diff --git a/Grbl_Esp32/data/config.yaml b/Grbl_Esp32/data/config.yaml
index 8fb54200..2c162f69 100644
--- a/Grbl_Esp32/data/config.yaml
+++ b/Grbl_Esp32/data/config.yaml
@@ -24,10 +24,13 @@ axes:
       positive_direction: false
       feed_rate: 50.000
       seek_rate: 200.000
+      debounce: 500
+      pulloff: 1.000
     
     gang0:
       endstops:
         dual: gpio.17:low:pu
+        hard_limits: false
       stepstick:
         direction: gpio.14
         step: gpio.12
@@ -44,11 +47,14 @@ axes:
       mpos: 10
       positive_direction: false
       feed_rate: 50.000
-      seek_rate: 500.000
+      seek_rate: 600.000
+      debounce: 500
+      pulloff: 1.500
 
     gang0:
       endstops:
         dual: gpio.4:low:pu
+        hard_limits: false
       stepstick:
         direction: gpio.15
         step: gpio.26
@@ -64,13 +70,16 @@ axes:
       cycle: 1
       mpos: 10
       positive_direction: true
-      feed_rate: 50.000
-      seek_rate: 100.000
+      feed_rate: 30.000
+      seek_rate: 300.000
       locate_scaler: 2.000
+      debounce: 500
+      pulloff: 2.000
 
     gang0:
       endstops:
         dual: gpio.16:low:pu
+        hard_limits: true
       stepstick:
         direction: gpio.33
         step: gpio.27
diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index 783e127b..19dfc36c 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -361,8 +361,10 @@ void limits_enable() {
         for (int gang_index = 0; gang_index < 2; gang_index++) {
             auto gangConfig = config->_axes->_axis[axis]->_gangs[gang_index];
             if (gangConfig->_endstops != nullptr && gangConfig->_endstops->_dual.defined()) {
-                Pin& pin = gangConfig->_endstops->_dual;
-                pin.attachInterrupt(isr_limit_switches, CHANGE, nullptr);
+                if (gangConfig->_endstops->_hardLimits) {
+                    Pin& pin = gangConfig->_endstops->_dual;
+                    pin.attachInterrupt(isr_limit_switches, CHANGE, nullptr);
+                }
             }
         }
     }
diff --git a/Grbl_Esp32/src/Machine/Homing.h b/Grbl_Esp32/src/Machine/Homing.h
index 58b2f840..209efce8 100644
--- a/Grbl_Esp32/src/Machine/Homing.h
+++ b/Grbl_Esp32/src/Machine/Homing.h
@@ -25,15 +25,15 @@ namespace Machine {
     public:
         Homing() = default;
 
-        int   _cycle             = -1;
+        int   _cycle             = -1;  // what homing cycle does this axis home on?
         bool  _square            = false;
         bool  _positiveDirection = true;
         float _mpos              = 0.0f;
-        float _feedRate          = 50.0f;
-        float _seekRate          = 200.0f;
-        float _pulloff           = 1.0f;  // mm
-        int   _debounce          = 10;
-        float _search_scaler     = 1.1f;
+        float _feedRate          = 50.0f;   // pulloff and second touch speed
+        float _seekRate          = 200.0f;  // this first approach speed
+        float _pulloff           = 1.0f;    // mm
+        int   _debounce          = 250;     // ms settling time for homing switches after motion
+        float _search_scaler     = 1.1f;    // multiplied by max travel for max homing distance on first touch
         float _locate_scaler     = 5.0f;
 
         // Configuration system helpers: