diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 8fd17498b7d..cae075a61d3 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -785,10 +785,30 @@
#define Y_MAX_POS Y_BED_SIZE
#define Z_MAX_POS 200
-// If enabled, axes won't move below MIN_POS in response to movement commands.
+/**
+ * Software Endstops
+ *
+ * - Prevent moves outside the set machine bounds.
+ * - Individual axes can be disabled, if desired.
+ * - X and Y only apply to Cartesian robots.
+ * - Use 'M211' to set software endstops on/off or report current state
+ */
+
+// Min software endstops curtail movement below minimum coordinate bounds
#define MIN_SOFTWARE_ENDSTOPS
-// If enabled, axes won't move above MAX_POS in response to movement commands.
+#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
+ #define MIN_SOFTWARE_ENDSTOP_X
+ #define MIN_SOFTWARE_ENDSTOP_Y
+ #define MIN_SOFTWARE_ENDSTOP_Z
+#endif
+
+// Max software endstops curtail movement above maximum coordinate bounds
#define MAX_SOFTWARE_ENDSTOPS
+#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+ #define MAX_SOFTWARE_ENDSTOP_X
+ #define MAX_SOFTWARE_ENDSTOP_Y
+ #define MAX_SOFTWARE_ENDSTOP_Z
+#endif
/**
* Filament Runout Sensor
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3052169e90c..b196169d030 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -11719,27 +11719,30 @@ void ok_to_send() {
* Constrain the given coordinates to the software endstops.
*/
- // NOTE: This makes no sense for delta beds other than Z-axis.
- // For delta the X/Y would need to be clamped at
- // DELTA_PRINTABLE_RADIUS from center of bed, but delta
- // now enforces is_position_reachable for X/Y regardless
- // of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
- // redundant here.
-
+ /**
+ * Constrain the given coordinates to the software endstops.
+ *
+ * NOTE: This will only apply to Z on DELTA and SCARA. XY is
+ * constrained to a circle on these kinematic systems.
+ */
void clamp_to_software_endstops(float target[XYZ]) {
if (!soft_endstops_enabled) return;
- #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
- #if DISABLED(DELTA)
- NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
- NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
- #endif
+ #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
+ NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
+ #endif
+ #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
+ NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+ #endif
+ #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
- #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
- #if DISABLED(DELTA)
- NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
- NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
- #endif
+ #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
+ NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+ #endif
+ #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
+ NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+ #endif
+ #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
}
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 5d930347dc3..22b7340cf79 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -254,6 +254,25 @@
static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
"Movement bounds ([XY]_MIN_POS, [XY]_MAX_POS) are too narrow to contain [XY]_BED_SIZE.");
+/**
+ * Granular software endstops (Marlin >= 1.1.7)
+ */
+#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z)
+ #if IS_KINEMATIC
+ #error "MIN_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MIN_SOFTWARE_ENDSTOP_Z."
+ #elif DISABLED(MIN_SOFTWARE_ENDSTOP_X) && DISABLED(MIN_SOFTWARE_ENDSTOP_Y)
+ #error "MIN_SOFTWARE_ENDSTOPS requires at least one of the MIN_SOFTWARE_ENDSTOP_[XYZ] options."
+ #endif
+#endif
+
+#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z)
+ #if IS_KINEMATIC
+ #error "MAX_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MAX_SOFTWARE_ENDSTOP_Z."
+ #elif DISABLED(MAX_SOFTWARE_ENDSTOP_X) && DISABLED(MAX_SOFTWARE_ENDSTOP_Y)
+ #error "MAX_SOFTWARE_ENDSTOPS requires at least one of the MAX_SOFTWARE_ENDSTOP_[XYZ] options."
+ #endif
+#endif
+
/**
* Progress Bar
*/
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index d598db67aed..e86617bfbd9 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -2845,17 +2845,35 @@ void kill_screen(const char* lcd_msg) {
float min = current_position[axis] - 1000,
max = current_position[axis] + 1000;
- #if HAS_SOFTWARE_ENDSTOPS
- // Limit to software endstops, if enabled
- if (soft_endstops_enabled) {
- #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
- min = soft_endstop_min[axis];
- #endif
- #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
- max = soft_endstop_max[axis];
- #endif
+ // Limit to software endstops, if enabled
+ #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
+ if (soft_endstops_enabled) switch (axis) {
+ case X_AXIS:
+ #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
+ min = soft_endstop_min[X_AXIS];
+ #endif
+ #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
+ max = soft_endstop_max[X_AXIS];
+ #endif
+ break;
+ case Y_AXIS:
+ #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
+ min = soft_endstop_min[Y_AXIS];
+ #endif
+ #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
+ max = soft_endstop_max[Y_AXIS];
+ #endif
+ break;
+ case Z_AXIS:
+ #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
+ min = soft_endstop_min[Z_AXIS];
+ #endif
+ #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
+ max = soft_endstop_max[Z_AXIS];
+ #endif
+ break;
}
- #endif
+ #endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
// Delta limits XY based on the current offset from center
// This assumes the center is 0,0