From 98382fcea559020e6e0e242fe22f59c9c151a4c4 Mon Sep 17 00:00:00 2001 From: Bo Herrmannsen Date: Fri, 13 Dec 2019 00:13:49 +0100 Subject: [PATCH] Include Z in SCARA steps feedrate (#16193) --- Marlin/src/module/planner.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index c95426154..50a9beb4d 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -2620,13 +2620,15 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con if (mm == 0.0) mm = (delta_mm_cart.x != 0.0 || delta_mm_cart.y != 0.0) ? delta_mm_cart.magnitude() : ABS(delta_mm_cart.z); + // Cartesian XYZ to kinematic ABC, stored in global 'delta' inverse_kinematics(machine); #if ENABLED(SCARA_FEEDRATE_SCALING) // For SCARA scale the feed rate from mm/s to degrees/s // i.e., Complete the angular vector in the given time. const float duration_recip = inv_duration ?: fr_mm_s / mm; - const feedRate_t feedrate = HYPOT(delta.a - position_float.a, delta.b - position_float.b) * duration_recip; + const xyz_pos_t diff = delta - position_float; + const feedRate_t feedrate = diff.magnitude() * duration_recip; #else const feedRate_t feedrate = fr_mm_s; #endif