M425 Backlash Correction (#11061)

Marlin/Configuration_adv.h

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

Marlin/src/config/default/Configuration_adv.h

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -489,6 +489,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -473,6 +473,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -489,6 +489,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -494,6 +494,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -495,6 +495,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.01  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

Marlin/src/config/examples/UltiMachine/Archim1/Configuration_adv.h

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -503,6 +503,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

Marlin/src/config/examples/delta/Geeetech/Rostock 301/Configuration_adv.h

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

Marlin/src/config/examples/delta/MKS/SBASE/Configuration_adv.h

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

Marlin/src/config/examples/delta/Tevo Little Monster/Configuration_adv.h

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -492,6 +492,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

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

@@ -490,6 +490,39 @@
   #define JUNCTION_DEVIATION_MM 0.02  // (mm) Distance from real junction edge
 #endif
 
+//
+// Backlash Compensation
+// Adds extra movement to axes on direction-changes to account for backlash.
+//
+//#define BACKLASH_COMPENSATION
+#if ENABLED(BACKLASH_COMPENSATION)
+  // Define values for backlash distance and correction.
+  // If BACKLASH_GCODE is enabled these values are the defaults.
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+
+  // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
+  // to reduce print artifacts. (Enabling this is costly in memory and computation!)
+  //#define BACKLASH_SMOOTHING_MM 3 // (mm)
+
+  // Add runtime configuration and tuning of backlash values (M425)
+  //#define BACKLASH_GCODE
+
+  #if ENABLED(BACKLASH_GCODE)
+    // Measure the Z backlash when probing (G29) and set with "M425 Z"
+    #define MEASURE_BACKLASH_WHEN_PROBING
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
+      // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION
+      // increments while checking for the contact to be broken.
+      #define BACKLASH_MEASUREMENT_LIMIT       0.5   // (mm)
+      #define BACKLASH_MEASUREMENT_RESOLUTION  0.005 // (mm)
+      #define BACKLASH_MEASUREMENT_FEEDRATE    Z_PROBE_SPEED_SLOW // (mm/m)
+    #endif
+  #endif
+#endif
+
 /**
  * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
  * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible

Marlin/src/feature/tmc_util.cpp

@@ -81,7 +81,7 @@
       static uint8_t get_status_response(TMC2208Stepper &st, uint32_t drv_status) {
         uint8_t gstat = st.GSTAT();
         uint8_t response = 0;
-        response |= (drv_status >> (31-3)) & 0b1000;
+        response |= (drv_status >> (31 - 3)) & 0b1000;
         response |= gstat & 0b11;
         return response;
       }

Marlin/src/gcode/calibrate/M425.cpp

@@ -0,0 +1,123 @@
+/**
+ * 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(BACKLASH_GCODE)
+
+#include "../../module/planner.h"
+
+float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
+      backlash_correction = BACKLASH_CORRECTION;
+
+#ifdef BACKLASH_SMOOTHING_MM
+  float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
+#endif
+
+#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+  float backlash_measured_mm[XYZ] = { 0 };
+  uint8_t backlash_measured_num[XYZ] = { 0 };
+#endif
+
+#include "../gcode.h"
+
+/**
+ * M425: Enable and tune backlash correction.
+ *
+ *   F<fraction>     Enable/disable/fade-out backlash correction (0.0 to 1.0)
+ *   S<smoothing_mm> Distance over which backlash correction is spread
+ *   X<distance_mm>  Set the backlash distance on X (0 to disable)
+ *   Y<distance_mm>                        ... on Y
+ *   Z<distance_mm>                        ... on Z
+ *   X               If a backlash measurement was done on X, copy that value
+ *   Y                                              ... on Y
+ *   Z                                              ... on Z
+ *
+ * Type M425 without any arguments to show active values.
+ */
+void GcodeSuite::M425() {
+  bool noArgs = true;
+
+  LOOP_XYZ(i) {
+    if (parser.seen(axis_codes[i])) {
+      planner.synchronize();
+      const float measured_backlash = (
+        #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+          backlash_measured_num[i] > 0 ? backlash_measured_mm[i] / backlash_measured_num[i] : 0
+        #else
+          0
+        #endif
+      );
+      backlash_distance_mm[i] = parser.has_value() ? parser.value_linear_units() : measured_backlash;
+      noArgs = false;
+    }
+  }
+
+  if (parser.seen('F')) {
+    planner.synchronize();
+    backlash_correction = max(0, min(1.0, parser.value_linear_units()));
+    noArgs = false;
+  }
+
+  #ifdef BACKLASH_SMOOTHING_MM
+    if (parser.seen('S')) {
+      planner.synchronize();
+      backlash_smoothing_mm = parser.value_linear_units();
+      noArgs = false;
+    }
+  #endif
+
+  if (noArgs) {
+    SERIAL_ECHOPGM("Backlash correction is ");
+    if (!backlash_correction) SERIAL_ECHOPGM("in");
+    SERIAL_ECHOLNPGM("active:");
+    SERIAL_ECHOPAIR("  Correction Amount/Fade-out:     F", backlash_correction);
+    SERIAL_ECHOLNPGM("     (F1.0 = full, F0.0 = none)");
+    SERIAL_ECHOPGM("  Backlash Distance (mm):        ");
+    LOOP_XYZ(a) {
+      SERIAL_CHAR(' ');
+      SERIAL_CHAR(axis_codes[a]);
+      SERIAL_ECHO(backlash_distance_mm[a]);
+      SERIAL_EOL();
+    }
+
+    #ifdef BACKLASH_SMOOTHING_MM
+      SERIAL_ECHOLNPAIR("  Smoothing (mm):                 S", backlash_smoothing_mm);
+    #endif
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      SERIAL_ECHOPGM("  Average measured backlash (mm):");
+      LOOP_XYZ(a) {
+        if (backlash_measured_num[a] > 0) {
+          SERIAL_CHAR(' ');
+          SERIAL_CHAR(axis_codes[a]);
+          SERIAL_ECHO(backlash_measured_mm[a] / backlash_measured_num[a]);
+        }
+      }
+      if (!backlash_measured_num[X_AXIS] && !backlash_measured_num[Y_AXIS] && !backlash_measured_num[Z_AXIS])
+        SERIAL_ECHOPGM(" (Not yet measured)");
+      SERIAL_EOL();
+    #endif
+  }
+}
+
+#endif // BACKLASH_GCODE

Marlin/src/gcode/gcode.cpp

@@ -576,6 +576,10 @@ void GcodeSuite::process_parsed_command(
         case 421: M421(); break;                                  // M421: Set a Mesh Bed Leveling Z coordinate
       #endif
 
+      #if ENABLED(BACKLASH_GCODE)
+        case 425: M425(); break;                                  // M425: Tune backlash compensation
+      #endif
+
       #if HAS_M206_COMMAND
         case 428: M428(); break;                                  // M428: Apply current_position to home_offset
       #endif

Marlin/src/gcode/gcode.h

@@ -201,6 +201,7 @@
  * 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)
+ * M425 - Enable/Disable and tune backlash correction. (Requires BACKLASH_COMPENSATION and BACKLASH_GCODE)
  * 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)
@@ -709,6 +710,10 @@ private:
     static void M421();
   #endif
 
+  #if ENABLED(BACKLASH_GCODE)
+    static void M425();
+  #endif
+
   #if HAS_M206_COMMAND
     static void M428();
   #endif

Marlin/src/inc/SanityCheck.h

@@ -1996,3 +1996,7 @@ static_assert(sanity_arr_3[0] > 0 && sanity_arr_3[1] > 0 && sanity_arr_3[2] > 0
 #if ENABLED(GCODE_MACROS) && !WITHIN(GCODE_MACROS_SLOTS, 1, 10)
   #error "GCODE_MACROS_SLOTS must be a number from 1 to 10."
 #endif
+
+#if ENABLED(BACKLASH_COMPENSATION) && IS_CORE
+  #error "BACKLASH_COMPENSATION is incompatible with CORE kinematics."
+#endif

Marlin/src/module/planner.cpp

@@ -1547,6 +1547,99 @@ void Planner::synchronize() {
 }
 
 /**
+ * The following implements axis backlash correction. To minimize seams
+ * on the printed part, the backlash correction only adds steps to the
+ * current segment (instead of creating a new segment, which causes
+ * discontinuities and print artifacts).
+ *
+ * When BACKLASH_SMOOTHING_MM is enabled and non-zero, the backlash
+ * correction is spread over multiple segments, smoothing out print
+ * artifacts even more.
+ */
+#if ENABLED(BACKLASH_COMPENSATION)
+  #if ENABLED(BACKLASH_GCODE)
+    extern float backlash_distance_mm[], backlash_correction;
+    #ifdef BACKLASH_SMOOTHING_MM
+      extern float backlash_smoothing_mm;
+    #endif
+  #else
+    constexpr float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
+                    backlash_correction = BACKLASH_CORRECTION;
+    #ifdef BACKLASH_SMOOTHING_MM
+      constexpr float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
+    #endif
+  #endif
+
+  void Planner::add_backlash_correction_steps(const int32_t da, const int32_t db, const int32_t dc, const uint8_t dm, block_t * const block, float (&delta_mm)[ABCE]) {
+    static uint8_t last_direction_bits;
+    uint8_t changed_dir = last_direction_bits ^ dm;
+    // Ignore direction change if no steps are taken in that direction
+    if (da == 0) CBI(changed_dir, X_AXIS);
+    if (db == 0) CBI(changed_dir, Y_AXIS);
+    if (dc == 0) CBI(changed_dir, Z_AXIS);
+    last_direction_bits ^= changed_dir;
+
+    if (backlash_correction == 0) return;
+
+    #ifdef BACKLASH_SMOOTHING_MM
+      // The segment proportion is a value greater than 0.0 indicating how much residual_error
+      // is corrected for in this segment. The contribution is based on segment length and the
+      // smoothing distance. Since the computation of this proportion involves a floating point
+      // division, defer computation until needed.
+      float segment_proportion = 0;
+
+      // Residual error carried forward across multiple segments, so correction can be applied
+      // to segments where there is no direction change.
+      static int32_t residual_error[XYZ] = { 0 };
+    #else
+      // No leftover residual error from segment to segment
+      int32_t residual_error[XYZ] = { 0 };
+      // No direction change, no correction.
+      if (!changed_dir) return;
+    #endif
+
+    const bool positive[XYZ] = {  da > 0,  db > 0, dc > 0 },
+               non_zero[XYZ] = { da != 0, db != 0, dc != 0 };
+    bool made_adjustment = false;
+
+    LOOP_XYZ(i) {
+      if (backlash_distance_mm[i]) {
+        // When an axis changes direction, add axis backlash to the residual error
+        if (TEST(changed_dir, i))
+          residual_error[i] += backlash_correction * (positive[i] ? 1.0f : -1.0f) * backlash_distance_mm[i] * planner.settings.axis_steps_per_mm[i];
+
+        // Decide how much of the residual error to correct in this segment
+        int32_t error_correction = residual_error[i];
+        #ifdef BACKLASH_SMOOTHING_MM
+          if (error_correction && backlash_smoothing_mm != 0) {
+            // Take up a portion of the residual_error in this segment, but only when
+            // the current segment travels in the same direction as the correction
+            if (non_zero[i] && positive[i] == (error_correction > 0)) {
+              if (segment_proportion == 0)
+                segment_proportion = MIN(1.0f, block->millimeters / backlash_smoothing_mm);
+              error_correction *= segment_proportion;
+            }
+            else
+              error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
+          }
+        #endif
+        // Making a correction reduces the residual error and modifies delta_mm
+        if (error_correction) {
+          block->steps[i] += ABS(error_correction);
+          residual_error[i] -= error_correction;
+          delta_mm[i] = (positive[i] ? 1.0f : -1.0f) * block->steps[i] * steps_to_mm[i];
+          made_adjustment = true;
+        }
+      }
+    }
+
+    // If any of the axes were adjusted, recompute block->millimeters
+    if (made_adjustment)
+      block->millimeters = SQRT(sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS]));
+  }
+#endif // BACKLASH_COMPENSATION
+
+/**
  * Planner::_buffer_steps
  *
  * Add a new linear movement to the planner queue (in terms of steps).
@@ -1738,6 +1831,70 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     block->steps[C_AXIS] = ABS(dc);
   #endif
 
+  /**
+   * This part of the code calculates the total length of the movement.
+   * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
+   * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
+   * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
+   * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
+   * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
+   */
+  #if IS_CORE
+    float delta_mm[Z_HEAD + 1];
+    #if CORE_IS_XY
+      delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
+      delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
+      delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
+      delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
+      delta_mm[B_AXIS] = CORESIGN(da - db) * steps_to_mm[B_AXIS];
+    #elif CORE_IS_XZ
+      delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
+      delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
+      delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
+      delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
+      delta_mm[C_AXIS] = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
+    #elif CORE_IS_YZ
+      delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
+      delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
+      delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
+      delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
+      delta_mm[C_AXIS] = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
+    #endif
+  #else
+    float delta_mm[ABCE];
+    delta_mm[A_AXIS] = da * steps_to_mm[A_AXIS];
+    delta_mm[B_AXIS] = db * steps_to_mm[B_AXIS];
+    delta_mm[C_AXIS] = dc * steps_to_mm[C_AXIS];
+  #endif
+  delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS_N(extruder)];
+
+  if (block->steps[A_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[B_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[C_AXIS] < MIN_STEPS_PER_SEGMENT) {
+    block->millimeters = ABS(delta_mm[E_AXIS]);
+  }
+  else {
+    if (millimeters)
+      block->millimeters = millimeters;
+    else
+      block->millimeters = SQRT(
+        #if CORE_IS_XY
+          sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS])
+        #elif CORE_IS_XZ
+          sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
+        #elif CORE_IS_YZ
+          sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
+        #else
+          sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
+        #endif
+      );
+
+    #if ENABLED(BACKLASH_COMPENSATION)
+      // If we make it here, at least one of the axes has more steps than
+      // MIN_STEPS_PER_SEGMENT, so the segment won't get dropped by Marlin
+      // and it is okay to add steps for backlash correction.
+      add_backlash_correction_steps(da, db, dc, dm, block, delta_mm);
+    #endif
+  }
+
   block->steps[E_AXIS] = esteps;
   block->step_event_count = MAX(block->steps[A_AXIS], block->steps[B_AXIS], block->steps[C_AXIS], esteps);
 
@@ -1925,62 +2082,6 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   else
     NOLESS(fr_mm_s, settings.min_travel_feedrate_mm_s);
 
-  /**
-   * This part of the code calculates the total length of the movement.
-   * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
-   * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
-   * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
-   * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
-   * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
-   */
-  #if IS_CORE
-    float delta_mm[Z_HEAD + 1];
-    #if CORE_IS_XY
-      delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
-      delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
-      delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
-      delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
-      delta_mm[B_AXIS] = CORESIGN(da - db) * steps_to_mm[B_AXIS];
-    #elif CORE_IS_XZ
-      delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
-      delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
-      delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
-      delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
-      delta_mm[C_AXIS] = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
-    #elif CORE_IS_YZ
-      delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
-      delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
-      delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
-      delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
-      delta_mm[C_AXIS] = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
-    #endif
-  #else
-    float delta_mm[ABCE];
-    delta_mm[A_AXIS] = da * steps_to_mm[A_AXIS];
-    delta_mm[B_AXIS] = db * steps_to_mm[B_AXIS];
-    delta_mm[C_AXIS] = dc * steps_to_mm[C_AXIS];
-  #endif
-  delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS_N(extruder)];
-
-  if (block->steps[A_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[B_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[C_AXIS] < MIN_STEPS_PER_SEGMENT) {
-    block->millimeters = ABS(delta_mm[E_AXIS]);
-  }
-  else if (!millimeters) {
-    block->millimeters = SQRT(
-      #if CORE_IS_XY
-        sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS])
-      #elif CORE_IS_XZ
-        sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
-      #elif CORE_IS_YZ
-        sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
-      #else
-        sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
-      #endif
-    );
-  }
-  else
-    block->millimeters = millimeters;
-
   const float inverse_millimeters = 1.0f / block->millimeters;  // Inverse millimeters to remove multiple divides
 
   // Calculate inverse time for this move. No divide by zero due to previous checks.

Marlin/src/module/planner.h

@@ -338,6 +338,10 @@ class Planner {
       volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
     #endif
 
+    #if ENABLED(BACKLASH_COMPENSATION)
+      static void add_backlash_correction_steps(const int32_t da, const int32_t db, const int32_t dc, const uint8_t dm, block_t * const block, float (&delta_mm)[ABCE]);
+    #endif
+
   public:
 
     /**

Marlin/src/module/probe.cpp

@@ -511,6 +511,30 @@ bool set_probe_deployed(const bool deploy) {
   }
 #endif
 
+#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+  #if ENABLED(Z_MIN_PROBE_ENDSTOP)
+    #define TEST_PROBE_PIN (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
+  #else
+    #define TEST_PROBE_PIN (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
+  #endif
+
+  extern float backlash_measured_mm[];
+  extern uint8_t backlash_measured_num[];
+
+  /* Measure Z backlash by raising nozzle in increments until probe deactivates */
+  static void measure_backlash_with_probe() {
+    if (backlash_measured_num[Z_AXIS] == 255) return;
+
+    float start_height = current_position[Z_AXIS];
+    while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
+      do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
+
+    // The backlash from all probe points is averaged, so count the number of measurements
+    backlash_measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
+    backlash_measured_num[Z_AXIS]++;
+  }
+#endif
+
 /**
  * @brief Used by run_z_probe to do a single Z probe move.
  *
@@ -678,6 +702,10 @@ static float run_z_probe() {
         return NAN;
       }
 
+      #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+        measure_backlash_with_probe();
+      #endif
+
   #if MULTIPLE_PROBING > 2
       probes_total += current_position[Z_AXIS];
       if (p > 1) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));

buildroot/share/tests/megaatmega2560_tests

@@ -38,7 +38,7 @@ opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING \
            FWRETRACT ARC_P_CIRCLES ADVANCED_PAUSE_FEATURE CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS \
            POWER_LOSS_RECOVERY POWER_LOSS_PIN POWER_LOSS_STATE FAST_FILE_TRANSFER \
            LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST PINS_DEBUGGING \
-           MAX7219_DEBUG LED_CONTROL_MENU CASE_LIGHT_ENABLE CASE_LIGHT_USE_NEOPIXEL CODEPENDENT_XY_HOMING
+           MAX7219_DEBUG LED_CONTROL_MENU CASE_LIGHT_ENABLE CASE_LIGHT_USE_NEOPIXEL CODEPENDENT_XY_HOMING BACKLASH_COMPENSATION BACKLASH_GCODE
 opt_set FANMUX0_PIN 53
 exec_test $1 $2 "RAMPS with 2 extruders, RRDFGSC, Linear ABL, LEDs, and many options"