diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h
index 91b26ef1db..3f7730753f 100644
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -118,9 +118,13 @@
    * The BLTouch Probe emulates a servo probe
    */
   #if ENABLED(BLTOUCH)
-    #undef Z_ENDSTOP_SERVO_NR
+    #ifndef Z_ENDSTOP_SERVO_NR
+      #define Z_ENDSTOP_SERVO_NR 0
+    #endif
+    #ifndef NUM_SERVOS
+      #define NUM_SERVOS (Z_ENDSTOP_SERVO_NR + 1)
+    #endif
     #undef Z_SERVO_ANGLES
-    #define Z_ENDSTOP_SERVO_NR 0
     #define Z_SERVO_ANGLES {10,90} // For BLTouch 10=deploy, 90=retract
     #undef DEACTIVATE_SERVOS_AFTER_MOVE
     #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 7a938ea4e7..87b4d58a5d 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -528,6 +528,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0a4e9b8fbf..1f86f88dcc 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1881,6 +1881,11 @@ static void clean_up_after_endstop_or_probe_move() {
     // Make room for probe
     do_probe_raise(_Z_PROBE_DEPLOY_HEIGHT);
 
+    // Check BLTOUCH probe status for an error
+    #if ENABLED(BLTOUCH)
+      if (servo[Z_ENDSTOP_SERVO_NR].read() == BLTouchState_Error) { stop(); return true; }
+    #endif
+
     #if ENABLED(Z_PROBE_SLED)
       if (axis_unhomed_error(true, false, false)) { stop(); return true; }
     #elif ENABLED(Z_PROBE_ALLEN_KEY)
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 41e5f063b1..6ed5bfe21e 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -306,12 +306,8 @@
 /**
  * Limited number of servos
  */
-#if defined(NUM_SERVOS) && NUM_SERVOS > 0
-  #if NUM_SERVOS > 4
-    #error "The maximum number of SERVOS in Marlin is 4."
-  #elif HAS_Z_SERVO_ENDSTOP && Z_ENDSTOP_SERVO_NR >= NUM_SERVOS
-    #error "Z_ENDSTOP_SERVO_NR must be smaller than NUM_SERVOS."
-  #endif
+#if NUM_SERVOS > 4
+  #error "The maximum number of SERVOS in Marlin is 4."
 #endif
 
 /**
@@ -367,7 +363,7 @@
     #ifndef NUM_SERVOS
       #error "You must set NUM_SERVOS for a Z servo probe (Z_ENDSTOP_SERVO_NR)."
     #elif Z_ENDSTOP_SERVO_NR >= NUM_SERVOS
-      #error "Z_ENDSTOP_SERVO_NR must be less than NUM_SERVOS."
+      #error "Z_ENDSTOP_SERVO_NR must be smaller than NUM_SERVOS."
     #endif
   #endif
 
@@ -404,7 +400,7 @@
   #if (ENABLED(FIX_MOUNTED_PROBE) && (ENABLED(Z_PROBE_ALLEN_KEY) || HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED))) \
        || (ENABLED(Z_PROBE_ALLEN_KEY) && (HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_SLED))) \
        || (HAS_Z_SERVO_ENDSTOP && ENABLED(Z_PROBE_SLED))
-    #error "Please define only one type of probe: Z Servo, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or FIX_MOUNTED_PROBE."
+    #error "Please define only one type of probe: Z Servo/BLTOUCH, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or FIX_MOUNTED_PROBE."
   #endif
 
   /**
diff --git a/Marlin/enum.h b/Marlin/enum.h
index 18db5a6f5f..34e02234a8 100644
--- a/Marlin/enum.h
+++ b/Marlin/enum.h
@@ -124,6 +124,15 @@ enum TempState {
   };
 #endif
 
+#if ENABLED(BLTOUCH)
+  enum BLTouchState {
+    BLTouchState_Deploy   = 10,
+    BLTouchState_Stow     = 90,
+    BLTouchState_Selftest = 120,
+    BLTouchState_Error    = 160
+  };
+#endif
+
 #if ENABLED(FILAMENT_CHANGE_FEATURE)
   enum FilamentChangeMenuResponse {
     FILAMENT_CHANGE_RESPONSE_WAIT_FOR,
diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h
index 9d0f8ae9e9..452ec3276d 100644
--- a/Marlin/example_configurations/Cartesio/Configuration.h
+++ b/Marlin/example_configurations/Cartesio/Configuration.h
@@ -511,6 +511,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index f5f8ae289d..8ae7eff30e 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -494,6 +494,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
index 3e680f668f..44581c6f19 100644
--- a/Marlin/example_configurations/Felix/DUAL/Configuration.h
+++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -492,6 +492,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 8e1c8ca820..c642467b53 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -503,6 +503,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h
index 2ec53a4207..a7094c0f3a 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration.h
@@ -505,6 +505,7 @@
 #define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index 206540d3fb..efc72e13f9 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -528,6 +528,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/K8400/Configuration.h b/Marlin/example_configurations/K8400/Configuration.h
index d718d1a16a..ad21151afe 100644
--- a/Marlin/example_configurations/K8400/Configuration.h
+++ b/Marlin/example_configurations/K8400/Configuration.h
@@ -511,6 +511,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
index 3bad2fd375..fddbb12c52 100644
--- a/Marlin/example_configurations/K8400/Dual-head/Configuration.h
+++ b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
@@ -511,6 +511,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index db8119e716..794ec71dd7 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -511,6 +511,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index 25d918cd2b..c2d8ed6b7c 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -509,6 +509,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 808490fc12..5ca4706622 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -521,6 +521,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h
index 0d9185b40c..54a4ace02c 100644
--- a/Marlin/example_configurations/TAZ4/Configuration.h
+++ b/Marlin/example_configurations/TAZ4/Configuration.h
@@ -532,6 +532,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 28d374b371..8b10193dce 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -503,6 +503,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index c2ec1bf803..056e603ae9 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -511,6 +511,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index 4596253c9e..f196ba96d9 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -554,6 +554,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index c66410c2e3..06ad8e129f 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -554,6 +554,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 4159567c75..83d70a54ca 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -554,6 +554,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index f5ff185114..ef820d42bd 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -550,6 +550,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index f644a04759..4b25bf171b 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -560,6 +560,7 @@
 #define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index 6cfb9d5c38..d194a1d337 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -514,6 +514,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index b7d939c20b..9168a026a3 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -507,6 +507,7 @@
 //#define FIX_MOUNTED_PROBE
 
 // The BLTouch probe emulates a servo probe.
+// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
 //#define BLTOUCH
 
 // Z Servo Probe, such as an endstop switch on a rotating arm.
diff --git a/Marlin/language_en.h b/Marlin/language_en.h
index b1b8e0af75..a84d1acfdb 100644
--- a/Marlin/language_en.h
+++ b/Marlin/language_en.h
@@ -366,6 +366,9 @@
 #ifndef MSG_ZPROBE_OUT
   #define MSG_ZPROBE_OUT                      "Z probe out. bed"
 #endif
+#ifndef MSG_RESET_BLTOUCH
+  #define MSG_RESET_BLTOUCH                   "Reset BLTouch"
+#endif
 #ifndef MSG_HOME
   #define MSG_HOME                            "Home"  // Used as MSG_HOME " " MSG_X MSG_Y MSG_Z " " MSG_FIRST
 #endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index a1deff0326..5240c30fab 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -30,6 +30,11 @@
 #include "configuration_store.h"
 #include "utility.h"
 
+#if ENABLED(BLTOUCH)
+  #include "servo.h"
+  extern Servo servo[NUM_SERVOS];
+#endif
+
 #if ENABLED(PRINTCOUNTER)
   #include "printcounter.h"
   #include "duration_t.h"
@@ -586,6 +591,12 @@ void kill_screen(const char* lcd_msg) {
   static void lcd_main_menu() {
     START_MENU();
     MENU_ITEM(back, MSG_WATCH);
+
+    #if ENABLED(BLTOUCH)
+      if (servo[Z_ENDSTOP_SERVO_NR].read() == BLTouchState_Error)
+        MENU_ITEM(gcode, MSG_RESET_BLTOUCH, "M280 S90 P" STRINGIFY(Z_ENDSTOP_SERVO_NR));
+    #endif
+
     if (planner.movesplanned() || IS_SD_PRINTING) {
       MENU_ITEM(submenu, MSG_TUNE, lcd_tune_menu);
     }