diff --git a/Grbl_Esp32/src/Machine/Axis.cpp b/Grbl_Esp32/src/Machine/Axis.cpp
index 3c5d56c4..cd3c5deb 100644
--- a/Grbl_Esp32/src/Machine/Axis.cpp
+++ b/Grbl_Esp32/src/Machine/Axis.cpp
@@ -27,6 +27,19 @@ namespace Machine {
     }
 
     void Axis::afterParse() {
+        bool hasMotor0 = _gangs[0] && _gangs[0]->_motor;
+        bool hasMotor1 = _gangs[1] && _gangs[1]->_motor;
+        bool hasLimit0 = _gangs[0] && _gangs[0]->_endstops;
+        bool hasLimit1 = _gangs[1] && _gangs[1]->_endstops;
+
+        // Fix the masks if both motors are present but there is exactly one limit setup
+        bool fixLimitMasks = hasMotor0 && hasMotor1 && (hasLimit0 ^ hasLimit1);
+        if (fixLimitMasks) {
+            // Since there is exactly one endstop,
+            // hasLimit1 is 0 if endstop0 is present, 1 if endstop 1 is present
+            _gangs[hasLimit1]->_endstops->expandLimitMasks();
+        }
+
         for (size_t i = 0; i < MAX_NUMBER_GANGED; ++i) {
             if (_gangs[i] == nullptr) {
                 _gangs[i] = new Gang(_axis, i);
diff --git a/Grbl_Esp32/src/Machine/Endstops.cpp b/Grbl_Esp32/src/Machine/Endstops.cpp
index 2adc2999..227116cf 100644
--- a/Grbl_Esp32/src/Machine/Endstops.cpp
+++ b/Grbl_Esp32/src/Machine/Endstops.cpp
@@ -25,6 +25,12 @@ namespace Machine {
         _allLimitPin = new LimitPin(_allPin, _axis, _gang, 0, _hardLimits);
     }
 
+    void Endstops::expandLimitMasks() {
+        _negLimitPin->expandMask();
+        _posLimitPin->expandMask();
+        _allLimitPin->expandMask();
+    }
+
     void Endstops::init() {
         _negLimitPin->init();
         _posLimitPin->init();
diff --git a/Grbl_Esp32/src/Machine/Endstops.h b/Grbl_Esp32/src/Machine/Endstops.h
index 42ec7601..9541866c 100644
--- a/Grbl_Esp32/src/Machine/Endstops.h
+++ b/Grbl_Esp32/src/Machine/Endstops.h
@@ -40,6 +40,8 @@ namespace Machine {
 
         void init();
 
+        void expandLimitMasks();
+
         // Configuration system helpers:
         void validate() const override;
         void group(Configuration::HandlerBase& handler) override;
diff --git a/Grbl_Esp32/src/Machine/LimitPin.cpp b/Grbl_Esp32/src/Machine/LimitPin.cpp
index 9deb9cee..c0332fba 100644
--- a/Grbl_Esp32/src/Machine/LimitPin.cpp
+++ b/Grbl_Esp32/src/Machine/LimitPin.cpp
@@ -98,6 +98,12 @@ namespace Machine {
         }
     }
 
+    // Turn a one-motor mask into a both-motors mask
+    void LimitPin::expandMask() {
+        _bitmask |= _bitmask >> 16;
+        _bitmask |= _bitmask << 16;
+    }
+
     void LimitPin::init() {
         if (_pin.undefined()) {
             return;
diff --git a/Grbl_Esp32/src/Machine/LimitPin.h b/Grbl_Esp32/src/Machine/LimitPin.h
index 89e665ce..6f7e88b9 100644
--- a/Grbl_Esp32/src/Machine/LimitPin.h
+++ b/Grbl_Esp32/src/Machine/LimitPin.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "../Pin.h"
+#include "../System.h"  // MotorMask
 
 #include <esp_attr.h>  // IRAM_ATTR
 
@@ -10,15 +11,15 @@ namespace Machine {
         int _axis;
         int _gang;
 
-        bool     _value   = 0;
-        uint32_t _bitmask = 0;
+        bool      _value   = 0;
+        MotorMask _bitmask = 0;
 
         // _pHardLimits is a reference so the shared variable at the
         // Endstops level can be changed at runtime to control the
         // limit behavior dynamically.
-        bool&              _pHardLimits;
-        volatile uint32_t* _posLimits = nullptr;
-        volatile uint32_t* _negLimits = nullptr;
+        bool&               _pHardLimits;
+        volatile MotorMask* _posLimits = nullptr;
+        volatile MotorMask* _negLimits = nullptr;
 
         void IRAM_ATTR handleISR();
 
@@ -32,6 +33,8 @@ namespace Machine {
         void init();
         bool get() { return _value; }
 
+        void expandMask();
+
         ~LimitPin();
     };
 }