My stepper config is:
[stepper_a]
step_pin: PC8
dir_pin: PC9
enable_pin: !PA15
microsteps: 32
rotation_distance: 40
endstop_pin: ^PD3
homing_speed: 80
homing_retract_speed: 30
second_homing_speed: 15
homing_accel: 1000
homing_retract_dist: 5
use_sensorless_homing: false
min_home_dist: 0
I have noticed that after homing with endstop (no sensorless homing) the axis is moving to the endstop with homing_speed then doing second homing move with second_homing_speed by homing_retract_dist mm and then it is doing a backoff move by homing_retract_dist mm. So the homed axis is at the homing_retract_dist mm away of the endstop after homing and there is no way to have it parked at the 0mm from the endstop.
As an improvement I would like to suggest to add separate endstop_backoff_dist parameter which can be set as homing_retract_dist by default if not set in config
My stepper config is:
I have noticed that after homing with endstop (no sensorless homing) the axis is moving to the endstop with
homing_speedthen doing second homing move withsecond_homing_speedbyhoming_retract_distmm and then it is doing a backoff move byhoming_retract_distmm. So the homed axis is at thehoming_retract_distmm away of the endstop after homing and there is no way to have it parked at the 0mm from the endstop.As an improvement I would like to suggest to add separate
endstop_backoff_distparameter which can be set ashoming_retract_distby default if not set in config