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debounce probe pin and remove python2 use

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This commit is contained in:
philipp 2025-07-08 09:47:25 +02:00
parent 750fc17fd7
commit 55d86b685a
6 changed files with 126 additions and 111 deletions
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18
3040T.hal
View file

@ -9,22 +9,24 @@ loadrt timedelay count=2
loadrt or2 count=3 loadrt or2 count=3
loadrt xor2 count=2 loadrt xor2 count=2
loadrt mux_generic config="bb2" loadrt mux_generic config="bb2"
loadrt dsmono count=1
loadrt timedelta count=1
addf parport.0.read base-thread addf parport.0.read base-thread
addf stepgen.make-pulses base-thread addf stepgen.make-pulses base-thread
addf parport.0.write base-thread addf parport.0.write base-thread
addf parport.0.reset base-thread addf parport.0.reset base-thread
addf mux-gen.00 base-thread addf mux-gen.00 base-thread
addf timedelta.0 base-thread
addf stepgen.capture-position servo-thread addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread addf motion-command-handler servo-thread
addf motion-controller servo-thread addf motion-controller servo-thread
addf stepgen.update-freq servo-thread addf stepgen.update-freq servo-thread
addf dsmono.0 servo-thread
#Pin Assignments #Pin Assignments
net probe-in => motion.probe-input
net estop-out => parport.0.pin-01-out net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1 setp parport.0.pin-02-out-reset 1
@ -43,7 +45,13 @@ net estop-ext <= parport.0.pin-10-in
net min-home-x <= parport.0.pin-11-in-not net min-home-x <= parport.0.pin-11-in-not
net min-home-y <= parport.0.pin-12-in-not net min-home-y <= parport.0.pin-12-in-not
net max-home-z <= parport.0.pin-13-in-not net max-home-z <= parport.0.pin-13-in-not
net probe-in <= parport.0.pin-15-in-not
#Probe
setp dsmono.0.deadtime-ns 50000000
net probe-in <= parport.0.pin-15-in-not
net probe-in => dsmono.0.in
net probe-debounced <= dsmono.0.out
net probe-debounced => motion.probe-input
#X-Axis #X-Axis
setp stepgen.0.position-scale [JOINT_0]SCALE setp stepgen.0.position-scale [JOINT_0]SCALE
@ -139,6 +147,7 @@ net amp-enable halui.machine.is-on => cncextension.wr0
#Main Spindle Control #Main Spindle Control
net spindle-main-fwd spindle.0.forward net spindle-main-fwd spindle.0.forward
net spindle-main-fwd => cncextension.ch0 net spindle-main-fwd => cncextension.ch0
net spindle-main-fwd => cncextension.ch2
net spindle-main-fwd => cncextension.opt net spindle-main-fwd => cncextension.opt
addf timedelay.0 servo-thread addf timedelay.0 servo-thread
@ -210,7 +219,7 @@ net zpos-abs-cmd joint.2.pos-cmd => collisionavoid.zaxis
net collision-stop collisionavoid.stop => halui.estop.activate net collision-stop collisionavoid.stop => halui.estop.activate
#Autolevel #Autolevel
loadusr -Wn compensation python2 compensation.py probe-results.txt cubic loadusr -Wn compensation python3 compensation.py probe-results.txt cubic
net xpos-abs-cmd => compensation.x-pos net xpos-abs-cmd => compensation.x-pos
net ypos-abs-cmd => compensation.y-pos net ypos-abs-cmd => compensation.y-pos
net zpos-abs-cmd => compensation.z-pos net zpos-abs-cmd => compensation.z-pos
@ -218,4 +227,3 @@ net eoffset-enable compensation.enable-out => axis.z.eoffset-enable
net eoffset-scale compensation.scale => axis.z.eoffset-scale net eoffset-scale compensation.scale => axis.z.eoffset-scale
net eoffset-counts compensation.counts => axis.z.eoffset-counts net eoffset-counts compensation.counts => axis.z.eoffset-counts
net eoffset-clear compensation.clear => axis.z.eoffset-clear net eoffset-clear compensation.clear => axis.z.eoffset-clear

12
3040T.ini
View file

@ -52,7 +52,7 @@ FEATURES=12
[EMCMOT] [EMCMOT]
EMCMOT = motmod EMCMOT = motmod
COMM_TIMEOUT = 1.0 COMM_TIMEOUT = 1.0
BASE_PERIOD = 35000 BASE_PERIOD = 45000
SERVO_PERIOD = 1000000 SERVO_PERIOD = 1000000
[TASK] [TASK]
@ -69,8 +69,9 @@ MDI_COMMAND = M600
MDI_COMMAND = G0 X0 Y0 MDI_COMMAND = G0 X0 Y0
MDI_COMMAND = G53 G0 X0 Y0 Z0 MDI_COMMAND = G53 G0 X0 Y0 Z0
MDI_COMMAND = G53 g0 z0 MDI_COMMAND = G53 g0 z0
MDI_COMMAND = G53 g0 z-40
MDI_COMMAND = G10 L20 p0 x0 y0 z0 MDI_COMMAND = G10 L20 p0 x0 y0 z0
MDI_COMMAND = G10 L20 p0 x36.575 y-38.364 MDI_COMMAND = G10 L20 p0 x-36.257 y-49.488
MDI_COMMAND = G10 L2 p0 x261.3 y286.9 MDI_COMMAND = G10 L2 p0 x261.3 y286.9
MDI_COMMAND = M400 MDI_COMMAND = M400
MDI_COMMAND = o<rectangle_probe> call MDI_COMMAND = o<rectangle_probe> call
@ -109,7 +110,6 @@ STEPGEN_MAXACCEL = 1875.0
SCALE = -400.0 SCALE = -400.0
FERROR = 1 FERROR = 1
MIN_FERROR = .25 MIN_FERROR = .25
MIN_FERROR = 10.25
MIN_LIMIT = -0.001 MIN_LIMIT = -0.001
MAX_LIMIT = 290.0 MAX_LIMIT = 290.0
HOME_OFFSET = -1.000000 HOME_OFFSET = -1.000000
@ -146,15 +146,15 @@ HOME_SEQUENCE = 1
MIN_LIMIT = -75 MIN_LIMIT = -75
MAX_LIMIT = 0.001 MAX_LIMIT = 0.001
MAX_VELOCITY = 50 MAX_VELOCITY = 50
MAX_ACCELERATION = 2000.0 MAX_ACCELERATION = 1500.0
OFFSET_AV_RATIO = 0.2 OFFSET_AV_RATIO = 0.2
[JOINT_2] [JOINT_2]
TYPE = LINEAR TYPE = LINEAR
HOME = 0.0 HOME = 0.0
MAX_VELOCITY = 50 MAX_VELOCITY = 50
MAX_ACCELERATION = 2000.0 MAX_ACCELERATION = 1500.0
STEPGEN_MAXACCEL = 2500.0 STEPGEN_MAXACCEL = 1875.0
SCALE = -400.0 SCALE = -400.0
FERROR = 1 FERROR = 1
MIN_FERROR = .25 MIN_FERROR = .25

185
compensation.py
View file

@ -1,5 +1,6 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
"""Copyright (C) 2020 Scott Alford, scottalford75@gmail.com """Copyright (C) 2020 Scott Alford, scottalford75@gmail.com
Copyright (C) 2022-2024 Carl Klemm, carl@uvos.xyz
This program is free software; you can redistribute it and/or modify This program is free software; you can redistribute it and/or modify
it under the terms of the GNU 2 General Public License as published by it under the terms of the GNU 2 General Public License as published by
@ -16,47 +17,50 @@ along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
""" """
update = 0.025 # this is how often the z external offset value is updated based on current x & y position
safeOffset = 20
import sys import sys
import os.path, time import os.path
import numpy as np import numpy as np
from scipy.interpolate import griddata from scipy.interpolate import griddata
from enum import Enum, unique from enum import Enum, unique
import linuxcnc import linuxcnc
import hal
import time
# this is how often the z external offset value is updated based on current x & y position
update = 0.025
safeOffset = 20
@unique @unique
class States(Enum): class States(Enum):
START = 1 START = 1
IDLE = 2 IDLE = 2
LOADMAP = 3 LOADMAP = 3
RUNNING = 4 RUNNING = 4
RESET = 5 RESET = 5
STOP = 6 STOP = 6
class Compensation : class Compensation:
def __init__(self) : def __init__(self):
self.comp = {} self.comp = {}
if len(sys.argv)<2: if len(sys.argv) < 2:
print "ERROR! No input file name specified!" print("ERROR! No input file name specified!")
sys.exit() sys.exit()
self.filename = sys.argv[1] self.filename = sys.argv[1]
self.method = sys.argv[2] self.method = sys.argv[2]
# default to cubic if not specified # default to cubic if not specified
if self.method == "" : self.methond = "cubic" if self.method == "":
self.methond = "cubic"
def loadMap(self):
def loadMap(self) :
# data coordinates and values # data coordinates and values
self.data = np.loadtxt(self.filename, dtype=float, delimiter=" ", usecols=(0, 1, 2)) self.data = np.loadtxt(self.filename, dtype=float, delimiter=" ", usecols=(0, 1, 2))
self.x_data = np.around(self.data[:,0],1) self.x_data = np.around(self.data[:, 0], 1)
self.y_data = np.around(self.data[:,1],1) self.y_data = np.around(self.data[:, 1], 1)
self.z_data = self.data[:,2] self.z_data = self.data[:, 2]
# get the x and y, min and max values from the data # get the x and y, min and max values from the data
self.xMin = int(np.min(self.x_data)) self.xMin = int(np.min(self.x_data))
@ -64,51 +68,45 @@ class Compensation :
self.yMin = int(np.min(self.y_data)) self.yMin = int(np.min(self.y_data))
self.yMax = int(np.max(self.y_data)) self.yMax = int(np.max(self.y_data))
print " xMin = ", self.xMin print(" xMin = ", self.xMin)
print " xMax = ", self.xMax print(" xMax = ", self.xMax)
print " yMin = ", self.yMin print(" yMin = ", self.yMin)
print " yMax = ", self.yMax print(" yMax = ", self.yMax)
# target grid to interpolate to, 1 grid per mm # target grid to interpolate to, 1 grid per mm
self.xSteps = (self.xMax-self.xMin)+1 self.xSteps = (self.xMax - self.xMin) + 1
self.ySteps = (self.yMax-self.yMin)+1 self.ySteps = (self.yMax - self.yMin) + 1
self.x = np.linspace(self.xMin, self.xMax, self.xSteps) self.x = np.linspace(self.xMin, self.xMax, self.xSteps)
self.y = np.linspace(self.yMin, self.yMax, self.ySteps) self.y = np.linspace(self.yMin, self.yMax, self.ySteps)
self.xi,self.yi = np.meshgrid(self.x,self.y) self.xi, self.yi = np.meshgrid(self.x, self.y)
print " xSteps = ", self.xSteps print(" xSteps = ", self.xSteps)
print " ySteps = ", self.ySteps print(" ySteps = ", self.ySteps)
print " x = ", self.x print(" x = ", self.x)
# interpolate, zi has all the offset values but need to be transposed # interpolate, zi has all the offset values but need to be transposed
self.zi = griddata((self.x_data,self.y_data),self.z_data,(self.xi,self.yi),method=self.method) self.zi = griddata((self.x_data, self.y_data), self.z_data, (self.xi, self.yi), method=self.method)
self.zi = np.transpose(self.zi) self.zi = np.transpose(self.zi)
def compensate(self):
def compensate(self) :
# get our nearest integer position # get our nearest integer position
self.xpos = int(round(self.h['x-pos'])) self.xpos = int(round(self.h['x-pos']))
self.ypos = int(round(self.h['y-pos'])) self.ypos = int(round(self.h['y-pos']))
zo = safeOffset zo = safeOffset
if self.xpos >= self.xMin and self.xpos <= self.xMax and self.ypos >= self.yMin and self.ypos <= self.yMax : if self.xpos >= self.xMin and self.xpos <= self.xMax and self.ypos >= self.yMin and self.ypos <= self.yMax:
self.Xn = self.xpos - self.xMin self.Xn = self.xpos - self.xMin
self.Yn = self.ypos - self.yMin self.Yn = self.ypos - self.yMin
# get the nearest compensation offset and convert to counts (s32) with a scale (float) zo = self.zi[self.Xn, self.Yn]
# Requested offset == counts * scale if np.isnan(zo):
zo = self.zi[self.Xn,self.Yn]
if np.isnan(zo) :
zo = safeOffset zo = safeOffset
self.scale = 0.001 self.scale = 0.001
compensation = int(zo / self.scale) compensation = int(zo / self.scale)
return compensation return compensation
def run(self):
def run(self) :
import hal, time
self.h = hal.component("compensation") self.h = hal.component("compensation")
self.h.newpin("enable-in", hal.HAL_BIT, hal.HAL_IN) self.h.newpin("enable-in", hal.HAL_BIT, hal.HAL_IN)
self.h.newpin("enable-out", hal.HAL_BIT, hal.HAL_OUT) self.h.newpin("enable-out", hal.HAL_BIT, hal.HAL_OUT)
@ -120,113 +118,114 @@ class Compensation :
self.h.newpin("z-pos", hal.HAL_FLOAT, hal.HAL_IN) self.h.newpin("z-pos", hal.HAL_FLOAT, hal.HAL_IN)
self.h.newpin("fade-height", hal.HAL_FLOAT, hal.HAL_IN) self.h.newpin("fade-height", hal.HAL_FLOAT, hal.HAL_IN)
self.h.ready() self.h.ready()
s = linuxcnc.stat() s = linuxcnc.stat()
currentState = States.START currentState = States.START
prevState = States.STOP prevState = States.STOP
try: try:
while True: while True:
time.sleep(update) time.sleep(update)
# get linuxcnc task_state status for machine on / off transitions # get linuxcnc task_state status for machine on / off transitions
s.poll() s.poll()
if currentState == States.START : if currentState == States.START:
if currentState != prevState : if currentState != prevState:
print("\nCompensation entering START state") print("\nCompensation entering START state")
prevState = currentState prevState = currentState
# do start-up tasks # do start-up tasks
print(" %s last modified: %s" % (self.filename, time.ctime(os.path.getmtime(self.filename)))) print(" %s last modified: %s" % (self.filename, time.ctime(os.path.getmtime(self.filename))))
prevMapTime = 0 prevMapTime = 0
self.h["counts"] = 0 self.h["counts"] = 0
# transition to IDLE state # transition to IDLE state
currentState = States.IDLE currentState = States.IDLE
elif currentState == States.IDLE : elif currentState == States.IDLE:
if currentState != prevState : if currentState != prevState:
print("\nCompensation entering IDLE state") print("\nCompensation entering IDLE state")
prevState = currentState prevState = currentState
# stay in IDLE state until compensation is enabled # stay in IDLE state until compensation is enabled
if self.h["enable-in"] : if self.h["enable-in"]:
currentState = States.LOADMAP currentState = States.LOADMAP
elif currentState == States.LOADMAP : elif currentState == States.LOADMAP:
if currentState != prevState : if currentState != prevState:
print("\nCompensation entering LOADMAP state") print("\nCompensation entering LOADMAP state")
prevState = currentState prevState = currentState
mapTime = os.path.getmtime(self.filename) mapTime = os.path.getmtime(self.filename)
if mapTime != prevMapTime: if mapTime != prevMapTime:
self.loadMap() self.loadMap()
print(" Compensation map loaded") print(" Compensation map loaded")
prevMapTime = mapTime prevMapTime = mapTime
# transition to RUNNING state # transition to RUNNING state
currentState = States.RUNNING currentState = States.RUNNING
elif currentState == States.RUNNING : elif currentState == States.RUNNING:
if currentState != prevState : if currentState != prevState:
print("\nCompensation entering RUNNING state") print("\nCompensation entering RUNNING state")
prevState = currentState prevState = currentState
if self.h["enable-in"] : if self.h["enable-in"]:
# enable external offsets # enable external offsets
self.h["enable-out"] = 1 self.h["enable-out"] = 1
fadeHeight = self.h["fade-height"] fadeHeight = self.h["fade-height"]
zPos = self.h["z-pos"] zPos = self.h["z-pos"]
if fadeHeight == 0 : if fadeHeight == 0:
compScale = 1 compScale = 1
elif zPos < fadeHeight: elif zPos < fadeHeight:
compScale = (fadeHeight - zPos)/fadeHeight compScale = (fadeHeight - zPos) / fadeHeight
if compScale > 1 : if compScale > 1:
compScale = 1 compScale = 1
else : else:
compScale = 0 compScale = 0
if s.task_state == linuxcnc.STATE_ON : if s.task_state == linuxcnc.STATE_ON:
# get the compensation if machine power is on, else set to 0 # get the compensation if machine power is on, else set to 0
# otherwise we loose compensation eoffset if machine power is cycled # otherwise we loose compensation eoffset if machine power is cycled
# when copensation is enable # when copensation is enable
compensation = self.compensate() compensation = self.compensate()
self.h["counts"] = compensation * compScale self.h["counts"] = compensation * compScale
self.h["scale"] = self.scale self.h["scale"] = self.scale
else : else:
self.h["counts"] = 0 self.h["counts"] = 0
else : else:
# transition to RESET state # transition to RESET state
currentState = States.RESET currentState = States.RESET
elif currentState == States.RESET : elif currentState == States.RESET:
if currentState != prevState : if currentState != prevState:
print("\nCompensation entering RESET state") print("\nCompensation entering RESET state")
prevState = currentState prevState = currentState
# reset the eoffsets counts register so we don't accumulate # reset the eoffsets counts register so we don't accumulate
self.h["counts"] = 0 self.h["counts"] = 0
# toggle the clear output # toggle the clear output
self.h["clear"] = 1; self.h["clear"] = 1
time.sleep(0.1) time.sleep(0.1)
self.h["clear"] = 0; self.h["clear"] = 0
# disable external offsets # disable external offsets
#self.h["enable-out"] = 0 # self.h["enable-out"] = 0
# transition to IDLE state # transition to IDLE state
currentState = States.IDLE currentState = States.IDLE
except KeyboardInterrupt: except KeyboardInterrupt:
raise SystemExit raise SystemExit
comp = Compensation() comp = Compensation()
comp.run() comp.run()

16
custom_postgui.hal
View file

@ -30,10 +30,11 @@ net m600 halui.mdi-command-00 <= pyvcp.m600-btn
net g0x0y0 halui.mdi-command-01 <= pyvcp.x0y0-btn net g0x0y0 halui.mdi-command-01 <= pyvcp.x0y0-btn
net g53g0x0y0z0 halui.mdi-command-02 <= pyvcp.g53g0x0y0z0-btn net g53g0x0y0z0 halui.mdi-command-02 <= pyvcp.g53g0x0y0z0-btn
net g53g0z0 halui.mdi-command-03 <= pyvcp.g53g0z0-btn net g53g0z0 halui.mdi-command-03 <= pyvcp.g53g0z0-btn
net g10l20x0y0z0 halui.mdi-command-04 <= or2.2.out net microscopeHightBtn halui.mdi-command-04 <= pyvcp.g53g0z-40-btn
net g10l20x20y20 halui.mdi-command-05 <= pyvcp.microscope-btn net g10l20x0y0z0 halui.mdi-command-05 <= or2.2.out
net g53g10l20pin halui.mdi-command-06 <= pyvcp.touchoffpin-btn net g10l20x20y20 halui.mdi-command-06 <= pyvcp.microscope-btn
net touchofzpin halui.mdi-command-07 <= pyvcp.touchofz-btn net g53g10l20pin halui.mdi-command-07 <= pyvcp.touchoffpin-btn
net touchofzpin halui.mdi-command-08 <= pyvcp.touchofz-btn
#Collisionavoid #Collisionavoid
@ -43,10 +44,15 @@ setp pyvcp.chuck-chkbtn.changepin 1
#Autolevel #Autolevel
net levelpin pyvcp.level-chkbtn => compensation.enable-in net levelpin pyvcp.level-chkbtn => compensation.enable-in
net runalprobe halui.mdi-command-08 <= pyvcp.alprobe-btn net runalprobe halui.mdi-command-09 <= pyvcp.alprobe-btn
#Autolevel spinbox display #Autolevel spinbox display
net alprsx pyvcp.alprsx => pyvcp.alprsxDisp net alprsx pyvcp.alprsx => pyvcp.alprsxDisp
net alprsy pyvcp.alprsy => pyvcp.alprsyDisp net alprsy pyvcp.alprsy => pyvcp.alprsyDisp
net alintervl pyvcp.alintervl => pyvcp.alintervlDisp net alintervl pyvcp.alintervl => pyvcp.alintervlDisp
net alheight pyvcp.alheight => pyvcp.alheightDisp net alheight pyvcp.alheight => pyvcp.alheightDisp
net jitter <= timedelta.0.jitter
net jitter => pyvcp.jitter-disp
net jitter-reset <= pyvcp.jitter-rst-btn
net jitter-reset => timedelta.0.reset

3
tool-change.ngc
View file

@ -7,7 +7,7 @@ O<tool-change> SUB
#<_ProbeY> = 24.5 ( machine Y coordinate of switch/touch-off plate ) #<_ProbeY> = 24.5 ( machine Y coordinate of switch/touch-off plate )
#<_ProbeFastZ> = -20 ( machine Z coord to move to before starting probe, longest tool should not touch switch at this Z ) #<_ProbeFastZ> = -20 ( machine Z coord to move to before starting probe, longest tool should not touch switch at this Z )
#<_ProbeMinZ> = -70 ( machine Z coord to stop probe, shortest tool must touch switch at this Z, must be > min Z ) #<_ProbeMinZ> = -70 ( machine Z coord to stop probe, shortest tool must touch switch at this Z, must be > min Z )
#<_ProbeRetract> = 0.2 ( small distance to retract before approaching switch/touch-off plate second time ) #<_ProbeRetract> = 0.5 ( small distance to retract before approaching switch/touch-off plate second time )
#<_ProbeFastFeed> = 3000 ( feed rate for moving to _ProbeFastZ ) #<_ProbeFastFeed> = 3000 ( feed rate for moving to _ProbeFastZ )
#<_ProbeFeed1> = 750 ( feed rate for touching switch/touch-off plate first time ) #<_ProbeFeed1> = 750 ( feed rate for touching switch/touch-off plate first time )
#<_ProbeFeed2> = 3 ( feed rate for touching switch/touch-off plate second time ) #<_ProbeFeed2> = 3 ( feed rate for touching switch/touch-off plate second time )
@ -75,6 +75,7 @@ O102 ELSE
M[7 + #<_MistOnDuringProbe> - 1] ( turn on mist/coolant ) M[7 + #<_MistOnDuringProbe> - 1] ( turn on mist/coolant )
O104 ENDIF O104 ENDIF
G38.2 Z[#<_ProbeMinZ> - #<_ProbeFastZ>] F[#<_ProbeFeed1>] ( trip switch slowly ) G38.2 Z[#<_ProbeMinZ> - #<_ProbeFastZ>] F[#<_ProbeFeed1>] ( trip switch slowly )
G4 P0.1
G0 Z[#<_ProbeRetract>] ( go up slightly ) G0 Z[#<_ProbeRetract>] ( go up slightly )
G38.2 Z[#<_ProbeRetract>*-1.25] F[#<_ProbeFeed2>] ( trip switch very slowly ) G38.2 Z[#<_ProbeRetract>*-1.25] F[#<_ProbeFeed2>] ( trip switch very slowly )
M9 ( turn off mist ) M9 ( turn off mist )

3
touchoff-z-to-bead.ngc
View file

@ -4,7 +4,7 @@ o<touchoff-z-to-Bead> sub
#<_ProbeY> = 24.5 ( machine Y coordinate of switch/touch-off plate ) #<_ProbeY> = 24.5 ( machine Y coordinate of switch/touch-off plate )
#<_ProbeFastZ> = -20 ( machine Z coord to move to before starting probe, longest tool should not touch switch at this Z ) #<_ProbeFastZ> = -20 ( machine Z coord to move to before starting probe, longest tool should not touch switch at this Z )
#<_ProbeMinZ> = -70 ( machine Z coord to stop probe, shortest tool must touch switch at this Z, must be > min Z ) #<_ProbeMinZ> = -70 ( machine Z coord to stop probe, shortest tool must touch switch at this Z, must be > min Z )
#<_ProbeRetract> = 0.2 ( small distance to retract before approaching switch/touch-off plate second time ) #<_ProbeRetract> = 0.5 ( small distance to retract before approaching switch/touch-off plate second time )
#<_ProbeFastFeed> = 3000 ( feed rate for moving to _ProbeFastZ ) #<_ProbeFastFeed> = 3000 ( feed rate for moving to _ProbeFastZ )
#<_ProbeFeed1> = 750 ( feed rate for touching switch/touch-off plate first time ) #<_ProbeFeed1> = 750 ( feed rate for touching switch/touch-off plate first time )
#<_ProbeFeed2> = 3 ( feed rate for touching switch/touch-off plate second time ) #<_ProbeFeed2> = 3 ( feed rate for touching switch/touch-off plate second time )
@ -25,6 +25,7 @@ G53 G1 F[#<_ProbeFastFeed>] Z[#<_ProbeFastZ>] ( move tool closer to switch -- w
G54 G1 F[#<_ProbeFeed1>] G91 ( use relative positioning ) G54 G1 F[#<_ProbeFeed1>] G91 ( use relative positioning )
G38.2 Z[#<_ProbeMinZ> - #<_ProbeFastZ>] F[#<_ProbeFeed1>] ( trip switch slowly ) G38.2 Z[#<_ProbeMinZ> - #<_ProbeFastZ>] F[#<_ProbeFeed1>] ( trip switch slowly )
G4 P0.1
G0 Z[#<_ProbeRetract>] ( go up slightly ) G0 Z[#<_ProbeRetract>] ( go up slightly )
G38.2 Z[#<_ProbeRetract>*-1.25] F[#<_ProbeFeed2>] ( trip switch very slowly ) G38.2 Z[#<_ProbeRetract>*-1.25] F[#<_ProbeFeed2>] ( trip switch very slowly )
G90 ( use absolute positioning ) G90 ( use absolute positioning )