Merge remote-tracking branch 'upstream/dev' into dev

MK/Configuration_Basic.h

@@ -72,10 +72,22 @@
 
 /***********************************************************************
  *************************** Mechanism type ****************************
+ ***********************************************************************
+ *                                                                     *
+ * CARTESIAN  - Prusa, Mendel, etc                                     *
+ * COREXY     - H-Bot/Core XY (x_motor = x+y, y_motor = x-y)           *
+ * COREYX     - H-Bot/Core XY (x_motor = y+x, y_motor = y-x)           *
+ * COREXZ     - H-Bot/Core XZ (x_motor = x+z, z_motor = x-z)           *
+ * COREZX     - H-Bot/Core XZ (x_motor = z+x, z_motor = z-x)           *
+ * DELTA      - Rostock, Kossel, RostockMax, Cerberus, etc             *
+ * SCARA      - SCARA                                                  *
+ *                                                                     *
  ***********************************************************************/
 #define MECHANISM MECH_CARTESIAN
 //#define MECHANISM MECH_COREXY
+//#define MECHANISM MECH_COREYX
 //#define MECHANISM MECH_COREXZ
+//#define MECHANISM MECH_COREZX
 //#define MECHANISM MECH_DELTA
 //#define MECHANISM MECH_SCARA
 /***********************************************************************/

MK/Configuration_Cartesian.h

@@ -278,16 +278,26 @@
 
 // Offsets to the probe relative to the extruder tip (Hotend - Probe)
 // X and Y offsets MUST be INTEGERS
-#define X_PROBE_OFFSET_FROM_EXTRUDER 0      // Probe on: -left  +right
-#define Y_PROBE_OFFSET_FROM_EXTRUDER 0      // Probe on: -front +behind
-#define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // -below (always!)
-
-#define Z_RAISE_BEFORE_HOMING       10      // (in mm) Raise Z before homing (G28) for Probe Clearance.
+//
+//    +-- BACK ---+
+//    |           |
+//  L |    (+) P  | R <-- probe (10,10)
+//  E |           | I
+//  F | (-) N (+) | G <-- nozzle (0,0)
+//  T |           | H
+//    |  P (-)    | T <-- probe (-10,-10)
+//    |           |
+//    O-- FRONT --+
+#define X_PROBE_OFFSET_FROM_EXTRUDER  0     // X offset: -left  [of the nozzle] +right
+#define Y_PROBE_OFFSET_FROM_EXTRUDER  0     // Y offset: -front [of the nozzle] +behind
+#define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // Z offset: -below [of the nozzle] (always negative!)
+
+#define Z_RAISE_BEFORE_HOMING        10     // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                             // Be sure you have this distance over your Z_MAX_POS in case
 
-#define Z_RAISE_BEFORE_PROBING      10      //How much the extruder will be raised before travelling to the first probing point.
-#define Z_RAISE_BETWEEN_PROBINGS     5      //How much the extruder will be raised when travelling from between next probing points
-#define Z_RAISE_AFTER_PROBING        5      //How much the extruder will be raised after the last probing point.
+#define Z_RAISE_BEFORE_PROBING       10     //How much the extruder will be raised before travelling to the first probing point.
+#define Z_RAISE_BETWEEN_PROBINGS      5     //How much the extruder will be raised when travelling from between next probing points
+#define Z_RAISE_AFTER_PROBING         5     //How much the extruder will be raised after the last probing point.
 
 //#define Z_PROBE_END_SCRIPT "G1 Z10 F8000\nG1 X10 Y10\nG1 Z0.5"  // These commands will be executed in the end of G29 routine.
                                                                   // Useful to retract a deployable Z probe.
@@ -419,9 +429,9 @@
  * For the other hotends it is their distance from the hotend 0.                         *
  *                                                                                       *
  *****************************************************************************************/
-//#define HOTEND_OFFSET_X {0.0, 5.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
-//#define HOTEND_OFFSET_Y {0.0, 5.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
-//#define HOTEND_OFFSET_Z {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Z axis
+#define HOTEND_OFFSET_X {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
+#define HOTEND_OFFSET_Y {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
+#define HOTEND_OFFSET_Z {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Z axis
 /*****************************************************************************************/
 
 

MK/Configuration_Core.h

@@ -46,7 +46,8 @@
 /*****************************************************************************************
  ************************************* Core settings *************************************
  *****************************************************************************************
- * This define the moltiplicator axis from X to Y or Z in COREXY or COREXZ.              *
+ * This define the moltiplicator axis from X to Y or Z in                                *
+ * COREXY - COREYX or COREXZ - COREZX                                                    *
  * Example:                                                                              *
  * COREXY set COREX_YZ_FACTOR 1                                                          *
  * The result is:                                                                        *
@@ -299,16 +300,26 @@
 
 // Offsets to the probe relative to the extruder tip (Hotend - Probe)
 // X and Y offsets MUST be INTEGERS
-#define X_PROBE_OFFSET_FROM_EXTRUDER 0      // Probe on: -left  +right
-#define Y_PROBE_OFFSET_FROM_EXTRUDER 0      // Probe on: -front +behind
-#define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // -below (always!)
-
-#define Z_RAISE_BEFORE_HOMING       10      // (in mm) Raise Z before homing (G28) for Probe Clearance.
+//
+//    +-- BACK ---+
+//    |           |
+//  L |    (+) P  | R <-- probe (10,10)
+//  E |           | I
+//  F | (-) N (+) | G <-- nozzle (0,0)
+//  T |           | H
+//    |  P (-)    | T <-- probe (-10,-10)
+//    |           |
+//    O-- FRONT --+
+#define X_PROBE_OFFSET_FROM_EXTRUDER  0     // X offset: -left  [of the nozzle] +right
+#define Y_PROBE_OFFSET_FROM_EXTRUDER  0     // Y offset: -front [of the nozzle] +behind
+#define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // Z offset: -below [of the nozzle] (always negative!)
+
+#define Z_RAISE_BEFORE_HOMING        10     // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                             // Be sure you have this distance over your Z_MAX_POS in case
 
-#define Z_RAISE_BEFORE_PROBING      10      //How much the extruder will be raised before travelling to the first probing point.
-#define Z_RAISE_BETWEEN_PROBINGS     5      //How much the extruder will be raised when travelling from between next probing points
-#define Z_RAISE_AFTER_PROBING        5      //How much the extruder will be raised after the last probing point.
+#define Z_RAISE_BEFORE_PROBING       10     //How much the extruder will be raised before travelling to the first probing point.
+#define Z_RAISE_BETWEEN_PROBINGS      5     //How much the extruder will be raised when travelling from between next probing points
+#define Z_RAISE_AFTER_PROBING         5     //How much the extruder will be raised after the last probing point.
 
 //#define Z_PROBE_END_SCRIPT "G1 Z10 F8000\nG1 X10 Y10\nG1 Z0.5"  // These commands will be executed in the end of G29 routine.
                                                                   // Useful to retract a deployable Z probe.
@@ -440,9 +451,9 @@
  * For the other hotends it is their distance from the hotend 0.                         *
  *                                                                                       *
  *****************************************************************************************/
-//#define HOTEND_OFFSET_X {0.0, 5.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
-//#define HOTEND_OFFSET_Y {0.0, 5.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
-//#define HOTEND_OFFSET_Z {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Z axis
+#define HOTEND_OFFSET_X {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
+#define HOTEND_OFFSET_Y {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
+#define HOTEND_OFFSET_Z {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Z axis
 /*****************************************************************************************/
 
 #endif

MK/Configuration_Delta.h

@@ -118,8 +118,21 @@
 #define PROBE_COUNT 3
 
 // Z-Probe variables
-// X, Y, Z, E distance between hotend nozzle and deployed bed leveling probe.
-#define Z_PROBE_OFFSET {0, 0, -1}
+// Offsets to the probe relative to the extruder tip (Hotend - Probe)
+// X and Y offsets MUST be INTEGERS
+//
+//    +-- BACK ---+
+//    |           |
+//  L |    (+) P  | R <-- probe (10,10)
+//  E |           | I
+//  F | (-) N (+) | G <-- nozzle (0,0)
+//  T |           | H
+//    |  P (-)    | T <-- probe (-10,-10)
+//    |           |
+//    O-- FRONT --+
+#define X_PROBE_OFFSET_FROM_EXTRUDER  0     // X offset: -left  [of the nozzle] +right
+#define Y_PROBE_OFFSET_FROM_EXTRUDER  0     // Y offset: -front [of the nozzle] +behind
+#define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // Z offset: -below [of the nozzle] (always negative!)
 
 // Start and end location values are used to deploy/retract the probe (will move from start to end and back again)
 #define Z_PROBE_DEPLOY_START_LOCATION {0, 0, 20}   // X, Y, Z, E start location for z-probe deployment sequence
@@ -377,9 +390,9 @@
  * For the other hotends it is their distance from the hotend 0.                         *
  *                                                                                       *
  *****************************************************************************************/
-//#define HOTEND_OFFSET_X {0.0, 5.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
-//#define HOTEND_OFFSET_Y {0.0, 5.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
-//#define HOTEND_OFFSET_Z {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Z axis
+#define HOTEND_OFFSET_X {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
+#define HOTEND_OFFSET_Y {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
+#define HOTEND_OFFSET_Z {0.0, 0.0, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Z axis
 /*****************************************************************************************/
 
 #endif
\ No newline at end of file

MK/Configuration_Feature.h

@@ -182,9 +182,9 @@
 #define LPQ_MAX_LEN 50
 
 //           HotEnd{HE0,HE1,HE2,HE3}
-#define DEFAULT_Kp {40, 40, 40, 40}     // Kp for E0, E1, E2, E3
-#define DEFAULT_Ki {07, 07, 07, 07}     // Ki for E0, E1, E2, E3
-#define DEFAULT_Kd {60, 60, 60, 60}     // Kd for E0, E1, E2, E3
+#define DEFAULT_Kp {40, 40, 40, 40}     // Kp for H0, H1, H2, H3
+#define DEFAULT_Ki {07, 07, 07, 07}     // Ki for H0, H1, H2, H3
+#define DEFAULT_Kd {60, 60, 60, 60}     // Kd for H0, H1, H2, H3
 #define DEFAULT_Kc {100, 100, 100, 100} // heating power = Kc * (e_speed)
 /***********************************************************************/
 

MK/Configuration_Store.cpp

@@ -16,10 +16,10 @@
  *
  */
 
-#define EEPROM_VERSION "V25"
+#define EEPROM_VERSION "MKV428"
 
 /**
- * V25 EEPROM Layout:
+ * MKV428 EEPROM Layout:
  *
  *  ver
  *  M92   XYZ E0 ...      axis_steps_per_unit X,Y,Z,E0 ... (per extruder)
@@ -33,15 +33,13 @@
  *  M205  B               minsegmenttime
  *  M205  X               max_xy_jerk
  *  M205  Z               max_z_jerk
- *  M205  E  E0 ...       max_e_jerk (per extruder)
+ *  M205  E   E0 ...      max_e_jerk (per extruder)
  *  M206  XYZ             home_offset (x3)
+ *  M218  T   XY          hotend_offset (x4) (T0..3)
  *  M666  P               zprobe_zoffset
  *
- * HOTENDS OFFSET:
- *  M218 T  XY            hotend_offset (x4) (T0..3)
- *
  * HOTENDS AD595:
- *  M595 T O G            Hotend AD595 Offset & Gain
+ *  M595  H OS            Hotend AD595 Offset & Gain
  *
  * DELTA:
  *  M666  XYZ             endstop_adj (x3)
@@ -137,7 +135,7 @@ void _EEPROM_readData(int& pos, uint8_t* value, uint8_t size) {
 
 void Config_StoreSettings() {
   float dummy = 0.0f;
-  char ver[4] = "000";
+  char ver[7] = "000000";
   int i = EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i, ver); // invalidate data first
   EEPROM_WRITE_VAR(i, axis_steps_per_unit);
@@ -153,15 +151,12 @@ void Config_StoreSettings() {
   EEPROM_WRITE_VAR(i, max_z_jerk);
   EEPROM_WRITE_VAR(i, max_e_jerk);
   EEPROM_WRITE_VAR(i, home_offset);
+  EEPROM_WRITE_VAR(i, hotend_offset);
 
   #if !MECH(DELTA)
     EEPROM_WRITE_VAR(i, zprobe_zoffset);
   #endif
 
-  #if HOTENDS > 1
-    EEPROM_WRITE_VAR(i, hotend_offset);
-  #endif
-
   #if HEATER_USES_AD595
     EEPROM_WRITE_VAR(i, ad595_offset);
     EEPROM_WRITE_VAR(i, ad595_gain);
@@ -248,11 +243,9 @@ void Config_StoreSettings() {
   EEPROM_WRITE_VAR(i, volumetric_enabled);
 
   // Save filament sizes
-  for (int q = 0; q < 4; q++) {
-    if (q < EXTRUDERS) dummy = filament_size[q];
-    EEPROM_WRITE_VAR(i, dummy);
-  }
-  
+  for (int e = 0; e < EXTRUDERS; e++)
+    EEPROM_WRITE_VAR(i, filament_size[e]);
+
   #if ENABLED(IDLE_OOZING_PREVENT)
     EEPROM_WRITE_VAR(i, IDLE_OOZING_enabled);
   #endif
@@ -261,7 +254,7 @@ void Config_StoreSettings() {
     EEPROM_WRITE_VAR(i, motor_current);
   #endif
 
-  char ver2[4] = EEPROM_VERSION;
+  char ver2[7] = EEPROM_VERSION;
   int j = EEPROM_OFFSET;
   EEPROM_WRITE_VAR(j, ver2); // validate data
 
@@ -276,12 +269,12 @@ void Config_StoreSettings() {
 void Config_RetrieveSettings() {
 
   int i = EEPROM_OFFSET;
-  char stored_ver[4];
-  char ver[4] = EEPROM_VERSION;
-  EEPROM_READ_VAR(i, stored_ver); //read stored version
-  //  ECHO_EM("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
+  char stored_ver[7];
+  char ver[7] = EEPROM_VERSION;
+  EEPROM_READ_VAR(i, stored_ver); // read stored version
+  //ECHO_EM("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
 
-  if (strncmp(ver, stored_ver, 3) != 0) {
+  if (strncmp(ver, stored_ver, 6) != 0) {
     Config_ResetDefault();
   }
   else {
@@ -305,15 +298,12 @@ void Config_RetrieveSettings() {
     EEPROM_READ_VAR(i, max_z_jerk);
     EEPROM_READ_VAR(i, max_e_jerk);
     EEPROM_READ_VAR(i, home_offset);
+    EEPROM_READ_VAR(i, hotend_offset);
 
     #if !MECH(DELTA)
       EEPROM_READ_VAR(i, zprobe_zoffset);
     #endif
 
-    #if HOTENDS > 1
-      EEPROM_READ_VAR(i, hotend_offset);
-    #endif
-
     #if HEATER_USES_AD595
       EEPROM_READ_VAR(i, ad595_offset);
       EEPROM_READ_VAR(i, ad595_gain);
@@ -400,10 +390,8 @@ void Config_RetrieveSettings() {
 
     EEPROM_READ_VAR(i, volumetric_enabled);
 
-    for (int8_t q = 0; q < 4; q++) {
-      EEPROM_READ_VAR(i, dummy);
-      if (q < EXTRUDERS) filament_size[q] = dummy;
-    }
+    for (int8_t e = 0; e < EXTRUDERS; e++)
+      EEPROM_READ_VAR(i, filament_size[e]);
 
     calculate_volumetric_multipliers();
 
@@ -489,23 +477,21 @@ void Config_ResetDefault() {
         max_e_jerk[i] = tmp5[i];
       else
         max_e_jerk[i] = tmp5[max_i - 1];
-      #if HOTENDS > 1
-        max_i = sizeof(tmp10) / sizeof(*tmp10);
-        if(i < max_i)
-          hotend_offset[X_AXIS][i] = tmp10[i];
-        else
-          hotend_offset[X_AXIS][i] = 0;
-        max_i = sizeof(tmp11) / sizeof(*tmp11);
-        if(i < max_i)
-          hotend_offset[Y_AXIS][i] = tmp11[i];
-        else
-          hotend_offset[Y_AXIS][i] = 0;
-        max_i = sizeof(tmp12) / sizeof(*tmp12);
-        if(i < max_i)
-          hotend_offset[Z_AXIS][i] = tmp12[i];
-        else
-          hotend_offset[Z_AXIS][i] = 0;
-      #endif // HOTENDS > 1
+      max_i = sizeof(tmp10) / sizeof(*tmp10);
+      if(i < max_i)
+        hotend_offset[X_AXIS][i] = tmp10[i];
+      else
+        hotend_offset[X_AXIS][i] = 0;
+      max_i = sizeof(tmp11) / sizeof(*tmp11);
+      if(i < max_i)
+        hotend_offset[Y_AXIS][i] = tmp11[i];
+      else
+        hotend_offset[Y_AXIS][i] = 0;
+      max_i = sizeof(tmp12) / sizeof(*tmp12);
+      if(i < max_i)
+        hotend_offset[Z_AXIS][i] = tmp12[i];
+      else
+        hotend_offset[Z_AXIS][i] = 0;
     }
     #if MB(ALLIGATOR)
       max_i = sizeof(tmp13) / sizeof(*tmp13);
@@ -557,7 +543,9 @@ void Config_ResetDefault() {
     diagrod_adj[1] = TOWER_B_DIAGROD_ADJ;
     diagrod_adj[2] = TOWER_C_DIAGROD_ADJ;
     max_pos[2] = MANUAL_Z_HOME_POS;
-    set_default_z_probe_offset();
+    z_probe_offset[0] = X_PROBE_OFFSET_FROM_EXTRUDER;
+    z_probe_offset[1] = Y_PROBE_OFFSET_FROM_EXTRUDER;
+    z_probe_offset[2] = Z_PROBE_OFFSET_FROM_EXTRUDER;
     set_delta_constants();
   #endif
 
@@ -717,17 +705,15 @@ void Config_ResetDefault() {
     ECHO_MV(" Y", home_offset[Y_AXIS] );
     ECHO_EMV(" Z", home_offset[Z_AXIS] );
 
-    #if HOTENDS > 1
-      if (!forReplay) {
-        ECHO_LM(CFG, "Hotend offset (mm):");
-      }
-      for (int8_t h = 0; h < HOTENDS; h++) {
-        ECHO_SMV(CFG, "  M218 T", h);
-        ECHO_MV(" X", hotend_offset[X_AXIS][h]);
-        ECHO_MV(" Y", hotend_offset[Y_AXIS][h]);
-        ECHO_EMV(" Z", hotend_offset[Z_AXIS][h]);
-      }
-    #endif // HOTENDS > 1
+    if (!forReplay) {
+      ECHO_LM(CFG, "Hotend offset (mm):");
+    }
+    for (int8_t h = 0; h < HOTENDS; h++) {
+      ECHO_SMV(CFG, "  M218 T", h);
+      ECHO_MV(" X", hotend_offset[X_AXIS][h]);
+      ECHO_MV(" Y", hotend_offset[Y_AXIS][h]);
+      ECHO_EMV(" Z", hotend_offset[Z_AXIS][h]);
+    }
 
     #if HEATER_USES_AD595
       if (!forReplay) {
@@ -736,7 +722,7 @@ void Config_ResetDefault() {
       for (int8_t h = 0; h < HOTENDS; h++) {
         ECHO_SMV(CFG, "  M595 T", h);
         ECHO_MV(" O", ad595_offset[h]);
-        ECHO_EMV(", G", ad595_gain[h]);
+        ECHO_EMV(", S", ad595_gain[h]);
       }
     #endif // HEATER_USES_AD595
 

MK/base.h

@@ -23,8 +23,12 @@
   #include "Configuration_Cartesian.h"
 #elif MECH(COREXY)
   #include "Configuration_Core.h"
+#elif MECH(COREYX)
+  #include "Configuration_Core.h"
 #elif MECH(COREXZ)
   #include "Configuration_Core.h"
+#elif MECH(COREZX)
+  #include "Configuration_Core.h"
 #elif MECH(DELTA)
   #include "Configuration_Delta.h"
 #elif MECH(SCARA)

MK/module/MK_Main.cpp

@@ -74,6 +74,7 @@ bool volumetric_enabled = false;
 float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA);
 float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(1.0);
 float home_offset[3] = { 0 };
+float hotend_offset[3][HOTENDS];
 float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
 float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
 
@@ -115,11 +116,6 @@ double printer_usage_filament;
   float z_endstop_adj = 0;
 #endif
 
-// Hotend offset
-#if HOTENDS > 1
-  float hotend_offset[3][HOTENDS];
-#endif
-
 #if HEATER_USES_AD595
   float ad595_offset[HOTENDS] = ARRAY_BY_HOTENDS1(TEMP_SENSOR_AD595_OFFSET);
   float ad595_gain[HOTENDS] = ARRAY_BY_HOTENDS1(TEMP_SENSOR_AD595_GAIN);
@@ -136,6 +132,10 @@ double printer_usage_filament;
   bool Spool_must_write[EXTRUDERS]  = ARRAY_BY_EXTRUDERS (false);
 #endif
 
+#if HAS(SERVOS)
+  Servo servo[NUM_SERVOS];
+#endif
+
 #if HAS(SERVO_ENDSTOPS)
   const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
   const int servo_endstop_angle[][2] = {X_ENDSTOP_SERVO_ANGLES, Y_ENDSTOP_SERVO_ANGLES, Z_ENDSTOP_SERVO_ANGLES};
@@ -173,6 +173,11 @@ double printer_usage_filament;
 #endif
 
 #if MECH(DELTA)
+
+  #define TOWER_1 X_AXIS
+  #define TOWER_2 Y_AXIS
+  #define TOWER_3 Z_AXIS
+
   float delta[3] = { 0.0 };
   float delta_tmp[3] = { 0.0 };
   float endstop_adj[3] = { 0 };
@@ -191,7 +196,7 @@ double printer_usage_filament;
   float base_max_pos[3] = {X_MAX_POS, Y_MAX_POS, Z_MAX_POS};
   float base_home_pos[3] = {X_HOME_POS, Y_HOME_POS, Z_HOME_POS};
   float max_length[3] = {X_MAX_LENGTH, Y_MAX_LENGTH, Z_MAX_LENGTH};
-  float z_probe_offset[3] = Z_PROBE_OFFSET;
+  float z_probe_offset[3];
   float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
   int delta_grid_spacing[2] = { 0, 0 };
   const float bed_radius = DELTA_PROBABLE_RADIUS;
@@ -293,10 +298,6 @@ double printer_usage_filament;
   bool allow_lengthy_extrude_once; // for load/unload
 #endif
 
-#if HAS(SERVOS)
-  Servo servo[NUM_SERVOS];
-#endif
-
 #if HAS(CHDK)
   unsigned long chdkHigh = 0;
   boolean chdkActive = false;
@@ -320,8 +321,6 @@ void process_next_command();
 
 void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
 
-bool setTargetedExtruder(int code);
-
 #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
   float extrude_min_temp = EXTRUDE_MINTEMP;
 #endif
@@ -978,7 +977,7 @@ DEFINE_PGM_READ_ANY(signed char, byte);
   static inline type array(int axis)          \
   { return pgm_read_any(&array##_P[axis]); }
 
-#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREXZ) || MECH(SCARA)
+#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX) || MECH(SCARA)
   XYZ_CONSTS_FROM_CONFIG(float, base_max_pos,  MAX_POS);
   XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
   XYZ_CONSTS_FROM_CONFIG(float, max_length,    MAX_LENGTH);
@@ -1139,7 +1138,7 @@ inline void sync_plan_position() {
 #if MECH(DELTA) || MECH(SCARA)
   inline void sync_plan_position_delta() {
     calculate_delta(current_position);
-    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+    plan_set_position(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], current_position[E_AXIS]);
   }
 #endif
 inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
@@ -1163,7 +1162,7 @@ static void clean_up_after_endstop_move() {
   endstops_hit_on_purpose(); // clear endstop hit flags
 }
 
-#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREXZ) || MECH(SCARA)
+#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX) || MECH(SCARA)
 
   /**
    *  Plan a move to (X, Y, Z) and set the current_position
@@ -1548,7 +1547,7 @@ static void clean_up_after_endstop_move() {
     }
   }
   #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
-#endif // CARTESIAN || COREXY || COREXZ || SCARA
+#endif // CARTESIAN || COREXY || COREYX || COREXZ || COREZX || SCARA
 
 #if MECH(DELTA)
   static void homeaxis(AxisEnum axis) {
@@ -1625,11 +1624,6 @@ static void clean_up_after_endstop_move() {
   }
   #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
 
-  void set_default_z_probe_offset() {
-    float default_z_probe_offset[] = Z_PROBE_OFFSET;
-    memcpy(z_probe_offset, default_z_probe_offset, sizeof(z_probe_offset));
-  }
-
   void set_delta_constants() {
     max_length[Z_AXIS]    = max_pos[Z_AXIS] - Z_MIN_POS;
     base_max_pos[Z_AXIS]  = max_pos[Z_AXIS];
@@ -1772,7 +1766,7 @@ static void clean_up_after_endstop_move() {
     endstop_adj[Z_AXIS] += z_endstop;
 
     calculate_delta(current_position);
-    plan_set_position(delta[X_AXIS] - (endstop_adj[X_AXIS] - saved_endstop_adj[X_AXIS]) , delta[Y_AXIS] - (endstop_adj[Y_AXIS] - saved_endstop_adj[Y_AXIS]), delta[Z_AXIS] - (endstop_adj[Z_AXIS] - saved_endstop_adj[Z_AXIS]), current_position[E_AXIS]);  
+    plan_set_position(delta[TOWER_1] - (endstop_adj[X_AXIS] - saved_endstop_adj[X_AXIS]) , delta[TOWER_2] - (endstop_adj[Y_AXIS] - saved_endstop_adj[Y_AXIS]), delta[TOWER_3] - (endstop_adj[Z_AXIS] - saved_endstop_adj[Z_AXIS]), current_position[E_AXIS]);  
     st_synchronize();
   }
 
@@ -2491,20 +2485,20 @@ static void clean_up_after_endstop_move() {
     }
     refresh_cmd_timeout();
     calculate_delta(destination);
-    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate * feedrate_multiplier / 60 / 100.0, active_extruder, active_driver);
+    plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], destination[E_AXIS], feedrate * feedrate_multiplier / 60 / 100.0, active_extruder, active_driver);
     set_current_to_destination();
   }
 
   void calculate_delta(float cartesian[3]) {
-    delta[X_AXIS] = sqrt(delta_diagonal_rod_1
+    delta[TOWER_1] = sqrt(delta_diagonal_rod_1
                          - sq(delta_tower1_x - cartesian[X_AXIS])
                          - sq(delta_tower1_y - cartesian[Y_AXIS])
                          ) + cartesian[Z_AXIS];
-    delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
+    delta[TOWER_2] = sqrt(delta_diagonal_rod_2
                          - sq(delta_tower2_x - cartesian[X_AXIS])
                          - sq(delta_tower2_y - cartesian[Y_AXIS])
                          ) + cartesian[Z_AXIS];
-    delta[Z_AXIS] = sqrt(delta_diagonal_rod_3
+    delta[TOWER_3] = sqrt(delta_diagonal_rod_3
                          - sq(delta_tower3_x - cartesian[X_AXIS])
                          - sq(delta_tower3_y - cartesian[Y_AXIS])
                          ) + cartesian[Z_AXIS];
@@ -2528,9 +2522,9 @@ static void clean_up_after_endstop_move() {
           right = (1 - ratio_y) * z3 + ratio_y * z4,
           offset = (1 - ratio_x) * left + ratio_x * right;
 
-    delta[X_AXIS] += offset;
-    delta[Y_AXIS] += offset;
-    delta[Z_AXIS] += offset;
+    delta[TOWER_1] += offset;
+    delta[TOWER_2] += offset;
+    delta[TOWER_3] += offset;
 
     if (debugLevel & DEBUG_DEBUG) {
       ECHO_SMV(DEB, "grid_x=", grid_x);
@@ -2744,10 +2738,10 @@ static void clean_up_after_endstop_move() {
         ECHO_MV("    ADC B:", degBed(), 1);
         ECHO_MV("C->", rawBedTemp() / OVERSAMPLENR, 0);
       #endif
-      for (uint8_t cur_hotend = 0; cur_hotend < HOTENDS; ++cur_hotend) {
-        ECHO_MV("  T", cur_hotend);
-        ECHO_MV(":", degHotend(cur_hotend), 1);
-        ECHO_MV("C->", rawHotendTemp(cur_hotend) / OVERSAMPLENR, 0);
+      for (uint8_t h = 0; h < HOTENDS; ++h) {
+        ECHO_MV("  T", h);
+        ECHO_MV(":", degHotend(h), 1);
+        ECHO_MV("C->", rawHotendTemp(h) / OVERSAMPLENR, 0);
       }
     #endif
   }
@@ -2839,15 +2833,18 @@ void gcode_get_destination() {
     if(code_seen(axis_codes[E_AXIS])) IDLE_OOZING_retract(false);
   #endif
 
-  for (int i = 0; i < NUM_AXIS; i++) {
-    if (code_seen(axis_codes[i])) {
-      destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
-    }
-    else {
+  for (int i = 0; i < Z_AXIS; i++) {
+    if (code_seen(axis_codes[i]))
+      destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : -hotend_offset[i][active_extruder]);
+    else
       destination[i] = current_position[i];
-    }
   }
 
+  if(code_seen(axis_codes[E_AXIS]))
+    destination[E_AXIS] = code_value() + (axis_relative_modes[E_AXIS] || relative_mode ? current_position[E_AXIS] : 0);
+  else
+    destination[E_AXIS] = current_position[E_AXIS];
+
   if (code_seen('F')) {
     float next_feedrate = code_value();
     if (next_feedrate > 0.0) feedrate = next_feedrate;
@@ -5387,7 +5384,7 @@ inline void gcode_M114() {
         zpos = count_position[Z_AXIS];
   CRITICAL_SECTION_END;
 
-  #if MECH(COREXY) || MECH(COREXZ)
+  #if MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)
     ECHO_M(MSG_COUNT_A);
   #elif MECH(DELTA)
     ECHO_M(MSG_COUNT_ALPHA);
@@ -5396,7 +5393,7 @@ inline void gcode_M114() {
   #endif
   ECHO_V(xpos);
 
-  #if ENABLED(COREXY)
+  #if MECH(COREXY) || MECH(COREYX)
     ECHO_M(" B:");
   #elif MECH(DELTA)
     ECHO_M(" Beta:");
@@ -5405,7 +5402,7 @@ inline void gcode_M114() {
   #endif
   ECHO_V(ypos);
 
-  #if ENABLED(COREXZ)
+  #if MECH(COREXZ) || MECH(COREZX)
     ECHO_M(" C:");
   #elif MECH(DELTA)
     ECHO_M(" Teta:");
@@ -5905,27 +5902,24 @@ inline void gcode_M206() {
   }
 #endif // FWRETRACT
 
-#if HOTENDS > 1
-
-  /**
-   * M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
-   */
-  inline void gcode_M218() {
-    if (setTargetedExtruder(218)) return;
+/**
+ * M218 - set hotend offset (in mm), H<hotend_number> X<offset_on_X> Y<offset_on_Y> Z<offset_on_Z>
+ */
+inline void gcode_M218() {
+  if (setTargetedHotend(218)) return;
 
-    if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value();
-    if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value();
-    if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value();
+  if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value();
+  if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value();
+  if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value();
 
-    ECHO_SM(DB, SERIAL_HOTEND_OFFSET);
-    for (int e = 0; e < HOTENDS; e++) {
-      ECHO_MV(" ", hotend_offset[X_AXIS][e]);
-      ECHO_MV(",", hotend_offset[Y_AXIS][e]);
-      ECHO_MV(",", hotend_offset[Z_AXIS][e]);
-    }
-    ECHO_E;
+  ECHO_SM(DB, SERIAL_HOTEND_OFFSET);
+  for (uint8_t h = 0; h < HOTENDS; h++) {
+    ECHO_MV(" ", hotend_offset[X_AXIS][h]);
+    ECHO_MV(",", hotend_offset[Y_AXIS][h]);
+    ECHO_MV(",", hotend_offset[Z_AXIS][h]);
   }
-#endif // HOTENDS > 1
+  ECHO_E;
+}
 
 /**
  * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
@@ -6118,25 +6112,25 @@ inline void gcode_M226() {
 
     // multi-hotend PID patch: M301 updates or prints a single hotend's PID values
     // default behaviour (omitting E parameter) is to update for hotend 0 only
-    int e = code_seen('H') ? code_value() : 0; // hotend being updated
+    int h = code_seen('H') ? code_value() : 0; // hotend being updated
 
-    if (e < HOTENDS) { // catch bad input value
-      if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
-      if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
-      if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
+    if (h < HOTENDS) { // catch bad input value
+      if (code_seen('P')) PID_PARAM(Kp, h) = code_value();
+      if (code_seen('I')) PID_PARAM(Ki, h) = scalePID_i(code_value());
+      if (code_seen('D')) PID_PARAM(Kd, h) = scalePID_d(code_value());
       #if ENABLED(PID_ADD_EXTRUSION_RATE)
-        if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
+        if (code_seen('C')) PID_PARAM(Kc, h) = code_value();
         if (code_seen('L')) lpq_len = code_value();
         NOMORE(lpq_len, LPQ_MAX_LEN);
       #endif
 
       updatePID();
-      ECHO_SMV(OK, "e:", e);
-      ECHO_MV(" p:", PID_PARAM(Kp, e));
-      ECHO_MV(" i:", unscalePID_i(PID_PARAM(Ki, e)));
-      ECHO_MV(" d:", unscalePID_d(PID_PARAM(Kd, e)));
+      ECHO_SMV(OK, "H:", h);
+      ECHO_MV(" p:", PID_PARAM(Kp, h));
+      ECHO_MV(" i:", unscalePID_i(PID_PARAM(Ki, h)));
+      ECHO_MV(" d:", unscalePID_d(PID_PARAM(Kd, h)));
       #if ENABLED(PID_ADD_EXTRUSION_RATE)
-        ECHO_MV(" c:", PID_PARAM(Kc, e));
+        ECHO_MV(" c:", PID_PARAM(Kc, h));
       #endif
       ECHO_E;
     }
@@ -6515,9 +6509,13 @@ inline void gcode_M400() { st_synchronize(); }
         #if MECH(CARTESIAN)
           ECHO_M("cartesian");
         #elif MECH(COREXY)
-          ECHO_M("coreXY");
+          ECHO_M("corexy");
+        #elif MECH(COREYX)
+          ECHO_M("coreyx");
         #elif MECH(COREXZ)
-          ECHO_M("coreXZ");
+          ECHO_M("corexz");
+        #elif MECH(COREZX)
+          ECHO_M("corezx");
         #elif MECH(DELTA)
           ECHO_M("delta");
         #endif
@@ -6794,21 +6792,21 @@ inline void gcode_M503() {
 
 #if HEATER_USES_AD595
   /**
-   * M595 - set Hotend AD595 offset & Gain T<hotend_number> O<offset> S<gain>
+   * M595 - set Hotend AD595 offset & Gain H<hotend_number> O<offset> S<gain>
    */
   inline void gcode_M595() {
-    if (setTargetedExtruder(595)) return;
+    if (setTargetedHotend(595)) return;
 
     if (code_seen('O')) ad595_offset[target_extruder] = code_value();
     if (code_seen('S')) ad595_gain[target_extruder] = code_value();
 
-    for (int h = 0; h < HOTENDS; h++) {
+    for (uint8_t h = 0; h < HOTENDS; h++) {
       // if gain == 0 you get MINTEMP!
       if (ad595_gain[h] == 0) ad595_gain[h]= 1;
     }
 
     ECHO_LM(DB, MSG_AD595);
-    for (int h = 0; h < HOTENDS; h++) {
+    for (uint8_t h = 0; h < HOTENDS; h++) {
       ECHO_SMV(DB, "T", h);
       ECHO_MV(" Offset: ", ad595_offset[h]);
       ECHO_EMV(", Gain: ", ad595_gain[h]);
@@ -6845,7 +6843,7 @@ inline void gcode_M503() {
     #if MECH(DELTA)
 			float fr60 = feedrate / 60;
       #define RUNPLAN calculate_delta(destination); \
-                      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder, active_driver);
+                      plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], destination[E_AXIS], fr60, active_extruder, active_driver);
     #else
       #define RUNPLAN line_to_destination();
     #endif
@@ -6959,8 +6957,8 @@ inline void gcode_M503() {
     #if MECH(DELTA)
       // Move XYZ to starting position, then E
       calculate_delta(lastpos);
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder, active_driver);
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder, active_driver);
+      plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], destination[E_AXIS], fr60, active_extruder, active_driver);
+      plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], lastpos[E_AXIS], fr60, active_extruder, active_driver);
     #else
       // Move XY to starting position, then Z, then E
       destination[X_AXIS] = lastpos[X_AXIS];
@@ -7323,14 +7321,6 @@ inline void gcode_T(uint8_t tmp_extruder) {
               st_synchronize();
             }
 
-            // apply Y & Z extruder offset (x offset is already used in determining home pos)
-            current_position[Y_AXIS] = current_position[Y_AXIS] -
-                          hotend_offset[Y_AXIS][active_extruder] +
-                          hotend_offset[Y_AXIS][target_extruder];
-            current_position[Z_AXIS] = current_position[Z_AXIS] -
-                          hotend_offset[Z_AXIS][active_extruder] +
-                          hotend_offset[Z_AXIS][target_extruder];
-
             active_extruder = target_extruder;
 
             // This function resets the max/min values - the current position may be overwritten below.
@@ -7357,11 +7347,6 @@ inline void gcode_T(uint8_t tmp_extruder) {
               delayed_move_time = 0;
             }
           #else // !DUAL_X_CARRIAGE
-            // Offset hotend (XYZ)
-            #if HOTENDS > 1
-              for (int i = X_AXIS; i <= Z_AXIS; i++)
-                current_position[i] += hotend_offset[i][target_extruder] - hotend_offset[i][active_extruder];
-            #endif // HOTENDS > 1
 
             #if ENABLED(MKR4)
               #if (EXTRUDERS == 4) && HAS(E0E2) && HAS(E1E3) && (DRIVER_EXTRUDERS == 2)
@@ -7902,11 +7887,8 @@ void process_next_command() {
           gcode_M209(); break;
       #endif // FWRETRACT
 
-      #if HOTENDS > 1
-        case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
-          gcode_M218(); break;
-      #endif
-
+      case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+        gcode_M218(); break;
       case 220: // M220 S<factor in percent> - set speed factor override percentage
         gcode_M220(); break;
       case 221: // M221 T<extruder> S<factor in percent> - set extrude factor override percentage
@@ -8226,12 +8208,12 @@ void clamp_to_software_endstops(float target[3]) {
         ECHO_LMV(DEB, "target[X_AXIS]=", target[X_AXIS]);
         ECHO_LMV(DEB, "target[Y_AXIS]=", target[Y_AXIS]);
         ECHO_LMV(DEB, "target[Z_AXIS]=", target[Z_AXIS]);
-        ECHO_LMV(DEB, "delta[X_AXIS]=", delta[X_AXIS]);
-        ECHO_LMV(DEB, "delta[Y_AXIS]=", delta[Y_AXIS]);
-        ECHO_LMV(DEB, "delta[Z_AXIS]=", delta[Z_AXIS]);
+        ECHO_LMV(DEB, "delta[TOWER_1]=", delta[TOWER_1]);
+        ECHO_LMV(DEB, "delta[TOWER_2]=", delta[TOWER_2]);
+        ECHO_LMV(DEB, "delta[TOWER_3]=", delta[TOWER_3]);
       }
 
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], frfm, active_extruder, active_driver);
+      plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], target[E_AXIS], frfm, active_extruder, active_driver);
     }
     return true;
   }
@@ -8280,7 +8262,7 @@ void clamp_to_software_endstops(float target[3]) {
 
 #endif // DUAL_X_CARRIAGE
 
-#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREXZ)
+#if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)
 
   inline bool prepare_move_cartesian() {
     #if ENABLED(LASER) && ENABLED(LASER_FIRE_E)
@@ -8305,7 +8287,7 @@ void clamp_to_software_endstops(float target[3]) {
     return true;
   }
 
-#endif // CARTESIAN || COREXY || COREXZ
+#endif // CARTESIAN || COREXY || COREYX || COREXZ || COREZX
 
 /**
  * Prepare a single move and get ready for the next one
@@ -8331,7 +8313,7 @@ void prepare_move() {
     if (!prepare_move_dual_x_carriage()) return;
   #endif
 
-  #if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREXZ)
+  #if MECH(CARTESIAN) || MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)
     if (!prepare_move_cartesian()) return;
   #endif
 
@@ -8454,7 +8436,7 @@ void plan_arc(
     #if MECH(DELTA) || MECH(SCARA)
       calculate_delta(arc_target);
       adjust_delta(arc_target);
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder, active_driver);
+      plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], arc_target[E_AXIS], feed_rate, active_extruder, active_driver);
     #else
       plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder, active_driver);
     #endif
@@ -8464,7 +8446,7 @@ void plan_arc(
   #if MECH(DELTA) || MECH(SCARA)
     calculate_delta(target);
     adjust_delta(target);
-    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder, active_driver);
+    plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], target[E_AXIS], feed_rate, active_extruder, active_driver);
   #else
     plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder, active_driver);
   #endif
@@ -8606,8 +8588,8 @@ void plan_arc(
     float max_temp = 0.0;
     if (millis() > next_status_led_update_ms) {
       next_status_led_update_ms += 500; // Update every 0.5s
-      for (uint8_t cur_hotend = 0; cur_hotend < HOTENDS; ++cur_hotend)
-         max_temp = max(max(max_temp, degHotend(cur_hotend)), degTargetHotend(cur_hotend));
+      for (uint8_t h = 0; h < HOTENDS; ++h)
+         max_temp = max(max(max_temp, degHotend(h)), degTargetHotend(h));
       #if HAS(TEMP_BED)
         max_temp = max(max(max_temp, degTargetBed()), degBed());
       #endif
@@ -9020,6 +9002,19 @@ bool setTargetedExtruder(int code) {
   return false;
 }
 
+bool setTargetedHotend(int code) {
+  target_extruder = active_extruder;
+  if (code_seen('H')) {
+    target_extruder = code_value_short();
+    if (target_extruder >= HOTENDS) {
+      ECHO_SMV(ER, "M", code);
+      ECHO_EMV(" " SERIAL_INVALID_HOTEND, target_extruder);
+      return true;
+    }
+  }
+  return false;
+}
+
 float calculate_volumetric_multiplier(float diameter) {
   if (!volumetric_enabled || diameter == 0) return 1.0;
   float d2 = diameter * 0.5;

MK/module/MK_Main.h

@@ -16,6 +16,9 @@ void manage_inactivity(bool ignore_stepper_queue = false);
 void FlushSerialRequestResend();
 void ok_to_send();
 
+bool setTargetedExtruder(int code);
+bool setTargetedHotend(int code);
+
 #if MECH(DELTA)
   float probe_bed(float x, float y);
   void set_delta_constants();
@@ -24,7 +27,6 @@ void ok_to_send();
   void home_delta_axis();
   void calibration_report();
   void bed_probe_all();
-  void set_default_z_probe_offset();
   void set_delta_constants();
   void save_carriage_positions(int position_num);
   void calculate_delta(float cartesian[3]);
@@ -44,6 +46,7 @@ void ok_to_send();
   extern float delta_radius;
   extern float delta_diagonal_rod;
 #endif
+
 #if MECH(SCARA)
   void calculate_delta(float cartesian[3]);
   void calculate_SCARA_forward_Transform(float f_scara[3]);
@@ -104,17 +107,13 @@ extern float volumetric_multiplier[EXTRUDERS];  // reciprocal of cross-sectional
 extern float current_position[NUM_AXIS];
 extern float destination[NUM_AXIS];
 extern float home_offset[3];
+extern float hotend_offset[3][HOTENDS];
 extern float min_pos[3];
 extern float max_pos[3];
 extern float zprobe_zoffset;
 extern uint8_t axis_known_position;
 extern uint8_t axis_was_homed;
 
-// Hotend offset
-#if HOTENDS > 1
-  extern float hotend_offset[3][HOTENDS];
-#endif // HOTENDS > 1
-
 #if HEATER_USES_AD595
   extern float ad595_offset[HOTENDS];
   extern float ad595_gain[HOTENDS];
@@ -124,13 +123,7 @@ extern uint8_t axis_was_homed;
   extern uint8_t old_color; // old color for system NPR2
 #endif
 
-#if MECH(DELTA)
-  extern float z_probe_offset[3];
-  extern float endstop_adj[3];
-  extern float tower_adj[6];
-  extern float delta_radius;
-  extern float delta_diagonal_rod;
-#elif ENABLED(Z_DUAL_ENDSTOPS)
+#if ENABLED(Z_DUAL_ENDSTOPS)
   extern float z_endstop_adj;
 #endif
 

MK/module/boards/502.h

@@ -85,9 +85,9 @@
 #define ORIG_TEMP_2_PIN        3 // PA22, analog pin on piggy
 #define ORIG_TEMP_3_PIN        4 // PA6, analog on piggy
 
-#define LED_PWM1_PIN          40 // PC8
-#define LED_PWM2_PIN          41 // PC9
-#define LED_PWM3_PIN          36 // PC4
+#define LED_PWM1_PIN          36 // PC4
+#define LED_PWM2_PIN          40 // PC8
+#define LED_PWM3_PIN          41 // PC9
 
 #define EXP_VOLTAGE_LEVEL_PIN 65
 

MK/module/language/language.h

@@ -63,9 +63,13 @@
 #if MECH(CARTESIAN)
   #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:Cartesian EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
 #elif MECH(COREXY)
-  #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:Core_XY EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
+  #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:CoreXY EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
+#elif MECH(COREYX)
+  #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:CoreYX EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
 #elif MECH(COREXZ)
-  #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:Core_XZ EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
+  #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:CoreXZ EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
+#elif MECH(COREZX)
+  #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:CoreZX EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
 #elif MECH(DELTA)
   #define SERIAL_M115_REPORT                    "FIRMWARE_NAME:" BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:Delta EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
 #elif MECH(SCARA)
@@ -91,6 +95,7 @@
 #define SERIAL_BEGIN_FILE_LIST                  "Begin file list"
 #define SERIAL_END_FILE_LIST                    "End file list"
 #define SERIAL_INVALID_EXTRUDER                 "Invalid extruder"
+#define SERIAL_INVALID_HOTEND                   "Invalid hotend"
 #define SERIAL_INVALID_SOLENOID                 "Invalid solenoid"
 #define SERIAL_ERR_NO_THERMISTORS               "No thermistors - no temperature"
 #define SERIAL_COUNT_X                          " Count X: "

MK/module/mechanics.h

@@ -5,7 +5,9 @@
 #define MECH_UNKNOWN    -1
 #define MECH_CARTESIAN   0
 #define MECH_COREXY      1
-#define MECH_COREXZ      2
+#define MECH_COREYX      2
+#define MECH_COREXZ      8
+#define MECH_COREZX      9
 #define MECH_DELTA       3
 #define MECH_SCARA       4
 

MK/module/motion/planner.cpp

@@ -511,7 +511,7 @@ float junction_deviation = 0.1;
   // The target position of the tool in absolute steps
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
-  long target[NUM_AXIS];
+  int32_t target[NUM_AXIS];
   target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
   target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
   target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
@@ -528,16 +528,22 @@ float junction_deviation = 0.1;
     }
   #endif
 
-  long  dx = target[X_AXIS] - position[X_AXIS],
-        dy = target[Y_AXIS] - position[Y_AXIS],
-        dz = target[Z_AXIS] - position[Z_AXIS],
-        de = target[E_AXIS] - position[E_AXIS];
+  int32_t dx = target[X_AXIS] - position[X_AXIS],
+          dy = target[Y_AXIS] - position[Y_AXIS],
+          dz = target[Z_AXIS] - position[Z_AXIS],
+          de = target[E_AXIS] - position[E_AXIS];
   #if MECH(COREXY)
-    long da = dx + COREX_YZ_FACTOR * dy;
-    long db = dx - COREX_YZ_FACTOR * dy;
+    int32_t da = dx + COREX_YZ_FACTOR * dy;
+    int32_t db = dx - COREX_YZ_FACTOR * dy;
+  #elif MECH(COREYX)
+    int32_t da = dy + COREX_YZ_FACTOR * dx;
+    int32_t db = dy - COREX_YZ_FACTOR * dx;
   #elif MECH(COREXZ)
-    long da = dx + COREX_YZ_FACTOR * dz;
-    long dc = dx - COREX_YZ_FACTOR * dz;
+    int32_t da = dx + COREX_YZ_FACTOR * dz;
+    int32_t dc = dx - COREX_YZ_FACTOR * dz;
+  #elif MECH(COREZX)
+    int32_t da = dz + COREX_YZ_FACTOR * dx;
+    int32_t dc = dz - COREX_YZ_FACTOR * dx;
   #endif
 
   #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
@@ -577,13 +583,12 @@ float junction_deviation = 0.1;
   block->busy = false;
 
   // Number of steps for each axis
-  #if MECH(COREXY)
+  #if MECH(COREXY) || MECH(COREYX)
     // corexy planning
-    // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
     block->steps[A_AXIS] = labs(da);
     block->steps[B_AXIS] = labs(db);
     block->steps[Z_AXIS] = labs(dz);
-  #elif MECH(COREXZ)
+  #elif MECH(COREXZ) || MECH(COREZX)
     // corexz planning
     block->steps[A_AXIS] = labs(da);
     block->steps[Y_AXIS] = labs(dy);
@@ -626,13 +631,13 @@ float junction_deviation = 0.1;
 
   // Compute direction bits for this block 
   uint8_t dirb = 0;
-  #if MECH(COREXY)
+  #if MECH(COREXY) || MECH(COREYX)
     if (dx < 0) SBI(dirb, X_HEAD); // Save the real Extruder (head) direction in X Axis
     if (dy < 0) SBI(dirb, Y_HEAD); // ...and Y
     if (dz < 0) SBI(dirb, Z_AXIS);
     if (da < 0) SBI(dirb, A_AXIS); // Motor A direction
     if (db < 0) SBI(dirb, B_AXIS); // Motor B direction
-  #elif MECH(COREXZ)
+  #elif MECH(COREXZ) || MECH(COREZX)
     if (dx < 0) SBI(dirb, X_HEAD); // Save the real Extruder (head) direction in X Axis
     if (dy < 0) SBI(dirb, Y_AXIS);
     if (dz < 0) SBI(dirb, Z_HEAD); // ...and Z
@@ -649,7 +654,7 @@ float junction_deviation = 0.1;
   block->active_driver = driver;
 
   // Enable active axes
-  #if MECH(COREXY)
+  #if MECH(COREXY) || MECH(COREYX)
     if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
       enable_x();
       enable_y();
@@ -657,7 +662,7 @@ float junction_deviation = 0.1;
     #if DISABLED(Z_LATE_ENABLE)
       if (block->steps[Z_AXIS]) enable_z();
     #endif
-  #elif MECH(COREXZ)
+  #elif MECH(COREXZ) || MECH(COREZX)
     if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
       enable_x();
       enable_z();
@@ -817,14 +822,14 @@ float junction_deviation = 0.1;
    * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
    * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
    */
-  #if MECH(COREXY)
+  #if MECH(COREXY) || MECH(COREYX)
     float delta_mm[6];
     delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
     delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
     delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
     delta_mm[A_AXIS] = da / axis_steps_per_unit[A_AXIS];
     delta_mm[B_AXIS] = db / axis_steps_per_unit[B_AXIS];
-  #elif MECH(COREXZ)
+  #elif MECH(COREXZ) || MECH(COREZX)
     float delta_mm[6];
     delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
     delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
@@ -844,9 +849,9 @@ float junction_deviation = 0.1;
   }
   else {
     block->millimeters = sqrt(
-      #if MECH(COREXY)
+      #if MECH(COREXY) || MECH(COREYX)
         square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
-      #elif MECH(COREXZ)
+      #elif MECH(COREXZ) || MECH(COREZX)
         square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
       #else
         square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])

MK/module/motion/stepper.cpp

@@ -321,9 +321,9 @@ void checkHitEndstops() {
   }
 }
 
-#if MECH(COREXY)
+#if MECH(COREXY) || MECH(COREYX)
   #define CORE_AXIS_2 B_AXIS
-#elif MECH(COREXZ)
+#elif MECH(COREXZ) || MECH(COREZX)
   #define CORE_AXIS_2 C_AXIS
 #endif
 
@@ -352,7 +352,7 @@ inline void update_endstops() {
   // TEST_ENDSTOP: test the old and the current status of an endstop
   #define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
 
-  #if MECH(COREXY) || MECH(COREXZ)
+  #if MECH(COREXY) || MECH(COREYX)|| MECH(COREXZ) || MECH(COREZX)
 
     #define _SET_TRIGSTEPS(AXIS) do { \
         float axis_pos = count_position[_AXIS(AXIS)]; \
@@ -367,7 +367,7 @@ inline void update_endstops() {
 
     #define _SET_TRIGSTEPS(AXIS) endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]
 
-  #endif // COREXY || COREXZ
+  #endif // COREXY || COREYX || COREXZ || COREZX
 
   #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
       SET_ENDSTOP_BIT(AXIS, MINMAX); \
@@ -378,7 +378,7 @@ inline void update_endstops() {
       } \
     } while(0)
 
-  #if MECH(COREXY) || MECH(COREXZ)
+  #if MECH(COREXY) || MECH(COREYX)|| MECH(COREXZ) || MECH(COREZX)
     // Head direction in -X axis for CoreXY and CoreXZ bots.
     // If Delta1 == -Delta2, the movement is only in Y or Z axis
     if ((current_block->steps[A_AXIS] != current_block->steps[CORE_AXIS_2]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, CORE_AXIS_2))) {
@@ -408,11 +408,11 @@ inline void update_endstops() {
             #endif
           }
       }
-  #if MECH(COREXY) || MECH(COREXZ)
+  #if MECH(COREXY) || MECH(COREYX)|| MECH(COREXZ) || MECH(COREZX)
     }
   #endif
 
-  #if MECH(COREXY)
+  #if MECH(COREXY) || MECH(COREYX)
     // Head direction in -Y axis for CoreXY bots.
     // If DeltaX == DeltaY, the movement is only in X axis
     if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
@@ -430,11 +430,11 @@ inline void update_endstops() {
           UPDATE_ENDSTOP(Y, MAX);
         #endif
       }
-  #if MECH(COREXY)
+  #if MECH(COREXY) || MECH(COREYX)
     }
   #endif
 
-  #if MECH(COREXZ)
+  #if MECH(COREXZ) || MECH(COREZX)
     // Head direction in -Z axis for CoreXZ bots.
     // If DeltaX == DeltaZ, the movement is only in X axis
     if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
@@ -505,7 +505,7 @@ inline void update_endstops() {
           #endif // !Z_DUAL_ENDSTOPS
         #endif // Z_MAX_PIN
       }
-  #if MECH(COREXZ)
+  #if MECH(COREXZ) || MECH(COREZX)
     }
   #endif
   #if ENABLED(NPR2)
@@ -579,8 +579,8 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
 /**
  * Set the stepper direction of each axis
  *
- *   X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
- *   X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
+ *   X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY or COREYX
+ *   X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ or COREZX
  */
 void set_stepper_direction(bool onlye) {
 
@@ -1277,7 +1277,7 @@ long st_get_position(uint8_t axis) {
 
 float st_get_axis_position_mm(AxisEnum axis) {
   float axis_pos;
-  #if ENABLED(COREXY) | ENABLED(COREXZ)
+  #if MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)
     if (axis == X_AXIS || axis == CORE_AXIS_2) {
       CRITICAL_SECTION_START;
       long  pos1 = count_position[A_AXIS],

MK/module/motion/stepper.h

@@ -25,8 +25,9 @@
   /**
    * Axis indices as enumerated constants
    *
-   * A_AXIS and B_AXIS are used by COREXY printers
-   * X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
+   * A_AXIS and B_AXIS are used by COREXY or COREYX printers
+   * A_AXIS and C_AXIS are used by COREXZ or COREZX printers
+   * X_HEAD and Y_HEAD and Z_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
    */
   enum AxisEnum {X_AXIS=0, A_AXIS=0, Y_AXIS=1, B_AXIS=1, Z_AXIS=2, C_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5, Z_HEAD=5};
   enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8, E_MIN=9};

MK/module/sanitycheck.h

@@ -1190,7 +1190,7 @@
       #error DEPENDENCY ERROR: Missing setting MANUAL_Z_HOME_POS
     #endif
   #endif
-  #if MECH(COREXY) || MECH(COREXZ)
+  #if MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)
     #if DISABLED(COREX_YZ_FACTOR)
       #error DEPENDENCY ERROR: Missing setting COREX_YZ_FACTOR
     #endif
@@ -1280,8 +1280,14 @@
     #if DISABLED(TOWER_C_DIAGROD_ADJ)
       #error DEPENDENCY ERROR: Missing setting TOWER_C_DIAGROD_ADJ
     #endif
-    #if DISABLED(Z_PROBE_OFFSET)
-      #error DEPENDENCY ERROR: Missing setting Z_PROBE_OFFSET
+    #if DISABLED(X_PROBE_OFFSET_FROM_EXTRUDER)
+      #error DEPENDENCY ERROR: Missing setting X_PROBE_OFFSET_FROM_EXTRUDER
+    #endif
+    #if DISABLED(Y_PROBE_OFFSET_FROM_EXTRUDER)
+      #error DEPENDENCY ERROR: Missing setting Y_PROBE_OFFSET_FROM_EXTRUDER
+    #endif
+    #if DISABLED(Z_PROBE_OFFSET_FROM_EXTRUDER)
+      #error DEPENDENCY ERROR: Missing setting Z_PROBE_OFFSET_FROM_EXTRUDER
     #endif
     #if DISABLED(Z_PROBE_DEPLOY_START_LOCATION)
       #error DEPENDENCY ERROR: Missing setting Z_PROBE_DEPLOY_START_LOCATION
@@ -1346,9 +1352,12 @@
    * Babystepping
    */
   #if ENABLED(BABYSTEPPING)
-    #if MECH(COREXY) && ENABLED(BABYSTEP_XY)
+    #if (MECH(COREXY) || MECH(COREYX)) && ENABLED(BABYSTEP_XY)
       #error CONFLICT ERROR: BABYSTEPPING only implemented for Z axis on CoreXY.
     #endif
+    #if (MECH(COREXZ) || MECH(COREZX))
+      #error CONFLICT ERROR: BABYSTEPPING not implemented for CoreXZ or CoreZX.
+    #endif
     #if MECH(SCARA)
       #error CONFLICT ERROR: BABYSTEPPING is not implemented for SCARA yet.
     #endif