diff --git a/Grbl_Esp32/src/Grbl.cpp b/Grbl_Esp32/src/Grbl.cpp
index 9cd14d9c..5b817c1e 100644
--- a/Grbl_Esp32/src/Grbl.cpp
+++ b/Grbl_Esp32/src/Grbl.cpp
@@ -111,6 +111,8 @@ void grbl_init() {
                 sys.state = State::Idle;
             }
 
+            limits_init();
+
             // Check for power-up and set system alarm if homing is enabled to force homing cycle
             // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
             // startup scripts, but allows access to settings and internal commands. Only a homing
@@ -128,7 +130,6 @@ void grbl_init() {
             Spindles::Spindle::switchSpindle(0, config->_spindles, spindle);
 
             config->_coolant->init();
-            limits_init();
             config->_probe->init();
         }
 
diff --git a/Grbl_Esp32/src/Motors/Dynamixel2.h b/Grbl_Esp32/src/Motors/Dynamixel2.h
index 42b423b2..580d1a90 100644
--- a/Grbl_Esp32/src/Motors/Dynamixel2.h
+++ b/Grbl_Esp32/src/Motors/Dynamixel2.h
@@ -127,7 +127,7 @@ namespace Motors {
             handler.item("invert_direction", _invert_direction);
 
             handler.item("count_min", _countMin);
-            handler.item("count_max", _countMin);
+            handler.item("count_max", _countMax);
             handler.item("full_time_move", _dynamixelFullTimeMove);
             handler.section("uart", _uart);
 
diff --git a/Grbl_Esp32/src/Motors/Solenoid.h b/Grbl_Esp32/src/Motors/Solenoid.h
index 60b62077..e00164a3 100644
--- a/Grbl_Esp32/src/Motors/Solenoid.h
+++ b/Grbl_Esp32/src/Motors/Solenoid.h
@@ -12,8 +12,9 @@ namespace Motors {
         void init() override;
         void set_disable(bool disable) override;
 
-        float _transition_poiont;
-  protected:
+        float _transition_point;
+
+    protected:
         void config_message() override;
     };
 }