Merge pull request #7979 from thinkyhead/bf2_granular_sw_endstops

[2.0.x] Software endstop options by axis

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 constrain movement within 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 constrain movement within 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

Marlin/src/HAL/HAL_AVR/HAL_AVR.h

@@ -26,8 +26,8 @@
  */
 
 
-#ifndef _HAL_AVR_H
+#ifndef _HAL_AVR_H_
-#define _HAL_AVR_H
+#define _HAL_AVR_H_
 
 // --------------------------------------------------------------------------
 // Includes
@@ -153,9 +153,4 @@ inline void HAL_adc_init(void) {
 
 #define HAL_READ_ADC ADC
 
-
+#endif // _HAL_AVR_H_
-// --------------------------------------------------------------------------
-//
-// --------------------------------------------------------------------------
-
-#endif // _HAL_AVR_H

Marlin/src/HAL/HAL_AVR/HAL_pinsDebug_AVR.h

@@ -20,7 +20,10 @@
  *
  */
 
-#ifndef HAL_PINSDEBUG_AVR_H
+#ifndef _HAL_PINSDEBUG_AVR_H_
+#define _HAL_PINSDEBUG_AVR_H_
+
+#include "../../inc/MarlinConfig.h"
 
 void HAL_print_analog_pin(char buffer[], int8_t pin) {
   sprintf(buffer, "(A%2d)  ", int(pin - analogInputToDigitalPin(0)));
@@ -110,11 +113,6 @@ const PinInfo pin_array[] PROGMEM = {
 
 };
 
-#define AVR_ATmega2560_FAMILY_PLUS_70 (MOTHERBOARD == BOARD_BQ_ZUM_MEGA_3D \
-|| MOTHERBOARD == BOARD_MIGHTYBOARD_REVE \
-|| MOTHERBOARD == BOARD_MINIRAMBO \
-|| MOTHERBOARD == BOARD_SCOOVO_X9H)
-
 #if AVR_AT90USB1286_FAMILY
   // Working with Teensyduino extension so need to re-define some things
   #include "pinsDebug_Teensyduino.h"
@@ -590,4 +588,4 @@ inline void report_pin_state_extended(int8_t pin, bool ignore, bool extended = f
   }
 }
 
-#endif //HAL_PINSDEBUG_AVR_H
+#endif // _HAL_PINSDEBUG_AVR_H_

Marlin/src/HAL/HAL_AVR/MarlinSerial.h

@@ -29,8 +29,8 @@
  * Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF)
  */
 
-#ifndef MARLINSERIAL_H
+#ifndef _MARLINSERIAL_H_
-#define MARLINSERIAL_H
+#define _MARLINSERIAL_H_
 
 #include "../../inc/MarlinConfig.h"
 
@@ -181,4 +181,4 @@
   extern HardwareSerial bluetoothSerial;
 #endif
 
-#endif // MARLINSERIAL_H
+#endif // _MARLINSERIAL_H_

Marlin/src/HAL/HAL_AVR/SanityCheck_AVR_8_bit.h

@@ -20,15 +20,13 @@
  *
  */
 
+#ifndef _SANITYCHECK_AVR_8_BIT_H_
+#define _SANITYCHECK_AVR_8_BIT_H_
+
 /**
  * Test AVR specific configuration values for errors at compile-time.
  */
 
-/**
- * Require gcc 4.7 or newer (first included with Arduino 1.6.8) for C++11 features.
- */
-
-
 /**
  * Digipot requirement
  */
@@ -39,12 +37,9 @@
   #endif
 #endif
 
-
-
 /**
  * Sanity checks for Spindle / Laser
  */
-
 #if ENABLED(SPINDLE_LASER_ENABLE)
   #if !PIN_EXISTS(SPINDLE_LASER_ENABLE)
     #error "SPINDLE_LASER_ENABLE requires SPINDLE_LASER_ENABLE_PIN."
@@ -100,3 +95,5 @@
     #endif
   #endif
 #endif // SPINDLE_LASER_ENABLE
+
+#endif // _SANITYCHECK_AVR_8_BIT_H_

Marlin/src/HAL/HAL_AVR/ServoTimers.h

@@ -21,7 +21,7 @@
  */
 
 /*
-  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  ServoTimers.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
   Copyright (c) 2009 Michael Margolis.  All right reserved.
 
   This library is free software; you can redistribute it and/or
@@ -39,7 +39,10 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
-/*
+#ifndef _SERVOTIMERS_H_
+#define _SERVOTIMERS_H_
+
+/**
  * Defines for 16 bit timers used with  Servo library
  *
  * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
@@ -88,3 +91,5 @@ typedef enum {
   #endif
   _Nbr_16timers
 } timer16_Sequence_t;
+
+#endif // _SERVOTIMERS_H_

Marlin/src/HAL/HAL_AVR/fastio_1280.h

@@ -28,8 +28,8 @@
  *   Marlin   00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85
  */
 
-#ifndef _FASTIO_1280
+#ifndef _FASTIO_1280_H_
-#define _FASTIO_1280
+#define _FASTIO_1280_H_
 
 #include "fastio_AVR.h"
 
@@ -1112,4 +1112,4 @@
 #define PL7_DDR     DDRL
 #define PL7_PWM     NULL
 
-#endif // _FASTIO_1280
+#endif // _FASTIO_1280_H_

Marlin/src/HAL/HAL_AVR/fastio_1281.h

@@ -28,8 +28,8 @@
  *   Marlin   00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53
  */
 
-#ifndef _FASTIO_1281
+#ifndef _FASTIO_1281_H_
-#define _FASTIO_1281
+#define _FASTIO_1281_H_
 
 #include "fastio_AVR.h"
 
@@ -717,4 +717,4 @@
 #define PG5_DDR     DDRG
 #define PG5_PWM     &OCR0B
 
-#endif // _FASTIO_1281
+#endif // _FASTIO_1281_H_

Marlin/src/HAL/HAL_AVR/fastio_168.h

@@ -28,8 +28,8 @@
  *   Marlin   08 09 10 11 12 13 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
  */
 
-#ifndef _FASTIO_168
+#ifndef _FASTIO_168_H_
-#define _FASTIO_168
+#define _FASTIO_168_H_
 
 #include "fastio_AVR.h"
 
@@ -359,4 +359,4 @@
 #define PD7_DDR     DDRD
 #define PD7_PWM     NULL
 
-#endif // _FASTIO_168
+#endif // _FASTIO_168_H_

Marlin/src/HAL/HAL_AVR/fastio_644.h

@@ -28,8 +28,8 @@
  *   Marlin   00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
  */
 
-#ifndef _FASTIO_644
+#ifndef _FASTIO_644_H_
-#define _FASTIO_644
+#define _FASTIO_644_H_
 
 #include "fastio_AVR.h"
 
@@ -528,4 +528,4 @@
 #define PD7_DDR     DDRD
 #define PD7_PWM     OCR2A
 
-#endif // _FASTIO_644
+#endif // _FASTIO_644_H_

Marlin/src/HAL/HAL_AVR/fastio_AT90USB.h

@@ -29,8 +29,8 @@
  *            The pins 46 and 47 are not supported by Teensyduino, but are supported below as E2 and E3
  */
 
-#ifndef _FASTIO_AT90USB
+#ifndef _FASTIO_AT90USB_H_
-#define _FASTIO_AT90USB
+#define _FASTIO_AT90USB_H_
 
 #include "fastio_AVR.h"
 
@@ -699,4 +699,4 @@
 #define TIMER3B 4
 #define TIMER3C 3
 
-#endif // _FASTIO_AT90USB
+#endif // _FASTIO_AT90USB_H_

Marlin/src/HAL/HAL_AVR/fastio_AVR.h

@@ -26,8 +26,8 @@
  * Contributed by Triffid_Hunter. Modified by Kliment and the Marlin team.
  */
 
-#ifndef _FASTIO_ARDUINO_H
+#ifndef _FASTIO_ARDUINO_H_
-#define _FASTIO_ARDUINO_H
+#define _FASTIO_ARDUINO_H_
 
 #include <avr/io.h>
 #include "../../core/macros.h"
@@ -323,4 +323,4 @@ typedef enum {
 // finally - the macro that tells us if a pin is an available hardware PWM
 #define USEABLE_HARDWARE_PWM(p) (PWM_PINS(p) && !PWM_CHK(p))
 
-#endif // _FASTIO_ARDUINO_H
+#endif // _FASTIO_ARDUINO_H_

Marlin/src/HAL/HAL_AVR/math_AVR.h

@@ -20,8 +20,8 @@
  *
  */
 
-#ifndef MATH_AVR_H
+#ifndef _MATH_AVR_H_
-#define MATH_AVR_H
+#define _MATH_AVR_H_
 
 /**
  * Optimized math functions for AVR
@@ -109,4 +109,4 @@
                )
 
 
-#endif
+#endif // _MATH_AVR_H_

Marlin/src/HAL/HAL_AVR/pinsDebug_AVR_8_bit.h

@@ -24,11 +24,10 @@
  * PWM print routines for Atmel 8 bit AVR CPUs
  */
 
+#ifndef _PINSDEBUG_AVR_8_BIT_
+#define _PINSDEBUG_AVR_8_BIT_
 
-#define AVR_ATmega2560_FAMILY_PLUS_70 (MOTHERBOARD == BOARD_BQ_ZUM_MEGA_3D \
+#include "../../inc/MarlinConfig.h"
-|| MOTHERBOARD == BOARD_MIGHTYBOARD_REVE \
-|| MOTHERBOARD == BOARD_MINIRAMBO \
-|| MOTHERBOARD == BOARD_SCOOVO_X9H)
 
 #if AVR_AT90USB1286_FAMILY
   // Working with Teensyduino extension so need to re-define some things
@@ -399,3 +398,5 @@ static void pwm_details(uint8_t pin) {
 #endif
 
 #define GET_PIN_INFO(pin) do{}while(0)
+
+#endif // _PINSDEBUG_AVR_8_BIT_

Marlin/src/HAL/HAL_AVR/pinsDebug_Teensyduino.h

@@ -20,6 +20,9 @@
  *
  */
 
+#ifndef _PINSDEBUG_TEENSYSUINO_H_
+#define _PINSDEBUG_TEENSYSUINO_H_
+
 //
 //  some of the pin mapping functions of the Teensduino extension to the Arduino IDE
 //  do not function the same as the other Arduino extensions
@@ -108,3 +111,5 @@ const uint8_t PROGMEM digital_pin_to_port_PGM[] = {
                                              // disable the PWMs so we can use it as is
 
 // portModeRegister(pin) is OK
+
+#endif // _PINSDEBUG_TEENSYSUINO_H_

Marlin/src/HAL/HAL_AVR/pinsDebug_plus_70.h

@@ -25,8 +25,8 @@
  *  structurs for 2560 family boards that use morre than 70 pins
  */
 
-#ifndef __PINSDEBUG_PLUS_70_H__
+#ifndef _PINSDEBUG_PLUS_70_H_
-#define __PINSDEBUG_PLUS_70_H__
+#define _PINSDEBUG_PLUS_70_H_
 
 #undef NUM_DIGITAL_PINS
 #if MOTHERBOARD == BOARD_BQ_ZUM_MEGA_3D
@@ -338,4 +338,4 @@ const uint8_t PROGMEM digital_pin_to_timer_PGM_plus_70[] = {
  */
 
 
-#endif // __PINSDEBUG_PLUS_70_H__
+#endif // _PINSDEBUG_PLUS_70_H_

Marlin/src/HAL/HAL_AVR/spi_pins.h

@@ -20,8 +20,8 @@
  *
  */
 
-#ifndef SPI_PINS_H_
+#ifndef _SPI_PINS_H_
-#define SPI_PINS_H_
+#define _SPI_PINS_H_
 
 /**
  * Define SPI Pins: SCK, MISO, MOSI, SS
@@ -67,4 +67,4 @@
 #endif
 
 
-#endif /* SPI_PINS_H_ */
+#endif // _SPI_PINS_H_

Marlin/src/HAL/HAL_AVR/watchdog_AVR.h

@@ -20,8 +20,8 @@
  *
  */
 
-#ifndef WATCHDOG_AVR_H
+#ifndef _WATCHDOG_AVR_H_
-#define WATCHDOG_AVR_H
+#define _WATCHDOG_AVR_H_
 
 #include <avr/wdt.h>
 
@@ -32,4 +32,4 @@ void watchdog_init();
 // first watchdog_init or AVR will go into emergency procedures.
 inline void watchdog_reset() { wdt_reset(); }
 
-#endif // WATCHDOG_AVR_H
+#endif // _WATCHDOG_AVR_H_

Marlin/src/config/default/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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h

@@ -805,10 +805,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 250
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/AliExpress/CL-260/Configuration.h

@@ -785,10 +785,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 260
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Anet/A6/Configuration.h

@@ -904,10 +904,30 @@
 #define X_MAX_POS X_BED_SIZE
 #define Y_MAX_POS Y_BED_SIZE
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Anet/A8/Configuration.h

@@ -791,10 +791,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 240
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/BQ/Hephestos/Configuration.h

@@ -776,10 +776,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 180
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h

@@ -786,10 +786,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 210
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/BQ/WITBOX/Configuration.h

@@ -776,10 +776,30 @@
 #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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Cartesio/Configuration.h

@@ -784,10 +784,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 400
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Creality/CR-10/Configuration.h

@@ -795,10 +795,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 400
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Felix/Configuration.h

@@ -767,10 +767,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 235
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Felix/DUAL/Configuration.h

@@ -767,10 +767,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 235
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Folger Tech/i3-2020/Configuration.h

@@ -789,10 +789,30 @@
 #define Y_MAX_POS 182
 #define Z_MAX_POS 175
 
-// 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

Marlin/src/config/examples/Geeetech/GT2560/Configuration.h

@@ -800,10 +800,30 @@
 #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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h

@@ -785,10 +785,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 170
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Infitary/i3-M508/Configuration.h

@@ -789,10 +789,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 185
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Malyan/M150/Configuration.h

@@ -809,10 +809,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 180
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Mks/Sbase/Configuration.h

@@ -787,10 +787,30 @@
 #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

Marlin/src/config/examples/RepRapWorld/Megatronics/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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/RigidBot/Configuration.h

@@ -783,10 +783,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 254  // RigidBot regular and Big are 254mm
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/SCARA/Configuration.h

@@ -797,10 +797,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 225
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Sanguinololu/Configuration.h

@@ -816,10 +816,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 170
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/TinyBoy2/Configuration.h

@@ -841,10 +841,30 @@
   #define Z_MAX_POS 158
 #endif
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Velleman/K8200/Configuration.h

@@ -815,10 +815,30 @@
 #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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Velleman/K8400/Configuration.h

@@ -785,10 +785,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 190
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h

@@ -785,10 +785,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 190
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/adafruit/ST7565/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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h

@@ -909,10 +909,30 @@
 #define Y_MAX_POS DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 
-// 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

Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h

@@ -909,10 +909,30 @@
 #define Y_MAX_POS DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/delta/generic/Configuration.h

@@ -896,10 +896,30 @@
 #define Y_MAX_POS DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/delta/kossel_mini/Configuration.h

@@ -899,10 +899,30 @@
 #define Y_MAX_POS DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/delta/kossel_pro/Configuration.h

@@ -899,10 +899,30 @@
 #define Y_MAX_POS DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/delta/kossel_xl/Configuration.h

@@ -908,10 +908,30 @@
 #define Y_MAX_POS DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 
-// 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

Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h

@@ -799,10 +799,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 500
 
-// 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

Marlin/src/config/examples/makibox/Configuration.h

@@ -788,10 +788,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 86
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/stm32f103ret6/Configuration.h

@@ -772,10 +772,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 180
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/tvrrug/Round2/Configuration.h

@@ -780,10 +780,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 120
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/config/examples/wt150/Configuration.h

@@ -790,10 +790,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 143.0
 
-// 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 constrain movement within 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 constrain movement within 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

Marlin/src/inc/Conditionals_post.h

@@ -28,6 +28,13 @@
 #ifndef CONDITIONALS_POST_H
 #define CONDITIONALS_POST_H
 
+  #define AVR_ATmega2560_FAMILY_PLUS_70 ( \
+       MB(BQ_ZUM_MEGA_3D)                 \
+    || MB(MIGHTYBOARD_REVE)               \
+    || MB(MINIRAMBO)                      \
+    || MB(SCOOVO_X9H)                     \
+  )
+
   #define IS_SCARA (ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA))
   #define IS_KINEMATIC (ENABLED(DELTA) || IS_SCARA)
   #define IS_CARTESIAN !IS_KINEMATIC
@@ -793,7 +800,17 @@
   #define HEATER_IDLE_HANDLER (ENABLED(ADVANCED_PAUSE_FEATURE) || ENABLED(PROBING_HEATERS_OFF))
 
   /**
-   * Delta radius/rod trimmers/angle trimmers
+   * Only constrain Z on DELTA / SCARA machines
+   */
+  #if IS_KINEMATIC
+    #undef MIN_SOFTWARE_ENDSTOP_X
+    #undef MIN_SOFTWARE_ENDSTOP_Y
+    #undef MAX_SOFTWARE_ENDSTOP_X
+    #undef MAX_SOFTWARE_ENDSTOP_Y
+  #endif
+
+  /**
+   * Delta endstops, radius/rod trimmers, angle trimmers
    */
   #if ENABLED(DELTA)
     #ifndef DELTA_CALIBRATION_RADIUS

Marlin/src/inc/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
  */

Marlin/src/lcd/ultralcd.cpp

@@ -2834,17 +2834,35 @@ 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
-        // Limit to software endstops, if enabled
+      #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
-        if (soft_endstops_enabled) {
+        if (soft_endstops_enabled) switch (axis) {
-          #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
+          case X_AXIS:
-            min = soft_endstop_min[axis];
+            #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
-          #endif
+              min = soft_endstop_min[X_AXIS];
-          #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+            #endif
-            max = soft_endstop_max[axis];
+            #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-          #endif
+              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

Marlin/src/module/motion.cpp

@@ -456,29 +456,28 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
   /**
    * 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.
    */
-
-  // 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.
-
   void clamp_to_software_endstops(float target[XYZ]) {
     if (!soft_endstops_enabled) return;
-    #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
+    #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
-      #if DISABLED(DELTA)
+      NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
-        NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
+    #endif
-        NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+    #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
-      #endif
+      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 ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-      #if DISABLED(DELTA)
+      NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
-        NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+    #endif
-        NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+    #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
-      #endif
+      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
   }

Marlin/src/pins/pins_RAMPS.h

@@ -45,7 +45,7 @@
  */
 
 #if ENABLED(IS_REARM)
-  #error "Oops!  use 'pins_RAMPS_RE_ARM.h' when Re-Arm is used."
+  #error "Oops!  Use 'BOARD_RAMPS_RE_ARM' to build for Re-ARM."
 #endif
 
 #if !ENABLED(IS_RAMPS_SMART) && !ENABLED(IS_RAMPS_DUO) && !ENABLED(IS_RAMPS4DUE) && !ENABLED(TARGET_LPC1768)

Marlin/src/pins/pins_TEENSY35_36.h

@@ -1,15 +1,33 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
 /****************************************************************************************
 * Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0) Breadboard pin assignments
 * Requires the Teensyduino software with Teensy 3.5 or Teensy 3.6 selected in Arduino IDE!
 * http://www.pjrc.com/teensy/teensyduino.html
-*
 ****************************************************************************************/
-#if MOTHERBOARD == 841 // BOARD_TEENSY35_36
-#define KNOWN_BOARD 1
-#define AT90USB 1286  // Disable MarlinSerial etc.
 
 #if !IS_32BIT_TEENSY
-  #error Oops!  Make sure you have 'Teensy 3.5' or 'Teensy 3.6' selected from the 'Tools -> Boards' menu.
+  #error "Oops!  Make sure you have 'Teensy 3.5' or 'Teensy 3.6' selected from the 'Tools -> Boards' menu."
 #endif
 
 #if IS_TEENSY35
@@ -18,12 +36,13 @@
   #define BOARD_NAME "Teensy3.6"
 #endif
 
-#define LARGE_FLASH        true
+#define AT90USB 1286   // Disable MarlinSerial etc.
 #define USBCON //1286  // Disable MarlinSerial etc.
+#define LARGE_FLASH        true
 
 /*
-teemuatlut plan for Teensy3.5 and Teensy3.6:
 
+  teemuatlut plan for Teensy3.5 and Teensy3.6:
                                                      USB
                                           GND |-----#####-----| VIN 5V
       X_STEP_PIN          MOSI1   RX1       0 |     #####     | Analog GND
@@ -84,7 +103,6 @@ D8    HEATER_BED_PIN      CS1     RX4  A12 31 |   46 * * 47   | 34 A15 PWM
 
 #define HEATER_0_PIN       30
 #define HEATER_1_PIN       36
-#define HEATER_2_PIN       -1
 #define HEATER_BED_PIN     31
 #define FAN_PIN             2
 
@@ -93,27 +111,27 @@ D8    HEATER_BED_PIN      CS1     RX4  A12 31 |   46 * * 47   | 34 A15 PWM
 #define Z_STOP_PIN         28
 
 #define TEMP_0_PIN          2 // Extruder / Analog pin numbering: 2 => A2
-#define TEMP_BED_PIN        1 // Bed / Analog pin numbering
 #define TEMP_1_PIN          0
-#define TEMP_2_PIN         -1
+#define TEMP_BED_PIN        1 // Bed / Analog pin numbering
 
-#define SDPOWER            -1
-#define SD_DETECT_PIN      -1
 #define SDSS               39 // 8
 #define LED_PIN            13
 #define PS_ON_PIN           1
-#define KILL_PIN           -1
 #define ALARM_PIN          -1
 
 #define FILWIDTH_PIN        6
 #define SOL1_PIN           28
 
+#if 0
+// Pretty sure this is obsolete!
+// Please use Marlin 1.1.x pins files as reference for new pins files.
 #ifndef SDSUPPORT
   // these are defined in the SD library if building with SD support
   #define SCK_PIN          13
   #define MISO_PIN         12
   #define MOSI_PIN         11
 #endif
+#endif
 
 #ifdef ULTRA_LCD
   #define LCD_PINS_RS      40
@@ -126,5 +144,3 @@ D8    HEATER_BED_PIN      CS1     RX4  A12 31 |   46 * * 47   | 34 A15 PWM
   #define BTN_EN2          47
   #define BTN_ENC          48
 #endif
-
-#endif  // MOTHERBOARD == 841 (Teensy3.5 and Teensy3.6)