diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index df3dadb8e..99b5ab771 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -3688,6 +3688,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
 
     //Lift Z
     current_position[Z_AXIS] += z_shift;
+    clamp_to_software_endstops(current_position);
     plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED);
     st_synchronize();
 
@@ -10758,7 +10759,7 @@ void long_pause() //long pause print
 
 	//lift z
 	current_position[Z_AXIS] += Z_PAUSE_LIFT;
-	if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
+	clamp_to_software_endstops(current_position);
 	plan_buffer_line_curposXYZE(15);
 
 	//Move XY to side
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 704d9bb83..738192f89 100755
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6307,8 +6307,11 @@ void lcd_print_stop()
 
     lcd_cooldown(); //turns off heaters and fan; goes to status screen.
 
-    current_position[Z_AXIS] += 10; //lift Z.
-    plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60);
+    if (axis_known_position[Z_AXIS]) {
+        current_position[Z_AXIS] += Z_CANCEL_LIFT;
+        clamp_to_software_endstops(current_position);
+        plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60);
+    }
 
     if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) //if axis are homed, move to parked position.
     {
diff --git a/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h
index 4f51d268e..98235b824 100644
--- a/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h
@@ -71,6 +71,7 @@
 // Canceled home position
 #define X_CANCEL_POS 50
 #define Y_CANCEL_POS 190
+#define Z_CANCEL_LIFT 50
 
 //Pause print position
 #define X_PAUSE_POS 50
diff --git a/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h b/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h
index fcc45f630..4793d3a5f 100644
--- a/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h
@@ -71,6 +71,7 @@
 // Canceled home position
 #define X_CANCEL_POS 50
 #define Y_CANCEL_POS 190
+#define Z_CANCEL_LIFT 50
 
 //Pause print position
 #define X_PAUSE_POS 50
diff --git a/Firmware/variants/1_75mm_MK25S-RAMBo10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK25S-RAMBo10a-E3Dv6full.h
index fed20087e..21d6d7cad 100644
--- a/Firmware/variants/1_75mm_MK25S-RAMBo10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK25S-RAMBo10a-E3Dv6full.h
@@ -71,6 +71,7 @@
 // Canceled home position
 #define X_CANCEL_POS 50
 #define Y_CANCEL_POS 190
+#define Z_CANCEL_LIFT 50
 
 //Pause print position
 #define X_PAUSE_POS 50
diff --git a/Firmware/variants/1_75mm_MK25S-RAMBo13a-E3Dv6full.h b/Firmware/variants/1_75mm_MK25S-RAMBo13a-E3Dv6full.h
index 3a03d5c70..cbb5fe992 100644
--- a/Firmware/variants/1_75mm_MK25S-RAMBo13a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK25S-RAMBo13a-E3Dv6full.h
@@ -71,6 +71,7 @@
 // Canceled home position
 #define X_CANCEL_POS 50
 #define Y_CANCEL_POS 190
+#define Z_CANCEL_LIFT 50
 
 //Pause print position
 #define X_PAUSE_POS 50
diff --git a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
index 39a4adbcf..ced9209c3 100644
--- a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
@@ -73,6 +73,7 @@
 // Canceled home position
 #define X_CANCEL_POS 50
 #define Y_CANCEL_POS 190
+#define Z_CANCEL_LIFT 50
 
 //Pause print position
 #define X_PAUSE_POS 50
diff --git a/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h
index ba71e9e3e..5f71e3556 100644
--- a/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h
@@ -75,6 +75,7 @@
 // Canceled home position
 #define X_CANCEL_POS 50
 #define Y_CANCEL_POS 190
+#define Z_CANCEL_LIFT 50
 
 //Pause print position
 #define X_PAUSE_POS 50