[2.0.x] Fix change filament for delta machines (#9295)

Marlin/src/feature/pause.cpp

@@ -119,7 +119,7 @@ static bool ensure_safe_temperature(const AdvancedPauseMode mode=ADVANCED_PAUSE_
 static void do_pause_e_move(const float &length, const float &fr) {
   set_destination_from_current();
   destination[E_AXIS] += length / planner.e_factor[active_extruder];
-  buffer_line_to_destination(fr);
+  planner.buffer_line_kinematic(destination, fr, active_extruder);
   stepper.synchronize();
   set_current_from_destination();
 }
@@ -137,8 +137,8 @@ static void do_pause_e_move(const float &length, const float &fr) {
  * Returns 'true' if load was completed, 'false' for abort
  */
 bool load_filament(const float &load_length/*=0*/, const float &purge_length/*=0*/, const int8_t max_beep_count/*=0*/,
-                          const bool show_lcd/*=false*/, const bool pause_for_user/*=false*/,
+                   const bool show_lcd/*=false*/, const bool pause_for_user/*=false*/,
-                          const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
+                   const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
 ) {
   #if DISABLED(ULTIPANEL)
     UNUSED(show_lcd);
@@ -232,7 +232,7 @@ bool load_filament(const float &load_length/*=0*/, const float &purge_length/*=0
  * Returns 'true' if unload was completed, 'false' for abort
  */
 bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
-                            const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
+                     const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
 ) {
   if (!ensure_safe_temperature(mode)) {
     #if ENABLED(ULTIPANEL)
@@ -336,8 +336,11 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
   if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
     do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
 
-  // Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos)
+  #if ENABLED(NO_MOTION_BEFORE_HOMING)
-  Nozzle::park(2, park_point);
+    if (!axis_unhomed_error())
+  #endif
+      // Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos)
+      Nozzle::park(2, park_point);
 
   // Unload the filament
   if (unload_length)

Marlin/src/gcode/feature/pause/M603.cpp

@@ -41,7 +41,7 @@
  *  L[distance] - Extrude distance for insertion, for the specified extruder
  *
  */
-inline void GcodeSuite::M603() {
+void GcodeSuite::M603() {
 
   if (get_target_extruder_from_command()) return;
 

Marlin/src/gcode/feature/pause/M701_M702.cpp

@@ -50,6 +50,11 @@
 void GcodeSuite::M701() {
   point_t park_point = NOZZLE_PARK_POINT;
 
+  #if ENABLED(NO_MOTION_BEFORE_HOMING)
+    // Only raise Z if the machine is homed
+    if (axis_unhomed_error()) park_point.z = 0;
+  #endif
+
   if (get_target_extruder_from_command()) return;
 
   // Z axis lift
@@ -107,6 +112,11 @@ void GcodeSuite::M701() {
 void GcodeSuite::M702() {
   point_t park_point = NOZZLE_PARK_POINT;
 
+  #if ENABLED(NO_MOTION_BEFORE_HOMING)
+    // Only raise Z if the machine is homed
+    if (axis_unhomed_error()) park_point.z = 0;
+  #endif
+
   if (get_target_extruder_from_command()) return;
 
   // Z axis lift

Marlin/src/gcode/gcode.cpp

@@ -633,17 +633,17 @@ void GcodeSuite::process_parsed_command() {
       #endif
 
       #if ENABLED(ADVANCED_PAUSE_FEATURE)
-        case 600: // M600: Pause for filament change
+        case 600: M600(); break;  // M600: Pause for Filament Change
-          M600();
+        case 603: M603(); break;  // M603: Configure Filament Change
-          break;
       #endif // ADVANCED_PAUSE_FEATURE
 
       #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
         case 605: M605(); break;  // M605: Set Dual X Carriage movement mode
       #endif
 
-      #if ENABLED(MK2_MULTIPLEXER)
+      #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
-        case 702: M702(); break;  // M702: Unload all extruders
+        case 701: M701(); break;  // M701: Load Filament
+        case 702: M702(); break;  // M702: Unload Filament
       #endif
 
       #if ENABLED(LIN_ADVANCE)

Marlin/src/inc/Conditionals_post.h

@@ -1250,6 +1250,12 @@
   #endif
 #endif
   
+// Nozzle park
+#if ENABLED(NOZZLE_PARK_FEATURE) && ENABLED(DELTA)
+  #undef NOZZLE_PARK_Z_FEEDRATE
+  #define NOZZLE_PARK_Z_FEEDRATE NOZZLE_PARK_XY_FEEDRATE
+#endif
+
 // Force SDCARD_SORT_ALPHA to be enabled for Graphical LCD on LPC1768
 // because of a bug in the shared SPI implementation. (See #8122)
 #if defined(TARGET_LPC1768) && ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)