Add Dual Steppers / Endstops to configs

Marlin/Configuration_adv.h

 
 //#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
 
-// Dual X Steppers
-// Uncomment this option to drive two X axis motors.
-// The next unused E driver will be assigned to the second X stepper.
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
 //#define X_DUAL_STEPPER_DRIVERS
 #if ENABLED(X_DUAL_STEPPER_DRIVERS)
-  // Set true if the two X motors need to rotate in opposite directions
-  #define INVERT_X2_VS_X_DIR true
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
 #endif
 
-// Dual Y Steppers
-// Uncomment this option to drive two Y axis motors.
-// The next unused E driver will be assigned to the second Y stepper.
 //#define Y_DUAL_STEPPER_DRIVERS
 #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-  // Set true if the two Y motors need to rotate in opposite directions
-  #define INVERT_Y2_VS_Y_DIR true
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
 #endif
 
-// A single Z stepper driver is usually used to drive 2 stepper motors.
-// Uncomment this option to use a separate stepper driver for each Z axis motor.
-// The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
-
 #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
-
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
-
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

Marlin/src/config/default/Configuration_adv.h

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 #define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  //#define Z_DUAL_ENDSTOPS
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+  //#define Z_DUAL_ENDSTOPS
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which

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

 // The next unused E driver will be assigned to the second Z stepper.
 //#define Z_DUAL_STEPPER_DRIVERS
 
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+/**
+ * Dual Steppers / Dual Endstops
+ *
+ * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
+ *
+ * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
+ * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
+ * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
+ * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
+ *
+ * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
+ * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
+ * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
+ */
+
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define X_DUAL_ENDSTOPS
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP _XMAX_
+    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
-  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
-  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
-  // There is also an implementation of M666 (software endstops adjustment) to this feature.
-  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
-  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
-  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
-  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
-  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define Y_DUAL_ENDSTOPS
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP _YMAX_
+    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+  #endif
+#endif
 
+//#define Z_DUAL_STEPPER_DRIVERS
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
   //#define Z_DUAL_ENDSTOPS
-
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // Use M666 to determine/test this value
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
   #endif
-
-#endif // Z_DUAL_STEPPER_DRIVERS
+#endif
 
 // Enable this for dual x-carriage printers.
 // A dual x-carriage design has the advantage that the inactive extruder can be parked which