[Bug]: G10 retract z-hop ignores homing and machine limits

[timschneider]

Duet Forum Discussion Thread

https://forum.duet3d.com/topic/35012/feature-or-bug-3-5-0-rc-3-g10-retract-z-hop-ignores-homing

Which Duet products are you using?

• Duet2-Wifi
• Duet2-Ethernet
• Duet Expansion Breakout Board
• Duex2
• Duex5
• Duet2-Maestro
• Maestro Dual Driver Expansion
• Duet3-6HC
• Duet3-3HC
• Duet3-6XD
• Duet3-1XD
• Duet3-1LC
• Duet3-Tool Distribution Board
• Duet3-Mini5+
• Duet3-Mini2+
• Raspberry Pi or other SBC
• SmartEffector
• Magnetic Filament Sensor
• Laser Filament Sensor
• PT100 Daughterboard
• Thermocouple Daughterboard
• PanelDue
• Other
• None

Firmware Version

3.5.0-rc.3

Duet Web Control Version

DWC 3.5.0-rc.3

Are you using a Single Board Computer (RaspberryPi) with your Duet?

• Yes I use a SBC.
• No I do not use a SBC.

Please upload the results of sending M122 in the gcode console.

see thread

Please upload the content of your config.g file.

No response

Please upload the content of any other releveant macro files.

No response

Details specific to your printer.

No response

Links to additional info.

No response

What happened?

The printer is unhomed and a retration z-hop is configured via M207.

Steps to reproduce
execute G10

Expected result
The printer should responde with an error, e.g. Error: G10: insufficient axes homed

Observed result
The Z-axis is performing the z-hop ignoring the homing state and machine limit

another apsect of it occures when using cancle

Steps to reproduce
see thread

Observed result

• start jobfile.g
  

• pause printjob via DWC (M24)
  

• cancel printjob via DWC (M0)
  

• repeat the above steps and the z-axis will accumulate the z-hops, 0.0, 0.5, 1.0, 1.5 ... and so on with an configured z-hop of 0.5mm
  

Expected result
the retraction state should be preserved by M0 and the z-axis should not accumulate the z-hops.

[T3P3]

This is two separate issues:

1. G10 with Z hop causing movement when the Z axis is not homed, or causes a move outside of machine limits. Proposed solution will not move when Z axis is not homed, or if the move will move outside of machine limits.
2. G10 state in pause/cancel needs to be documented correct (i.e G10 in pause, G11 in resume, G11 in cancel being the valid way to use firmware retraction).

Also if Z is ever flagged an un homed it should also be flagged as not hopped.

[dc42]

Fixes tested and found to be working today. Z hop is no longer performed when the Z axis has not been homed. Otherwise, the amount of Z hop is limited according to the maximum reachable Z (which for a linear delta machine depends on the XY position). G11 when Z has been homed undoes the amount of Z hop last performed by G10 on that tool.

[timschneider]

@dc42 it looks like a very clean fix and well thought out rework of the whole z-hop part. thank you! I'll test it as soon as it is available in the unstable branche.