MarlinFirmware · thinkyhead · Jan 21, 2026 · Dec 16, 2024 · Jan 4, 2026 · Jan 4, 2026
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -2826,8 +2826,8 @@
  *
  * Adds support for commands:
  *  S000 : Report State and Position while moving.
- *  P000 : Instant Pause / Hold while moving.
- *  R000 : Resume from Pause / Hold.
+ *  P000 : Instant Pause / Hold while moving. Enable SOFT_FEED_HOLD for soft deceleration.
+ *  R000 : Resume from Pause / Hold. Enable SOFT_FEED_HOLD for soft acceleration.
  *
  * - During Hold all Emergency Parser commands are available, as usual.
  * - Enable NANODLP_Z_SYNC and NANODLP_ALL_AXIS for move command end-state reports.
@@ -4457,15 +4457,38 @@
 #endif
 
 /**
- * Instant freeze / unfreeze functionality
- * Potentially useful for rapid stop that allows being resumed. Halts stepper movement.
- * Note this does NOT pause spindles, lasers, fans, heaters or any other auxiliary device.
- * @section interface
+ * Freeze / Unfreeze
+ *
+ * Pause / Hold that keeps power available and does not stop the spindle can be initiated by
+ * the FREEZE_PIN. Halts instantly (default) or performs a soft feed hold that decelerates and
+ * halts movement at FREEZE_JERK (requires SOFT_FEED_HOLD).
+ * Motion can be resumed by using the FREEZE_PIN.
+ *
+ * NOTE: Controls Laser PWM but does NOT pause Spindle, Fans, Heaters or other devices.
+ * @section freeze
  */
 //#define FREEZE_FEATURE
 #if ENABLED(FREEZE_FEATURE)
-  //#define FREEZE_PIN 41   // Override the default (KILL) pin here
-  #define FREEZE_STATE LOW  // State of pin indicating freeze
+  //#define FREEZE_PIN   -1   // Override the default (KILL) pin here
+  #define FREEZE_STATE  LOW   // State of pin indicating freeze
+#endif
+
+#if ANY(FREEZE_FEATURE, REALTIME_REPORTING_COMMANDS)
+  /**
+   * Command P000 (REALTIME_REPORTING_COMMANDS and EMERGENCY_PARSER) or
+   * FREEZE_PIN (FREEZE_FEATURE) initiates a soft feed hold that keeps
+   * power available and does not stop the spindle.
+   *
+   * The soft feed hold decelerates and halts movement at FREEZE_JERK.
+   * Motion can be resumed with command R000 (requires REALTIME_REPORTING_COMMANDS) or
+   * by using the FREEZE_PIN (requires FREEZE_FEATURE).
+   *
+   * NOTE: Affects Laser PWM but DOES NOT pause Spindle, Fans, Heaters or other devices.
+   */
+  //#define SOFT_FEED_HOLD
+  #if ENABLED(SOFT_FEED_HOLD)
+    #define FREEZE_JERK     2   // (mm/s) Completely halt when motion has decelerated below this value
+  #endif
 #endif
 
 /**

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -260,6 +260,10 @@
   #include "feature/rs485.h"
 #endif
 
+#if ENABLED(SOFT_FEED_HOLD)
+  #include "feature/e_parser.h"
+#endif
+
 /**
  * Spin in place here while keeping temperature processing alive
  */
@@ -514,8 +518,14 @@ void Marlin::manage_inactivity(const bool no_stepper_sleep/*=false*/) {
     }
   #endif
 
-  #if ENABLED(FREEZE_FEATURE)
-    stepper.frozen = READ(FREEZE_PIN) == FREEZE_STATE;
+  // Handle the FREEZE button
+  #if ANY(FREEZE_FEATURE, SOFT_FEED_HOLD)
+    stepper.set_frozen_triggered(
+      TERN0(FREEZE_FEATURE, READ(FREEZE_PIN) == FREEZE_STATE)
+      #if ALL(SOFT_FEED_HOLD, REALTIME_REPORTING_COMMANDS)
+        || realtime_ramping_pause_flag
+      #endif
+    );
   #endif
 
   #if HAS_HOME
@@ -1221,7 +1231,7 @@ void setup() {
     #endif
   #endif
 
-  #if ENABLED(FREEZE_FEATURE)
+  #if ENABLED(FREEZE_FEATURE) && DISABLED(NO_FREEZE_PIN)
     SETUP_LOG("FREEZE_PIN");
     #if FREEZE_STATE
       SET_INPUT_PULLDOWN(FREEZE_PIN);

diff --git a/Marlin/src/feature/e_parser.cpp b/Marlin/src/feature/e_parser.cpp
@@ -60,6 +60,10 @@ EmergencyParser emergency_parser;
   void quickresume_stepper();
 #endif
 
+#if ENABLED(SOFT_FEED_HOLD)
+  bool realtime_ramping_pause_flag = false;
+#endif
+
 void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) {
   auto uppercase = [](char c) {
     return TERN0(GCODE_CASE_INSENSITIVE, WITHIN(c, 'a', 'z')) ? c + 'A' - 'a' : c;
@@ -223,8 +227,8 @@ void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) {
           #endif
           #if ENABLED(REALTIME_REPORTING_COMMANDS)
             case EP_GRBL_STATUS: report_current_position_moving(); break;
-            case EP_GRBL_PAUSE: quickpause_stepper(); break;
-            case EP_GRBL_RESUME: quickresume_stepper(); break;
+            case EP_GRBL_PAUSE:  TERN(SOFT_FEED_HOLD, realtime_ramping_pause_flag = true,  quickpause_stepper()); break;
+            case EP_GRBL_RESUME: TERN(SOFT_FEED_HOLD, realtime_ramping_pause_flag = false, quickresume_stepper()); break;
           #endif
           #if ENABLED(SOFT_RESET_VIA_SERIAL)
             case EP_KILL: hal.reboot(); break;

diff --git a/Marlin/src/feature/e_parser.h b/Marlin/src/feature/e_parser.h
@@ -93,3 +93,7 @@ class EmergencyParser {
 };
 
 extern EmergencyParser emergency_parser;
+
+#if ENABLED(SOFT_FEED_HOLD)
+  extern bool realtime_ramping_pause_flag;
+#endif
diff --git a/Marlin/src/inc/Conditionals-5-post.h b/Marlin/src/inc/Conditionals-5-post.h
@@ -3047,9 +3047,10 @@
 #endif
 
 // User Interface
-#if ENABLED(FREEZE_FEATURE) && !PIN_EXISTS(FREEZE) && PIN_EXISTS(KILL)
+#if ENABLED(FREEZE_FEATURE) && DISABLED(NO_FREEZE_PIN) && !PIN_EXISTS(FREEZE) && PIN_EXISTS(KILL)
   #define FREEZE_PIN KILL_PIN
-#elif PIN_EXISTS(KILL) && TERN1(FREEZE_FEATURE, KILL_PIN != FREEZE_PIN)
+  #define FREEZE_STOLE_KILL_PIN_WARNING 1
+#elif PIN_EXISTS(KILL) && TERN1(HAS_FREEZE_PIN, KILL_PIN != FREEZE_PIN)
   #define HAS_KILL 1
 #endif
 #if PIN_EXISTS(HOME)

diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
@@ -579,8 +579,12 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
 /**
  * Instant Freeze
  */
-#if ENABLED(FREEZE_FEATURE) && !(PIN_EXISTS(FREEZE) && defined(FREEZE_STATE))
-  #error "FREEZE_FEATURE requires both FREEZE_PIN and FREEZE_STATE."
+#if ENABLED(SOFT_FEED_HOLD) && !defined(FREEZE_JERK)
+  #error "SOFT_FEED_HOLD requires FREEZE_JERK."
+#elif ENABLED(FREEZE_FEATURE) && DISABLED(NO_FREEZE_PIN) && !(defined(FREEZE_PIN) && defined(FREEZE_STATE))
+  #error "FREEZE_FEATURE requires FREEZE_PIN and FREEZE_STATE."
+#elif ENABLED(NO_FREEZE_PIN) && !(defined(REALTIME_REPORTING_COMMANDS))
+  #error "NO_FREEZE_PIN requires REALTIME_REPORTING_COMMANDS."
 #endif
 
 /**
@@ -4501,8 +4505,8 @@ static_assert(_PLUS_TEST(3), "DEFAULT_MAX_ACCELERATION values must be positive."
       #error "SMOOTH_LIN_ADVANCE is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."
     #elif ENABLED(MIXING_EXTRUDER)
       #error "MIXING_EXTRUDER is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."
-    #elif ENABLED(FREEZE_FEATURE)
-      #error "FREEZE_FEATURE is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."
+    #elif ENABLED(SOFT_FEED_HOLD)
+      #error "SOFT_FEED_HOLD is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."
     #elif ENABLED(DIRECT_STEPPING)
       #error "DIRECT_STEPPING is not yet available in FT_MOTION. Disable NO_STANDARD_MOTION if you require it."
     #elif ENABLED(DIFFERENTIAL_EXTRUDER)

diff --git a/Marlin/src/inc/Warnings.cpp b/Marlin/src/inc/Warnings.cpp
@@ -1005,3 +1005,10 @@
 #elif !RECOMMEND_REINIT_NOISY_LCD && ENABLED(REINIT_NOISY_LCD)
   #warning "REINIT_NOISY_LCD is probably not required with your LCD controller model."
 #endif
+
+/**
+ * FREEZE_FEATURE may override the KILL_PIN
+ */
+#if FREEZE_STOLE_KILL_PIN_WARNING
+  #warning "FREEZE_FEATURE uses KILL_PIN replacing the KILL button. Define a separate FREEZE_PIN if you don't want this behavior."
+#endif
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
@@ -2428,6 +2428,9 @@ bool Planner::_populate_block(
     block->acceleration_steps_per_s2 = accel;
     #if DISABLED(S_CURVE_ACCELERATION)
       block->acceleration_rate = uint32_t(accel * (float(_BV32(24)) / (STEPPER_TIMER_RATE)));
+    #elif ENABLED(SOFT_FEED_HOLD)
+      // No need to waste time calculating the linear acceleration rate until the freeze_pin is triggered, leave this 0
+      block->acceleration_rate = 0;
     #endif
   #endif
   block->acceleration = accel / steps_per_mm;

diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
@@ -254,7 +254,8 @@ typedef struct PlannerBlock {
   #if ENABLED(S_CURVE_ACCELERATION)
     uint32_t acceleration_time_inverse,     // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used
              deceleration_time_inverse;
-  #elif HAS_STANDARD_MOTION
+  #endif
+  #if ENABLED(HAS_STANDARD_MOTION) && (DISABLED(S_CURVE_ACCELERATION) || ENABLED(FREEZE_FEATURE))
     uint32_t acceleration_rate;             // Acceleration rate in (2^24 steps)/timer_ticks*s
   #endif