[2.0.x] SWITCHING_TOOLHEAD (#11623)

Marlin/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/default/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -208,6 +208,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -215,6 +215,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -208,6 +208,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -211,6 +211,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -216,6 +216,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Creality/CR-8/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Creality/Ender-2/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Creality/Ender-3/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Creality/Ender-4/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Einstart-S/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -212,6 +212,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -227,6 +227,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -212,6 +212,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Micromake/C1/basic/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/RepRapPro/Huxley/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -210,6 +210,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -238,6 +238,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/STM32F10/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/STM32F4/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -229,6 +229,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Tronxy/X1/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Tronxy/X3A/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Tronxy/X5S/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/Tronxy/XY100/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -227,6 +227,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/config/examples/adafruit/ST7565/Configuration.h

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -212,6 +212,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -211,6 +211,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -212,6 +212,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

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

@@ -207,6 +207,23 @@
 #endif
 
 /**
+ * Switching Toolhead
+ *
+ * Support for swappable and dockable toolheads, such as
+ * the E3D Tool Changer. Toolheads are locked with a servo.
+ */
+//#define SWITCHING_TOOLHEAD
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #define SWITCHING_TOOLHEAD_SERVO_NR       2         // Index of the servo connector
+  #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 }  // (degrees) Angles for Lock, Unlock
+  #define SWITCHING_TOOLHEAD_Y_POS        235         // (mm) Y position of the toolhead dock
+  #define SWITCHING_TOOLHEAD_Y_SECURITY    10         // (mm) Security distance Y axis
+  #define SWITCHING_TOOLHEAD_Y_CLEAR       60         // (mm) Minimum distance from dock for unobstructed X axis
+  #define SWITCHING_TOOLHEAD_X_POS        { 215, 0 }  // (mm) X positions for parking the extruders
+  #define SWITCHING_TOOLHEAD_SECURITY_RAISE 5         // (mm) Z-raise before parking
+#endif
+
+/**
  * "Mixing Extruder"
  *   - Adds a new code, M165, to set the current mix factors.
  *   - Extends the stepping routines to move multiple steppers in proportion to the mix.

Marlin/src/inc/Conditionals_LCD.h

@@ -423,11 +423,10 @@
   #if DISABLED(SWITCHING_NOZZLE)
     #define HOTENDS       E_STEPPERS
   #endif
-  #define E_MANUAL        EXTRUDERS
 #elif ENABLED(MIXING_EXTRUDER)
   #define E_STEPPERS      MIXING_STEPPERS
   #define E_MANUAL        1
-#else
+#elif ENABLED(SWITCHING_TOOLHEAD)
   #define E_STEPPERS      EXTRUDERS
   #define E_MANUAL        EXTRUDERS
 #endif
@@ -454,6 +453,14 @@
   #define HOTENDS EXTRUDERS
 #endif
 
+#ifndef E_STEPPERS
+  #define E_STEPPERS EXTRUDERS
+#endif
+
+#ifndef E_MANUAL
+  #define E_MANUAL EXTRUDERS
+#endif
+
 #define HOTEND_LOOP() for (int8_t e = 0; e < HOTENDS; e++)
 
 #define DO_SWITCH_EXTRUDER (ENABLED(SWITCHING_EXTRUDER) && (DISABLED(SWITCHING_NOZZLE) || SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR))

Marlin/src/inc/SanityCheck.h

@@ -712,6 +712,37 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
 #endif
 
 /**
+ * Switching Toolhead requirements
+ */
+#if ENABLED(SWITCHING_TOOLHEAD)
+  #if ENABLED(DUAL_X_CARRIAGE)
+    #error "SWITCHING_TOOLHEAD and DUAL_X_CARRIAGE are incompatible."
+  #elif ENABLED(SINGLENOZZLE)
+    #error "SWITCHING_TOOLHEAD and SINGLENOZZLE are incompatible."
+  #elif ENABLED(PARKING_EXTRUDER)
+    #error "SWITCHING_TOOLHEAD and PARKING_EXTRUDER are incompatible."
+  #elif !defined(SWITCHING_TOOLHEAD_SERVO_NR)
+    #error "SWITCHING_TOOLHEAD requires SWITCHING_TOOLHEAD_SERVO_NR."
+  #elif EXTRUDERS < 2
+    #error "SWITCHING_TOOLHEAD requires at least 2 EXTRUDERS."
+  #elif NUM_SERVOS < (SWITCHING_TOOLHEAD_SERVO_NR - 1)
+    #if SWITCHING_TOOLHEAD_SERVO_NR == 0
+      #error "A SWITCHING_TOOLHEAD_SERVO_NR of 0 requires NUM_SERVOS >= 1."
+    #elif SWITCHING_TOOLHEAD_SERVO_NR == 1
+      #error "A SWITCHING_TOOLHEAD_SERVO_NR of 1 requires NUM_SERVOS >= 2."
+    #elif SWITCHING_TOOLHEAD_SERVO_NR == 2
+      #error "A SWITCHING_TOOLHEAD_SERVO_NR of 2 requires NUM_SERVOS >= 3."
+    #elif SWITCHING_TOOLHEAD_SERVO_NR == 3
+      #error "A SWITCHING_TOOLHEAD_SERVO_NR of 3 requires NUM_SERVOS >= 4."
+    #endif
+  #elif !defined(SWITCHING_TOOLHEAD_SECURITY_RAISE)
+    #error "SWITCHING_TOOLHEAD requires SWITCHING_TOOLHEAD_SECURITY_RAISE."
+  #elif SWITCHING_TOOLHEAD_SECURITY_RAISE < 0
+    #error "SWITCHING_TOOLHEAD _SECURITY_RAISE must be 0 or higher."
+  #endif
+#endif
+
+/**
  * Part-Cooling Fan Multiplexer requirements
  */
 #if PIN_EXISTS(FANMUX1)
@@ -732,8 +763,8 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
 /**
  * Servo deactivation depends on servo endstops, switching nozzle, or switching extruder
  */
-#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_Z_SERVO_PROBE && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR)
-  #error "Z_PROBE_SERVO_NR, switching nozzle, or switching extruder is required for DEACTIVATE_SERVOS_AFTER_MOVE."
+#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_Z_SERVO_PROBE && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR)
+  #error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead or switching extruder is required for DEACTIVATE_SERVOS_AFTER_MOVE."
 #endif
 
 /**

Marlin/src/module/tool_change.cpp

@@ -33,7 +33,7 @@
   #include "../gcode/gcode.h" // for dwell()
 #endif
 
-#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE)
+#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE) || ENABLED(SWITCHING_TOOLHEAD)
   #include "../module/servo.h"
 #endif
 
@@ -213,6 +213,129 @@
 
 #endif // PARKING_EXTRUDER
 
+#if ENABLED(SWITCHING_TOOLHEAD)
+
+  inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
+    if (no_move) return;
+
+    constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
+
+    const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
+                placexpos = toolheadposx[active_extruder],
+                grabxpos = toolheadposx[tmp_extruder];
+
+    /**
+     * 1. Raise Z to give enough clearance
+     * 2. Move to switch position of current toolhead
+     * 3. Unlock tool and drop it in the dock
+     * 4. Move to the new toolhead
+     * 5. Grab and lock the new toolhead
+     * 6. Apply the z-offset of the new toolhead
+     */
+
+    // STEP 1
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
+    #endif
+    current_position[Z_AXIS] += SWITCHING_TOOLHEAD_SECURITY_RAISE;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+    planner.synchronize();
+
+    // STEP 2
+    current_position[X_AXIS] = placexpos;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) {
+        SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
+        DEBUG_POS("Move X SwitchPos", current_position);
+      }
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+    planner.synchronize();
+
+    current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
+    planner.synchronize();
+
+    // STEP 3
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead");
+    #endif
+    MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
+    safe_delay(500);
+
+    current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position,(planner.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
+    planner.synchronize();
+    safe_delay(200);
+    current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
+    planner.synchronize();
+
+    // STEP 4
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
+    #endif
+    current_position[X_AXIS] = grabxpos;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+    planner.synchronize();
+    current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
+    planner.synchronize();
+
+    // STEP 5
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead ");
+    #endif
+    current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
+    planner.synchronize();
+
+    safe_delay(200);
+    MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
+    safe_delay(500);
+
+    current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
+    #endif
+    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
+    planner.synchronize();
+
+    // STEP 6
+    current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Apply Z offset", current_position);
+    #endif
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Toolhead change done.");
+    #endif
+  }
+
+#endif // SWITCHING_TOOLHEAD
+
 inline void invalid_extruder_error(const uint8_t e) {
   SERIAL_ECHO_START();
   SERIAL_CHAR('T');
@@ -386,19 +509,24 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
         #else // !DUAL_X_CARRIAGE
 
           set_destination_from_current();
-          #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
-            parking_extruder_tool_change(tmp_extruder, no_move);
-          #endif
 
           const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
-                      ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder],
-                      zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder];
+                      ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
 
-          #if ENABLED(SWITCHING_NOZZLE)
-            // Always raise by at least 1 to avoid workpiece
-            current_position[Z_AXIS] += (zdiff < 0.0 ? -zdiff : 0.0) + 1;
-            planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
-            move_nozzle_servo(tmp_extruder);
+          #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
+            constexpr float zdiff = 0;
+            parking_extruder_tool_change(tmp_extruder, no_move);
+          #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
+            constexpr float zdiff = 0;
+            switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
+          #else
+            const float zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder];
+            #if ENABLED(SWITCHING_NOZZLE)
+              // Always raise by at least 1 to avoid workpiece
+              current_position[Z_AXIS] += MAX(-zdiff, 0.0) + 1;
+              planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+              move_nozzle_servo(tmp_extruder);
+            #endif
           #endif
 
           #if ENABLED(DEBUG_LEVELING_FEATURE)

buildroot/share/tests/megaatmega2560_tests

@@ -140,6 +140,7 @@ exec_test $1 $2 "SWITCHING_EXTRUDER"
 # Test many less common options
 #
 restore_configs
+opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO
 opt_enable COREYX
 opt_set_adv FAN_MIN_PWM 50
 opt_set_adv FAN_KICKSTART_TIME 100
@@ -153,6 +154,10 @@ opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER BABYSTEPPING DAC_MOTOR_CURRENT_DEFAU
 opt_enable FILAMENT_LCD_DISPLAY FILAMENT_WIDTH_SENSOR
 opt_enable ENDSTOP_INTERRUPTS_FEATURE FAN_SOFT_PWM SDSUPPORT
 opt_enable USE_XMAX_PLUG
+opt_enable SWITCHING_TOOLHEAD NUM_SERVOS DEBUG_LEVELING_FEATURE
+opt_set EXTRUDERS 2
+opt_set TEMP_SENSOR_1 -4
+opt_set SERVO_DELAY "{ 300, 300, 300 }"
 exec_test $1 $2 "Many less common options"
 #
 ######## Other Standard LCD/Panels ##############