From 6803c8e37eab3dd71a8db30defe5787c90372a92 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 23 Jun 2016 15:50:13 -0700 Subject: [PATCH] Move Z up before, or down after XY, for "blocking move" --- Marlin/Marlin_main.cpp | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 0e42a4bad..369e79977 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1666,18 +1666,25 @@ static void clean_up_after_endstop_or_probe_move() { #else - feedrate = homing_feedrate[Z_AXIS]; - - current_position[Z_AXIS] = z; - line_to_current_position(); - stepper.synchronize(); + // If Z needs to raise, do it before moving XY + if (current_position[Z_AXIS] < z) { + feedrate = homing_feedrate[Z_AXIS]; + current_position[Z_AXIS] = z; + line_to_current_position(); + } feedrate = XY_PROBE_FEEDRATE; - current_position[X_AXIS] = x; current_position[Y_AXIS] = y; line_to_current_position(); + // If Z needs to lower, do it after moving XY + if (current_position[Z_AXIS] > z) { + feedrate = homing_feedrate[Z_AXIS]; + current_position[Z_AXIS] = z; + line_to_current_position(); + } + #endif stepper.synchronize();