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S5 Malfunctions after "pause at height", Prints Air

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I have attempted several different builds that require a "pause at height/layer" for me to insert a part, then continue printing. After any pause at height operation, my S5 resumes by extruding a small blob of plastic in a location seemingly unrelated to the print. It then resumes printing, but just moves the head, with no extrusion. It is not a clogged nozzle. I've updated the firmware and I'm using Cura version 3.4.1

 

Anyone else having an issue, and more importantly, is there a solution? I can't monitor the printer constantly to determine when to pause it manually. I need this feature to work.

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