max_jerk array, DEFAULT_XYJERK => DEFAULT_[XY]JERK

Marlin/Configuration.h

@@ -498,7 +498,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/Marlin_main.cpp

@@ -5548,11 +5548,11 @@ inline void gcode_M92() {
         float value = code_value_per_axis_unit(i);
         if (value < 20.0) {
           float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
-          planner.max_e_jerk *= factor;
-          planner.max_feedrate_mm_s[i] *= factor;
-          planner.max_acceleration_steps_per_s2[i] *= factor;
+          planner.max_jerk[E_AXIS] *= factor;
+          planner.max_feedrate_mm_s[E_AXIS] *= factor;
+          planner.max_acceleration_steps_per_s2[E_AXIS] *= factor;
         }
-        planner.axis_steps_per_mm[i] = value;
+        planner.axis_steps_per_mm[E_AXIS] = value;
       }
       else {
         planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
@@ -5788,9 +5788,10 @@ inline void gcode_M205() {
   if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
   if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
   if (code_seen('B')) planner.min_segment_time = code_value_millis();
-  if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units();
-  if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS);
-  if (code_seen('E')) planner.max_e_jerk = code_value_axis_units(E_AXIS);
+  if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_axis_units(X_AXIS);
+  if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_axis_units(Y_AXIS);
+  if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_axis_units(Z_AXIS);
+  if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
 }
 
 /**

Marlin/SanityCheck.h

@@ -91,6 +91,8 @@
   #error "SERVO_ENDSTOP_ANGLES is deprecated. Use Z_SERVO_ANGLES instead."
 #elif defined(X_ENDSTOP_SERVO_NR) || defined(Y_ENDSTOP_SERVO_NR)
   #error "X_ENDSTOP_SERVO_NR and Y_ENDSTOP_SERVO_NR are deprecated and should be removed."
+#elif defined(DEFAULT_XYJERK)
+  #error "DEFAULT_XYJERK is deprecated. Use DEFAULT_XJERK and DEFAULT_YJERK instead."
 #elif defined(XY_TRAVEL_SPEED)
   #error "XY_TRAVEL_SPEED is deprecated. Use XY_PROBE_SPEED instead."
 #elif defined(PROBE_SERVO_DEACTIVATION_DELAY)

Marlin/configuration_store.cpp

@@ -36,7 +36,7 @@
  *
  */
 
-#define EEPROM_VERSION "V25"
+#define EEPROM_VERSION "V26"
 
 // Change EEPROM version if these are changed:
 #define EEPROM_OFFSET 100
@@ -57,69 +57,70 @@
  *  166  M205 S    planner.min_feedrate_mm_s (float)
  *  170  M205 T    planner.min_travel_feedrate_mm_s (float)
  *  174  M205 B    planner.min_segment_time (ulong)
- *  178  M205 X    planner.max_xy_jerk (float)
- *  182  M205 Z    planner.max_z_jerk (float)
- *  186  M205 E    planner.max_e_jerk (float)
- *  190  M206 XYZ  home_offset (float x3)
+ *  178  M205 X    planner.max_jerk[X_AXIS] (float)
+ *  182  M205 Y    planner.max_jerk[Y_AXIS] (float)
+ *  186  M205 Z    planner.max_jerk[Z_AXIS] (float)
+ *  190  M205 E    planner.max_jerk[E_AXIS] (float)
+ *  194  M206 XYZ  home_offset (float x3)
  *
  * Mesh bed leveling:
- *  202  M420 S    status (uint8)
- *  203            z_offset (float)
- *  207            mesh_num_x (uint8 as set in firmware)
- *  208            mesh_num_y (uint8 as set in firmware)
- *  209 G29 S3 XYZ z_values[][] (float x9, by default, up to float x 81)
+ *  206  M420 S    status (uint8)
+ *  207            z_offset (float)
+ *  211            mesh_num_x (uint8 as set in firmware)
+ *  212            mesh_num_y (uint8 as set in firmware)
+ *  213 G29 S3 XYZ z_values[][] (float x9, by default, up to float x 81)
  *
  * AUTO BED LEVELING
- *  245  M851      zprobe_zoffset (float)
+ *  249  M851      zprobe_zoffset (float)
  *
  * DELTA:
- *  249  M666 XYZ  endstop_adj (float x3)
- *  261  M665 R    delta_radius (float)
- *  265  M665 L    delta_diagonal_rod (float)
- *  269  M665 S    delta_segments_per_second (float)
- *  273  M665 A    delta_diagonal_rod_trim_tower_1 (float)
- *  277  M665 B    delta_diagonal_rod_trim_tower_2 (float)
- *  281  M665 C    delta_diagonal_rod_trim_tower_3 (float)
+ *  253  M666 XYZ  endstop_adj (float x3)
+ *  265  M665 R    delta_radius (float)
+ *  269  M665 L    delta_diagonal_rod (float)
+ *  273  M665 S    delta_segments_per_second (float)
+ *  277  M665 A    delta_diagonal_rod_trim_tower_1 (float)
+ *  281  M665 B    delta_diagonal_rod_trim_tower_2 (float)
+ *  285  M665 C    delta_diagonal_rod_trim_tower_3 (float)
  *
  * Z_DUAL_ENDSTOPS:
- *  285  M666 Z    z_endstop_adj (float)
+ *  289  M666 Z    z_endstop_adj (float)
  *
  * ULTIPANEL:
- *  289  M145 S0 H preheatHotendTemp1 (int)
- *  291  M145 S0 B preheatBedTemp1 (int)
- *  293  M145 S0 F preheatFanSpeed1 (int)
- *  295  M145 S1 H preheatHotendTemp2 (int)
- *  297  M145 S1 B preheatBedTemp2 (int)
- *  299  M145 S1 F preheatFanSpeed2 (int)
+ *  293  M145 S0 H preheatHotendTemp1 (int)
+ *  295  M145 S0 B preheatBedTemp1 (int)
+ *  297  M145 S0 F preheatFanSpeed1 (int)
+ *  299  M145 S1 H preheatHotendTemp2 (int)
+ *  301  M145 S1 B preheatBedTemp2 (int)
+ *  303  M145 S1 F preheatFanSpeed2 (int)
  *
  * PIDTEMP:
- *  301  M301 E0 PIDC  Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
- *  317  M301 E1 PIDC  Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
- *  333  M301 E2 PIDC  Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
- *  349  M301 E3 PIDC  Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
- *  365  M301 L        lpq_len (int)
+ *  305  M301 E0 PIDC  Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
+ *  321  M301 E1 PIDC  Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
+ *  337  M301 E2 PIDC  Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
+ *  353  M301 E3 PIDC  Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
+ *  369  M301 L        lpq_len (int)
  *
  * PIDTEMPBED:
- *  367  M304 PID  thermalManager.bedKp, thermalManager.bedKi, thermalManager.bedKd (float x3)
+ *  371  M304 PID  thermalManager.bedKp, thermalManager.bedKi, thermalManager.bedKd (float x3)
  *
  * DOGLCD:
- *  379  M250 C    lcd_contrast (int)
+ *  383  M250 C    lcd_contrast (int)
  *
  * FWRETRACT:
- *  381  M209 S    autoretract_enabled (bool)
- *  382  M207 S    retract_length (float)
- *  386  M207 W    retract_length_swap (float)
- *  390  M207 F    retract_feedrate_mm_s (float)
- *  394  M207 Z    retract_zlift (float)
- *  398  M208 S    retract_recover_length (float)
- *  402  M208 W    retract_recover_length_swap (float)
- *  406  M208 F    retract_recover_feedrate_mm_s (float)
+ *  385  M209 S    autoretract_enabled (bool)
+ *  386  M207 S    retract_length (float)
+ *  390  M207 W    retract_length_swap (float)
+ *  394  M207 F    retract_feedrate_mm_s (float)
+ *  399  M207 Z    retract_zlift (float)
+ *  402  M208 S    retract_recover_length (float)
+ *  406  M208 W    retract_recover_length_swap (float)
+ *  410  M208 F    retract_recover_feedrate_mm_s (float)
  *
  * Volumetric Extrusion:
- *  410  M200 D    volumetric_enabled (bool)
- *  411  M200 T D  filament_size (float x4) (T0..3)
+ *  414  M200 D    volumetric_enabled (bool)
+ *  415  M200 T D  filament_size (float x4) (T0..3)
  *
- *  427  This Slot is Available!
+ *  431  This Slot is Available!
  *
  */
 #include "Marlin.h"
@@ -219,9 +220,7 @@ void Config_StoreSettings()  {
   EEPROM_WRITE(planner.min_feedrate_mm_s);
   EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
   EEPROM_WRITE(planner.min_segment_time);
-  EEPROM_WRITE(planner.max_xy_jerk);
-  EEPROM_WRITE(planner.max_z_jerk);
-  EEPROM_WRITE(planner.max_e_jerk);
+  EEPROM_WRITE(planner.max_jerk);
   EEPROM_WRITE(home_offset);
 
   #if ENABLED(MESH_BED_LEVELING)
@@ -405,9 +404,7 @@ void Config_RetrieveSettings() {
     EEPROM_READ(planner.min_feedrate_mm_s);
     EEPROM_READ(planner.min_travel_feedrate_mm_s);
     EEPROM_READ(planner.min_segment_time);
-    EEPROM_READ(planner.max_xy_jerk);
-    EEPROM_READ(planner.max_z_jerk);
-    EEPROM_READ(planner.max_e_jerk);
+    EEPROM_READ(planner.max_jerk);
     EEPROM_READ(home_offset);
 
     uint8_t dummy_uint8 = 0, mesh_num_x = 0, mesh_num_y = 0;
@@ -576,9 +573,10 @@ void Config_ResetDefault() {
   planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE;
   planner.min_segment_time = DEFAULT_MINSEGMENTTIME;
   planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE;
-  planner.max_xy_jerk = DEFAULT_XYJERK;
-  planner.max_z_jerk = DEFAULT_ZJERK;
-  planner.max_e_jerk = DEFAULT_EJERK;
+  planner.max_jerk[X_AXIS] = DEFAULT_XJERK;
+  planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
+  planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
+  planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
   home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
 
   #if ENABLED(MESH_BED_LEVELING)
@@ -734,9 +732,10 @@ void Config_PrintSettings(bool forReplay) {
   SERIAL_ECHOPAIR("  M205 S", planner.min_feedrate_mm_s);
   SERIAL_ECHOPAIR(" T", planner.min_travel_feedrate_mm_s);
   SERIAL_ECHOPAIR(" B", planner.min_segment_time);
-  SERIAL_ECHOPAIR(" X", planner.max_xy_jerk);
-  SERIAL_ECHOPAIR(" Z", planner.max_z_jerk);
-  SERIAL_ECHOPAIR(" E", planner.max_e_jerk);
+  SERIAL_ECHOPAIR(" X", planner.max_jerk[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", planner.max_jerk[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Z", planner.max_jerk[Z_AXIS]);
+  SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
   SERIAL_EOL;
 
   CONFIG_ECHO_START;

Marlin/example_configurations/Cartesio/Configuration.h

@@ -498,7 +498,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                10.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/Felix/Configuration.h

@@ -481,7 +481,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                10.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/Felix/DUAL/Configuration.h

@@ -481,7 +481,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                10.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/Hephestos/Configuration.h

@@ -490,7 +490,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                10.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/Hephestos_2/Configuration.h

@@ -492,7 +492,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  2.0
 

Marlin/example_configurations/K8200/Configuration.h

@@ -515,7 +515,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/K8400/Configuration.h

@@ -498,7 +498,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                10.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.5
 #define DEFAULT_EJERK                 20.0
 

Marlin/example_configurations/K8400/Dual-head/Configuration.h

@@ -498,7 +498,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                10.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.5
 #define DEFAULT_EJERK                 20.0
 

Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h

@@ -498,7 +498,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/RigidBot/Configuration.h

@@ -496,7 +496,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                8.0
+#define DEFAULT_XJERK                 8.0
+#define DEFAULT_YJERK                 8.0
 #define DEFAULT_ZJERK                 0.4
 #define DEFAULT_EJERK                 5.0
 

Marlin/example_configurations/SCARA/Configuration.h

@@ -513,7 +513,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                5.0
+#define DEFAULT_XJERK                 5.0
+#define DEFAULT_YJERK                 5.0
 #define DEFAULT_ZJERK                 0.4
 #define DEFAULT_EJERK                 3.0
 

Marlin/example_configurations/TAZ4/Configuration.h

@@ -519,7 +519,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                 8.0
+#define DEFAULT_XJERK                  8.0
+#define DEFAULT_YJERK                  8.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                 10.0
 

Marlin/example_configurations/WITBOX/Configuration.h

@@ -490,7 +490,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                10.0
+#define DEFAULT_XJERK                 10.0
+#define DEFAULT_YJERK                 10.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/adafruit/ST7565/Configuration.h

@@ -498,7 +498,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/delta/biv2.5/Configuration.h

@@ -541,7 +541,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                15.0
+#define DEFAULT_XJERK                 15.0
+#define DEFAULT_YJERK                 15.0
 #define DEFAULT_ZJERK                 15.0 // Must be same as XY for delta
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/delta/generic/Configuration.h

@@ -541,7 +541,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                 20.0 // Must be same as XY for delta
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -541,7 +541,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                 20.0 // Must be same as XY for delta
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/delta/kossel_pro/Configuration.h

@@ -537,7 +537,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                 20.0 // Must be same as XY for delta
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/delta/kossel_xl/Configuration.h

@@ -547,7 +547,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                 20.0
 #define DEFAULT_EJERK                 20.0
 

Marlin/example_configurations/makibox/Configuration.h

@@ -501,7 +501,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/example_configurations/tvrrug/Round2/Configuration.h

@@ -494,7 +494,8 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-#define DEFAULT_XYJERK                20.0
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 20.0
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 

Marlin/language_an.h

@@ -86,7 +86,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Acel"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ves-jerk"
 #define MSG_VMAX                            "Vmax"

Marlin/language_bg.h

@@ -88,7 +88,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Acc"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_ca.h

@@ -87,7 +87,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Accel"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_cn.h

@@ -86,7 +86,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Accel"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_cz.h

@@ -98,7 +98,8 @@
 #define MSG_PID_C                           "PID-C"
 #define MSG_SELECT                          "Vybrat"
 #define MSG_ACC                             "Zrychl"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_da.h

@@ -96,7 +96,8 @@
 #define MSG_PID_C                           "PID-C"
 #define MSG_SELECT                          "Vælg"
 #define MSG_ACC                             "Accel"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_de.h

@@ -95,9 +95,10 @@
 #define MSG_PID_C                           "PID C"
 #define MSG_SELECT                          "Auswählen"
 #define MSG_ACC                             "A"
-#define MSG_VXY_JERK                        "V XY Jerk"
-#define MSG_VZ_JERK                         "V Z  Jerk"
-#define MSG_VE_JERK                         "V E  Jerk"
+#define MSG_VX_JERK                         "V X Jerk"
+#define MSG_VY_JERK                         "V Y Jerk"
+#define MSG_VZ_JERK                         "V Z Jerk"
+#define MSG_VE_JERK                         "V E Jerk"
 #define MSG_VMAX                            "V max " // space by purpose
 #define MSG_VMIN                            "V min"
 #define MSG_VTRAV_MIN                       "V min Leerfahrt"

Marlin/language_el-gr.h

@@ -94,7 +94,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Επιτάχυνση"
-#define MSG_VXY_JERK                        "Vαντίδραση xy"
+#define MSG_VX_JERK                         "Vαντίδραση x"
+#define MSG_VY_JERK                         "Vαντίδραση y"
 #define MSG_VZ_JERK                         "Vαντίδραση z"
 #define MSG_VE_JERK                         "Vαντίδραση e"
 #define MSG_VMAX                            "Vμεγ "

Marlin/language_el.h

@@ -94,7 +94,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Επιτάχυνση"
-#define MSG_VXY_JERK                        "Vαντίδραση xy"
+#define MSG_VX_JERK                         "Vαντίδραση x"
+#define MSG_VY_JERK                         "Vαντίδραση y"
 #define MSG_VZ_JERK                         "Vαντίδραση z"
 #define MSG_VE_JERK                         "Vαντίδραση e"
 #define MSG_VMAX                            "V Μέγιστο"

Marlin/language_en.h

@@ -216,8 +216,11 @@
 #ifndef MSG_ACC
   #define MSG_ACC                             "Accel"
 #endif
-#ifndef MSG_VXY_JERK
-  #define MSG_VXY_JERK                        "Vxy-jerk"
+#ifndef MSG_VX_JERK
+  #define MSG_VX_JERK                         "Vx-jerk"
+#endif
+#ifndef MSG_VY_JERK
+  #define MSG_VY_JERK                         "Vy-jerk"
 #endif
 #ifndef MSG_VZ_JERK
   #define MSG_VZ_JERK                         "Vz-jerk"

Marlin/language_es.h

@@ -92,7 +92,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Aceleracion"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax"

Marlin/language_eu.h

@@ -86,7 +86,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Azelerazioa"
-#define MSG_VXY_JERK                        "Vxy-astindua"
+#define MSG_VX_JERK                         "Vx-astindua"
+#define MSG_VY_JERK                         "Vy-astindua"
 #define MSG_VZ_JERK                         "Vz-astindua"
 #define MSG_VE_JERK                         "Ve-astindua"
 #define MSG_VMAX                            "Vmax "

Marlin/language_fi.h

@@ -87,7 +87,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Kiihtyv"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_fr.h

@@ -94,7 +94,8 @@
 #define MSG_PID_C                           "PID-C"
 #define MSG_SELECT                          "Selectionner"
 #define MSG_ACC                             "Acceleration"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax"

Marlin/language_gl.h

@@ -95,7 +95,8 @@
 #define MSG_PID_C                           "PID-C"
 #define MSG_SELECT                          "Escolla"
 #define MSG_ACC                             "Acel"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_hr.h

@@ -93,7 +93,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Accel"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_it.h

@@ -102,7 +102,8 @@
 #define MSG_PID_C                           "PID-C"
 #define MSG_SELECT                          "Seleziona"
 #define MSG_ACC                             "Accel"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_kana.h

@@ -103,7 +103,8 @@
 #define MSG_SELECT                          "\xbe\xdd\xc0\xb8"                                                 // "ｾﾝﾀｸ" ("Select")
 #if LCD_WIDTH > 19
   #define MSG_ACC                           "\xb6\xbf\xb8\xc4\xde mm/s2"                                       // "ｶｿｸﾄﾞ mm/s2" ("Accel")
-  #define MSG_VXY_JERK                      "XY\xbc\xde\xb8\x20\xd4\xb8\xc4\xde mm/s"                          // "XYｼﾞｸ ﾔｸﾄﾞ mm/s" ("Vxy-jerk")
+  #define MSG_VX_JERK                       "X\xbc\xde\xb8\x20\xd4\xb8\xc4\xde mm/s"                           // "XYｼﾞｸ ﾔｸﾄﾞ mm/s" ("Vx-jerk")
+  #define MSG_VY_JERK                       "Y\xbc\xde\xb8\x20\xd4\xb8\xc4\xde mm/s"                           // "XYｼﾞｸ ﾔｸﾄﾞ mm/s" ("Vy-jerk")
   #define MSG_VZ_JERK                       "Z\xbc\xde\xb8\x20\xd4\xb8\xc4\xde mm/s"                           // "Zｼﾞｸ ﾔｸﾄﾞ mm/s" ("Vz-jerk")
   #define MSG_VE_JERK                       "\xb4\xb8\xbd\xc4\xd9\xb0\xc0\xde\xb0\x20\xd4\xb8\xc4\xde"         // "ｴｸｽﾄﾙｰﾀﾞｰ ﾔｸﾄﾞ" ("Ve-jerk")
   #define MSG_VMAX                          "\xbb\xb2\xc0\xde\xb2\xb5\xb8\xd8\xbf\xb8\xc4\xde "                // "ｻｲﾀﾞｲｵｸﾘｿｸﾄﾞ " ("Vmax ")
@@ -112,7 +113,8 @@
   #define MSG_AMAX                          "\xbb\xb2\xc0\xde\xb2\xb6\xbf\xb8\xc4\xde "                        // "ｻｲﾀﾞｲｶｿｸﾄﾞ " ("Amax ")
 #else
   #define MSG_ACC                           "\xb6\xbf\xb8\xc4\xde"                                             // "ｶｿｸﾄﾞ" ("Accel")
-  #define MSG_VXY_JERK                      "XY\xbc\xde\xb8\x20\xd4\xb8\xc4\xde"                               // "XYｼﾞｸ ﾔｸﾄﾞ" ("Vxy-jerk")
+  #define MSG_VX_JERK                       "X\xbc\xde\xb8\x20\xd4\xb8\xc4\xde"                                // "XYｼﾞｸ ﾔｸﾄﾞ" ("Vx-jerk")
+  #define MSG_VY_JERK                       "Y\xbc\xde\xb8\x20\xd4\xb8\xc4\xde"                                // "XYｼﾞｸ ﾔｸﾄﾞ" ("Vy-jerk")
   #define MSG_VZ_JERK                       "Z\xbc\xde\xb8\x20\xd4\xb8\xc4\xde"                                // "Zｼﾞｸ ﾔｸﾄﾞ" ("Vz-jerk")
   #define MSG_VE_JERK                       "E\x20\xd4\xb8\xc4\xde"                                            // "E ﾔｸﾄﾞ" ("Ve-jerk")
   #define MSG_VMAX                          "max\xb5\xb8\xd8\xbf\xb8\xc4\xde "                                 // "maxｵｸﾘｿｸﾄﾞ" ("Vmax ")

Marlin/language_kana_utf8.h

@@ -100,7 +100,8 @@
 #define MSG_PID_C                           "PID-C"
 #define MSG_SELECT                          "センタク"                     // "Select"
 #define MSG_ACC                             "カソクド mm/s2"               // "Accel"
-#define MSG_VXY_JERK                        "XYジク ヤクド mm/s"            // "Vxy-jerk"
+#define MSG_VX_JERK                         "Xジク ヤクド mm/s"             // "Vx-jerk"
+#define MSG_VY_JERK                         "Yジク ヤクド mm/s"             // "Vy-jerk"
 #define MSG_VZ_JERK                         "Zジク ヤクド mm/s"             // "Vz-jerk"
 #define MSG_VE_JERK                         "エクストルーダー ヤクド"          // "Ve-jerk"
 #define MSG_VMAX                            "サイダイオクリソクド "            // "Vmax "

Marlin/language_nl.h

@@ -87,7 +87,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Versn"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            "Vmax "

Marlin/language_pl.h

@@ -90,7 +90,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Przyspieszenie"
-#define MSG_VXY_JERK                        "Zryw Vxy"
+#define MSG_VX_JERK                         "Zryw Vx"
+#define MSG_VY_JERK                         "Zryw Vy"
 #define MSG_VZ_JERK                         "Zryw Vz"
 #define MSG_VE_JERK                         "Zryw Ve"
 #define MSG_VMAX                            "Vmax "

Marlin/language_pt-br.h

@@ -87,7 +87,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Acc"
-#define MSG_VXY_JERK                        "jogo VXY"
+#define MSG_VX_JERK                         "jogo VX"
+#define MSG_VY_JERK                         "jogo VY"
 #define MSG_VZ_JERK                         "jogo VZ"
 #define MSG_VE_JERK                         "jogo VE"
 #define MSG_VMAX                            " Vmax "

Marlin/language_pt-br_utf8.h

@@ -87,7 +87,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Acc"
-#define MSG_VXY_JERK                        "jogo VXY"
+#define MSG_VX_JERK                         "jogo VX"
+#define MSG_VY_JERK                         "jogo VY"
 #define MSG_VZ_JERK                         "jogo VZ"
 #define MSG_VE_JERK                         "jogo VE"
 #define MSG_VMAX                            " Vmax "

Marlin/language_pt.h

@@ -91,7 +91,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Acc"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            " Vmax "

Marlin/language_pt_utf8.h

@@ -91,7 +91,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Acc"
-#define MSG_VXY_JERK                        "Vxy-jerk"
+#define MSG_VX_JERK                         "Vx-jerk"
+#define MSG_VY_JERK                         "Vy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX                            " Vmax "

Marlin/language_ru.h

@@ -91,7 +91,8 @@
 #define MSG_PID_D                           "PID-D"
 #define MSG_PID_C                           "PID-C"
 #define MSG_ACC                             "Acc"
-#define MSG_VXY_JERK                        "Vxy-рывок"
+#define MSG_VX_JERK                         "Vx-рывок"
+#define MSG_VY_JERK                         "Vy-рывок"
 #define MSG_VZ_JERK                         "Vz-рывок"
 #define MSG_VE_JERK                         "Ve-рывок"
 #define MSG_VMAX                            "Vмакс "

Marlin/planner.cpp

@@ -93,9 +93,7 @@ float Planner::min_feedrate_mm_s,
       Planner::acceleration,         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
       Planner::retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
       Planner::travel_acceleration,  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
-      Planner::max_xy_jerk,          // The largest speed change requiring no acceleration
-      Planner::max_z_jerk,
-      Planner::max_e_jerk,
+      Planner::max_jerk[XYZE],       // The largest speed change requiring no acceleration
       Planner::min_travel_feedrate_mm_s;
 
 #if HAS_ABL
@@ -1101,30 +1099,26 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
   #endif
 
   // Start with a safe speed
-  float vmax_junction = max_xy_jerk * 0.5,
-        vmax_junction_factor = 1.0,
-        mz2 = max_z_jerk * 0.5,
-        me2 = max_e_jerk * 0.5,
-        csz = current_speed[Z_AXIS],
-        cse = current_speed[E_AXIS];
-  if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
-  if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
-  vmax_junction = min(vmax_junction, block->nominal_speed);
+  float vmax_junction = max_jerk[X_AXIS] * 0.5, vmax_junction_factor = 1.0;
+  if (max_jerk[Y_AXIS] * 0.5 < fabs(current_speed[Y_AXIS])) NOMORE(vmax_junction, max_jerk[Y_AXIS] * 0.5);
+  if (max_jerk[Z_AXIS] * 0.5 < fabs(current_speed[Z_AXIS])) NOMORE(vmax_junction, max_jerk[Z_AXIS] * 0.5);
+  if (max_jerk[E_AXIS] * 0.5 < fabs(current_speed[E_AXIS])) NOMORE(vmax_junction, max_jerk[E_AXIS] * 0.5);
+  NOMORE(vmax_junction, block->nominal_speed);
   float safe_speed = vmax_junction;
 
-  if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
-    float dsx = current_speed[X_AXIS] - previous_speed[X_AXIS],
-          dsy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
-          dsz = fabs(csz - previous_speed[Z_AXIS]),
-          dse = fabs(cse - previous_speed[E_AXIS]),
-          jerk = HYPOT(dsx, dsy);
+  if (moves_queued > 1 && previous_nominal_speed > 0.0001) {
+    //if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
+        vmax_junction = block->nominal_speed;
+    //}
 
-    //    if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
-    vmax_junction = block->nominal_speed;
-    //    }
-    if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
-    if (dsz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dsz);
-    if (dse > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / dse);
+    float dsx = fabs(current_speed[X_AXIS] - previous_speed[X_AXIS]),
+          dsy = fabs(current_speed[Y_AXIS] - previous_speed[Y_AXIS]),
+          dsz = fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]),
+          dse = fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]);
+    if (dsx > max_jerk[X_AXIS]) NOMORE(vmax_junction_factor, max_jerk[X_AXIS] / dsx);
+    if (dsy > max_jerk[Y_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Y_AXIS] / dsy);
+    if (dsz > max_jerk[Z_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Z_AXIS] / dsz);
+    if (dse > max_jerk[E_AXIS]) NOMORE(vmax_junction_factor, max_jerk[E_AXIS] / dse);
 
     vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
   }
@@ -1173,7 +1167,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
     }
     else {
       long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_steps_per_s2);
-      float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * HYPOT(cse, EXTRUSION_AREA) * 256;
+      float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * HYPOT(current_speed[E_AXIS], EXTRUSION_AREA) * 256;
       block->advance = advance;
       block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
     }

Marlin/planner.h

@@ -132,9 +132,7 @@ class Planner {
     static float acceleration;         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
     static float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
     static float travel_acceleration;  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
-    static float max_xy_jerk;          // The largest speed change requiring no acceleration
-    static float max_z_jerk;
-    static float max_e_jerk;
+    static float max_jerk[XYZE];       // The largest speed change requiring no acceleration
     static float min_travel_feedrate_mm_s;
 
     #if HAS_ABL

Marlin/ultralcd.cpp

@@ -1812,13 +1812,14 @@ void kill_screen(const char* lcd_msg) {
       MENU_ITEM_EDIT(float43, MSG_BED_Z, &mbl.z_offset, -1, 1);
     #endif
     MENU_ITEM_EDIT(float5, MSG_ACC, &planner.acceleration, 10, 99000);
-    MENU_ITEM_EDIT(float3, MSG_VXY_JERK, &planner.max_xy_jerk, 1, 990);
+    MENU_ITEM_EDIT(float3, MSG_VX_JERK, &planner.max_jerk[X_AXIS], 1, 990);
+    MENU_ITEM_EDIT(float3, MSG_VY_JERK, &planner.max_jerk[Y_AXIS], 1, 990);
     #if ENABLED(DELTA)
-      MENU_ITEM_EDIT(float3, MSG_VZ_JERK, &planner.max_z_jerk, 1, 990);
+      MENU_ITEM_EDIT(float3, MSG_VZ_JERK, &planner.max_jerk[Y_AXIS], 1, 990);
     #else
-      MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &planner.max_z_jerk, 0.1, 990);
+      MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &planner.max_jerk[Z_AXIS], 0.1, 990);
     #endif
-    MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_e_jerk, 1, 990);
+    MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
     MENU_ITEM_EDIT(float3, MSG_VMAX MSG_X, &planner.max_feedrate_mm_s[X_AXIS], 1, 999);
     MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Y, &planner.max_feedrate_mm_s[Y_AXIS], 1, 999);
     MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Z, &planner.max_feedrate_mm_s[Z_AXIS], 1, 999);