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manual_stepper: Support LIMIT_VELOCITY and LIMIT_ACCEL when using gcode axis

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
2025-04-30 19:59:14 -04:00
parent ee0bc3d697
commit 6c1d5d912a
2 changed files with 17 additions and 2 deletions
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docs/G-Codes.md
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@@ -969,6 +969,7 @@ stepper move uses SYNC=0 then future G-Code movement commands may run
in parallel with the stepper movement.
`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]
[LIMIT_VELOCITY=<velocity>] [LIMIT_ACCEL=<accel>]
[INSTANTANEOUS_CORNER_VELOCITY=<velocity>]`: If the `GCODE_AXIS`
parameter is specified then it configures the stepper motor as an
extra axis on `G1` move commands. For example, if one were to issue a
@@ -979,6 +980,9 @@ xyz movements. If the motor is associated with a `GCODE_AXIS` then
one may no longer issue movements using the above `MANUAL_STEPPER`
command - one may unregister the stepper with a `MANUAL_STEPPER
... GCODE_AXIS=` command to resume manual control of the motor. The
`LIMIT_VELOCITY` and `LIMIT_ACCEL` parameters allow one to reduce the
speed of `G1` moves if those moves would result in a velocity or
acceleration above the specified limits. The
`INSTANTANEOUS_CORNER_VELOCITY` specifies the maximum instantaneous
velocity change (in mm/s) of the motor during the junction of two
moves (the default is 1mm/s).