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PLR: XY home height #27969

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PLR: XY home height #27969

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4 changes: 4 additions & 0 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1808,6 +1808,10 @@
//#define POWER_LOSS_RETRACT_LEN 10 // (mm) Length of filament to retract on fail
#endif

// (ms) Absolute height for XY homing to prevent collision with printed objects.
// Zero means no raise above stored position
#define POWER_LOSS_XYHOME_HEIGHT 0

// Enable if Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
//#define POWER_LOSS_RECOVER_ZHOME
#if ENABLED(POWER_LOSS_RECOVER_ZHOME)
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17 changes: 12 additions & 5 deletions Marlin/src/feature/powerloss.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,9 @@ PrintJobRecovery recovery;
#ifndef POWER_LOSS_PURGE_LEN
#define POWER_LOSS_PURGE_LEN 0
#endif
#ifndef POWER_LOSS_XYHOME_HEIGHT
#define POWER_LOSS_XYHOME_HEIGHT 0
#endif

// Allow power-loss recovery to be aborted
#define PLR_CAN_ABORT
Expand Down Expand Up @@ -439,9 +442,9 @@ void PrintJobRecovery::resume() {

// If Z homing goes to max then just move back to the "raised" position
PROCESS_SUBCOMMANDS_NOW(TS(
F( "G28R0\n" // Home all axes (no raise)
"G1F1200Z") // Move Z down to (raised) height
, p_float_t(z_now, 3)
F( "G28R"), p_float_t(_MAX(POWER_LOSS_XYHOME_HEIGHT - z_now, 0), 3), // Home all axes with optional raise
F("\nG1F3000X"), p_float_t(resume_pos.x, 3), 'Y', p_float_t(resume_pos.y, 3), // Return XY to original place to prevent collision while descending
F("\nG1F1200Z"), p_float_t(z_now, 3) // Move Z down to (raised) height
));

#elif DISABLED(BELTPRINTER)
Expand All @@ -463,8 +466,12 @@ void PrintJobRecovery::resume() {
PROCESS_SUBCOMMANDS_NOW(TS(F("G1F600Z"), p_float_t(z_now, 3)));
}

// Home XY with no Z raise
PROCESS_SUBCOMMANDS_NOW(F("G28R0XY")); // No raise during G28

PROCESS_SUBCOMMANDS_NOW(TS(
F( "G28XYR"), p_float_t(_MAX(POWER_LOSS_XYHOME_HEIGHT - z_now, 0), 3), // Home XY with optional Z raise
F("\nG1F3000X"), p_float_t(resume_pos.x, 3), 'Y', p_float_t(resume_pos.y, 3), // Return XY to original place to prevent collision while descending
F("\nG1F1200Z"), p_float_t(z_now, 3) // Move Z down to (raised) height
));

#endif

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