G34 Auto-align multi-stepper Z axis (#11302)

Marlin/Configuration_adv.h

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/default/Configuration_adv.h

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/examples/Anet/A2/Configuration_adv.h

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/examples/Anet/A2plus/Configuration_adv.h

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -360,7 +360,6 @@
  * X1 is the left carriage, X2 the right. They park and home at opposite ends of the X axis.
  * By default the X2 stepper is assigned to the first unused E plug on the board.
  */
-//#define DUAL_X_CARRIAGE
 #if ENABLED(DUAL_X_CARRIAGE)
   #define X1_MIN_POS X_MIN_POS  // set minimum to ensure first x-carriage doesn't hit the parked second X-carriage
   #define X1_MAX_POS X_BED_SIZE // set maximum to ensure first x-carriage doesn't hit the parked second X-carriage
@@ -409,6 +408,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -360,7 +360,6 @@
  * X1 is the left carriage, X2 the right. They park and home at opposite ends of the X axis.
  * By default the X2 stepper is assigned to the first unused E plug on the board.
  */
-//#define DUAL_X_CARRIAGE
 #if ENABLED(DUAL_X_CARRIAGE)
   #define X1_MIN_POS X_MIN_POS  // set minimum to ensure first x-carriage doesn't hit the parked second X-carriage
   #define X1_MAX_POS X_BED_SIZE // set maximum to ensure first x-carriage doesn't hit the parked second X-carriage
@@ -409,6 +408,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/examples/Formbot/Raptor/Configuration_adv.h

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/examples/Formbot/T_Rex_2+/Configuration_adv.h

@@ -413,6 +413,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/examples/Formbot/T_Rex_3/Configuration_adv.h

@@ -414,6 +414,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/examples/Geeetech/MeCreator2/Configuration_adv.h

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -422,6 +422,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/config/examples/delta/Anycubic/Kossel/Configuration_adv.h

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

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

@@ -409,6 +409,24 @@
 // Enable this if X or Y can't home without homing the other axis first.
 //#define CODEPENDENT_XY_HOMING
 
+// Automatic alignment of Z steppers for multi-Z-stepper and a probe
+//#define Z_STEPPER_AUTO_ALIGN
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  // Define probe X and Y positions for Z1, Z2 [, Z3]
+  #define Z_STEPPER_ALIGN_X { 10, 150, 290 }
+  #define Z_STEPPER_ALIGN_Y { 290, 10, 290 }
+  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_ITERATIONS 3
+  // Enable to restore leveling setup after operation
+  #define RESTORE_LEVELING_AFTER_G34
+  // Use the amplification factor to de-/increase correction step.
+  // In case the stepper (spindle) position is further out than the test point
+  // Use a value > 1. NOTE: This may cause instability
+  #define Z_STEPPER_ALIGN_AMP 1.0
+  // Stop criterion. If the accuracy is better than this stop iterating early
+  #define Z_STEPPER_ALIGN_ACC 0.02
+#endif
+
 // @section machine
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}

Marlin/src/feature/I2CPositionEncoder.cpp

@@ -232,6 +232,16 @@ void I2CPositionEncoder::set_homed() {
   }
 }
 
+void I2CPositionEncoder::set_unhomed() {
+  zeroOffset = 0;
+  homed = trusted = false;
+
+  #ifdef I2CPE_DEBUG
+    SERIAL_ECHO(axis_codes[encoderAxis]);
+    SERIAL_ECHOLNPGM(" axis encoder unhomed.");
+  #endif
+}
+
 bool I2CPositionEncoder::passes_test(const bool report) {
   if (report) {
     if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. ");

Marlin/src/feature/I2CPositionEncoder.h

@@ -146,6 +146,7 @@ class I2CPositionEncoder {
     void update();
 
     void set_homed();
+    void set_unhomed();
 
     int32_t get_raw_count();
 
@@ -230,6 +231,11 @@ class I2CPositionEncodersMgr {
         if (encoders[i].get_axis() == axis) encoders[i].set_homed();
     }
 
+    static void unhomed(const AxisEnum axis) {
+      LOOP_PE(i)
+        if (encoders[i].get_axis() == axis) encoders[i].set_unhomed();
+    }
+
     static void report_position(const int8_t idx, const bool units, const bool noOffset);
 
     static void report_status(const int8_t idx) {

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -0,0 +1,286 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+
+#include "../gcode.h"
+#include "../../module/delta.h"
+#include "../../module/motion.h"
+#include "../../module/stepper.h"
+#include "../../module/endstops.h"
+
+#if HOTENDS > 1
+  #include "../../module/tool_change.h"
+#endif
+
+#if HAS_BED_PROBE
+  #include "../../module/probe.h"
+#endif
+
+#if HAS_LEVELING
+  #include "../../feature/bedlevel/bedlevel.h"
+#endif
+
+float z_auto_align_xpos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_X,
+      z_auto_align_ypos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_Y;
+
+inline void set_all_z_lock(const bool lock) {
+  stepper.set_z_lock(lock);
+  stepper.set_z2_lock(lock);
+  #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+    stepper.set_z3_lock(lock);
+  #endif
+}
+
+/**
+ * G34: Z-Stepper automatic alignment
+ *
+ * Parameters: I<iterations> T<accuracy> A<amplification>
+ */
+void GcodeSuite::G34() {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOLNPGM(">>> G34");
+      log_machine_info();
+    }
+  #endif
+
+  do { // break out on error
+
+    if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
+      #if ENABLED(DEBUG_LEVELING_FEATURE)
+        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> XY homing required.");
+      #endif
+      break;
+    }
+
+    const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
+    if (!WITHIN(z_auto_align_iterations, 1, 30)) {
+      SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
+      break;
+    }
+
+    const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC);
+    if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) {
+      SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0).");
+      break;
+    }
+
+    const float z_auto_align_amplification = parser.floatval('A', Z_STEPPER_ALIGN_AMP);
+    if (!WITHIN(z_auto_align_amplification, 0.5f, 2.0f)) {
+      SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0).");
+      break;
+    }
+
+    // Wait for planner moves to finish!
+    planner.synchronize();
+
+    // Disable the leveling matrix before auto-aligning
+    #if HAS_LEVELING
+      #if ENABLED(RESTORE_LEVELING_AFTER_G34)
+        const bool leveling_was_active = planner.leveling_active;
+      #endif
+      set_bed_leveling_enabled(false);
+    #endif
+
+    #if ENABLED(CNC_WORKSPACE_PLANES)
+      workspace_plane = PLANE_XY;
+    #endif
+
+    #if ENABLED(BLTOUCH)
+      bltouch_command(BLTOUCH_RESET);
+      set_bltouch_deployed(false);
+    #endif
+
+    // Always home with tool 0 active
+    #if HOTENDS > 1
+      const uint8_t old_tool_index = active_extruder;
+      tool_change(0, 0, true);
+    #endif
+
+    #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
+      extruder_duplication_enabled = false;
+    #endif
+
+    // Remember corrections to determine errors on each iteration
+    float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
+          z_measured[Z_STEPPER_COUNT] = { 0 };
+    bool err_break = false;
+    for (uint8_t iteration = 0; iteration < z_auto_align_iterations; ++iteration) {
+      #if ENABLED(DEBUG_LEVELING_FEATURE)
+        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> probing all positions.");
+      #endif
+
+      // Reset minimum value
+      float z_measured_min = 100000.0f;
+      // For each iteration go through all probe positions (one per Z-Stepper)
+      for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
+        // Probe a Z height for each stepper
+        z_measured[zstepper] = probe_pt(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], PROBE_PT_RAISE, false);
+
+        // Stop on error
+        if (isnan(z_measured[zstepper])) {
+          #if ENABLED(DEBUG_LEVELING_FEATURE)
+            if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> PROBING FAILED!");
+          #endif
+          err_break = true;
+          break;
+        }
+
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) {
+            SERIAL_ECHOPAIR("> Z", int(zstepper + 1));
+            SERIAL_ECHOLNPAIR(" measured position is ", z_measured[zstepper]);
+          }
+        #endif
+
+        // Remember the maximum position to calculate the correction
+        z_measured_min = MIN(z_measured_min, z_measured[zstepper]);
+      }
+
+      if (err_break) break;
+
+      // Remember the current z position to return to
+      float z_original_position = current_position[Z_AXIS];
+
+      // Iterations can stop early if all corrections are below required accuracy
+      bool success_break = true;
+      // Correct stepper offsets and re-iterate
+      for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
+        stepper.set_separate_multi_axis(true);
+        set_all_z_lock(true); // Steppers will be enabled separately
+
+        // Calculate current stepper move
+        const float z_align_move = z_measured[zstepper] - z_measured_min,
+                    z_align_abs = ABS(z_align_move);
+
+        // Check for lost accuracy compared to last move
+        if (last_z_align_move[zstepper] < z_align_abs - 1.0) {
+          // Stop here
+          #if ENABLED(DEBUG_LEVELING_FEATURE)
+            if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> detected decreasing accuracy.");
+          #endif
+          err_break = true;
+          break;
+        }
+        else
+          last_z_align_move[zstepper] = z_align_abs;
+
+        // Only stop early if all measured points achieve accuracy target
+        if (z_align_abs > z_auto_align_accuracy) success_break = false;
+
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) {
+            SERIAL_ECHOPAIR("> Z", int(zstepper + 1));
+            SERIAL_ECHOLNPAIR(" corrected by ", z_align_move);
+          }
+        #endif
+
+        switch (zstepper) {
+          case 0: stepper.set_z_lock(false); break;
+          case 1: stepper.set_z2_lock(false); break;
+          #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+            case 2: stepper.set_z3_lock(false); break;
+          #endif
+        }
+
+        // This will lose home position and require re-homing
+        do_blocking_move_to_z(z_auto_align_amplification * z_align_move + current_position[Z_AXIS]);
+      }
+
+      if (err_break) break;
+
+      // Move Z back to previous position
+      set_all_z_lock(true);
+      do_blocking_move_to_z(z_original_position);
+      set_all_z_lock(false);
+
+      stepper.set_separate_multi_axis(false);
+
+      if (success_break) {
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> achieved target accuracy.");
+        #endif
+        break;
+      }
+    }
+
+    if (err_break) break;
+
+    // Restore the active tool after homing
+    #if HOTENDS > 1
+      tool_change(old_tool_index, 0,
+        #if ENABLED(PARKING_EXTRUDER)
+          false // Fetch the previous toolhead
+        #else
+          true
+        #endif
+      );
+    #endif
+
+    #if HAS_LEVELING
+      #if ENABLED(RESTORE_LEVELING_AFTER_G34)
+        set_bed_leveling_enabled(leveling_was_active);
+      #endif
+    #endif
+
+    // After this operation the z position needs correction
+    set_axis_is_not_at_home(Z_AXIS);
+
+    gcode.G28(false);
+
+  } while(0);
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G34");
+  #endif
+}
+
+/**
+ * M422: Z-Stepper automatic alignment parameter selection
+ */
+void GcodeSuite::M422() {
+  const int8_t zstepper = parser.intval('S') - 1;
+  if (!WITHIN(zstepper, 0, Z_STEPPER_COUNT - 1)) {
+    SERIAL_PROTOCOLLNPGM("?(S) Z-Stepper index invalid.");
+    return;
+  }
+
+  const float x_pos = parser.floatval('X', z_auto_align_xpos[zstepper]);
+  if (!WITHIN(x_pos, X_MIN_POS, X_MAX_POS)) {
+    SERIAL_PROTOCOLLNPGM("?(X) out of bounds.");
+    return;
+  }
+
+  const float y_pos = parser.floatval('Y', z_auto_align_ypos[zstepper]);
+  if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
+    SERIAL_PROTOCOLLNPGM("?(Y) out of bounds.");
+    return;
+  }
+
+  z_auto_align_xpos[zstepper] = x_pos;
+  z_auto_align_ypos[zstepper] = y_pos;
+}
+
+#endif // Z_STEPPER_AUTO_ALIGN

Marlin/src/gcode/gcode.cpp

@@ -252,8 +252,12 @@ void GcodeSuite::process_parsed_command(
         case 33: G33(); break;                                    // G33: Delta Auto-Calibration
       #endif
 
+      #if ENABLED(Z_STEPPER_AUTO_ALIGN)
+        case 34: G34(); break;                                    // G34: Z Stepper automatic alignment using probe
+      #endif
+
       #if ENABLED(G38_PROBE_TARGET)
-        case 38:                                                  // G38.2 & G38.3
+        case 38:                                                  // G38.2 & G38.3: Probe towards target
           if (parser.subcode == 2 || parser.subcode == 3)
             G38(parser.subcode == 2);
           break;
@@ -677,6 +681,10 @@ void GcodeSuite::process_parsed_command(
         case 869: M869(); break;                                  // M869: Report axis error
       #endif
 
+      #if ENABLED(Z_STEPPER_AUTO_ALIGN)
+        case 422: M422(); break;                                  // M422: Set Z Stepper automatic alignment position using probe
+      #endif
+
       case 999: M999(); break;                                    // M999: Restart after being Stopped
 
       default: parser.unknown_command_error(); break;

Marlin/src/gcode/gcode.h

@@ -63,6 +63,7 @@
  * G31  - Dock sled (Z_PROBE_SLED only)
  * G32  - Undock sled (Z_PROBE_SLED only)
  * G33  - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
+ * G34  - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
  * G38  - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
  * G42  - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
  * G80  - Cancel current motion mode (Requires GCODE_MOTION_MODES)
@@ -197,6 +198,7 @@
  * M410 - Quickstop. Abort all planned moves.
  * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL)
+ * M422 - Set Z Stepper automatic alignment position using probe. X<units> Y<units> A<axis> (Requires Z_STEPPER_AUTO_ALIGN)
  * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
@@ -409,6 +411,11 @@ private:
     static void G33();
   #endif
 
+  #if ENABLED(Z_STEPPER_AUTO_ALIGN)
+    static void G34();
+    static void M422();
+  #endif
+
   #if ENABLED(G38_PROBE_TARGET)
     static void G38(const bool is_38_2);
   #endif

Marlin/src/inc/Conditionals_post.h

@@ -1632,4 +1632,12 @@
   #define USE_EXECUTE_COMMANDS_IMMEDIATE
 #endif
 
+#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+  #define Z_STEPPER_COUNT 3
+#elif ENABLED(Z_DUAL_STEPPER_DRIVERS)
+  #define Z_STEPPER_COUNT 2
+#else
+  #define Z_STEPPER_COUNT 1
+#endif
+
 #endif // CONDITIONALS_POST_H

Marlin/src/inc/SanityCheck.h

@@ -1880,6 +1880,19 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
   #error "FAST_PWM_FAN only supported by 8 bit CPUs."
 #endif
 
+#if ENABLED(Z_STEPPER_AUTO_ALIGN)
+  #if !Z_MULTI_STEPPER_DRIVERS
+    #error "Z_STEPPER_AUTO_ALIGN requires Z_DUAL_STEPPER_DRIVERS or Z_TRIPLE_STEPPER_DRIVERS."
+  #elif !HAS_BED_PROBE
+    #error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
+  #endif
+  constexpr float sanity_arr_z_align_x[] = Z_STEPPER_ALIGN_X, sanity_arr_z_align_y[] = Z_STEPPER_ALIGN_Y;
+  static_assert(
+    COUNT(sanity_arr_z_align_x) == Z_STEPPER_COUNT && COUNT(sanity_arr_z_align_y) == Z_STEPPER_COUNT,
+    "Z_STEPPER_ALIGN_[XY]POS settings require one element per Z stepper."
+  );
+#endif
+
 #if ENABLED(PRINTCOUNTER) && DISABLED(EEPROM_SETTINGS)
   #error "PRINTCOUNTER requires EEPROM_SETTINGS. Please update your Configuration."
 #endif

Marlin/src/lcd/language/language_de.h

@@ -51,6 +51,7 @@
 #define MSG_AUTO_HOME_X                     _UxGT("Home X")
 #define MSG_AUTO_HOME_Y                     _UxGT("Home Y")
 #define MSG_AUTO_HOME_Z                     _UxGT("Home Z")
+#define MSG_AUTO_Z_ALIGN                    _UxGT("Z-Achsen abgleichen")
 #define MSG_TMC_Z_CALIBRATION               _UxGT("Kalibriere Z")
 #define MSG_LEVEL_BED_HOMING                _UxGT("Home XYZ")
 #define MSG_LEVEL_BED_WAITING               _UxGT("Klick zum Starten")

Marlin/src/lcd/language/language_en.h

@@ -91,6 +91,9 @@
 #ifndef MSG_AUTO_HOME_Z
   #define MSG_AUTO_HOME_Z                     _UxGT("Home Z")
 #endif
+#ifndef MSG_AUTO_Z_ALIGN
+  #define MSG_AUTO_Z_ALIGN                    _UxGT("Auto Z-Align")
+#endif
 #ifndef MSG_TMC_Z_CALIBRATION
   #define MSG_TMC_Z_CALIBRATION               _UxGT("Calibrate Z")
 #endif

Marlin/src/lcd/menu/menu_motion.cpp

@@ -451,6 +451,13 @@ void menu_motion() {
     MENU_ITEM(gcode, MSG_AUTO_HOME_Z, PSTR("G28 Z"));
   #endif
 
+  //
+  // Auto Z-Align
+  //
+  #if ENABLED(Z_STEPPER_AUTO_ALIGN)
+    MENU_ITEM(gcode, MSG_AUTO_Z_ALIGN, PSTR("G34"));
+  #endif
+
   //
   // TMC Z Calibration
   //

Marlin/src/module/motion.cpp

@@ -1209,6 +1209,34 @@ void set_axis_is_at_home(const AxisEnum axis) {
   #endif
 }
 
+/**
+ * Set an axis' to be unhomed.
+ */
+void set_axis_is_not_at_home(const AxisEnum axis) {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR(">>> set_axis_is_not_at_home(", axis_codes[axis]);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+
+  CBI(axis_known_position, axis);
+  CBI(axis_homed, axis);
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR("<<< set_axis_is_not_at_home(", axis_codes[axis]);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+
+  #if ENABLED(I2C_POSITION_ENCODERS)
+    I2CPEM.unhomed(axis);
+  #endif
+}
+
 /**
  * Home an individual "raw axis" to its endstop.
  * This applies to XYZ on Cartesian and Core robots, and
@@ -1260,17 +1288,7 @@ void homeaxis(const AxisEnum axis) {
       #if ENABLED(Y_DUAL_ENDSTOPS)
         case Y_AXIS:
       #endif
-      #if ENABLED(Z_DUAL_ENDSTOPS)
+      #if Z_MULTI_ENDSTOPS
-        case Z_AXIS:
-      #endif
-      stepper.set_separate_multi_axis(true);
-      default: break;
-    }
-  #endif
-
-  #if ENABLED(Z_TRIPLE_ENDSTOPS)
-    switch (axis) {
-      #if ENABLED(Z_TRIPLE_ENDSTOPS)
         case Z_AXIS:
       #endif
       stepper.set_separate_multi_axis(true);

Marlin/src/module/motion.h

@@ -197,6 +197,8 @@ void clean_up_after_endstop_or_probe_move();
 
 void set_axis_is_at_home(const AxisEnum axis);
 
+void set_axis_is_not_at_home(const AxisEnum axis);
+
 void homeaxis(const AxisEnum axis);
 
 #if ENABLED(SENSORLESS_HOMING)

Marlin/src/module/stepper.cpp

@@ -115,7 +115,7 @@ Stepper stepper; // Singleton
 
 // public:
 
-#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
+#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
   bool Stepper::separate_multi_axis = false;
 #endif
 
@@ -142,10 +142,10 @@ bool Stepper::abort_current_block;
 #if ENABLED(Y_DUAL_ENDSTOPS)
   bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false;
 #endif
-#if Z_MULTI_ENDSTOPS
+#if Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
   bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false;
 #endif
-#if ENABLED(Z_TRIPLE_ENDSTOPS)
+#if ENABLED(Z_TRIPLE_ENDSTOPS) || (ENABLED(Z_STEPPER_AUTO_ALIGN) && ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
   bool Stepper::locked_Z3_motor = false;
 #endif
 
@@ -211,7 +211,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
 volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
 int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
 
-#define DUAL_ENDSTOP_APPLY_STEP(A,V)                                                                                       \
+#define DUAL_ENDSTOP_APPLY_STEP(A,V)                                                                                        \
   if (separate_multi_axis) {                                                                                                \
     if (A##_HOME_DIR < 0) {                                                                                                 \
       if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
@@ -227,7 +227,17 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
     A##2_STEP_WRITE(V);                                                                                                     \
   }
 
-#define TRIPLE_ENDSTOP_APPLY_STEP(A,V)                                                                                       \
+#define DUAL_SEPARATE_APPLY_STEP(A,V)             \
+  if (separate_multi_axis) {                      \
+    if (!locked_##A##_motor) A##_STEP_WRITE(V);   \
+    if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
+  }                                               \
+  else {                                          \
+    A##_STEP_WRITE(V);                            \
+    A##2_STEP_WRITE(V);                           \
+  }
+
+#define TRIPLE_ENDSTOP_APPLY_STEP(A,V)                                                                                      \
   if (separate_multi_axis) {                                                                                                \
     if (A##_HOME_DIR < 0) {                                                                                                 \
       if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
@@ -298,6 +308,8 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
   #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
   #if ENABLED(Z_DUAL_ENDSTOPS)
     #define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
+  #elif ENABLED(Z_STEPPER_AUTO_ALIGN)
+    #define Z_APPLY_STEP(v,Q) DUAL_SEPARATE_APPLY_STEP(Z,v)
   #else
     #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
   #endif

Marlin/src/module/stepper.h

@@ -244,7 +244,7 @@ class Stepper {
 
   public:
 
-    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
+    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
       static bool separate_multi_axis;
     #endif
 
@@ -277,10 +277,10 @@ class Stepper {
     #if ENABLED(Y_DUAL_ENDSTOPS)
       static bool locked_Y_motor, locked_Y2_motor;
     #endif
-    #if Z_MULTI_ENDSTOPS
+    #if Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
       static bool locked_Z_motor, locked_Z2_motor;
     #endif
-    #if ENABLED(Z_TRIPLE_ENDSTOPS)
+    #if ENABLED(Z_TRIPLE_ENDSTOPS) || (ENABLED(Z_STEPPER_AUTO_ALIGN) && ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
       static bool locked_Z3_motor;
     #endif
 
@@ -421,7 +421,7 @@ class Stepper {
       static void microstep_readings();
     #endif
 
-    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
+    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
       FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; }
     #endif
     #if ENABLED(X_DUAL_ENDSTOPS)
@@ -432,11 +432,11 @@ class Stepper {
       FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
       FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
     #endif
-    #if Z_MULTI_ENDSTOPS
+    #if Z_MULTI_ENDSTOPS || (ENABLED(Z_STEPPER_AUTO_ALIGN) && Z_MULTI_STEPPER_DRIVERS)
       FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
       FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
     #endif
-    #if ENABLED(Z_TRIPLE_ENDSTOPS)
+    #if ENABLED(Z_TRIPLE_ENDSTOPS) || (ENABLED(Z_STEPPER_AUTO_ALIGN) && ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
       FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
     #endif
 

buildroot/share/tests/DUE_tests

@@ -15,15 +15,15 @@ exec_test $1 $2 "RAMPS4DUE_EFB S_CURVE_ACCELERATION EEPROM_SETTINGS"
 
 restore_configs
 opt_set MOTHERBOARD BOARD_RADDS
-opt_enable USE_XMAX_PLUG USE_YMAX_PLUG
+opt_enable USE_XMAX_PLUG USE_YMAX_PLUG FIX_MOUNTED_PROBE AUTO_BED_LEVELING_BILINEAR
-opt_enable_adv Z_TRIPLE_STEPPER_DRIVERS Z_TRIPLE_ENDSTOPS
+opt_enable_adv Z_TRIPLE_STEPPER_DRIVERS Z_TRIPLE_ENDSTOPS Z_STEPPER_AUTO_ALIGN
 opt_add_adv Z2_MAX_ENDSTOP_INVERTING false
 opt_add_adv Z3_MAX_ENDSTOP_INVERTING false
 pins_set RAMPS X_MAX_PIN -1
 pins_set RAMPS Y_MAX_PIN -1
 opt_add_adv Z2_MAX_PIN 2
 opt_add_adv Z3_MAX_PIN 3
-exec_test $1 $2 "RADDS Z_TRIPLE"
+exec_test $1 $2 "Test RADDS with Z_TRIPLE_STEPPER_DRIVERS and Z_STEPPER_AUTO_ALIGN"
 
 #
 # Test SWITCHING_EXTRUDER
@@ -33,4 +33,4 @@ opt_set MOTHERBOARD BOARD_RAMPS4DUE_EEF
 opt_set EXTRUDERS 2
 opt_set NUM_SERVOS 1
 opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER
-exec_test $1 $2 "SWITCHING_EXTRUDER"
+exec_test $1 $2 "Test RAMPS4DUE with SWITCHING_EXTRUDER"