diff --git a/Grbl_Esp32/src/MachineCommon.h b/Grbl_Esp32/src/MachineCommon.h
index eea0c7dd..627da376 100644
--- a/Grbl_Esp32/src/MachineCommon.h
+++ b/Grbl_Esp32/src/MachineCommon.h
@@ -1,9 +1,5 @@
 #pragma once
 
-#ifndef SPINDLE_TYPE
-#    define SPINDLE_TYPE SpindleType::PWM
-#endif
-
 // Grbl setting that are common to all machines
 // It should not be necessary to change anything herein
 
diff --git a/Grbl_Esp32/src/Motors/Dynamixel2.cpp b/Grbl_Esp32/src/Motors/Dynamixel2.cpp
index fb0314f4..253859d3 100644
--- a/Grbl_Esp32/src/Motors/Dynamixel2.cpp
+++ b/Grbl_Esp32/src/Motors/Dynamixel2.cpp
@@ -77,7 +77,7 @@ namespace Motors {
     void Dynamixel2::config_message() {
         grbl_msg_sendf(CLIENT_SERIAL,
                        MsgLevel::Info,
-                       "%s Axis Dynamixel Servo ID:%d Count(%5.0f,%5.0f) Limits(%0.3fmm,%5.3f)",
+                       "%s Axis Dynamixel Servo ID:%d Count(%5.0f,%5.0f) Limits(%0.3f,%5.3f)",
                        _axis_name,
                        _id,
                        _dxl_count_min,
@@ -123,16 +123,7 @@ namespace Motors {
     }
 
     void Dynamixel2::read_settings() {
-        float travel = axis_settings[_axis_index]->max_travel->get();
-        float mpos   = axis_settings[_axis_index]->home_mpos->get();
-
-        if (bit_istrue(homing_dir_mask->get(), bit(_axis_index))) {
-            _position_min = mpos;
-            _position_max = mpos + travel;
-        } else {
-            _position_min = mpos - travel;
-            _position_max = mpos;
-        }
+        read_limits();
 
         _dxl_count_min = DXL_COUNT_MIN;
         _dxl_count_max = DXL_COUNT_MAX;
diff --git a/Grbl_Esp32/src/Motors/Motor.cpp b/Grbl_Esp32/src/Motors/Motor.cpp
index 5c431437..90467abf 100644
--- a/Grbl_Esp32/src/Motors/Motor.cpp
+++ b/Grbl_Esp32/src/Motors/Motor.cpp
@@ -41,7 +41,7 @@ namespace Motors {
     void Motor::config_message() {}
     void Motor::debug_message() {}
 
-    void Motor::read_settings() {
+    void Motor::read_limits() {
         float max_travel = axis_settings[_axis_index]->max_travel->get();
         float mpos       = axis_settings[_axis_index]->home_mpos->get();
 
@@ -54,6 +54,7 @@ namespace Motors {
         }
     }
 
+    void Motor::read_settings() { read_limits(); }
     void Motor::set_disable(bool disable) {}
     void Motor::set_direction_pins(uint8_t onMask) {}
     void Motor::step(uint8_t step_mask, uint8_t dir_mask) {}
diff --git a/Grbl_Esp32/src/Motors/Motor.h b/Grbl_Esp32/src/Motors/Motor.h
index a32dccab..be13448f 100644
--- a/Grbl_Esp32/src/Motors/Motor.h
+++ b/Grbl_Esp32/src/Motors/Motor.h
@@ -42,6 +42,7 @@ namespace Motors {
         virtual void config_message();
         virtual void debug_message();
         virtual void read_settings();
+        virtual void read_limits();
         virtual void set_homing_mode(uint8_t homing_mask, bool isHoming);
         virtual void set_disable(bool disable);
         virtual void set_direction_pins(uint8_t onMask);
diff --git a/Grbl_Esp32/src/Motors/RcServo.cpp b/Grbl_Esp32/src/Motors/RcServo.cpp
index eabcf27b..5989a222 100644
--- a/Grbl_Esp32/src/Motors/RcServo.cpp
+++ b/Grbl_Esp32/src/Motors/RcServo.cpp
@@ -124,17 +124,7 @@ namespace Motors {
     }
 
     void RcServo::read_settings() {
-        float travel = axis_settings[_axis_index]->max_travel->get();
-        float mpos   = axis_settings[_axis_index]->home_mpos->get();
-        //float max_mpos, min_mpos;
-
-        if (bit_istrue(homing_dir_mask->get(), bit(_axis_index))) {
-            _position_min = mpos;
-            _position_max = mpos + travel;
-        } else {
-            _position_min = mpos - travel;
-            _position_max = mpos;
-        }
+        read_limits();
 
         _pwm_pulse_min = SERVO_MIN_PULSE * _cal_min;
         _pwm_pulse_max = SERVO_MAX_PULSE * _cal_max;
diff --git a/Grbl_Esp32/src/Motors/Solenoid.h b/Grbl_Esp32/src/Motors/Solenoid.h
deleted file mode 100644
index fb973083..00000000
--- a/Grbl_Esp32/src/Motors/Solenoid.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma once
-
-#include "RcServo.h"
-
-namespace Motors {
-    class Solenoid : public RcServo {
-    public:
-        Solenoid();
-        Solenoid(uint8_t axis_index, gpio_num_t pwm_pin, float transition_poiont);
-        void config_message();
-        void set_location();
-        void update();
-        void init();
-        void set_disable(bool disable);
-
-        float _transition_poiont;
-    };
-}
diff --git a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
index f785862c..82eb449c 100644
--- a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
+++ b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
@@ -66,9 +66,10 @@ namespace Motors {
             tmcstepper->setSPISpeed(TRINAMIC_SPI_FREQ);
         }
 
+        read_settings();  // pull info from settings
         config_message();
 
-        // init() must be called later, after all TMC drivers have CS pins setup.
+        // init() must be called by Motors.cpp after all TMC drivers have CS pins setup.
     }
 
     void TrinamicDriver::init() {
@@ -79,8 +80,8 @@ namespace Motors {
         SPI.begin();  // this will get called for each motor, but does not seem to hurt anything
 
         tmcstepper->begin();
-        test();           // Try communicating with motor. Prints an error if there is a problem.
-        read_settings();  // pull info from settings
+        test();  // Try communicating with motor. Prints an error if there is a problem.
+
         set_mode(false);
 
         _homing_mask = 0;
@@ -163,6 +164,8 @@ namespace Motors {
         if (has_errors)
             return;
 
+        read_limits();
+
         uint16_t run_i_ma = (uint16_t)(axis_settings[_axis_index]->run_current->get() * 1000.0);
         float    hold_i_percent;
 
@@ -211,7 +214,7 @@ namespace Motors {
                 tmcstepper->pwm_autoscale(true);
                 tmcstepper->diag1_stall(false);
                 break;
-            case TrinamicMode :: CoolStep:
+            case TrinamicMode ::CoolStep:
                 //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
                 tmcstepper->en_pwm_mode(false);
                 tmcstepper->pwm_autoscale(false);