From 67b1b62a6b101f93e3918acc790c54b54fd40043 Mon Sep 17 00:00:00 2001
From: tommaso-b <119923627+tommaso-b@users.noreply.github.com>
Date: Fri, 28 Mar 2025 20:48:08 +0100
Subject: [PATCH 1/3] Adding automatic Z limit adjustment for Z probing

---
 grbl/system.c | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/grbl/system.c b/grbl/system.c
index 55e6c406..a96b564a 100644
--- a/grbl/system.c
+++ b/grbl/system.c
@@ -351,6 +351,24 @@ uint8_t system_check_travel_limits(float *target)
   return(false);
 }
 
+// Z Probing simplification : if Z travel exceeds soft limits, adjust Z to max. allowed value as probing stop is anyhow expected
+// function code derived from above soft limit check
+uint8_t system_do_limit_Z_travel(float *target)
+{
+    #ifdef HOMING_FORCE_SET_ORIGIN
+      // When homing forced set origin is enabled, soft limits checks need to account for directionality.
+      // NOTE: max_travel is stored as negative
+      if (bit_istrue(settings.homing_dir_mask,bit(Z_AXIS))) {
+        if (target[Z_AXIS] < 0 || target[Z_AXIS] > -settings.max_travel[Z_AXIS]) { target[Z_AXIS] = -settings.max_travel[Z_AXIS]; return(true); }
+      } else {
+        if (target[Z_AXIS] > 0 || target[Z_AXIS] <  settings.max_travel[Z_AXIS]) { target[Z_AXIS] =  settings.max_travel[Z_AXIS]; return(true); }
+      }
+    #else
+      // NOTE: max_travel is stored as negative
+        if (target[Z_AXIS] > 0 || target[Z_AXIS] <  settings.max_travel[Z_AXIS]) { target[Z_AXIS] =  settings.max_travel[Z_AXIS]; return(true); }
+    #endif
+  return(false);
+}
 
 // Special handlers for setting and clearing Grbl's real-time execution flags.
 void system_set_exec_state_flag(uint8_t mask) {

From a6bb083a686e882e19c592add1c49101a3095b42 Mon Sep 17 00:00:00 2001
From: tommaso-b <119923627+tommaso-b@users.noreply.github.com>
Date: Fri, 28 Mar 2025 20:53:33 +0100
Subject: [PATCH 2/3] system.h adding function prototype

---
 grbl/system.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/grbl/system.h b/grbl/system.h
index cfc92738..0e317b1e 100644
--- a/grbl/system.h
+++ b/grbl/system.h
@@ -198,6 +198,9 @@ void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
 // Checks and reports if target array exceeds machine travel limits.
 uint8_t system_check_travel_limits(float *target);
 
+// Z Probing simplification : if Z travel exceeds soft limits, adjust Z to max. allowed value as probing stop is anyhow expected
+uint8_t system_do_limit_Z_travel(float *target);
+
 // Special handlers for setting and clearing Grbl's real-time execution flags.
 void system_set_exec_state_flag(uint8_t mask);
 void system_clear_exec_state_flag(uint8_t mask);

From 593074356a25bd04d34882712859043a9587ea04 Mon Sep 17 00:00:00 2001
From: tommaso-b <119923627+tommaso-b@users.noreply.github.com>
Date: Fri, 28 Mar 2025 20:57:02 +0100
Subject: [PATCH 3/3] When Z probing, adapt Z to soft limits if Z out of range

---
 grbl/motion_control.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/grbl/motion_control.c b/grbl/motion_control.c
index 6e11e35c..9379b8be 100644
--- a/grbl/motion_control.c
+++ b/grbl/motion_control.c
@@ -277,6 +277,9 @@ uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_
     return(GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
   }
 
+  // Z Probing simplification : if Z travel exceeds soft limits, adjust Z to max. allowed value as probing stop is anyhow expected
+  system_do_limit_Z_travel(target);
+  
   // Setup and queue probing motion. Auto cycle-start should not start the cycle.
   mc_line(target, pl_data);