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Fix incorrect probe position when backing off #138

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Sep 15, 2024
Merged

Fix incorrect probe position when backing off #138

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4 changes: 4 additions & 0 deletions macro/machine/M5000.g
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,10 @@
; position
; Return machine information

; Make sure this file is not executed by the secondary motion system
if { !inputs[state.thisInput].active }
M99

if { !exists(param.P) }
abort { "M5011: No machine information requested with P parameter." }

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17 changes: 10 additions & 7 deletions macro/movement/G6512.g
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Expand Up @@ -140,6 +140,9 @@ if { var.manualProbe }
else
G6512.1 I{ param.I } X{ var.tPX } Y{ var.tPY } Z{ var.tPZ } R{ exists(param.R) ? param.R : null } E{ exists(param.E) ? param.E : 1 }

; Save probed position
var pP = { global.mosMI }

; Move to safe height
; If probing move is called with D parameter,
; we stay at the same height.
Expand Down Expand Up @@ -173,15 +176,15 @@ var mag = { sqrt(pow(var.tPX - var.sX, 2) + pow(var.tPY - var.sY, 2)) }
if { var.mag != 0 }
; Adjust the final position along the direction of movement in X and Y
; by the tool radius, subtracting the deflection on each axis.
set global.mosMI[0] = { global.mosMI[0] + (global.mosTT[state.currentTool][0] - global.mosTT[state.currentTool][1][0]) * ((var.tPX - var.sX) / var.mag) }
set global.mosMI[1] = { global.mosMI[1] + (global.mosTT[state.currentTool][0] - global.mosTT[state.currentTool][1][1]) * ((var.tPY - var.sY) / var.mag) }
set var.pP[0] = { var.pP[0] + (global.mosTT[state.currentTool][0] - global.mosTT[state.currentTool][1][0]) * ((var.tPX - var.sX) / var.mag) }
set var.pP[1] = { var.pP[1] + (global.mosTT[state.currentTool][0] - global.mosTT[state.currentTool][1][1]) * ((var.tPY - var.sY) / var.mag) }

; We do not adjust by the tool radius in Z.

; Now we can apply any probe offsets, if they exist.
if { exists(param.I) }
set global.mosMI[0] = { global.mosMI[0] + sensors.probes[param.I].offsets[0] }
set global.mosMI[1] = { global.mosMI[1] + sensors.probes[param.I].offsets[1] }
set var.pP[0] = { var.pP[0] + sensors.probes[param.I].offsets[0] }
set var.pP[1] = { var.pP[1] + sensors.probes[param.I].offsets[1] }

; This does bring up an interesting conundrum though. If you're probing in 2 axes where
; one is Z, then you have no way of knowing whether the probe was triggered by the Z
Expand All @@ -197,6 +200,6 @@ if { exists(param.I) }
var sDig = 1000

; Round the output variables to 3 decimal places
set global.mosMI[0] = { ceil(global.mosMI[0] * var.sDig) / var.sDig }
set global.mosMI[1] = { ceil(global.mosMI[1] * var.sDig) / var.sDig }
set global.mosMI[2] = { ceil(global.mosMI[2] * var.sDig) / var.sDig }
set global.mosMI[0] = { ceil(var.pP[0] * var.sDig) / var.sDig }
set global.mosMI[1] = { ceil(var.pP[1] * var.sDig) / var.sDig }
set global.mosMI[2] = { ceil(var.pP[2] * var.sDig) / var.sDig }
1 change: 0 additions & 1 deletion macro/movement/G6550.g
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Expand Up @@ -39,7 +39,6 @@ var manualProbe = { !exists(param.I) || param.I == null }
; Get current machine position
M5000 P0


; Generate target position and defaults
var tPX = { (exists(param.X)? param.X : global.mosMI[0]) }
var tPY = { (exists(param.Y)? param.Y : global.mosMI[1]) }
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