the movement in "world" coordinates such that the tool offsets are ignored. (Option 2 can be done by prefixing GCode based movement commands with <code>G53</code>.) This point can be the same same as the ''pre-pickup'' position for tool 0.
 # The machine moves forward in y until tool 0 is fully inserted into its parking post.
-# The machine disengages the lock, rotating back to it's unloaded position. (The twist lock pin will be horizontal.)
+# The machine disengages the lock. (The twist lock pin will be horizontal.)
-# The machine retracts the pin out of the tool by moving backwards in y to the ''pre-park position''.
+# The carriage is now empty and tool offsets for tool 0 are no longer in effect. All future commands with the tool loaded use the Zprobe trigger point as the ''control point''.
-# The machine retracts backwards such that it is in the ''pre-park position''.
+# The machine retracts the pin out of the tool by moving backwards in y to ''pre-park position y''.
-# The carriage is now empty and tool offsets for tool 0 are no longer in effect. All future commands with the tool loaded will be relative to the Zprobe trigger point.
+# The machine restores the carriage to the ''pre-park position x''. This behavior causes the carriage to move such that the Zprobe trigger ''x'' and ''y'' position is now at the same point in space that the tool tip was when the point was when the position was saved.
-# The machine restores the carriage to the ''pre-park position''. This behavior causes the carriage to move such that the Zprobe trigger point is now at the same point in space that the tool tip was when the point was when the position was saved. The machine gantry and bed will move to create this effect.
+# Everything from now onwards is identical to the procedure in '''Picking Up a Single Tool''' starting from (2) where the tool to be picked up is tool 1.
 ===FAQs===

@@ Line 51: / Line 51: @@
 Duet 2 and Duet 3 boards use the built-in [https://duet3d.dozuki.com/Wiki/Macros#Section_Tool_change tool change macros] to implement the behavior specified above. Invoking a tool change with <code>T<x></code>, where <code><x></code> is the tool number, runs a series of certain macros (specified in the link above), depending on (1) the current tool loaded and (2) the next tool to pick up. Additionally, before invoking these macros, the Duet [https://duet3d.dozuki.com/Wiki/Gcode#Section_M120_Push saves the machine state]. After the macros finish execution, the machine [https://duet3d.dozuki.com/Wiki/Gcode#Section_M121_Pop restores the machine state]. This behavior enables the macro to freely toggle between absolute and relative mode within the macro without needing to worry about the mode that the machine started in.
-The Duet 2 and Duet 3 boards also automatically save the ''prior location'' to save slot 2 before executing any macros.
+The Duet 2 and Duet 3 boards also automatically save the ''prior position'' to save slot 2 before executing any macros.
 ===Klipper===
 In the works!

@@ Line 50: / Line 50: @@
 ===Duet2/3===
 Duet 2 and Duet 3 boards use the built-in [https://duet3d.dozuki.com/Wiki/Macros#Section_Tool_change tool change macros] to implement the behavior specified above. Invoking a tool change with <code>T<x></code>, where <code><x></code> is the tool number, runs a series of certain macros (specified in the link above), depending on (1) the current tool loaded and (2) the next tool to pick up. Additionally, before invoking these macros, the Duet [https://duet3d.dozuki.com/Wiki/Gcode#Section_M120_Push saves the machine state]. After the macros finish execution, the machine [https://duet3d.dozuki.com/Wiki/Gcode#Section_M121_Pop restores the machine state]. This behavior enables the macro to freely toggle between absolute and relative mode within the macro without needing to worry about the mode that the machine started in.
 ===Klipper===
 In the works!

@@ Line 15: / Line 15: @@
 ====Behavior:====
 # The machine saves the current control point location ''z'' value to a save slot. Let this location be the ''prior position z''.
-# The machine rapids to the ''pre-pickup position'' for tool 0. This position is directly behind tool 0's parking location by about 10mm. This point is defined such that the carriage can freely move in ''x'' without crashing the twist lock pin into any other tools on the rack.
+# The machine rapids in ''x'' and ''y'' to the ''pre-pickup position'' for tool 0. This position is directly behind tool 0's parking location by about 10mm. This point is defined such that the carriage can freely move in ''x'' without crashing the twist lock pin into any other tools on the rack.
 # The machine saves the ''pre-pickup position'' ''x'' and ''y'' values to a save slot.
 # The machine moves forward in y until the twist lock is inside tool 0's wedge plate and the coupling pins are approximately contacting the tool balls on tool 0.

@@ Line 14: / Line 14: @@
 ====Behavior:====
 # The machine rapids to the ''pre-pickup position'' for tool 0. This position is directly behind tool 0's parking location by about 10mm. This point is defined such that the carriage can freely move in ''x'' without crashing the twist lock pin into any other tools on the rack.
-# The machine saves the pre-pickup position in a save slot.
+# The machine saves the ''pre-pickup position'' ''x'' and ''y'' values to a save slot.
 # The machine moves forward in y until the twist lock is inside tool 0's wedge plate and the coupling pins are approximately contacting the tool balls on tool 0.
 # The machine engages the lock. The twist lock rotates until it reaches the torque limit. The tool coupling points are pulled into contact, and the tool is considered ''locked''.
 # Tool offsets for tool 0 are now in effect. All future commands with the tool loaded will be relative to the current tool tip.
-# The machine restores the tool pickup position. This behavior causes the tool to move such that the tool tip is now at the same point in space as the Zprobe trigger point when the position was saved. The machine gantry and bed will move to create this effect.
+# The machine restores the ''prior position z'' value. With tool offsets in effect, the result is that the bed height adjusts such that the tool tip is at the same height as the prior tool. Retracting the tool from this point does not risk crashing into the bed if the tool is tall.
 # The machine is now ready to process subsequent GCodes.

@@ Line 28: / Line 28: @@
 * carriage is holding onto tool 0. Tool offsets for tool 0 are in effect.
 * machine is at some arbitrary starting location
-* user (or program) has just issued a '''T1''' command
+* user (or program) has just issued a <code>T1</code> command
 ====Behavior:====
-# The machine rapids to the ''pre-park position'' for tool 0. This position is a point specified in space that is directly behind tool 0's parking location by about 10mm. Because tool offsets are in effect, issuing a move command to this location needs to either (1) account for the offset or (2) specify the movement in "world" coordinates such that the tool offsets are ignored. (Option 2 can be done by prefixing GCode based movement commands with '''G53'''.) This point can be the same same as the ''pre-pickup'' position for tool 0.
+# The machine rapids to the ''pre-park position'' for tool 0. This position is a point specified in space that is directly behind tool 0's parking location by about 10mm. Because tool offsets are in effect, issuing a move command to this location needs to either (1) account for the offset or (2) specify the movement in "world" coordinates such that the tool offsets are ignored. (Option 2 can be done by prefixing GCode based movement commands with <code>G53</code>.) This point can be the same same as the ''pre-pickup'' position for tool 0.
 # The machine saves this ''pre-park position'' in a save slot.
 # The machine moves forward in y until tool 0 is fully inserted into its parking post.

@@ Line 11: / Line 11: @@
 * carriage is empty (not holding onto any tools)
 * machine is at some arbitrary starting location
-* user (or program) has just issued a '''T0''' command
+* user (or program) has just issued a <code>T0</code> command
 ====Behavior:====