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[BUG] Delta with Sensorless Homing crashing into tower during G28 #20986
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After searching Marlin for the term "delta" I discovered that homing for delta printers apparently uses module Marlin\src\module\delta.cpp, and not the G28.cpp module I identified in my original post. Consequently I am closing this Bug since it's original premise was wrong. Also, I have given up trying to use sensorless homing. Instead I'll do it the old-fashioned way by using microswitches. PS: While looking at the code in delta.cpp I found what looks like a bug: // Start from the origin of the old coordinates and add vectors in the In the last statement it looks like z1 should actually be just z. But I can't really tell if this is the case or not. |
This issue has been automatically locked since there has not been any recent activity after it was closed. Please open a new issue for related bugs. |
Bug Description
The Marlin 2.0.7.2 BugFix G28.cpp module is written only for Cartesian printers. It ignores deltas. Consequently a delta printer cannot perform a Home function. Here are the key lines of code:
#if ENABLED(SENSORLESS_HOMING)
sensorless_t stealth_states {
tmc_enable_stallguard(stepperX)
, tmc_enable_stallguard(stepperY)
, false
, false
#if AXIS_HAS_STALLGUARD(X2)
|| tmc_enable_stallguard(stepperX2)
#endif
, false
#if AXIS_HAS_STALLGUARD(Y2)
|| tmc_enable_stallguard(stepperY2)
#endif
};
#endif
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
The do_blocking_move statement is the critical bug - it has 3 parameters: X-distance to move, Y distance to move, and move speed. As written the statement moves only in the X and Y directions at speed = fr_mm_s. For a delta printer there needs to be a 4th parameter which is the distance to move in the Z direction.
This problem happens only when Sensorless Homing is specified.
Configuration Files
Required: Include a ZIP file containing
Configuration.h
andConfiguration_adv.h
.Marlin Configs.zip
Steps to Reproduce
Expected behavior:
Successful Home function
Actual behavior:
End effector crashes into either X or Y tower
Additional Information
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