Enable Z axis and delta sensorless homing (#9516)

Marlin/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/default/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Azteeg/X5GT/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/BIBO/TouchX/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Creality/CR-10S/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Creality/Ender/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/FolgerTech/i3-2020/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/JGAurora/A5/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/MakerParts/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Malyan/M200/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Micromake/C1/enhanced/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/TheBorg/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/UltiMachine/Archim2/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/config/examples/delta/FLSUN/kossel/Configuration_adv.h

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

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

   /**
    * Use stallGuard2 to sense an obstacle and trigger an endstop.
    * You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
-   * X and Y homing will always be done in spreadCycle mode.
+   * X, Y, and Z homing will always be done in spreadCycle mode.
    *
-   * X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
+   * X/Y/Z_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
    * Higher values make the system LESS sensitive.
    * Lower value make the system MORE sensitive.
    * Too low values can lead to false positives, while too high values will collide the axis without triggering.
-   * It is advised to set X/Y_HOME_BUMP_MM to 0.
-   * M914 X/Y to live tune the setting
+   * It is advised to set X/Y/Z_HOME_BUMP_MM to 0.
+   * M914 X/Y/Z to live tune the setting
    */
   //#define SENSORLESS_HOMING // TMC2130 only
 
   #if ENABLED(SENSORLESS_HOMING)
     #define X_HOMING_SENSITIVITY  8
     #define Y_HOMING_SENSITIVITY  8
+    #define Z_HOMING_SENSITIVITY  8
   #endif
 
   /**
    * this setting determines the minimum update time between checks. A value of 100 works well with
    * error rolling average when attempting to correct only for skips and not for vibration.
    */
-  #define I2CPE_MIN_UPD_TIME_MS     4                       // Minimum time in miliseconds between encoder checks.
+  #define I2CPE_MIN_UPD_TIME_MS     4                       // (ms) Minimum time between encoder checks.
 
   // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
   #define I2CPE_ERR_ROLLING_AVERAGE

Marlin/src/feature/tmc_util.cpp

       const uint32_t pwm_scale = get_pwm_scale(st);
       SERIAL_ECHO(axisID);
       SERIAL_ECHOPAIR(":", pwm_scale);
-      SERIAL_ECHOPGM(" |0b"); MYSERIAL0.print(get_status_response(st), BIN);
+      SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
       SERIAL_ECHOPGM("| ");
       if (data.is_error) SERIAL_CHAR('E');
       else if (data.is_ot) SERIAL_CHAR('O');
 void _tmc_say_sgt(const char name[], const uint32_t sgt) {
   SERIAL_ECHO(name);
   SERIAL_ECHOPGM(" driver homing sensitivity set to ");
-  MYSERIAL0.println(sgt, DEC);
+  SERIAL_PRINTLN(sgt, DEC);
 }
 
 #if ENABLED(TMC_DEBUG)
   #if ENABLED(HAVE_TMC2208)
     static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
       switch(i) {
-        case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); MYSERIAL0.print(data); break; }
+        case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); SERIAL_PROTOCOL(data); break; }
         case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
         case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
         case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
       case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
       case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
       case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
-      case TMC_RMS_CURRENT: MYSERIAL0.print(st.rms_current()); break;
+      case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
       case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
       case TMC_IRUN:
         SERIAL_PRINT(st.irun(), DEC);

Marlin/src/gcode/feature/trinamic/M911-M915.cpp

       if (parser.seen(axis_codes[P##_AXIS])) tmc_set_sgt(stepper##Q, extended_axis_codes[TMC_##Q], parser.value_int()); \
       else tmc_get_sgt(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
 
-    #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
-      TMC_SET_GET_SGT(X,X);
-    #endif
-    #if ENABLED(X2_IS_TMC2130)
-      TMC_SET_GET_SGT(X,X2);
-    #endif
-    #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
-      TMC_SET_GET_SGT(Y,Y);
-    #endif
-    #if ENABLED(Y2_IS_TMC2130)
-      TMC_SET_GET_SGT(Y,Y2);
+    #ifdef X_HOMING_SENSITIVITY
+      #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
+        TMC_SET_GET_SGT(X,X);
+      #endif
+      #if ENABLED(X2_IS_TMC2130)
+        TMC_SET_GET_SGT(X,X2);
+      #endif
+    #endif
+    #ifdef Y_HOMING_SENSITIVITY
+      #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
+        TMC_SET_GET_SGT(Y,Y);
+      #endif
+      #if ENABLED(Y2_IS_TMC2130)
+        TMC_SET_GET_SGT(Y,Y2);
+      #endif
+    #endif
+    #ifdef Z_HOMING_SENSITIVITY
+      #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
+        TMC_SET_GET_SGT(Z,Z);
+      #endif
+      #if ENABLED(Z2_IS_TMC2130)
+        TMC_SET_GET_SGT(Z,Z2);
+      #endif
     #endif
   }
 #endif // SENSORLESS_HOMING

Marlin/src/inc/Conditionals_post.h

 #define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
 #define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
 
+// Disable Z axis sensorless homing if a probe is used to home the Z axis
+#if ENABLED(SENSORLESS_HOMING) && HOMING_Z_WITH_PROBE
+  #undef Z_HOMING_SENSITIVITY
+#endif
+
 // Endstops and bed probe
 #define HAS_X_MIN (PIN_EXISTS(X_MIN) && !IS_X2_ENDSTOP(X,MIN) && !IS_Y2_ENDSTOP(X,MIN) && !IS_Z2_OR_PROBE(X,MIN))
 #define HAS_X_MAX (PIN_EXISTS(X_MAX) && !IS_X2_ENDSTOP(X,MAX) && !IS_Y2_ENDSTOP(X,MAX) && !IS_Z2_OR_PROBE(X,MAX))

Marlin/src/inc/SanityCheck.h

     #error "E4_CS_PIN is required for E4_IS_TMC2130. Define E4_CS_PIN in Configuration_adv.h."
   #endif
 
+  // Require STEALTHCHOP for SENSORLESS_HOMING on DELTA as the transition from spreadCycle to stealthChop
+  // is necessary in order to reset the stallGuard indication between the initial movement of all three
+  // towers to +Z and the individual homing of each tower. This restriction can be removed once a means of
+  // clearing the stallGuard activated status is found.
+  #if ENABLED(SENSORLESS_HOMING) && ENABLED(DELTA) && !ENABLED(STEALTHCHOP)
+    #error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP."
+  #endif
+
 #elif ENABLED(SENSORLESS_HOMING)
 
   #error "SENSORLESS_HOMING requires TMC2130 stepper drivers."

Marlin/src/module/configuration_store.cpp

  */
 
 // Change EEPROM version if the structure changes
-#define EEPROM_VERSION "V50"
+#define EEPROM_VERSION "V51"
 #define EEPROM_OFFSET 100
 
 // Check the integrity of data offsets.
   // HAS_TRINAMIC
   //
   uint16_t tmc_stepper_current[11];                     // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
-  int16_t tmc_sgt[2];                                   // M914 X Y
+  int16_t tmc_sgt[3];                                   // M914 X Y Z
 
   //
   // LIN_ADVANCE
     //
     int16_t thrs;
     #if ENABLED(SENSORLESS_HOMING)
-      #if ENABLED(X_IS_TMC2130)
+      #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
         thrs = stepperX.sgt();
       #else
         thrs = 0;
       #endif
       EEPROM_WRITE(thrs);
-      #if ENABLED(Y_IS_TMC2130)
+      #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
         thrs = stepperY.sgt();
       #else
         thrs = 0;
       #endif
       EEPROM_WRITE(thrs);
+      #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
+        thrs = stepperZ.sgt();
+      #else
+        thrs = 0;
+      #endif
+      EEPROM_WRITE(thrs);
     #else
       thrs = 0;
-      for (uint8_t q = 2; q--;) EEPROM_WRITE(thrs);
+      for (uint8_t q = 3; q--;) EEPROM_WRITE(thrs);
     #endif
 
     //
       int16_t thrs;
       #if ENABLED(SENSORLESS_HOMING)
         EEPROM_READ(thrs);
-        if (!validating) {
-          #if ENABLED(X_IS_TMC2130)
-            stepperX.sgt(thrs);
-          #endif
-          #if ENABLED(X2_IS_TMC2130)
-            stepperX2.sgt(thrs);
-          #endif
-        }
+        #ifdef X_HOMING_SENSITIVITY
+          if (!validating) {
+            #if ENABLED(X_IS_TMC2130)
+              stepperX.sgt(thrs);
+            #endif
+            #if ENABLED(X2_IS_TMC2130)
+              stepperX2.sgt(thrs);
+            #endif
+          }
+        #endif
         EEPROM_READ(thrs);
-        if (!validating) {
-          #if ENABLED(Y_IS_TMC2130)
-            stepperY.sgt(thrs);
-          #endif
-          #if ENABLED(Y2_IS_TMC2130)
-            stepperY2.sgt(thrs);
-          #endif
-        }
+        #ifdef Y_HOMING_SENSITIVITY
+          if (!validating) {
+            #if ENABLED(Y_IS_TMC2130)
+              stepperY.sgt(thrs);
+            #endif
+            #if ENABLED(Y2_IS_TMC2130)
+              stepperY2.sgt(thrs);
+            #endif
+          }
+        #endif
+        EEPROM_READ(thrs);
+        #ifdef Z_HOMING_SENSITIVITY
+          if (!validating) {
+            #if ENABLED(Z_IS_TMC2130)
+              stepperZ.sgt(thrs);
+            #endif
+            #if ENABLED(Z2_IS_TMC2130)
+              stepperZ2.sgt(thrs);
+            #endif
+          }
+        #endif
       #else
-        for (uint8_t q = 0; q < 2; q++) EEPROM_READ(thrs);
+        for (uint8_t q = 0; q < 3; q++) EEPROM_READ(thrs);
       #endif
 
       //
   #endif
 
   #if ENABLED(SENSORLESS_HOMING)
-    #if ENABLED(X_IS_TMC2130)
-      stepperX.sgt(X_HOMING_SENSITIVITY);
-    #endif
-    #if ENABLED(X2_IS_TMC2130)
-      stepperX2.sgt(X_HOMING_SENSITIVITY);
+    #ifdef X_HOMING_SENSITIVITY
+      #if ENABLED(X_IS_TMC2130)
+        stepperX.sgt(X_HOMING_SENSITIVITY);
+      #endif
+      #if ENABLED(X2_IS_TMC2130)
+        stepperX2.sgt(X_HOMING_SENSITIVITY);
+      #endif
     #endif
-    #if ENABLED(Y_IS_TMC2130)
-      stepperY.sgt(Y_HOMING_SENSITIVITY);
+    #ifdef Y_HOMING_SENSITIVITY
+      #if ENABLED(Y_IS_TMC2130)
+        stepperY.sgt(Y_HOMING_SENSITIVITY);
+      #endif
+      #if ENABLED(Y2_IS_TMC2130)
+        stepperY2.sgt(Y_HOMING_SENSITIVITY);
+      #endif
     #endif
-    #if ENABLED(Y2_IS_TMC2130)
-      stepperY2.sgt(Y_HOMING_SENSITIVITY);
+    #ifdef Z_HOMING_SENSITIVITY
+      #if ENABLED(Z_IS_TMC2130)
+        stepperZ.sgt(Z_HOMING_SENSITIVITY);
+      #endif
+      #if ENABLED(Z2_IS_TMC2130)
+        stepperZ2.sgt(Z_HOMING_SENSITIVITY);
+      #endif
     #endif
   #endif
 
       }
       CONFIG_ECHO_START;
       SERIAL_ECHOPGM_P(port, "  M914");
-      #if ENABLED(X_IS_TMC2130)
-        SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt());
-      #endif
-      #if ENABLED(X2_IS_TMC2130)
-        SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.sgt());
+      #ifdef X_HOMING_SENSITIVITY
+        #if ENABLED(X_IS_TMC2130)
+          SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt());
+        #endif
+        #if ENABLED(X2_IS_TMC2130)
+          SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.sgt());
+        #endif
       #endif
-      #if ENABLED(Y_IS_TMC2130)
-        SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt());
+      #ifdef Y_HOMING_SENSITIVITY
+        #if ENABLED(Y_IS_TMC2130)
+          SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt());
+        #endif
+        #if ENABLED(Y2_IS_TMC2130)
+          SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.sgt());
+        #endif
       #endif
-      #if ENABLED(X2_IS_TMC2130)
-        SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.sgt());
+      #ifdef Z_HOMING_SENSITIVITY
+        #if ENABLED(Z_IS_TMC2130)
+          SERIAL_ECHOPAIR_P(port, " Z ", stepperZ.sgt());
+        #endif
+        #if ENABLED(Z2_IS_TMC2130)
+          SERIAL_ECHOPAIR_P(port, " Z2 ", stepperZ2.sgt());
+        #endif
       #endif
       SERIAL_EOL_P(port);
     #endif

Marlin/src/module/delta.cpp

 #include "../lcd/ultralcd.h"
 #include "../Marlin.h"
 
+#if ENABLED(SENSORLESS_HOMING)
+  #include "../feature/tmc_util.h"
+#endif
+
 // Initialized by settings.load()
 float delta_height,
       delta_endstop_adj[ABC] = { 0 },
   ZERO(current_position);
   sync_plan_position();
 
+  // Disable stealthChop if used. Enable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
+      tmc_sensorless_homing(stepperX);
+    #endif
+    #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
+      tmc_sensorless_homing(stepperY);
+    #endif
+    #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
+      tmc_sensorless_homing(stepperZ);
+    #endif
+  #endif
+
   // Move all carriages together linearly until an endstop is hit.
   current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
   feedrate_mm_s = homing_feedrate(X_AXIS);
   line_to_current_position();
   stepper.synchronize();
 
+  // Re-enable stealthChop if used. Disable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
+      tmc_sensorless_homing(stepperX, false);
+    #endif
+    #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
+      tmc_sensorless_homing(stepperY, false);
+    #endif
+    #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
+      tmc_sensorless_homing(stepperZ, false);
+    #endif
+  #endif
+
   // If an endstop was not hit, then damage can occur if homing is continued.
   // This can occur if the delta height not set correctly.
   if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {

Marlin/src/module/motion.cpp

     if (axis == Z_AXIS) probing_pause(true);
   #endif
 
+  // Disable stealthChop if used. Enable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
+      if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
+    #endif
+    #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
+      if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
+    #endif
+    #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
+      if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ);
+    #endif
+  #endif
+
   // Tell the planner the axis is at 0
   current_position[axis] = 0;
 
 
   endstops.hit_on_purpose();
 
+  // Re-enable stealthChop if used. Disable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
+      if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
+    #endif
+    #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
+      if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
+    #endif
+    #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
+      if (axis == Z_AXIS) tmc_sensorless_homing(stepperZ, false);
+    #endif
+  #endif
+
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
       SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
     if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
   #endif
 
-  // Disable stealthChop if used. Enable diag1 pin on driver.
-  #if ENABLED(SENSORLESS_HOMING)
-    #if ENABLED(X_IS_TMC2130)
-      if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
-    #endif
-    #if ENABLED(Y_IS_TMC2130)
-      if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
-    #endif
-  #endif
-
   // Fast move towards endstop until triggered
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
 
   #endif
 
-  // Re-enable stealthChop if used. Disable diag1 pin on driver.
-  #if ENABLED(SENSORLESS_HOMING)
-    #if ENABLED(X_IS_TMC2130)
-      if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
-    #endif
-    #if ENABLED(Y_IS_TMC2130)
-      if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
-    #endif
-  #endif
-
   // Put away the Z probe
   #if HOMING_Z_WITH_PROBE
     if (axis == Z_AXIS && STOW_PROBE()) return;