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Reduces the retract after a TLO measurement to 25mm to speed up the process #284

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Merged
WARIO2412 merged 1 commit into from
Mar 29, 2026
+9 −3
Merged

Reduces the retract after a TLO measurement to 25mm to speed up the process #284

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12 changes: 9 additions & 3 deletions src/modules/tools/atc/ATCHandler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1074,9 +1074,11 @@ void ATCHandler::fill_cali_scripts(bool is_probe, bool clear_z, int repeat_count
}

for(int i = 1; i <= repeat_count; i++){
if(i == 1){
// lift z to safe position with fast speed
snprintf(buff, sizeof(buff), "G53 G0 Z%.3f", THEROBOT->from_millimeters(clear_z ? this->clearance_z : this->safe_z_mm));
this->script_queue.push(buff);
}
// move x and y to calibrate position
// Use one-off offsets if configured, otherwise use standard probe position
float probe_x = probe_mx_mm + (this->probe_oneoff_configured ? this->probe_oneoff_x : 0.0);
Expand Down Expand Up @@ -1109,13 +1111,17 @@ void ATCHandler::fill_cali_scripts(bool is_probe, bool clear_z, int repeat_count
// save new tool offset
snprintf(buff, sizeof(buff), "M493.1 R%d", i);
this->script_queue.push(buff);
// lift z to safe position with fast speed
snprintf(buff, sizeof(buff), "G53 G0 Z%.3f", THEROBOT->from_millimeters(this->clearance_z));
this->script_queue.push(buff);
}else{
// save new tool offset
this->script_queue.push("M493.1");
// lift a bit
snprintf(buff, sizeof(buff), "G91 G0 Z%.3f", THEROBOT->from_millimeters(25.0));
this->script_queue.push(buff);
}
// lift z to safe position with fast speed
snprintf(buff, sizeof(buff), "G53 G0 Z%.3f", THEROBOT->from_millimeters(this->safe_z_mm));
this->script_queue.push(buff);

}
// check if wireless probe is will be triggered
if (is_probe) {
Expand Down
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