Merge pull request #6052 from thinkyhead/rc_lift_on_pause

Add PARK_HEAD_ON_PAUSE feature / M125

.travis.yml

   - opt_set MOTHERBOARD BOARD_MINIRAMBO
   - build_marlin
   #
-  # Test FILAMENT_CHANGE_FEATURE and LCD_INFO_MENU
+  # Test FILAMENT_CHANGE_FEATURE, PARK_HEAD_ON_PAUSE, and LCD_INFO_MENU
   #
   - restore_configs
   - opt_enable ULTIMAKERCONTROLLER
-  - opt_enable_adv FILAMENT_CHANGE_FEATURE LCD_INFO_MENU
+  - opt_enable_adv FILAMENT_CHANGE_FEATURE PARK_HEAD_ON_PAUSE LCD_INFO_MENU
   - build_marlin
   #
   # Enable filament sensor

Marlin/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/Marlin.h

 #define _AXIS(AXIS) AXIS ##_AXIS
 
 void enable_all_steppers();
+void disable_e_steppers();
 void disable_all_steppers();
 
 void FlushSerialRequestResend();

Marlin/Marlin_main.cpp

  * M119 - Report endstops status.
  * M120 - Enable endstops detection.
  * M121 - Disable endstops detection.
+ * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
  * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  * M128 - EtoP Open. (Requires BARICUDA)
  * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
           Every normal extrude-only move will be classified as retract depending on the direction.
- * M211 - Enable, Disable, and/or Report software endstops: S<0|1>
+ * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
  * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  * M221 - Set Flow Percentage: "M221 S<percent>"
  * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  *
- * ************ SCARA Specific - This can change to suit future G-code regulations
  * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
- * ************* SCARA End ***************
  *
  * ************ Custom codes - This can change to suit future G-code regulations
  * M100 - Watch Free Memory (For Debugging). (Requires M100_FREE_MEMORY_WATCHER)
 
 const char errormagic[] PROGMEM = "Error:";
 const char echomagic[] PROGMEM = "echo:";
-const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
+const char axis_codes[XYZE] = {'X', 'Y', 'Z', 'E'};
 
 // Number of characters read in the current line of serial input
 static int serial_count = 0;
 void set_current_from_steppers_for_axis(const AxisEnum axis);
 
 #if ENABLED(ARC_SUPPORT)
-  void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
+  void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
 #endif
 
 #if ENABLED(BEZIER_CURVE_SUPPORT)
 
   static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
   static bool active_extruder_parked = false;        // used in mode 1 & 2
-  static float raised_parked_position[NUM_AXIS];     // used in mode 1
+  static float raised_parked_position[XYZE];         // used in mode 1
   static millis_t delayed_move_time = 0;             // used in mode 1
   static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
   static float duplicate_extruder_temp_offset = 0;   // used in mode 2
   enable_all_steppers();
 }
 
+#if IS_KINEMATIC
+  #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
+#else
+  #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S)
+#endif
+
+#if ENABLED(PARK_HEAD_ON_PAUSE)
+  float resume_position[XYZE];
+  bool move_away_flag = false;
+
+  inline void move_back_on_resume() {
+    if (!move_away_flag) return;
+    move_away_flag = false;
+
+    // Set extruder to saved position
+    destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
+    planner.set_e_position_mm(current_position[E_AXIS]);
+
+    #if IS_KINEMATIC
+      // Move XYZ to starting position
+      planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
+    #else
+      // Move XY to starting position, then Z
+      destination[X_AXIS] = resume_position[X_AXIS];
+      destination[Y_AXIS] = resume_position[Y_AXIS];
+      RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
+      destination[Z_AXIS] = resume_position[Z_AXIS];
+      RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
+    #endif
+    stepper.synchronize();
+
+    #if ENABLED(FILAMENT_RUNOUT_SENSOR)
+      filament_ran_out = false;
+    #endif
+    set_current_to_destination();
+  }
+
+#endif // PARK_HEAD_ON_PAUSE
+
 #if ENABLED(SDSUPPORT)
 
   /**
   inline void gcode_M23() { card.openFile(current_command_args, true); }
 
   /**
-   * M24: Start SD Print
+   * M24: Start or Resume SD Print
    */
   inline void gcode_M24() {
+    #if ENABLED(PARK_HEAD_ON_PAUSE)
+      move_back_on_resume();
+    #endif
+
     card.startFileprint();
     print_job_timer.start();
   }
   /**
    * M25: Pause SD Print
    */
-  inline void gcode_M25() { card.pauseSDPrint(); }
+  inline void gcode_M25() {
+    card.pauseSDPrint();
+    print_job_timer.pause();
+
+    #if ENABLED(PARK_HEAD_ON_PAUSE)
+      enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
+    #endif
+  }
 
   /**
    * M26: Set SD Card file index
       if (code_seen('Y')) disable_y();
       if (code_seen('Z')) disable_z();
       #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
-        if (code_seen('E')) {
-          disable_e0();
-          disable_e1();
-          disable_e2();
-          disable_e3();
-        }
+        if (code_seen('E')) disable_e_steppers();
       #endif
     }
   }
  */
 inline void gcode_M121() { endstops.enable_globally(false); }
 
+#if ENABLED(PARK_HEAD_ON_PAUSE)
+
+  /**
+   * M125: Store current position and move to filament change position.
+   *       Called on pause (by M25) to prevent material leaking onto the
+   *       object. On resume (M24) the head will be moved back and the
+   *       print will resume.
+   *
+   *       If Marlin is compiled without SD Card support, M125 can be
+   *       used directly to pause the print and move to park position,
+   *       resuming with a button click or M108.
+   *
+   *    L = override retract length
+   *    X = override X
+   *    Y = override Y
+   *    Z = override Z raise
+   */
+  inline void gcode_M125() {
+    if (move_away_flag) return; // already paused
+
+    const bool job_running = print_job_timer.isRunning();
+
+    // there are blocks after this one, or sd printing
+    move_away_flag = job_running || planner.blocks_queued()
+      #if ENABLED(SDSUPPORT)
+        || card.sdprinting
+      #endif
+    ;
+
+    if (!move_away_flag) return; // nothing to pause
+
+    // M125 can be used to pause a print too
+    #if ENABLED(SDSUPPORT)
+      card.pauseSDPrint();
+    #endif
+    print_job_timer.pause();
+
+    // Save current position
+    COPY(resume_position, current_position);
+
+    set_destination_to_current();
+
+    // Initial retract before move to filament change position
+    destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
+      #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
+        - (FILAMENT_CHANGE_RETRACT_LENGTH)
+      #endif
+    ;
+    RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
+
+    // Lift Z axis
+    const float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
+      #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
+        FILAMENT_CHANGE_Z_ADD
+      #else
+        0
+      #endif
+    ;
+    if (z_lift > 0) {
+      destination[Z_AXIS] += z_lift;
+      NOMORE(destination[Z_AXIS], Z_MAX_POS);
+      RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
+    }
+
+    // Move XY axes to filament change position or given position
+    destination[X_AXIS] = code_seen('X') ? code_value_axis_units(X_AXIS) : 0
+      #ifdef FILAMENT_CHANGE_X_POS
+        + FILAMENT_CHANGE_X_POS
+      #endif
+    ;
+    destination[Y_AXIS] = code_seen('Y') ? code_value_axis_units(Y_AXIS) : 0
+      #ifdef FILAMENT_CHANGE_Y_POS
+        + FILAMENT_CHANGE_Y_POS
+      #endif
+    ;
+
+    #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
+      if (active_extruder > 0) {
+        if (!code_seen('X')) destination[X_AXIS] += hotend_offset[X_AXIS][active_extruder];
+        if (!code_seen('Y')) destination[Y_AXIS] += hotend_offset[Y_AXIS][active_extruder];
+      }
+    #endif
+
+    clamp_to_software_endstops(destination);
+    RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
+    set_current_to_destination();
+    stepper.synchronize();
+    disable_e_steppers();
+
+    #if DISABLED(SDSUPPORT)
+      // Wait for lcd click or M108
+      wait_for_user = true;
+      KEEPALIVE_STATE(PAUSED_FOR_USER);
+      while (wait_for_user) idle();
+      KEEPALIVE_STATE(IN_HANDLER);
+
+      // Return to print position and continue
+      move_back_on_resume();
+      if (job_running) print_job_timer.start();
+      move_away_flag = false;
+    #endif
+  }
+
+#endif // PARK_HEAD_ON_PAUSE
+
 #if ENABLED(BLINKM) || ENABLED(RGB_LED)
 
   void set_led_color(const uint8_t r, const uint8_t g, const uint8_t b) {
 
 #if ENABLED(FILAMENT_CHANGE_FEATURE)
 
-  millis_t next_buzz = 0;
-  unsigned long int runout_beep = 0;
+  void filament_change_beep(const bool init=false) {
+    static millis_t next_buzz = 0;
+    static uint16_t runout_beep = 0;
+
+    if (init) next_buzz = runout_beep = 0;
 
-  void filament_change_beep() {
     const millis_t ms = millis();
     if (ELAPSED(ms, next_buzz)) {
       if (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + 5) { // Only beep as long as we're supposed to
     busy_doing_M600 = true;  // Stepper Motors can't timeout when this is set
 
     // Pause the print job timer
-    bool job_running = print_job_timer.isRunning();
+    const bool job_running = print_job_timer.isRunning();
+
     print_job_timer.pause();
 
     // Show initial message and wait for synchronize steppers
     lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
     stepper.synchronize();
 
-    float lastpos[NUM_AXIS];
-
     // Save current position of all axes
-    LOOP_XYZE(i)
-      lastpos[i] = destination[i] = current_position[i];
-
-    // Define runplan for move axes
-    #if IS_KINEMATIC
-      #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder);
-    #else
-      #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
-    #endif
+    float lastpos[XYZE];
+    COPY(lastpos, current_position);
+    set_destination_to_current();
 
     // Initial retract before move to filament change position
     destination[E_AXIS] += code_seen('E') ? code_value_axis_units(E_AXIS) : 0
 
     // Synchronize steppers and then disable extruders steppers for manual filament changing
     stepper.synchronize();
-    disable_e0();
-    disable_e1();
-    disable_e2();
-    disable_e3();
+    disable_e_steppers();
     delay(100);
 
-    millis_t nozzle_timeout = millis() + FILAMENT_CHANGE_NOZZLE_TIMEOUT * 1000L;
+    millis_t nozzle_timeout = millis() + (millis_t)(FILAMENT_CHANGE_NOZZLE_TIMEOUT) * 1000L;
     bool nozzle_timed_out = false;
     float temps[4];
 
     // Wait for filament insert by user and press button
     lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
 
+    #if HAS_BUZZER
+      filament_change_beep(true);
+    #endif
+
     idle();
 
-    wait_for_user = true;    // LCD click or M108 will clear this
-    next_buzz = 0;
-    runout_beep = 0;
     HOTEND_LOOP() temps[e] = thermalManager.target_temperature[e]; // Save nozzle temps
 
+    wait_for_user = true;    // LCD click or M108 will clear this
     while (wait_for_user) {
       millis_t current_ms = millis();
       if (nozzle_timed_out)
     if (nozzle_timed_out)
       lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
 
+    #if HAS_BUZZER
+      filament_change_beep(true);
+    #endif
+
     wait_for_user = true;    // LCD click or M108 will clear this
-    next_buzz = 0;
-    runout_beep = 0;
     while (wait_for_user && nozzle_timed_out) {
       #if HAS_BUZZER
         filament_change_beep();
    * Report driver currents when no axis specified
    */
   inline void gcode_M906() {
-    uint16_t values[NUM_AXIS];
+    uint16_t values[XYZE];
     LOOP_XYZE(i)
       values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
 
           break;
       #endif // FAN_COUNT > 0
 
+      #if ENABLED(PARK_HEAD_ON_PAUSE)
+        case 125: // M125: Store current position and move to filament change position
+          gcode_M125(); break;
+      #endif
+
       #if ENABLED(BARICUDA)
         // PWM for HEATER_1_PIN
         #if HAS_HEATER_1
    * This calls planner.buffer_line several times, adding
    * small incremental moves for DELTA or SCARA.
    */
-  inline bool prepare_kinematic_move_to(float ltarget[NUM_AXIS]) {
+  inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
 
     // Get the top feedrate of the move in the XY plane
     float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
     }
 
     // Get the cartesian distances moved in XYZE
-    float difference[NUM_AXIS];
+    float difference[XYZE];
     LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
 
     // Get the linear distance in XYZ
    * options for G2/G3 arc generation. In future these options may be GCode tunable.
    */
   void plan_arc(
-    float logical[NUM_AXIS], // Destination position
+    float logical[XYZE], // Destination position
     float* offset,           // Center of rotation relative to current_position
     uint8_t clockwise        // Clockwise?
   ) {
   enable_e3();
 }
 
-void disable_all_steppers() {
-  disable_x();
-  disable_y();
-  disable_z();
+void disable_e_steppers() {
   disable_e0();
   disable_e1();
   disable_e2();
   disable_e3();
 }
 
+void disable_all_steppers() {
+  disable_x();
+  disable_y();
+  disable_z();
+  disable_e_steppers();
+}
+
 #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
 
   void automatic_current_control(const TMC2130Stepper &st) {
       disable_z();
     #endif
     #if ENABLED(DISABLE_INACTIVE_E)
-      disable_e0();
-      disable_e1();
-      disable_e2();
-      disable_e3();
+      disable_e_steppers();
     #endif
   }
 

Marlin/SanityCheck.h

     #error "FILAMENT_CHANGE_FEATURE currently requires an LCD controller."
   #elif ENABLED(EXTRUDER_RUNOUT_PREVENT)
     #error "EXTRUDER_RUNOUT_PREVENT is incompatible with FILAMENT_CHANGE_FEATURE."
+  #elif ENABLED(PARK_HEAD_ON_PAUSE) && DISABLED(SDSUPPORT) && DISABLED(ULTIPANEL) && DISABLED(EMERGENCY_PARSER)
+    #error "PARK_HEAD_ON_PAUSE requires SDSUPPORT, EMERGENCY_PARSER, or an LCD controller."
   #endif
 #endif
 
   #endif
 #endif
 
-
 /**
  * Make sure only one display is enabled
  *

Marlin/example_configurations/Cartesio/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/Felix/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/Hephestos/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/Hephestos_2/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/K8200/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/K8400/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/RigidBot/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/SCARA/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/TAZ4/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/WITBOX/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/delta/flsun_kossel_mini/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/delta/generic/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/makibox/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h

                                               // 0 to disable for manual extrusion
                                               // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
                                               // or until outcoming filament color is not clear for filament color change
-  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45L  // Turn off nozzle if user doesn't change filament within this time limit in seconds
-  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS  5L  // Number of alert beeps before printer goes quiet
-  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT         // Enable to have stepper motors hold position during filament change
-                                                     // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
 #endif
 
 // @section tmc

Marlin/planner.cpp

     if (!axis_active[Z_AXIS]) disable_z();
   #endif
   #if ENABLED(DISABLE_E)
-    if (!axis_active[E_AXIS]) {
-      disable_e0();
-      disable_e1();
-      disable_e2();
-      disable_e3();
-    }
+    if (!axis_active[E_AXIS]) disable_e_steppers();
   #endif
 
   #if FAN_COUNT > 0

Marlin/ultralcd.cpp

     void lcd_sdcard_pause() {
       card.pauseSDPrint();
       print_job_timer.pause();
+      #if ENABLED(PARK_HEAD_ON_PAUSE)
+        enqueue_and_echo_commands_P(PSTR("M125"))
+      #endif
     }
 
     void lcd_sdcard_resume() {
-      card.startFileprint();
-      print_job_timer.start();
+      #if ENABLED(PARK_HEAD_ON_PAUSE)
+        enqueue_and_echo_commands_P(PSTR("M24"))
+      #else
+        card.startFileprint();
+        print_job_timer.start();
+      #endif
     }
 
     void lcd_sdcard_stop() {
       lcd_setstatus(MSG_PRINT_ABORTED, true);
     }
 
-  #endif //SDSUPPORT
+  #endif // SDSUPPORT
 
   #if ENABLED(MENU_ITEM_CASE_LIGHT)