diff --git a/Grbl_Esp32/cpu_map.h b/Grbl_Esp32/cpu_map.h
index ca729736..02403fc6 100644
--- a/Grbl_Esp32/cpu_map.h
+++ b/Grbl_Esp32/cpu_map.h
@@ -38,23 +38,29 @@
 	
 	// This is the CPU Map for the ESP32 CNC Controller R2
 	
+	
+	  // It is OK to comment out any step and direction pins. This
+    // won't affect operation except that there will be no output
+		// form the pins. Grbl will virtually move the axis. This could 
+		// be handy if you are using a servo, etc. for another axis.
 		#define X_STEP_PIN      GPIO_NUM_12
 		#define Y_STEP_PIN      GPIO_NUM_14
 		#define Z_STEP_PIN      GPIO_NUM_27
 		#define STEP_MASK       B111 // don't change
 		
-		#define X_STEP_BIT    0 
-		#define Y_STEP_BIT    1 
-		#define Z_STEP_BIT    2   	
+		#define X_STEP_BIT    0  // don't change
+		#define Y_STEP_BIT    1  // don't change
+		#define Z_STEP_BIT    2  // don't change
 		
-		#define X_DIRECTION_BIT   0
-		#define Y_DIRECTION_BIT   1  
-		#define Z_DIRECTION_BIT   2  
+		#define X_DIRECTION_BIT   0 // don't change
+		#define Y_DIRECTION_BIT   1  // don't change
+		#define Z_DIRECTION_BIT   2  // don't change
 		
 		#define X_DIRECTION_PIN   GPIO_NUM_26
 		#define Y_DIRECTION_PIN   GPIO_NUM_25  
 		#define Z_DIRECTION_PIN   GPIO_NUM_33 
 		
+		// OK to comment out to use pin for other features
 		#define STEPPERS_DISABLE_PIN GPIO_NUM_13
 		
 		
@@ -62,8 +68,10 @@
 		// *** Comment it out to use the pin for other features
 		#define COOLANT_FLOOD_PIN 	GPIO_NUM_16			
 		//#define COOLANT_MIST_PIN   	GPIO_NUM_21
-
-		#define SPINDLE_PWM_PIN    GPIO_NUM_17
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		#define SPINDLE_PWM_PIN    GPIO_NUM_17 
 		#define SPINDLE_PWM_CHANNEL 0
 		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
 		#define SPINDLE_PWM_BIT_PRECISION 8
@@ -76,9 +84,9 @@
 		//#define SPINDLE_ENABLE_PIN	GPIO_NUM_16
 		//#define SPINDLE_DIR_PIN			GPIO_NUM_16
 		
-		#define X_LIMIT_BIT      	0  
-		#define Y_LIMIT_BIT      	1 
-		#define Z_LIMIT_BIT     	2 
+		#define X_LIMIT_BIT      	0  // don't change
+		#define Y_LIMIT_BIT      	1  // don't change
+		#define Z_LIMIT_BIT     	2  // don't change
 		
 		#define X_LIMIT_PIN      	GPIO_NUM_2  
 		#define Y_LIMIT_PIN      	GPIO_NUM_4  
diff --git a/Grbl_Esp32/settings.cpp b/Grbl_Esp32/settings.cpp
index 04b4f989..334003c3 100644
--- a/Grbl_Esp32/settings.cpp
+++ b/Grbl_Esp32/settings.cpp
@@ -331,9 +331,7 @@ uint8_t get_step_pin_mask(uint8_t axis_idx)
 
 // Returns direction pin mask according to Grbl internal axis indexing.
 uint8_t get_direction_pin_mask(uint8_t axis_idx)
-{    
-  if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
-  if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
-  return((1<<Z_DIRECTION_BIT));
+{      
+	return(1<<axis_idx);
 }
 
diff --git a/Grbl_Esp32/spindle_control.cpp b/Grbl_Esp32/spindle_control.cpp
index f4cb5b92..14bf6db2 100644
--- a/Grbl_Esp32/spindle_control.cpp
+++ b/Grbl_Esp32/spindle_control.cpp
@@ -32,23 +32,31 @@ void spindle_init()
 		pinMode(SPINDLE_DIR_PIN, OUTPUT);
 	#endif
 	
+	#ifdef SPINDLE_PWM_PIN
     // use the LED control feature to setup PWM   https://esp-idf.readthedocs.io/en/v1.0/api/ledc.html
     ledcSetup(SPINDLE_PWM_CHANNEL, SPINDLE_PWM_BASE_FREQ, SPINDLE_PWM_BIT_PRECISION); // setup the channel
     ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin
-		
+	#endif
+	
     // Start with spindle off off
 	  spindle_stop();
 }
 
 void spindle_stop()
 {		
-  spindle_set_enable(false);	
-	grbl_analogWrite(SPINDLE_PWM_CHANNEL, 0);	
+  spindle_set_enable(false);
+	#ifdef SPINDLE_PWM_PIN
+		grbl_analogWrite(SPINDLE_PWM_CHANNEL, 0);	
+	#endif
 }
 
 uint8_t spindle_get_state()  // returns SPINDLE_STATE_DISABLE, SPINDLE_STATE_CW or SPINDLE_STATE_CCW
 {	  
-  // TODO Update this when direction and enable pin are added 
+  // TODO Update this when direction and enable pin are added
+	#ifndef SPINDLE_PWM_PIN
+		return(SPINDLE_STATE_DISABLE);
+	#endif
+	
 	if (ledcRead(SPINDLE_PWM_CHANNEL) == 0) // Check the PWM value		
 		return(SPINDLE_STATE_DISABLE);
 	else
@@ -66,6 +74,10 @@ uint8_t spindle_get_state()  // returns SPINDLE_STATE_DISABLE, SPINDLE_STATE_CW
 
 void spindle_set_speed(uint8_t pwm_value)
 {	
+	#ifndef SPINDLE_PWM_PIN
+		return;
+	#endif
+
 	#ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
 		spindle_set_enable(true);
 	#else
diff --git a/Grbl_Esp32/stepper.cpp b/Grbl_Esp32/stepper.cpp
index 5bd4b6e0..001d813a 100644
--- a/Grbl_Esp32/stepper.cpp
+++ b/Grbl_Esp32/stepper.cpp
@@ -341,17 +341,31 @@ void stepper_init()
 {	
   	
 	// make the direction pins outputs
-	pinMode(X_DIRECTION_PIN, OUTPUT);
-	pinMode(Y_DIRECTION_PIN, OUTPUT);
-	pinMode(Z_DIRECTION_PIN, OUTPUT);
+	#ifdef X_DIRECTION_PIN
+		pinMode(X_DIRECTION_PIN, OUTPUT);
+	#endif
+	#ifdef Y_DIRECTION_PIN
+		pinMode(Y_DIRECTION_PIN, OUTPUT);
+	#endif
+	#ifdef Z_DIRECTION_PIN
+		pinMode(Z_DIRECTION_PIN, OUTPUT);
+	#endif
 	
-	// make the step pins outputs
-	pinMode(X_STEP_PIN, OUTPUT);
-	pinMode(Y_STEP_PIN, OUTPUT);
-	pinMode(Z_STEP_PIN, OUTPUT);	
+	// make the step pins outputs	
+	#ifdef  X_STEP_PIN
+		pinMode(X_STEP_PIN, OUTPUT);
+	#endif
+	#ifdef Y_STEP_PIN
+		pinMode(Y_STEP_PIN, OUTPUT);
+	#endif
+	#ifdef Z_STEP_PIN
+		pinMode(Z_STEP_PIN, OUTPUT);	
+	#endif
 	
 	// make the stepper disable pin an output
-  pinMode(STEPPERS_DISABLE_PIN, OUTPUT);
+	#ifdef STEPPERS_DISABLE_PIN
+		pinMode(STEPPERS_DISABLE_PIN, OUTPUT);
+	#endif
 
  // setup stepper timer interrupt
  
@@ -444,17 +458,30 @@ void st_reset()
 void set_direction_pins_on(uint8_t onMask)
 {  
 	// inverts are applied in step generation
-  digitalWrite(X_DIRECTION_PIN, (onMask & (1<<X_AXIS)));
-  digitalWrite(Y_DIRECTION_PIN, (onMask & (1<<Y_AXIS)));
-  digitalWrite(Z_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
+	#ifdef X_DIRECTION_PIN
+		digitalWrite(X_DIRECTION_PIN, (onMask & (1<<X_AXIS)));
+	#endif
+	#ifdef Y_DIRECTION_PIN
+		digitalWrite(Y_DIRECTION_PIN, (onMask & (1<<Y_AXIS)));
+	#endif
+  #ifdef Z_DIRECTION_PIN
+		digitalWrite(Z_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
+	#endif
 }
 
 void set_stepper_pins_on(uint8_t onMask)
 {		
 		onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
-		digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
-		digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
-		digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
+		
+		#ifdef X_STEP_PIN
+			digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
+		#endif
+		#ifdef Y_STEP_PIN
+			digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
+		#endif
+		#ifdef Z_STEP_PIN
+			digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
+		#endif
 }
 
 
@@ -1027,7 +1054,10 @@ void IRAM_ATTR Stepper_Timer_Stop()
 void set_stepper_disable(uint8_t isOn)  // isOn = true // to disable
 { 
   if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { isOn = !isOn; } // Apply pin invert.
-  digitalWrite(STEPPERS_DISABLE_PIN, isOn );
+	
+	#ifdef STEPPERS_DISABLE_PIN
+		digitalWrite(STEPPERS_DISABLE_PIN, isOn );
+	#endif
 }