Prusa MINI Firmware overview
Functions
tool_change.h File Reference
#include "../inc/MarlinConfigPre.h"
#include "../core/types.h"

Go to the source code of this file.

Functions

void tool_change (const uint8_t tmp_extruder, bool no_move=false)
 

Function Documentation

◆ tool_change()

void tool_change ( const uint8_t  new_tool,
bool  no_move 
)

Marlin 3D Printer Firmware Copyright (c) 2019 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 http://www.gnu.org/licenses/. Perform a tool-change, which may result in moving the previous tool out of the way and the new tool into place.

Perform a tool-change, which may result in moving the previous tool out of the way and the new tool into place.

771  {
772 
773  #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
774  if (new_tool == active_extruder) return;
775  #endif
776 
777  #if ENABLED(MIXING_EXTRUDER)
778 
779  UNUSED(no_move);
780 
781  if (new_tool >= MIXING_VIRTUAL_TOOLS)
782  return invalid_extruder_error(new_tool);
783 
784  #if MIXING_VIRTUAL_TOOLS > 1
785  // T0-Tnnn: Switch virtual tool by changing the index to the mix
786  mixer.T(new_tool);
787  #endif
788 
789  #elif ENABLED(PRUSA_MMU2)
790 
791  UNUSED(no_move);
792 
793  mmu2.tool_change(new_tool);
794 
795  #elif EXTRUDERS == 0
796 
797  // Nothing to do
798  UNUSED(new_tool); UNUSED(no_move);
799 
800  #elif EXTRUDERS < 2
801 
802  UNUSED(no_move);
803 
804  if (new_tool) invalid_extruder_error(new_tool);
805  return;
806 
807  #else // EXTRUDERS > 1
808 
809  planner.synchronize();
810 
811  #if ENABLED(DUAL_X_CARRIAGE) // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_MIRRORED_MODE
812  if (new_tool != 0 && dxc_is_duplicating())
813  return invalid_extruder_error(new_tool);
814  #endif
815 
816  if (new_tool >= EXTRUDERS)
817  return invalid_extruder_error(new_tool);
818 
819  if (!no_move && !all_axes_homed()) {
820  no_move = true;
821  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move (not homed)");
822  }
823 
824  #if HAS_LCD_MENU
825  ui.return_to_status();
826  #endif
827 
828  #if ENABLED(DUAL_X_CARRIAGE)
829  const bool idex_full_control = dual_x_carriage_mode == DXC_FULL_CONTROL_MODE;
830  #else
831  constexpr bool idex_full_control = false;
832  #endif
833 
834  const uint8_t old_tool = active_extruder;
835  const bool can_move_away = !no_move && !idex_full_control;
836 
837  #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
838  const bool should_swap = can_move_away && toolchange_settings.swap_length;
839  #if ENABLED(PREVENT_COLD_EXTRUSION)
840  const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool));
841  #else
842  constexpr bool too_cold = false;
843  #endif
844  if (should_swap) {
845  if (too_cold) {
846  SERIAL_ECHO_MSG(MSG_ERR_HOTEND_TOO_COLD);
847  #if ENABLED(SINGLENOZZLE)
848  active_extruder = new_tool;
849  return;
850  #endif
851  }
852  else {
853  #if ENABLED(ADVANCED_PAUSE_FEATURE)
854  do_pause_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
855  #else
856  current_position.e -= toolchange_settings.swap_length / planner.e_factor[old_tool];
857  planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), old_tool);
858  planner.synchronize();
859  #endif
860  }
861  }
862  #endif // TOOLCHANGE_FILAMENT_SWAP
863 
864  #if HAS_LEVELING
865  // Set current position to the physical position
866  TEMPORARY_BED_LEVELING_STATE(false);
867  #endif
868 
869  if (new_tool != old_tool) {
870 
871  #if SWITCHING_NOZZLE_TWO_SERVOS
872  raise_nozzle(old_tool);
873  #endif
874 
875  REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S);
876 
877  #if HAS_SOFTWARE_ENDSTOPS
878  #if HAS_HOTEND_OFFSET
879  #define _EXT_ARGS , old_tool, new_tool
880  #else
881  #define _EXT_ARGS
882  #endif
883  update_software_endstops(X_AXIS _EXT_ARGS);
884  #if DISABLED(DUAL_X_CARRIAGE)
885  update_software_endstops(Y_AXIS _EXT_ARGS);
886  update_software_endstops(Z_AXIS _EXT_ARGS);
887  #endif
888  #endif
889 
890  destination = current_position;
891 
892  #if DISABLED(SWITCHING_NOZZLE)
893  if (can_move_away) {
894  // Do a small lift to avoid the workpiece in the move back (below)
895  current_position.z += toolchange_settings.z_raise;
896  #if HAS_SOFTWARE_ENDSTOPS
897  NOMORE(current_position.z, soft_endstop.max.z);
898  #endif
899  fast_line_to_current(Z_AXIS);
900  #if ENABLED(TOOLCHANGE_PARK)
901  current_position = toolchange_settings.change_point;
902  #endif
903  planner.buffer_line(current_position, feedrate_mm_s, old_tool);
904  planner.synchronize();
905  }
906  #endif
907 
908  #if HAS_HOTEND_OFFSET
909  xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool];
910  #if ENABLED(DUAL_X_CARRIAGE)
911  diff.x = 0;
912  #endif
913  #else
914  constexpr xyz_pos_t diff{0};
915  #endif
916 
917  #if ENABLED(DUAL_X_CARRIAGE)
918  dualx_tool_change(new_tool, no_move);
919  #elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
920  parking_extruder_tool_change(new_tool, no_move);
921  #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
922  magnetic_parking_extruder_tool_change(new_tool);
923  #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
924  switching_toolhead_tool_change(new_tool, no_move);
925  #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
926  magnetic_switching_toolhead_tool_change(new_tool, no_move);
927  #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching ToolChanger
928  em_switching_toolhead_tool_change(new_tool, no_move);
929  #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo)
930  // Raise by a configured distance to avoid workpiece, except with
931  // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
932  current_position.z += _MAX(-diff.z, 0.0) + toolchange_settings.z_raise;
933  #if HAS_SOFTWARE_ENDSTOPS
934  NOMORE(current_position.z, soft_endstop.max.z);
935  #endif
936  if (!no_move) fast_line_to_current(Z_AXIS);
937  move_nozzle_servo(new_tool);
938  #endif
939 
940  #if DISABLED(DUAL_X_CARRIAGE)
941  active_extruder = new_tool; // Set the new active extruder
942  #endif
943 
944  // The newly-selected extruder XYZ is actually at...
945  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XY by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
946  current_position += diff;
947 
948  // Tell the planner the new "current position"
949  sync_plan_position();
950 
951  #if ENABLED(DELTA)
952  //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
953  const bool safe_to_move = current_position.z < delta_clip_start_height - 1;
954  #else
955  constexpr bool safe_to_move = true;
956  #endif
957 
958  // Return to position and lower again
959  if (safe_to_move && !no_move && IsRunning()) {
960 
961  #if ENABLED(SINGLENOZZLE)
962  #if FAN_COUNT > 0
963  singlenozzle_fan_speed[old_tool] = thermalManager.fan_speed[0];
964  thermalManager.fan_speed[0] = singlenozzle_fan_speed[new_tool];
965  #endif
966 
967  singlenozzle_temp[old_tool] = thermalManager.temp_hotend[0].target;
968  if (singlenozzle_temp[new_tool] && singlenozzle_temp[new_tool] != singlenozzle_temp[old_tool]) {
969  thermalManager.setTargetHotend(singlenozzle_temp[new_tool], 0);
970  #if HAS_DISPLAY
971  thermalManager.set_heating_message(0);
972  #endif
973  (void)thermalManager.wait_for_hotend(0, false); // Wait for heating or cooling
974  }
975  #endif
976 
977  #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
978  if (should_swap && !too_cold) {
979  #if ENABLED(ADVANCED_PAUSE_FEATURE)
980  do_pause_e_move(toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.prime_speed));
981  do_pause_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE);
982  #else
983  current_position.e += toolchange_settings.swap_length / planner.e_factor[new_tool];
984  planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), new_tool);
985  current_position.e += toolchange_settings.extra_prime / planner.e_factor[new_tool];
986  planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed * 0.2f), new_tool);
987  #endif
988  planner.synchronize();
989  planner.set_e_position_mm((destination.e = current_position.e = current_position.e - (TOOLCHANGE_FIL_EXTRA_PRIME)));
990  }
991  #endif
992 
993  // Prevent a move outside physical bounds
994  #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
995  // If the original position is within tool store area, go to X origin at once
996  if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
997  current_position.x = 0;
998  planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool);
999  planner.synchronize();
1000  }
1001  #else
1002  apply_motion_limits(destination);
1003  #endif
1004 
1005  // Should the nozzle move back to the old position?
1006  if (can_move_away) {
1007  #if ENABLED(TOOLCHANGE_NO_RETURN)
1008  // Just move back down
1009  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only");
1010  do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
1011  #else
1012  // Move back to the original (or adjusted) position
1013  if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
1014  do_blocking_move_to(destination);
1015  #endif
1016  }
1017  else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped");
1018 
1019  #if ENABLED(DUAL_X_CARRIAGE)
1020  active_extruder_parked = false;
1021  #endif
1022  }
1023  #if ENABLED(SWITCHING_NOZZLE)
1024  else {
1025  // Move back down. (Including when the new tool is higher.)
1026  do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
1027  }
1028  #endif
1029 
1030  #if ENABLED(PRUSA_MMU2)
1031  mmu2.tool_change(new_tool);
1032  #endif
1033 
1034  #if SWITCHING_NOZZLE_TWO_SERVOS
1035  lower_nozzle(new_tool);
1036  #endif
1037 
1038  } // (new_tool != old_tool)
1039 
1040  planner.synchronize();
1041 
1042  #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
1043  disable_all_solenoids();
1044  enable_solenoid_on_active_extruder();
1045  #endif
1046 
1047  #if ENABLED(MK2_MULTIPLEXER)
1048  if (new_tool >= E_STEPPERS) return invalid_extruder_error(new_tool);
1049  select_multiplexed_stepper(new_tool);
1050  #endif
1051 
1052  #if DO_SWITCH_EXTRUDER
1053  planner.synchronize();
1054  move_extruder_servo(active_extruder);
1055  #endif
1056 
1057  #if HAS_FANMUX
1058  fanmux_switch(active_extruder);
1059  #endif
1060 
1061  SERIAL_ECHO_START();
1062  SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, int(active_extruder));
1063 
1064  #endif // EXTRUDERS > 1
1065 }
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delta_clip_start_height
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