diff --git a/Grbl_Esp32/data/config.yaml b/Grbl_Esp32/data/config.yaml
index a7aacc03..c499822b 100644
--- a/Grbl_Esp32/data/config.yaml
+++ b/Grbl_Esp32/data/config.yaml
@@ -19,6 +19,7 @@ axes:
     acceleration: 25
     max_travel: 1000
     homing:
+      cycle: 2
       mpos: 10
       positive_direction: false
     
@@ -37,6 +38,7 @@ axes:
     acceleration: 25
     max_travel: 1000
     homing:
+      cycle: 2
       mpos: 10
       positive_direction: false
 
@@ -55,6 +57,7 @@ axes:
     acceleration: 25
     max_travel: 1000
     homing:
+      cycle: 1
       mpos: 10
       positive_direction: true
 
diff --git a/Grbl_Esp32/src/Machine/Axes.cpp b/Grbl_Esp32/src/Machine/Axes.cpp
index e4c5bb9c..01f64664 100644
--- a/Grbl_Esp32/src/Machine/Axes.cpp
+++ b/Grbl_Esp32/src/Machine/Axes.cpp
@@ -39,30 +39,24 @@ namespace Machine {
         }
     }
 
-    void Axes::set_disable(bool disable) {
-        static bool previous_state = true;
-
-        //info_serial("Motors disable %d", disable);
-
-        /*
-    if (previous_state == disable) {
-        return;
-    }
-    previous_state = disable;
-*/
-
-        // now loop through all the motors to see if they can individually disable
-        for (int axis = 0; axis < _numberAxis; axis++) {
-            for (int gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
-                auto a = _axis[axis]->_gangs[gang_index]->_motor;
-                a->set_disable(disable);
-            }
+    void Axes::set_disable(int axis, bool disable) {
+        for (int gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
+            auto a = _axis[axis]->_gangs[gang_index]->_motor;
+            a->set_disable(disable);
         }
 
         // invert only inverts the global stepper disable pin.
         _sharedStepperDisable.write(disable);
     }
 
+    void Axes::set_disable(bool disable) {
+        for (int axis = 0; axis < _numberAxis; axis++) {
+            set_disable(axis, disable);
+        }
+
+        _sharedStepperDisable.write(disable);
+    }
+
     void Axes::read_settings() {
         //info_serial("Read Settings");
         for (uint8_t axis = X_AXIS; axis < _numberAxis; axis++) {
@@ -197,16 +191,14 @@ namespace Machine {
         handler.item("number_axis", _numberAxis);
         handler.item("shared_stepper_disable", _sharedStepperDisable);
 
-        const char* allAxis = "xyzabc";
-
         char tmp[3];
         tmp[2] = '\0';
 
-        for (size_t a = 0; a < MAX_NUMBER_AXIS; ++a) {
-            tmp[0] = allAxis[a];
+        for (size_t i = 0; i < MAX_NUMBER_AXIS; ++i) {
+            tmp[0] = tolower(_names[i]);
             tmp[1] = '\0';
 
-            handler.section(tmp, _axis[a]);
+            handler.section(tmp, _axis[i]);
         }
     }
 
diff --git a/Grbl_Esp32/src/Machine/Axes.h b/Grbl_Esp32/src/Machine/Axes.h
index 004bdf94..7d72fb4f 100644
--- a/Grbl_Esp32/src/Machine/Axes.h
+++ b/Grbl_Esp32/src/Machine/Axes.h
@@ -27,11 +27,14 @@ namespace Motors {
 
 namespace Machine {
     class Axes : public Configuration::Configurable {
-        static const int MAX_NUMBER_AXIS = 6;
+        static const int             MAX_NUMBER_AXIS = 6;
+        static constexpr const char* _names          = "XYZABC";
 
     public:
         Axes();
 
+        inline char axisName(int index) { return index < MAX_NUMBER_AXIS ? _names[index] : '?'; }
+
         Pin _sharedStepperDisable;
 
         int   _numberAxis = 3;
@@ -68,6 +71,7 @@ namespace Machine {
 
         // The return value is a bitmask of axes that can home
         uint8_t set_homing_mode(uint8_t homing_mask, bool isHoming);
+        void    set_disable(int axis, bool disable);
         void    set_disable(bool disable);
         void    step(uint8_t step_mask, uint8_t dir_mask);
         void    unstep();
diff --git a/Grbl_Esp32/src/ProcessSettings.cpp b/Grbl_Esp32/src/ProcessSettings.cpp
index 4c32fd3e..99a47011 100644
--- a/Grbl_Esp32/src/ProcessSettings.cpp
+++ b/Grbl_Esp32/src/ProcessSettings.cpp
@@ -5,6 +5,7 @@
 #include "Configuration/AfterParse.h"
 #include "Configuration/Validator.h"
 #include "Configuration/ParseException.h"
+#include "Machine/Axes.h"
 #include "Regex.h"
 #include "WebUI/Authentication.h"
 #include "WebUI/WifiConfig.h"
@@ -420,36 +421,30 @@ Error listErrors(const char* value, WebUI::AuthenticationLevel auth_level, WebUI
 }
 
 Error motor_disable(const char* value, WebUI::AuthenticationLevel auth_level, WebUI::ESPResponseStream* out) {
-    char* s;
-    if (value == NULL) {
-        value = "\0";
+    while (value && isspace(*value)) {
+        ++value;
+    }
+    if (!value || *value == '\0') {
+        info_all("Disabling all motors");
+        config->_axes->set_disable(true);
+        return Error::Ok;
     }
 
-    s = strdup(value);
-    s = trim(s);
+    auto axes = config->_axes;
 
-    int32_t convertedValue;
-    char*   endptr;
-    if (*s == '\0') {
-        convertedValue = 255;  // all axes
-    } else {
-        convertedValue = strtol(s, &endptr, 10);
-        if (endptr == s || *endptr != '\0') {
-            // Try to convert as an axis list
-            convertedValue = 0;
-            auto axisNames = String("XYZABC");
-            while (*s) {
-                int index = axisNames.indexOf(toupper(*s++));
-                if (index < 0) {
-                    return Error::BadNumberFormat;
-                }
-                convertedValue |= bit(index);
-            }
+    if (axes->_sharedStepperDisable.defined()) {
+        info_all("Cannot disable individual axes with a shared disable pin");
+        return Error::InvalidStatement;
+    }
+
+    for (int i = 0; i < config->_axes->_numberAxis; i++) {
+        char axisName = axes->axisName(i);
+
+        if (strchr(value, axisName) || strchr(value, tolower(axisName))) {
+            info_all("Disabling %c motors", axisName);
+            axes->set_disable(i, true);
         }
     }
-#ifdef LATER
-    motors_set_disable(true, convertedValue);
-#endif
     return Error::Ok;
 }
 
diff --git a/Grbl_Esp32/src/Report.cpp b/Grbl_Esp32/src/Report.cpp
index e9870251..ee570f49 100644
--- a/Grbl_Esp32/src/Report.cpp
+++ b/Grbl_Esp32/src/Report.cpp
@@ -877,25 +877,6 @@ char* report_state_text() {
     return state;
 }
 
-char report_get_axis_letter(uint8_t axis) {
-    switch (axis) {
-        case X_AXIS:
-            return 'X';
-        case Y_AXIS:
-            return 'Y';
-        case Z_AXIS:
-            return 'Z';
-        case A_AXIS:
-            return 'A';
-        case B_AXIS:
-            return 'B';
-        case C_AXIS:
-            return 'C';
-        default:
-            return '?';
-    }
-}
-
 char* reportAxisLimitsMsg(uint8_t axis) {
     static char msg[40];
     sprintf(msg, "Limits(%0.3f,%0.3f)", limitsMinPosition(axis), limitsMaxPosition(axis));
@@ -904,13 +885,13 @@ char* reportAxisLimitsMsg(uint8_t axis) {
 
 char* reportAxisNameMsg(uint8_t axis, uint8_t dual_axis) {
     static char name[10];
-    sprintf(name, "%c%c Axis", report_get_axis_letter(axis), dual_axis ? '2' : ' ');
+    sprintf(name, "%c%c Axis", config->_axes->axisName(axis), dual_axis ? '2' : ' ');
     return name;
 }
 
 char* reportAxisNameMsg(uint8_t axis) {
     static char name[10];
-    sprintf(name, "%c  Axis", report_get_axis_letter(axis));
+    sprintf(name, "%c  Axis", config->_axes->axisName(axis));
     return name;
 }
 
diff --git a/Grbl_Esp32/src/Report.h b/Grbl_Esp32/src/Report.h
index 8200e335..986c4dd9 100644
--- a/Grbl_Esp32/src/Report.h
+++ b/Grbl_Esp32/src/Report.h
@@ -143,7 +143,6 @@ void report_machine_type(uint8_t client);
 void report_hex_msg(char* buf, const char* prefix, int len);
 void report_hex_msg(uint8_t* buf, const char* prefix, int len);
 
-char  report_get_axis_letter(uint8_t axis);
 char* reportAxisLimitsMsg(uint8_t axis);
 char* reportAxisNameMsg(uint8_t axis);
 char* reportAxisNameMsg(uint8_t axis, uint8_t dual_axis);
diff --git a/Grbl_Esp32/src/Spindles/H2ASpindle.cpp b/Grbl_Esp32/src/Spindles/H2ASpindle.cpp
index cf0050fc..14746b8c 100644
--- a/Grbl_Esp32/src/Spindles/H2ASpindle.cpp
+++ b/Grbl_Esp32/src/Spindles/H2ASpindle.cpp
@@ -31,12 +31,7 @@
 #include "../Report.h"  // info_serial
 
 namespace Spindles {
-    H2A::H2A() : VFD() {
-#ifdef LATER
-        _baudrate = 19200;
-        _parity   = Uart::Parity::Even;
-#endif
-    }
+    H2A::H2A() : VFD() {}
 
     void H2A::direction_command(SpindleState mode, ModbusCommand& data) {
         data.tx_length = 6;
diff --git a/Grbl_Esp32/src/WebUI/WebSettings.cpp b/Grbl_Esp32/src/WebUI/WebSettings.cpp
index 2882d7dd..f5b28829 100644
--- a/Grbl_Esp32/src/WebUI/WebSettings.cpp
+++ b/Grbl_Esp32/src/WebUI/WebSettings.cpp
@@ -374,14 +374,14 @@ namespace WebUI {
             webPrintln("Incorrect command");
             return Error::InvalidValue;
         }
-        info_all("Restart ongoing");
+        info_all("Restarting");
         COMMANDS::restart_ESP();
         return Error::Ok;
     }
 
     static Error restart(char* parameter, AuthenticationLevel auth_level) {
         parameter = trim(parameter);
-        info_all("Restart ongoing");
+        info_all("Restarting");
         COMMANDS::restart_ESP();
         return Error::Ok;
     }