diff --git a/Grbl_Esp32/config.h b/Grbl_Esp32/config.h
index 057affb7..685961e9 100644
--- a/Grbl_Esp32/config.h
+++ b/Grbl_Esp32/config.h
@@ -37,9 +37,10 @@ Some features should not be changed. See notes below.
 
 #ifndef config_h
 #define config_h
-#include "grbl.h" // For Arduino IDE compatibility.
+#include <arduino.h>
 
 //#define ESP_DEBUG
+#define N_AXIS 3 // Number of axes defined
 
 // Define CPU pin map and default settings.
 // NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only
diff --git a/Grbl_Esp32/cpu_map.h b/Grbl_Esp32/cpu_map.h
index a388264a..dcf2239b 100644
--- a/Grbl_Esp32/cpu_map.h
+++ b/Grbl_Esp32/cpu_map.h
@@ -1158,6 +1158,10 @@
 	*/
 	
 	// Be sure to change to N_AXIS 6 in nuts_bolts.h
+	#ifdef N_AXIS
+		#undef N_AXIS
+	#endif
+	#define N_AXIS 6
 	
 	// stepper motors
 	#define USE_RMT_STEPS	
diff --git a/Grbl_Esp32/espresponse.cpp b/Grbl_Esp32/espresponse.cpp
index 827c7452..052c7a17 100644
--- a/Grbl_Esp32/espresponse.cpp
+++ b/Grbl_Esp32/espresponse.cpp
@@ -24,6 +24,8 @@
 #include <WebServer.h>
 #endif
 
+#include "report.h"
+
 #if defined (ENABLE_HTTP) && defined(ENABLE_WIFI)
 ESPResponseStream::ESPResponseStream(WebServer * webserver){
     _header_sent=false;
diff --git a/Grbl_Esp32/nuts_bolts.h b/Grbl_Esp32/nuts_bolts.h
index 81b018f2..fe5edbb1 100644
--- a/Grbl_Esp32/nuts_bolts.h
+++ b/Grbl_Esp32/nuts_bolts.h
@@ -21,6 +21,8 @@
 #ifndef nuts_bolts_h
 #define nuts_bolts_h
 
+#include "config.h"
+
 #define false 0
 #define true 1
 
@@ -29,7 +31,6 @@
 // Axis array index values. Must start with 0 and be continuous.
 // Note: You set the number of axes used by changing N_AXIS.
 // Be sure to define pins or servos in cpu_map.h 
-#define N_AXIS 3 // Number of axes defined
 #define X_AXIS 0 // Axis indexing value.
 #define Y_AXIS 1
 #define Z_AXIS 2
diff --git a/Grbl_Esp32/planner.h b/Grbl_Esp32/planner.h
index b5d08161..c411f245 100644
--- a/Grbl_Esp32/planner.h
+++ b/Grbl_Esp32/planner.h
@@ -24,9 +24,7 @@
  
 #ifndef planner_h
 #define planner_h
- 
- 
- 
+  
 // The number of linear motions that can be in the plan at any give time
 #ifndef BLOCK_BUFFER_SIZE
   #ifdef USE_LINE_NUMBERS
diff --git a/Grbl_Esp32/servo_axis.cpp b/Grbl_Esp32/servo_axis.cpp
index 835c8832..ce4efc1e 100644
--- a/Grbl_Esp32/servo_axis.cpp
+++ b/Grbl_Esp32/servo_axis.cpp
@@ -143,10 +143,11 @@ void servosSyncTask(void *pvParameters)
 
 ServoAxis::ServoAxis(uint8_t axis, uint8_t pin_num, uint8_t channel_num) // constructor
 {
-  _axis = axis;
+	_axis = axis;
 	_pin_num = pin_num;
 	_channel_num = channel_num;	
-	_showError = true; // this will be used to show error only once
+	_showError = true; // this will be used to show calibration error only once
+	_use_mpos = true;  // default is to use the machine position rather than work position
 }
 
 void ServoAxis::init()
diff --git a/Grbl_Esp32/stepper.cpp b/Grbl_Esp32/stepper.cpp
index 7bc6b9c4..d0a98ae2 100644
--- a/Grbl_Esp32/stepper.cpp
+++ b/Grbl_Esp32/stepper.cpp
@@ -437,6 +437,8 @@ void stepper_init()
 		Trinamic_Init();
 	#endif
 	
+	grbl_sendf(CLIENT_SERIAL, "[MSG:Axis count %d]\r\n", N_AXIS);
+	
 	#ifdef USE_RMT_STEPS
 		grbl_send(CLIENT_SERIAL, "[MSG:Using RMT Steps]\r\n");
 		initRMT();