Update

Documentation/GCodes.md

@@ -16,8 +16,6 @@
    Bed Probe and Delta geometry Autocalibration G30 A
 *  G31 - Dock Z Probe sled (if enabled)
 *  G32 - Undock Z Probe sled (if enabled)
-*  G60 - Store in memory the actual position
-*  G61 - Move X Y Z to position in memory
 *  G90 - Use Absolute Coordinates
 *  G91 - Use Relative Coordinates
 *  G92 - Set current position to cordinates given
@@ -91,6 +89,12 @@
 *  M302 - Allow cold extrudes
 *  M303 - PID relay autotune S[temperature] sets the target temperature. (default target temperature = 150C)
 *  M304 - Set bed PID parameters P I and D
+* M331 - Save current position coordinates (all axes, for active extruder).
+*        S<SLOT> - specifies memory slot # (0-based) to save into (default 0).
+* M332 - Apply/restore saved coordinates to the active extruder.
+*        X Y Z E - Value to add at stored coordinates.
+*        F<speed> - Set Feedrate.
+*        S<SLOT> - specifies memory slot # (0-based) to restore from (default 0).
 *  M350 - Set microstepping mode.
 *  M351 - Toggle MS1 MS2 pins directly.
 *  M400 - Finish all moves

Documentation/changelog.md

@@ -6,6 +6,16 @@
 * Add Acceleration retraction for extruder.
 * Add EJerk for extruder
 * Remove limit for virtual extruder to 4. Now width MKR4 or NPr2 is possible have infinite extruder...
+* Add M92 T* E (Set step per unit for any extruder)
+* Add M203 T* E (Set max feedrate for any extruder)
+* Add M204 T* R (Set acc retraction for any extruder)
+* Add M205 T* E (Set E Jerk for any extruder)
+* Add M331 Save current position coordinates (all axes, for active extruder).
+	S<SLOT> - specifies memory slot # (0-based) to save into (default 0).
+* Add M332 Apply/restore saved coordinates to the active extruder.
+	X Y Z E - Value to add at stored coordinates.
+	F<speed> - Set Feedrate.
+	S<SLOT> - specifies memory slot # (0-based) to save into (default 0).
 
 ### Version 4.1.2
 * Serial message function standardized for a better code style

MarlinKimbra/Configuration_adv.h

@@ -381,6 +381,10 @@
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25
 
+// Defines the number of memory slots for saving/restoring position (M331/M332)
+// The values should not be less than 1
+#define NUM_POSITON_SLOTS 2
+
 const unsigned int dropsegments = 5; // everything with less than this number of steps will be ignored as move and joined with the next movement
 
 // Control heater 0 and heater 1 in parallel.

MarlinKimbra/Marlin.h

@@ -262,7 +262,6 @@ extern float home_offset[3];
 extern float min_pos[3];
 extern float max_pos[3];
 extern bool axis_known_position[3];
-extern float lastpos[4];
 extern float zprobe_zoffset;
 
 // Lifetime stats

MarlinKimbra/Marlin_main.cpp

@@ -92,8 +92,6 @@
  * G30 - Single Z Probe, probes bed at current XY location. - Bed Probe and Delta geometry Autocalibration
  * G31 - Dock sled (Z_PROBE_SLED only)
  * G32 - Undock sled (Z_PROBE_SLED only)
- * G60 - Store in memory actual position
- * G61 - Move X Y Z to position in memory
  * G90 - Use Absolute Coordinates
  * G91 - Use Relative Coordinates
  * G92 - Set current position to coordinates given
@@ -181,6 +179,12 @@
  * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  * M304 - Set bed PID parameters P I and D
+ * M331 - Save current position coordinates (all axes, for active extruder).
+ *        S<SLOT> - specifies memory slot # (0-based) to save into (default 0).
+ * M332 - Apply/restore saved coordinates to the active extruder.
+ *        X Y Z E - Value to add at stored coordinates.
+ *        F<speed> - Set Feedrate.
+ *        S<SLOT> - specifies memory slot # (0-based) to restore from (default 0).
  * M350 - Set microstepping mode.
  * M351 - Toggle MS1 MS2 pins directly.
  * M380 - Activate solenoid on active extruder
@@ -235,9 +239,11 @@ uint8_t debugLevel = DEBUG_INFO|DEBUG_ERRORS;
 static float feedrate = 1500.0, saved_feedrate;
 float current_position[NUM_AXIS] = { 0.0 };
 float destination[NUM_AXIS] = { 0.0 };
-float lastpos[NUM_AXIS] = { 0.0 };
 bool axis_known_position[3] = { false };
 
+bool pos_saved = false;
+float stored_position[NUM_POSITON_SLOTS][NUM_AXIS];
+
 static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
 
 static char *current_command, *current_command_args;
@@ -562,7 +568,7 @@ bool enqueuecommand(const char *cmd) {
     SET_OUTPUT(EXP_VOLTAGE_LEVEL_PIN);
     WRITE(EXP_VOLTAGE_LEVEL_PIN,UI_VOLTAGE_LEVEL);
     ExternalDac::begin(); //initialize ExternalDac
-    lcd_buzz(10,10);
+    buzz(10,10);
   }
 #endif
 
@@ -3639,38 +3645,6 @@ inline void gcode_G28() {
   }
 #endif // DELTA && Z_PROBE_ENDSTOP
 
-// G60: Store in memory actual position
-inline void gcode_G60() {
-  memcpy(lastpos, current_position, sizeof(lastpos));
-  //ECHO_SMV(DB, " Lastpos X: ", lastpos[X_AXIS]);
-  //ECHO_MV(" Lastpos Y: ", lastpos[Y_AXIS]);
-  //ECHO_MV(" Lastpos Z: ", lastpos[Z_AXIS]);
-  //ECHO_EMV(" Lastpos E: ", lastpos[E_AXIS]);
-}
-
-// G61: move to X Y Z in memory
-inline void gcode_G61() {
-  for(int8_t i = 0; i < NUM_AXIS; i++) {
-    if(code_seen(axis_codes[i])) {
-      destination[i] = (float)code_value() + lastpos[i];
-    }
-    else {
-      destination[i] = current_position[i];
-    }
-  }
-  //ECHO_SMV(DB, " Move to X: ", destination[X_AXIS]);
-  //ECHO_MV(" Move to Y: ", destination[Y_AXIS]);
-  //ECHO_MV(" Move to Z: ", destination[Z_AXIS]);
-  //ECHO_EMV(" Move to E: ", destination[E_AXIS]);
-
-  if(code_seen('F')) {
-    float next_feedrate = code_value();
-    if(next_feedrate > 0.0) feedrate = next_feedrate;
-  }
-  //finish moves
-  prepare_move();
-}
-
 /**
  * G92: Set current position to given X Y Z E
  */
@@ -5091,7 +5065,7 @@ inline void gcode_M226() {
   }
 #endif // NUM_SERVOS > 0
 
-#if HAS_LCD_BUZZ
+#if HAS_BUZZER
 
   /**
    * M300: Play beep sound S<frequency Hz> P<duration ms>
@@ -5100,10 +5074,10 @@ inline void gcode_M226() {
     uint16_t beepS = code_seen('S') ? code_value_short() : 100;
     uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
     if (beepP > 5000) beepP = 5000; // limit to 5 seconds
-    lcd_buzz(beepP, beepS);
+    buzz(beepP, beepS);
   }
 
-#endif // HAS_LCD_BUZZ
+#endif // HAS_BUZZER
 
 
 #ifdef PIDTEMP
@@ -5175,6 +5149,73 @@ inline void gcode_M226() {
   }
 #endif // PIDTEMPBED
 
+/**
+ * M331:  save current position
+ *        S<slot> specifies memory slot # (0-based) to save into (default 0)
+ */
+inline void gcode_M331() {
+  int slot = 0;
+  if (code_seen('S')) slot = code_value();
+
+  if (slot < 0 || slot >= NUM_POSITON_SLOTS) {
+    ECHO_LMV(ER, MSG_INVALID_POS_SLOT, (int)NUM_POSITON_SLOTS);
+    return;
+  } 
+  memcpy(stored_position[slot], current_position, sizeof(*stored_position));
+  pos_saved = true;
+
+  ECHO_SM(DB, MSG_SAVED_POS);
+  ECHO_MV(" S", slot);
+  ECHO_MV("<-X:", stored_position[slot][X_AXIS]);
+  ECHO_MV(" Y:", stored_position[slot][Y_AXIS]);
+  ECHO_MV(" Z:", stored_position[slot][Z_AXIS]);
+  ECHO_EMV(" E:", stored_position[slot][E_AXIS]);
+}
+
+/**
+ * M332:  Apply/restore saved coordinates to the active extruder.
+ *        X Y Z E - Value to add at stored coordinates.
+ *        F<speed> - Set Feedrate.
+ *        S<slot> specifies memory slot # (0-based) to save into (default 0).
+ */
+inline void gcode_M332() {
+  if (!pos_saved) return;
+
+  bool make_move = false;
+  int slot = 0;
+  if (code_seen('S')) slot = code_value();
+
+  if (slot < 0 || slot >= NUM_POSITON_SLOTS) {
+    ECHO_LMV(ER, MSG_INVALID_POS_SLOT, (int)NUM_POSITON_SLOTS);
+    return;
+  }
+
+  ECHO_SM(DB, MSG_RESTORING_POS);
+  ECHO_MV(" S", slot);
+  ECHO_M("->");
+
+  if (code_seen('F')) {
+    float next_feedrate = code_value();
+    if (next_feedrate > 0.0) feedrate = next_feedrate;
+  }
+
+  for(int8_t i = 0; i < NUM_AXIS; i++) {
+    if(code_seen(axis_codes[i])) {
+      destination[i] = (float)code_value() + stored_position[slot][i];
+    }
+    else {
+      destination[i] = current_position[i];
+    }
+    ECHO_MV(" ", axis_codes[i]);
+    ECHO_MV(":", destination[i]);
+  }
+  ECHO_E;
+
+  //finish moves
+  prepare_move();
+  st_synchronize();
+}
+
 #if HAS_MICROSTEPS
   // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
   inline void gcode_M350() {
@@ -5450,7 +5491,7 @@ inline void gcode_M428() {
       else {
         ECHO_LM(ER, MSG_ERR_M428_TOO_FAR);
         LCD_ALERTMESSAGEPGM("Err: Too far!");
-        #if HAS_LCD_BUZZ
+        #if HAS_BUZZER
           enqueuecommands_P(PSTR("M300 S40 P200"));
         #endif
         err = true;
@@ -5469,7 +5510,7 @@ inline void gcode_M428() {
     #endif
     ECHO_LM(DB, "Offset applied.");
     LCD_ALERTMESSAGEPGM("Offset applied.");
-    #if HAS_LCD_BUZZ
+    #if HAS_BUZZER
       enqueuecommands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
     #endif
   }
@@ -5528,7 +5569,7 @@ inline void gcode_M503() {
    *
    */
   inline void gcode_M600() {
-    float target[NUM_AXIS], fr60 = feedrate / 60;
+    float lastpos[NUM_AXIS], target[NUM_AXIS], fr60 = feedrate / 60;
     filament_changing = true;
     for (int i = 0; i < NUM_AXIS; i++)
       target[i] = lastpos[i] = current_position[i];
@@ -5605,7 +5646,7 @@ inline void gcode_M503() {
         LCD_ALERTMESSAGEPGM("Zzzz Zzzz Zzzz");
       }
       if (beep) {
-        for(int8_t i = 0; i < 3; i++) lcd_buzz(100, 1000);
+        for(int8_t i = 0; i < 3; i++) buzz(100, 1000);
         last_set = millis();
         beep = false;
         ++cnt;
@@ -6215,9 +6256,9 @@ void process_next_command() {
       #endif // DELTA && Z_PROBE_ENDSTOP
 
       case 60: // G60 Store in memory actual position
-        gcode_G60(); break;
+        gcode_M331(); break;
       case 61: // G61 move to X Y Z in memory
-        gcode_G61(); break;
+        gcode_M332(); break;
       case 90: // G90
         relative_mode = false; break;
       case 91: // G91
@@ -6436,10 +6477,10 @@ void process_next_command() {
           gcode_M280(); break;
       #endif // NUM_SERVOS > 0
 
-      #if HAS_LCD_BUZZ
+      #if HAS_BUZZER
         case 300: // M300 - Play beep tone
           gcode_M300(); break;
-      #endif // HAS_LCD_BUZZ
+      #endif // HAS_BUZZER
 
       #ifdef PIDTEMP
         case 301: // M301
@@ -6461,13 +6502,16 @@ void process_next_command() {
           gcode_M304(); break;
       #endif // PIDTEMPBED
 
+      case 331: // M331 Saved Coordinated
+        gcode_M331(); break;
+      case 332: // M332 Restored Coordinates
+        gcode_M332(); break;
+
       #if HAS_MICROSTEPS
         case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
-          gcode_M350();
-          break;
+          gcode_M350(); break;
         case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
-          gcode_M351();
-          break;
+          gcode_M351(); break;
       #endif // HAS_MICROSTEPS
 
       #ifdef SCARA

MarlinKimbra/language_en.h

@@ -77,9 +77,9 @@
 #define MSG_PID_P                           "PID-P"
 #define MSG_PID_I                           "PID-I"
 #define MSG_PID_D                           "PID-D"
-#define MSG_E2                              " E2"
-#define MSG_E3                              " E3"
-#define MSG_E4                              " E4"
+#define MSG_H1                              " H1"
+#define MSG_H2                              " H2"
+#define MSG_H3                              " H3"
 #define MSG_ACC                             "Accel"
 #define MSG_VXY_JERK                        "Vxy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
@@ -176,13 +176,18 @@
   #define MSG_YSCALE                        "Y Scale"
 #endif
 
+// Extra
 #define MSG_LASER                           "Laser Preset"
 #define MSG_CONFIG                          "Configuration"
 #define MSG_E_BOWDEN_LENGTH                 "Extrude " STRINGIFY(BOWDEN_LENGTH) "mm"
 #define MSG_R_BOWDEN_LENGTH                 "Retract " STRINGIFY(BOWDEN_LENGTH) "mm"
 #define MSG_PURGE_XMM                       "Purge " STRINGIFY(LCD_PURGE_LENGTH) "mm"
 #define MSG_RETRACT_XMM                     "Retract " STRINGIFY(LCD_RETRACT_LENGTH) "mm"
+#define MSG_SAVED_POS                       "Saved position"
+#define MSG_RESTORING_POS                   "Restoring position"
+#define MSG_INVALID_POS_SLOT                "Invalid slot, total slots: "
 
+// Firmware Test
 #ifdef FIRMWARE_TEST
   #define MSG_FWTEST_YES                    "Put the Y command to go next"
   #define MSG_FWTEST_NO                     "Put the N command to go next"

MarlinKimbra/language_it.h

@@ -77,9 +77,9 @@
 #define MSG_PID_P                           "PID-P"
 #define MSG_PID_I                           "PID-I"
 #define MSG_PID_D                           "PID-D"
-#define MSG_E2                              " E2"
-#define MSG_E3                              " E3"
-#define MSG_E4                              " E4"
+#define MSG_H1                              " H1"
+#define MSG_H2                              " H2"
+#define MSG_H3                              " H3"
 #define MSG_ACC                             "Accel"
 #define MSG_VXY_JERK                        "Vxy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
@@ -176,13 +176,18 @@
   #define MSG_YSCALE                        "Y Scale"
 #endif
 
+// Extra
 #define MSG_LASER                           "Laser Preset"
 #define MSG_CONFIG                          "Configurazione"
 #define MSG_E_BOWDEN_LENGTH                 "Extrude " STRINGIFY(BOWDEN_LENGTH) "mm"
 #define MSG_R_BOWDEN_LENGTH                 "Retract " STRINGIFY(BOWDEN_LENGTH) "mm"
 #define MSG_PURGE_XMM                       "Purge " STRINGIFY(LCD_PURGE_LENGTH) "mm"
 #define MSG_RETRACT_XMM                     "Retract " STRINGIFY(LCD_RETRACT_LENGTH) "mm"
+#define MSG_SAVED_POS                       "Posizione Salvata"
+#define MSG_RESTORING_POS                   "Restoring position"
+#define MSG_INVALID_POS_SLOT                "Invalid slot, total slots: "
 
+// Firmware Test
 #ifdef FIRMWARE_TEST
   #define MSG_FWTEST_YES                    "Dai il comando Y per andare avanti"
   #define MSG_FWTEST_NO                     "Dai il comando N per andare avanti"

MarlinKimbra/temperature.cpp

@@ -36,7 +36,6 @@
 
 #if defined(PIDTEMPBED) || defined(PIDTEMP)
   #define PID_dT ((OVERSAMPLENR * 14.0)/(F_CPU / 64.0 / 256.0))
-  #define RECI_PID_dT ( 1 / PID_dT )
 #endif
 
 //===========================================================================
@@ -375,17 +374,14 @@ int getHeaterPower(int heater) {
 
 #if HAS_AUTO_FAN
 
-void setExtruderAutoFanState(int pin, bool state)
-{
+void setExtruderAutoFanState(int pin, bool state) {
   unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
   // this idiom allows both digital and PWM fan outputs (see M42 handling).
-  pinMode(pin, OUTPUT);
   digitalWrite(pin, newFanSpeed);
   analogWrite(pin, newFanSpeed);
 }
 
-void checkExtruderAutoFans()
-{
+void checkExtruderAutoFans() {
   uint8_t fanState = 0;
 
   // which fan pins need to be turned on?      
@@ -448,7 +444,7 @@ void checkExtruderAutoFans()
   #endif
 }
 
-#endif // any extruder auto fan pins set
+#endif // HAS_AUTO_FAN
 
 //
 // Temperature Error Handlers
@@ -740,7 +736,7 @@ static float analog2temp(int raw, uint8_t e) {
 
     return celsius;
   }
-    return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
+  return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
 }
 
 // Derived from RepRap FiveD extruder::getTemperature()
@@ -765,7 +761,7 @@ static float analog2tempBed(int raw) {
 
     return celsius;
   #elif defined BED_USES_AD595
-      return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
+    return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
   #else
     return 0;
   #endif
@@ -944,6 +940,20 @@ void tp_init() {
   #if HAS_FILAMENT_SENSOR
     ANALOG_SELECT(FILWIDTH_PIN);
   #endif
+
+  #if HAS_AUTO_FAN_0
+    pinMode(EXTRUDER_0_AUTO_FAN_PIN, OUTPUT);
+  #endif
+  #if HAS_AUTO_FAN_1 && (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
+    pinMode(EXTRUDER_1_AUTO_FAN_PIN, OUTPUT);
+  #endif
+  #if HAS_AUTO_FAN_2 && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
+    pinMode(EXTRUDER_2_AUTO_FAN_PIN, OUTPUT);
+  #endif
+  #if HAS_AUTO_FAN_3 && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN) && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
+    pinMode(EXTRUDER_3_AUTO_FAN_PIN, OUTPUT);
+  #endif
+
   #if HAS_POWER_CONSUMPTION_SENSOR
     ANALOG_SELECT(POWER_CONSUMPTION_PIN);
   #endif
@@ -979,7 +989,6 @@ void tp_init() {
   #ifdef HEATER_0_MAXTEMP
     TEMP_MAX_ROUTINE(0);
   #endif
-
   #if HOTENDS > 1
     #ifdef HEATER_1_MINTEMP
       TEMP_MIN_ROUTINE(1);

MarlinKimbra/ultralcd.h

@@ -59,8 +59,6 @@
   #if HAS_LCD_FILAMENT_SENSOR || HAS_LCD_POWER_SENSOR
     extern millis_t previous_lcd_status_ms;
   #endif
-
-  void lcd_buzz(long duration,uint16_t freq);
   void lcd_quick_feedback(); // Audible feedback for a button click - could also be visual
   bool lcd_clicked();
 
@@ -117,7 +115,6 @@
   FORCE_INLINE void lcd_setstatuspgm(const char* message, const uint8_t level=0) {}
   FORCE_INLINE void lcd_buttons_update() {}
   FORCE_INLINE void lcd_reset_alert_level() {}
-  FORCE_INLINE void lcd_buzz(long duration, uint16_t freq) {}
   FORCE_INLINE bool lcd_detected(void) { return true; }
 
   #define LCD_MESSAGEPGM(x) do{}while(0)
@@ -125,6 +122,10 @@
 
 #endif //ULTRA_LCD
 
+#if HAS_BUZZER
+  void buzz(long duration,uint16_t freq);
+#endif
+
 char *itostr2(const uint8_t &x);
 char *itostr31(const int &xx);
 char *itostr3(const int &xx);

MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h

@@ -546,31 +546,46 @@ static void lcd_implementation_status_screen() {
 
       #if HOTENDS > 1 && TEMP_SENSOR_BED != 0
 
-        // If we both have a 2nd extruder and a heated bed,
+        // If we both have a 2nd hotend and a heated bed,
         // show the heated bed temp on the left,
-        // since the first line is filled with extruder temps
+        // since the first line is filled with hotend temps
         LCD_TEMP(degBed(), degTargetBed(), LCD_STR_BEDTEMP[0]);
 
       #else
 
+        lcd.print('X');
+        if (axis_known_position[X_AXIS])
+          #ifdef DELTA
+            lcd.print(ftostr30(current_position[X_AXIS]));
+          #else
+            lcd.print(ftostr3(current_position[X_AXIS]));
+          #endif
+        else
+          lcd_printPGM(PSTR("---"));
+
         #ifdef DELTA
-          lcd.print('X');
-          lcd.print(ftostr30(current_position[X_AXIS]));
           lcd_printPGM(PSTR(" Y"));
-          lcd.print(ftostr30(current_position[Y_AXIS]));
+          if (axis_known_position[Y_AXIS])
+            lcd.print(ftostr30(current_position[Y_AXIS]));
+          else
         #else
-          lcd.print('X');
-          lcd.print(ftostr3(current_position[X_AXIS]));
           lcd_printPGM(PSTR("  Y"));
-          lcd.print(ftostr3(current_position[Y_AXIS]));
+          if (axis_known_position[Y_AXIS])
+            lcd.print(ftostr3(current_position[Y_AXIS]));
+          else
         #endif // DELTA
+          lcd_printPGM(PSTR("---"));
+
       #endif // HOTENDS > 1 || TEMP_SENSOR_BED != 0
 
     #endif // LCD_WIDTH >= 20
 
     lcd.setCursor(LCD_WIDTH - 8, 1);
     lcd.print('Z');
-    lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
+    if (axis_known_position[Z_AXIS])
+      lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
+    else
+      lcd_printPGM(PSTR("---.--"));
 
   #endif // LCD_HEIGHT > 2