From b4a4f1c6ccf681f617fc6b6e1f24bf87a527e26f Mon Sep 17 00:00:00 2001 From: yurc Date: Sun, 4 Oct 2026 06:35:09 +0300 Subject: [PATCH] docs: homing.dot: HOME_FINAL_MOVE_START does not wait HOME_DELAY Since the 2022 homing state-machine rework the HOME_FINAL_MOVE_START state plans the final move as soon as the joint has stopped (and, for a negative HOME_SEQUENCE, the other joints of the sequence are ready); there is no HOME_DELAY pause before it (src/emc/motion/homing.c, the timer branch of this state has no break). The diagram still showed 'after HOME_DELAY' on that edge. Describe the actual behavior; no code change. See #4621. --- docs/src/code/homing.dot | 2 +- docs/src/code/homing_es.dot | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/src/code/homing.dot b/docs/src/code/homing.dot index fc36098a193..7fe9fb2fde3 100644 --- a/docs/src/code/homing.dot +++ b/docs/src/code/homing.dot @@ -22,7 +22,7 @@ digraph homing { HOME_INDEX_SEARCH_WAIT -> HOME_SET_INDEX_POSITION [label="index seen\nimmediate"]; HOME_SET_SWITCH_POSITION -> HOME_FINAL_MOVE_START [label="immediate"]; HOME_SET_INDEX_POSITION -> HOME_FINAL_MOVE_START [label="immediate"]; - HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="after HOME_DELAY"]; + HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="once the joint has stopped\nno HOME_DELAY\nnegative HOME_SEQUENCE: waits for\nthe other joints of the sequence"]; HOME_FINAL_MOVE_WAIT -> HOME_ABORT [label="on limit"]; HOME_FINAL_MOVE_WAIT -> HOME_FINISHED [label="reached home position"]; HOME_FINISHED -> HOME_IDLE; diff --git a/docs/src/code/homing_es.dot b/docs/src/code/homing_es.dot index b7e702c848d..a2f2ba164d1 100644 --- a/docs/src/code/homing_es.dot +++ b/docs/src/code/homing_es.dot @@ -22,7 +22,7 @@ digraph homing { HOME_INDEX_SEARCH_WAIT -> HOME_SET_INDEX_POSITION [label="index encontrado\ninmediato"]; HOME_SET_SWITCH_POSITION -> HOME_FINAL_MOVE_START [label="inmediato"]; HOME_SET_INDEX_POSITION -> HOME_FINAL_MOVE_START [label="inmediato"]; - HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="despues de HOME_DELAY"]; + HOME_FINAL_MOVE_START -> HOME_FINAL_MOVE_WAIT [label="cuando la articulacion se detiene\nsin HOME_DELAY\nHOME_SEQUENCE negativo: espera a\nlas otras articulaciones de la secuencia"]; HOME_FINAL_MOVE_WAIT -> HOME_ABORT [label="en limite"]; HOME_FINAL_MOVE_WAIT -> HOME_FINISHED [label="posicion home alcanzada"]; HOME_FINISHED -> HOME_IDLE;