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Added an option HOMING_SET_ORIGIN_AFTER_PULLOFF #1226

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Added an option HOMING_SET_ORIGIN_AFTER_PULLOFF #1226

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9 changes: 9 additions & 0 deletions grbl/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,15 @@
// define to force Grbl to always set the machine origin at the homed location despite switch orientation.
// #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.

// By default, Grbl sets the machine origin to zero at the exact point where the homing switches first
// make contact, then moves away from the switch by the homing pulloff distance given in setting 27.
// Even with soft limits enabled, this does not prevent the operator subsequently jogging right up to
// the machine origin and possibly triggering the limit switch. This option instead sets the machine
// origin to zero after it has performed the pulloff move, so that soft limits won't allow the machine
// to be jogged any closer to the limit switch than the pulloff distance.
// Note: this setting is ignored if HOMING_FORCE_SET_ORIGIN is enabled.
// #define HOMING_SET_ORIGIN_AFTER_PULLOFF

// Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
// be stored and executed in order. These startup blocks would typically be used to set the g-code
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11 changes: 11 additions & 0 deletions grbl/limits.c
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Expand Up @@ -375,13 +375,24 @@ void limits_go_home(uint8_t cycle_mask)
if (cycle_mask & bit(idx)) {
#ifdef HOMING_FORCE_SET_ORIGIN
set_axis_position = 0;
#else
#ifdef HOMING_SET_ORIGIN_AFTER_PULLOFF
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
// Round up (i.e. away from the limit) to avoid a situation where a later
// rounding error sometimes causes the axis position after homing to be a tiny
// amount past max_travel, which immediately triggers its soft limit.
set_axis_position = lround(ceil(settings.max_travel[idx]*settings.steps_per_mm[idx]));
} else {
set_axis_position = 0;
}
#else
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
} else {
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
}
#endif
#endif

#ifdef COREXY
if (idx==X_AXIS) {
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