Safe State Procedure

Hi all,

I was just thinking about the logic of the safe state behaviour that you are currently (hopefully) developing.
Wouldn´t it be good to go back the last step which resulted in a stall? This way you are out of trouble and you could then think about moving the z axis up first. Maybe it is even better to drive to the last commands backwards in the sequence until the z axis is above some certain security height?

Or do you think this feature could only work by defining 3D space prohibited zones (e.g. everything but the exact tool bay cut outs etc.)?

Lets kick off a discussion!