STEAPP-625: HTE-630(step-2): adapted 'auto_calibrate' and 'set zero point', added kinematic.

stereotech_config/probe_2.cfg

@@ -494,7 +494,6 @@ gcode:
         {action_respond_info("Radius greater than 5 mm or tool length less 35mm, movement to calculate wcs by tool is not available. Wcs will be calculated from the template.")}
     {% endif %}
 
-
 [gcode_macro AUTO_BASEMENT_WCS_MOVE]
 description: This macro does a move for measuring wcs_2_y and wcs_1_z-raw mode SPIRAL.
 gcode:
@@ -505,9 +504,10 @@ gcode:
     {% set y = wcs_offsets[1] - offsets[1] %}
     {% set z = wcs_offsets[2] + offsets[2] %}
     {% set a = '0' if wcs == 0 else '90' %}
+    {% set z = '200' if wcs == 0 else '150' %}
     G28 A
     G0 A{a} F3600
-    G0 Z150 F3600
+    G0 Z{z} F3600
     G0 X{x} Y{y} F3600
 
 [gcode_macro CHECK_AXIS_A]

stereotech_config/probe_hybrid_printer_v6.cfg

@@ -0,0 +1,229 @@
+[gcode_macro PROBE_TEMPLATE_POINT]
+description: Macro for calibration template probing
+variable_probe_z: 120.0
+gcode:
+    {% set point = params.POINT|default('O') %}
+    {% set offsets = printer['probe'].offsets %}
+    {% set O = [161 - offsets[0], 243 - offsets[1], 120] %}
+    {% if O[1] > 294.0 %}
+        O[1] = 294.0
+    {% endif %}
+    G0 Z150 F3600
+    G0 A0 C0 F3600
+    {% set target_x = O[0] %}
+    {% set target_y = O[1] %}
+    {% set target_z = O[2] %}
+    {% set axis = 'Z' %}
+    {% set positive = 0 %}
+    {% if point=='AY' %}
+        {% set target_x = O[0] - 45 %}
+        {% set target_y = O[1] - 35 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+    {% elif point=='CHECK_MODULE_Z1' %}
+        {% set target_x = O[0] - 45 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 5 %}
+    {% elif point=='CHECK_MODULE_Z2' %}
+        {% set target_x = O[0] + 45 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 5 %}
+    {% elif point=='AY1' %}
+        {% set target_x = O[0] - 32 %}
+        {% set target_y = O[1] - 83 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+        G0 C15 F3600
+    {% elif point=='AY1_2' %}
+        {% set target_x = O[0] - 32 %}
+        {% set target_y = O[1] - 15 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+        G0 C30
+    {% elif point=='AY2' %}
+        {% set target_x = O[0] - 32 %}
+        {% set target_y = O[1] - 6 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'Y' %}
+        G0 C15 F3600
+    {% elif point=='AY2_2' %}
+        {% set target_x = O[0] - 32 %}
+        {% set target_y = O[1] + 17 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'Y' %}
+        G0 C30 F3600
+    {% elif point=='BY' %}
+        {% set target_x = O[0] + 45 %}
+        {% set target_y = O[1] - 35 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+    {% elif point=='CY' %}
+        {% set target_x = O[0] %}
+        {% set target_y = O[1] - 90 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+    {% elif point=='DY' %}
+        {% set target_x = O[0] %}
+        {% set target_y = O[1] - 30 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 30 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+        G0 A90 C30 F3600
+    {% elif point=='DY_2' %}
+        {% set target_x = O[0] + 2 %}
+        {% set target_y = O[1] - 80 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 12 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+        G0 A90 C90 F3600
+    {% elif point=='EY' %}
+        {% set target_x = O[0] %}
+        {% set target_y = O[1] + 5 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 30 %}
+        {% set axis = 'Y' %}
+        G0 A90 C30 F3600
+    {% elif point=='EY_2' %}
+        {% set target_x = O[0] + 2 %}
+        {% set target_y = O[1] + 5 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 12 %}
+        {% set axis = 'Y' %}
+        G0 A90 C90 F3600
+    {% elif point=='AZ' %}
+        {% set target_x = O[0] - 45 %}
+    {% elif point=='BZ' %}
+        {% set target_x = O[0] + 45%}
+    {% elif point=='CZ' %}
+        {% set target_y = O[1] - 45 %}
+    {% elif point=='CZ1' %}
+        {% set target_y = O[1] - 45 %}
+        G0 A10 F3600
+    {% elif point=='DZ' %}
+        {% set target_x = O[0] %}
+        {% set target_y = O[1] - 8 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 57 %}
+        G0 A90 C30 F3600
+    {% elif point=='DZ_2' %}
+        {% set target_x = O[0] %}
+        {% set target_y = O[1] - 50 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 57 %}
+        G0 A90 F3600
+    {% elif point=='EZ' %}
+        {% set target_x = O[0] %}
+        {% set target_y = O[1] - 5 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 57 %}
+        G0 A90 F3600
+    {% elif point=='AX' %}
+        {% set target_x = O[0] - 80 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+        {% set positive = 1 %}
+    {% elif point=='AX1' %}
+        {% set target_x = O[0] - 40 %}
+        {% set target_y = O[1] - 45 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+        {% set positive = 1 %}
+    {% elif point=='AX2' %}
+        {% set target_x = O[0] - 80 %}
+        {% set target_y = O[1] + 2 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+        {% set positive = 1 %}
+    {% elif point=='BX' %}
+        {% set target_x = O[0] + 80 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+    {% elif point=='BX1' %}
+        {% set target_x = O[0] + 80 %}
+        {% set target_y = O[1] - 2 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+    {% elif point=='BX2' %}
+        {% set target_x = O[0] + 80 %}
+        {% set target_y = O[1] + 2 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+    ; skew_correction
+    ; xy skew
+    {% elif point=='XY1' %}
+        {% set target_x = O[0] + 15 %}
+        {% set target_y = O[1] - 50 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+    {% elif point=='XY2' %}
+        {% set target_x = O[0] - 15 %}
+        {% set target_y = O[1] - 50 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+        {% set positive = 1 %}
+    ; xz skew
+    {% elif point=='XZ1' %}
+        {% set target_x = O[0] + 80 %}
+        {% set target_y = O[1] - 5 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+    {% elif point=='XZ2' %}
+        {% set target_x = O[0] - 80 %}
+        {% set target_y = O[1] - 5 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 6 %}
+        {% set axis = 'X' %}
+        {% set positive = 1 %}
+    {% elif point=='XZ3' %}
+        {% set target_x = O[0] + 15 %}
+        {% set target_y = O[1] - 5 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 36 %}
+        {% set axis = 'X' %}
+        G0 A90 C60
+    {% elif point=='XZ4' %}
+        {% set target_x = O[0] - 15 %}
+        {% set target_y = O[1] - 5 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 36 %}
+        {% set axis = 'X' %}
+        {% set positive = 1 %}
+        G0 A90 C60 F3600
+    ; yz skew
+    {% elif point=='YZ1' %}
+        {% set target_x = O[0] %}
+        {% set target_y = O[1] - 60 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z + 36 %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+        G0 A90 C60 F3600
+    {% elif point=='YZ2' %}
+        {% set target_x = O[0] - 45 %}
+        {% set target_y = O[1] - 60 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+        G0 A90 C5 F3600
+    {% elif point=='YZ3' %}
+        {% set target_x = O[0] + 45 %}
+        {% set target_y = O[1] - 60 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z %}
+        {% set axis = 'Y' %}
+        {% set positive = 1 %}
+        G0 A90 C-5 F3600
+    {% elif point=='CX1' %}
+            {% set target_x = O[0] + 80 %}
+        {% set target_y = O[1] - 50 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 45 %}
+        {% set axis = 'X' %}
+         G0 A90 C-4
+    {% elif point=='CX2' %}
+        {% set target_x = O[0] - 80 %}
+        {% set target_y = O[1] - 50 %}
+        {% set target_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].probe_z - 45 %}
+        {% set axis = 'X' %}
+        {% set positive = 1 %}
+        G0 A90 C4
+    {% endif %}
+    G0 X{target_x} Y{target_y} F1500
+    G0 Z{target_z} F1500
+    PROBE AXIS={axis} POSITIVE_DIR={positive}
+    G0 X{target_x} Y{target_y} F3600
+    G0 Z{target_z} F3600
+    G0 Z150 F3600
+    G0 A0 C0 F3600

stereotech_config/v6/kinematics.cfg

@@ -35,7 +35,7 @@ step_pin: z_step_pin
 dir_pin: !z_dir_pin
 enable_pin: !z_en_pin
 microsteps: 128
-rotation_distance: 4
+rotation_distance: 2
 endstop_pin: z_endstop_pin
 position_endstop: 300
 position_max: 300
@@ -48,8 +48,8 @@ dir_pin: a_dir_pin
 enable_pin: !a_en_pin
 microsteps: 128
 rotation_distance: 360
-gear_ratio: 80:20
-endstop_pin: a_endstop_pin
+gear_ratio: 10:1
+endstop_pin: !a_endstop_pin
 position_endstop: 90
 position_min: -10
 position_max: 90
@@ -61,6 +61,10 @@ dir_pin: c_dir_pin
 enable_pin: !c_en_pin
 microsteps: 128
 rotation_distance: 120
-gear_ratio: 80:20
+gear_ratio: 10:1
+# endstop_pin: !c_endstop_pin
+# position_endstop: 0
+# position_min: 0
+# position_max: 120
 can_home: false
 homing_speed: 20