diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 792001bc6..ec886b680 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -301,6 +301,7 @@ float code_value_temp_diff(); extern float delta_diagonal_rod_trim_tower_3; void calculate_delta(float cartesian[3]); void recalc_delta_settings(float radius, float diagonal_rod); + float delta_safe_distance_from_top(); #if ENABLED(AUTO_BED_LEVELING_FEATURE) extern int delta_grid_spacing[2]; void adjust_delta(float cartesian[3]); diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index f8adcfb2d..3dd0a318f 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -322,6 +322,9 @@ float home_offset[3] = { 0 }; // Software Endstops. Default to configured limits. float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; +#if ENABLED(DELTA) + float delta_clip_start_height = Z_MAX_POS; +#endif #if FAN_COUNT > 0 int fanSpeeds[FAN_COUNT] = { 0 }; @@ -1441,6 +1444,7 @@ static void update_software_endstops(AxisEnum axis) { sw_endstop_min[axis] = base_min_pos(axis) + offs; sw_endstop_max[axis] = base_max_pos(axis) + offs; } + #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("For ", axis_codes[axis]); @@ -1451,6 +1455,13 @@ static void update_software_endstops(AxisEnum axis) { SERIAL_EOL; } #endif + + #if ENABLED(DELTA) + if (axis == Z_AXIS) { + delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top(); + } + #endif + } /** @@ -3101,6 +3112,11 @@ inline void gcode_G28() { } #endif + #if ENABLED(DELTA) + // move to a height where we can use the full xy-area + do_blocking_move_to_z(delta_clip_start_height); + #endif + clean_up_after_endstop_or_probe_move(); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -7541,6 +7557,15 @@ void clamp_to_software_endstops(float target[3]) { */ } + float delta_safe_distance_from_top() { + float cartesian[3] = { 0 }; + calculate_delta(cartesian); + float distance = delta[TOWER_3]; + cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS; + calculate_delta(cartesian); + return abs(distance - delta[TOWER_3]); + } + #if ENABLED(AUTO_BED_LEVELING_FEATURE) // Adjust print surface height by linear interpolation over the bed_level array.