diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 24eb8911516..9a7c2909429 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -4887,52 +4887,69 @@ inline void gcode_M503() {
#ifdef FILAMENTCHANGEENABLE
/**
- * M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+ * M600: Pause for filament change
+ *
+ * E[distance] - Retract the filament this far (negative value)
+ * Z[distance] - Move the Z axis by this distance
+ * X[position] - Move to this X position, with Y
+ * Y[position] - Move to this Y position, with X
+ * L[distance] - Retract distance for removal (manual reload)
+ *
+ * Default values are used for omitted arguments.
+ *
*/
inline void gcode_M600() {
- float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate / 60;
- for (int i=0; i<NUM_AXIS; i++)
- target[i] = lastpos[i] = current_position[i];
- #define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
+ if (degHotend(active_extruder) < extrude_min_temp) {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
+ return;
+ }
+
+ float lastpos[NUM_AXIS], fr60 = feedrate / 60;
+
+ for (int i=0; i<NUM_AXIS; i++)
+ lastpos[i] = destination[i] = current_position[i];
+
#ifdef DELTA
- #define RUNPLAN calculate_delta(target); BASICPLAN
+ #define RUNPLAN calculate_delta(destination); \
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
#else
- #define RUNPLAN BASICPLAN
+ #define RUNPLAN line_to_destination();
#endif
//retract by E
- if (code_seen('E')) target[E_AXIS] += code_value();
+ if (code_seen('E')) destination[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FIRSTRETRACT
- else target[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
+ else destination[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
#endif
RUNPLAN;
//lift Z
- if (code_seen('Z')) target[Z_AXIS] += code_value();
+ if (code_seen('Z')) destination[Z_AXIS] += code_value();
#ifdef FILAMENTCHANGE_ZADD
- else target[Z_AXIS] += FILAMENTCHANGE_ZADD;
+ else destination[Z_AXIS] += FILAMENTCHANGE_ZADD;
#endif
RUNPLAN;
//move xy
- if (code_seen('X')) target[X_AXIS] = code_value();
+ if (code_seen('X')) destination[X_AXIS] = code_value();
#ifdef FILAMENTCHANGE_XPOS
- else target[X_AXIS] = FILAMENTCHANGE_XPOS;
+ else destination[X_AXIS] = FILAMENTCHANGE_XPOS;
#endif
- if (code_seen('Y')) target[Y_AXIS] = code_value();
+ if (code_seen('Y')) destination[Y_AXIS] = code_value();
#ifdef FILAMENTCHANGE_YPOS
- else target[Y_AXIS] = FILAMENTCHANGE_YPOS;
+ else destination[Y_AXIS] = FILAMENTCHANGE_YPOS;
#endif
RUNPLAN;
- if (code_seen('L')) target[E_AXIS] += code_value();
+ if (code_seen('L')) destination[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
- else target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
+ else destination[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
#endif
RUNPLAN;
@@ -4946,10 +4963,14 @@ inline void gcode_M503() {
disable_e3();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
- uint8_t cnt = 0;
+ millis_t next_tick = 0;
while (!lcd_clicked()) {
#ifndef AUTO_FILAMENT_CHANGE
- if (++cnt == 0) lcd_quick_feedback(); // every 256th frame till the lcd is clicked
+ millis_t ms = millis();
+ if (ms >= next_tick) {
+ lcd_quick_feedback();
+ next_tick = ms + 2500; // feedback every 2.5s while waiting
+ }
manage_heater();
manage_inactivity(true);
lcd_update();
@@ -4959,6 +4980,7 @@ inline void gcode_M503() {
st_synchronize();
#endif
} // while(!lcd_clicked)
+ lcd_quick_feedback(); // click sound feedback
#ifdef AUTO_FILAMENT_CHANGE
current_position[E_AXIS]= 0;
@@ -4966,12 +4988,12 @@ inline void gcode_M503() {
#endif
//return to normal
- if (code_seen('L')) target[E_AXIS] -= code_value();
+ if (code_seen('L')) destination[E_AXIS] -= code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
- else target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
+ else destination[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
#endif
- current_position[E_AXIS] = target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
+ current_position[E_AXIS] = destination[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
RUNPLAN; //should do nothing
@@ -4979,13 +5001,19 @@ inline void gcode_M503() {
lcd_reset_alert_level();
#ifdef DELTA
+ // Move XYZ to starting position, then E
calculate_delta(lastpos);
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder);
#else
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
+ // Move XY to starting position, then Z, then E
+ destination[X_AXIS] = lastpos[X_AXIS];
+ destination[Y_AXIS] = lastpos[Y_AXIS];
+ line_to_destination();
+ destination[Z_AXIS] = lastpos[Z_AXIS];
+ line_to_destination();
+ destination[E_AXIS] = lastpos[E_AXIS];
+ line_to_destination();
#endif
#ifdef FILAMENT_RUNOUT_SENSOR
diff --git a/Marlin/configurator/config/language.h b/Marlin/configurator/config/language.h
index 5f3d790c5e3..f83a0d9a1ec 100644
--- a/Marlin/configurator/config/language.h
+++ b/Marlin/configurator/config/language.h
@@ -170,6 +170,7 @@
#define MSG_ENDSTOPS_HIT "endstops hit: "
#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
+#define MSG_TOO_COLD_FOR_M600 "M600 Hotend too cold to change filament"
#define MSG_BABYSTEPPING_X "Babystepping X"
#define MSG_BABYSTEPPING_Y "Babystepping Y"
#define MSG_BABYSTEPPING_Z "Babystepping Z"
diff --git a/Marlin/language.h b/Marlin/language.h
index eb20a5b92b1..14052527003 100644
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -171,6 +171,7 @@
#define MSG_ENDSTOPS_HIT "endstops hit: "
#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
+#define MSG_TOO_COLD_FOR_M600 "M600 Hotend too cold to change filament"
#define MSG_BABYSTEPPING_X "Babystepping X"
#define MSG_BABYSTEPPING_Y "Babystepping Y"
#define MSG_BABYSTEPPING_Z "Babystepping Z"