I came up with the following solution:
content of driver-warning.g
; driver-warning.g
; driver warning - 51.0 : 1024 ,Driver 51.0 warning: position tolerance exceeded
if param.B > 0 && param.D == 0 && param.P == 1024 && move.axes[0].homed == false && move.axes[1].homed == false
M99 ; ignore warning when drives are not homed
echo "driver warning - "^{param.B}^"."^{param.D}^" : "^{param.P}^" ,"^{param.S}
if state.status == "paused" || state.status == "pausing" || state.status == "resuming"
M99 ; ignore this event - it is already handled
if !exists(global.event_driver_stall)
global event_driver_stall = true
; check if a printjob is running
; if it is a can connected driver in closed loop mode with error position tolerance exceeded (param.B > 0 && param.D == 0 && param.P == 1024)
if job.file.fileName != null
if param.B > 0 && param.D == 0 && param.P == 1024
set global.event_driver_stall = true
M25 ; pause print and rehome X and Y
M207 Z{tools[0].retraction.zHop+0.2} ; raise z-hop 0.2mm to prevent further crashes
set global.resume_deferred = state.upTime + 5 ; resume print after 5 seconds
else
set global.event_driver_stall = false ; do not rehome while pausing
G91 ; relative positioning
G1 H2 Z0.5 F600 ; lift Z relative to current position
M568 P0 R0 S0 A0 ; disable hotend
M25 ; pause print
content of driver-error.g
; driver-error.g
; called to home x and y after stall detection
; driver error - 51.0 : 3072 ,Driver 51.0 error: failed to maintain position
if param.B > 0 && param.D == 0 && param.P == 3072 && move.axes[0].homed == false && move.axes[1].homed == false
M99 ; ignore warning when drives are not homed
echo "driver error - "^{param.B}^"."^{param.D}^" : "^{param.P}^" ,"^{param.S}
if !exists(global.event_driver_stall)
global event_driver_stall = true
if state.status == "paused" || state.status == "pausing" || state.status == "resuming"
set global.resume_deferred = 0 ; reset resume_deferred
M99 ; ignore this event - it is already handled
; check if a printjob is running
; if it is a can connected driver in closed loop mode with failed to maintain position (param.B > 0 && param.D == 0 && param.P == 3072)
if job.file.fileName != null
if param.B > 0 && param.D == 0 && param.P == 3072
set global.event_driver_stall = true
M207 Z{tools[0].retraction.zHop+0.2} ; raise z-hop 0.2mm to prevent further crashes
else
set global.event_driver_stall = false ; do not rehome while pausing
G91 ; relative positioning
G1 H2 Z0.5 F600 ; lift Z relative to current position
M568 P0 R0 S0 A0 ; disable hotend
M25 ; pause print
content of daemon.g
if exists(global.resume_deferred) && global.resume_deferred > 0 && global.resume_deferred < state.upTime
if state.status == "paused"
set global.resume_deferred = 0
M24 ; resume print
The magic is done by the global.resume_deferred. It is set to state.upTime + 5 which means 5 second delay.
The flow looks like the following
driver-warning event -> check if it is already paused if so, exit else set resume_deferred
driver-error event -> check if it is already paused, if so, reset resume_deferred to 0 to disable it and exit
daemon.g -> Check whether the delay for resume_deferred has already passed, if so resume the print.
