Merge pull request #7980 from thinkyhead/bf1_granular_sw_endstops

[1.1.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 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/Marlin_main.cpp

@@ -11719,27 +11719,30 @@ void ok_to_send() {
    * Constrain the given coordinates to the software endstops.
    */
 
-  // NOTE: This makes no sense for delta beds other than Z-axis.
+  /**
-  //       For delta the X/Y would need to be clamped at
+   * Constrain the given coordinates to the software endstops.
-  //       DELTA_PRINTABLE_RADIUS from center of bed, but delta
+   *
-  //       now enforces is_position_reachable for X/Y regardless
+   * NOTE: This will only apply to Z on DELTA and SCARA. XY is
-  //       of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
+   *       constrained to a circle on these kinematic systems.
-  //       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]);
+    #endif
+    #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
       NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
     #endif
+    #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
       NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
     #endif
-    #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+    #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-      #if DISABLED(DELTA)
       NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+    #endif
+    #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
       NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
     #endif
+    #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
       NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
     #endif
   }

Marlin/SanityCheck.h

@@ -254,6 +254,25 @@
 static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
   "Movement bounds ([XY]_MIN_POS, [XY]_MAX_POS) are too narrow to contain [XY]_BED_SIZE.");
 
+/**
+ * Granular software endstops (Marlin >= 1.1.7)
+ */
+#if ENABLED(MIN_SOFTWARE_ENDSTOPS) && DISABLED(MIN_SOFTWARE_ENDSTOP_Z)
+  #if IS_KINEMATIC
+    #error "MIN_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MIN_SOFTWARE_ENDSTOP_Z."
+  #elif DISABLED(MIN_SOFTWARE_ENDSTOP_X) && DISABLED(MIN_SOFTWARE_ENDSTOP_Y)
+    #error "MIN_SOFTWARE_ENDSTOPS requires at least one of the MIN_SOFTWARE_ENDSTOP_[XYZ] options."
+  #endif
+#endif
+
+#if ENABLED(MAX_SOFTWARE_ENDSTOPS) && DISABLED(MAX_SOFTWARE_ENDSTOP_Z)
+  #if IS_KINEMATIC
+    #error "MAX_SOFTWARE_ENDSTOPS on DELTA/SCARA also requires MAX_SOFTWARE_ENDSTOP_Z."
+  #elif DISABLED(MAX_SOFTWARE_ENDSTOP_X) && DISABLED(MAX_SOFTWARE_ENDSTOP_Y)
+    #error "MAX_SOFTWARE_ENDSTOPS requires at least one of the MAX_SOFTWARE_ENDSTOP_[XYZ] options."
+  #endif
+#endif
+
 /**
  * Progress Bar
  */

Marlin/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/Folger Tech/i3-2020/Configuration.h

@@ -788,10 +788,30 @@
 #define Y_MAX_POS Y_BED_SIZE
 #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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/example_configurations/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/example_configurations/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/example_configurations/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 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/example_configurations/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 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/example_configurations/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 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/ultralcd.cpp

@@ -2845,17 +2845,35 @@ void kill_screen(const char* lcd_msg) {
       float min = current_position[axis] - 1000,
             max = current_position[axis] + 1000;
 
-      #if HAS_SOFTWARE_ENDSTOPS
       // Limit to software endstops, if enabled
-        if (soft_endstops_enabled) {
+      #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
-          #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
+        if (soft_endstops_enabled) switch (axis) {
-            min = soft_endstop_min[axis];
+          case X_AXIS:
+            #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
+              min = soft_endstop_min[X_AXIS];
             #endif
-          #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+            #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-            max = soft_endstop_max[axis];
+              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 // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
 
       // Delta limits XY based on the current offset from center
       // This assumes the center is 0,0