From 671e047d1e4981066420a691b62c8eeb56044099 Mon Sep 17 00:00:00 2001 From: "Justin F. Hallett" Date: Mon, 21 Oct 2024 12:25:54 -0600 Subject: [PATCH] Add +1 to park_z and flow table for dock/undock --- wiki/Calibration.md | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/wiki/Calibration.md b/wiki/Calibration.md index 4417c69..91353fe 100644 --- a/wiki/Calibration.md +++ b/wiki/Calibration.md @@ -50,9 +50,19 @@ Do this for all tool heads one at a time. 1. Put a tool on the shuttle and run `INITIALIZE_TOOLCHANGER` 2. Run `G28` and `QUAD_GANTRY_LEVEL` 3. Remove the tool from the shuttle and place it in the dock -4. Move the gantry as if to pick up the tool, as soon as the light on the optotap pcb changes, note the `params_park_x`, `params_park_y` and `params_park_z` and put them in the tool config file -5. Repeat this for all tools -6. Run `FIRMWARE_RESTART` +4. Move the gantry as if to pick up the tool, as soon as the light on the optotap pcb changes +5. Raise Z by 1 +6. Run `M114` and record the values to `params_park_x`, `params_park_y` and `params_park_z` in `[Tool Tn]` of the tool conf file +7. Repeat this for all tools +8. Run `FIRMWARE_RESTART` + +### Docking/Undocking + +The Moving using config parameters is as such: + +| Current tool | No tool | Next tool | +|--------------|---------|-----------| +|`safe_y`, `park_x` -> `park_z` -> `close_y` -> `path` | `close_y` -> `park_x` | `path` -> `safe_y` -> `t_command_restore_axis` | ## X/Y Offset