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Automatically limiting Z travel distance to soft limits during Z probing #1274

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Automatically limiting Z travel distance to soft limits during Z probing #1274

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67b1b62
Adding automatic Z limit adjustment for Z probing
tommaso-b Mar 28, 2025
a6bb083
system.h adding function prototype
tommaso-b Mar 28, 2025
5930743
When Z probing, adapt Z to soft limits if Z out of range
tommaso-b Mar 28, 2025
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3 changes: 3 additions & 0 deletions grbl/motion_control.c
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Original file line number Diff line number Diff line change
Expand Up @@ -277,6 +277,9 @@ uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_
return(GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
}

// Z Probing simplification : if Z travel exceeds soft limits, adjust Z to max. allowed value as probing stop is anyhow expected
system_do_limit_Z_travel(target);

// Setup and queue probing motion. Auto cycle-start should not start the cycle.
mc_line(target, pl_data);

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18 changes: 18 additions & 0 deletions grbl/system.c
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Expand Up @@ -351,6 +351,24 @@ uint8_t system_check_travel_limits(float *target)
return(false);
}

// Z Probing simplification : if Z travel exceeds soft limits, adjust Z to max. allowed value as probing stop is anyhow expected
// function code derived from above soft limit check
uint8_t system_do_limit_Z_travel(float *target)
{
#ifdef HOMING_FORCE_SET_ORIGIN
// When homing forced set origin is enabled, soft limits checks need to account for directionality.
// NOTE: max_travel is stored as negative
if (bit_istrue(settings.homing_dir_mask,bit(Z_AXIS))) {
if (target[Z_AXIS] < 0 || target[Z_AXIS] > -settings.max_travel[Z_AXIS]) { target[Z_AXIS] = -settings.max_travel[Z_AXIS]; return(true); }
} else {
if (target[Z_AXIS] > 0 || target[Z_AXIS] < settings.max_travel[Z_AXIS]) { target[Z_AXIS] = settings.max_travel[Z_AXIS]; return(true); }
}
#else
// NOTE: max_travel is stored as negative
if (target[Z_AXIS] > 0 || target[Z_AXIS] < settings.max_travel[Z_AXIS]) { target[Z_AXIS] = settings.max_travel[Z_AXIS]; return(true); }
#endif
return(false);
}

// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask) {
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3 changes: 3 additions & 0 deletions grbl/system.h
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Expand Up @@ -198,6 +198,9 @@ void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
// Checks and reports if target array exceeds machine travel limits.
uint8_t system_check_travel_limits(float *target);

// Z Probing simplification : if Z travel exceeds soft limits, adjust Z to max. allowed value as probing stop is anyhow expected
uint8_t system_do_limit_Z_travel(float *target);

// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask);
void system_clear_exec_state_flag(uint8_t mask);
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