Endstop configuration reference

This is the complete V1 and V2 setting table for the Endstops module. If you are setting up the switches for the first time, start with the Endstops guide; come back here when you need the exact name or behavior of an option.

An endstop gives the machine a known limit #

V1 Setting	V2 Setting	Description
	Always enabled if configured in v2	Master enable switch for the traditional root-level endstop configuration method. When set to true, Smoothieware loads endstop configuration using the , , syntax. In v2, endstops are always enabled if configured.
		Enables CoreXY-specific homing behavior. When enabled, X and Y axes home individually (one at a time) rather than simultaneously, and both motors stop when either endstop is triggered. CRITICAL: Must be enabled for CoreXY and H-Bot kinematics to prevent incorrect homing behavior.
		Enables linear delta robot homing behavior. When enabled, G28 homes all three towers simultaneously by moving the Z axis, and all three tower endstops (alpha, beta, gamma) must trigger during homing. Applies trim values to correct for endstop position variations. CRITICAL: Must be enabled for linear delta kinematics.
		Enables rotary delta robot homing behavior. Similar to linear delta, but endstop positions represent actuator angles (in degrees), not cartesian coordinates. CRITICAL: Must be enabled for rotary delta kinematics.
		Enables SCARA robot arm homing behavior. When enabled, disables the arm solution during homing (homes in actuator space, not cartesian space). Resets arms to plausible minimum angles (-30, 30, 0) before homing to prevent extreme positions. CRITICAL: Must be enabled for SCARA kinematics.
		Specifies a custom homing order, forcing axes to home one at a time in the specified sequence. Must be 3-6 characters specifying axis letters (XYZABC) in the desired order. IMPORTANT: Any axis not specified in the string will NOT be homed. XYZ — home X, then Y, then Z ZXY — Z first XYZAB — for machines with A and B axes
		Controls whether the Z axis homes before or after the X and Y axes. false (default): X and Y home first (simultaneously), then Z homes. true: Z homes first, then X and Y home (simultaneously). Useful for machines with auto bed leveling probes that need Z clearance before XY movement.
		Controls whether the machine automatically moves to the origin (0,0 or 0,0,0) after homing completes. Cartesian default: false — stay at homed position (endstop location) Delta default: true — move to origin (deltas are typically not at 0,0 after homing due to trim)
	Not documented in v2	If enabled, moves to a predefined park position after homing instead of moving to origin. The park position is set using G28.1. IMPORTANT: Mutually exclusive with . Position is saved to config-override if M500 is used after G28.1.
		Number of consecutive reads required to confirm a limit switch trigger — provides debouncing for limit switches (not homing endstops). IMPORTANT: Only used for limit switches (when <axis>_limit_enable is true). Higher values provide more filtering but slower response to limit triggers. Default of 100 is suitable for most mechanical switches.
		Debounce time in milliseconds for homing endstops. When an endstop is triggered during homing, it must remain triggered for this duration before being accepted as a valid trigger. IMPORTANT: Only used for homing endstops during G28. Optical endstops typically use 0 (no debounce needed due to clean switching) Mechanical switches typically use 1-5ms
		DELTA/SCARA ONLY. Software trim for the alpha tower/joint endstop, compensating for small variations in endstop positions between towers. Positive values move the effective endstop position toward the endstop (shortens the tower) Negative values move away from the endstop (lengthens the tower) Units are millimeters for linear deltas, degrees for rotary deltas. Set via M666 X## command.
		DELTA/SCARA ONLY. Software trim for the beta tower/joint endstop, compensating for small variations in endstop positions between towers. Positive values move the effective endstop position toward the endstop (shortens the tower) Negative values move away from the endstop (lengthens the tower) Units are millimeters for linear deltas, degrees for rotary deltas. Set via M666 Y## command.
		DELTA/SCARA ONLY. Software trim for the gamma tower/joint endstop, compensating for small variations in endstop positions between towers. Positive values move the effective endstop position toward the endstop (shortens the tower) Negative values move away from the endstop (lengthens the tower) Units are millimeters for linear deltas, degrees for rotary deltas. Set via M666 Z## command.
		Alpha (X axis or alpha tower) minimum limit endstop pin. Set to nc if not installed on your machine. Example: 1.24^
		Alpha (X axis or alpha tower) maximum limit endstop pin. Set to nc if not installed on your machine. Example: 1.25^
		In which direction to home. home_to_min: homing (using the G28 G-code) moves until it hits the minimum endstop, then sets the current position to . home_to_max: homing moves until it hits the maximum endstop, then sets the current position to .
		This gets loaded after homing when is set to home_to_min and the minimum endstop is hit. NOTE: the homing offset is added to this with M206 Xnnn.
		This gets loaded after homing when is set to home_to_max and the maximum endstop is hit.
		This determines how far the X axis can travel looking for the endstop before it gives up. CRITICAL: Set this value larger than your actual machine travel distance to prevent false failures.
		If set to true, the machine will stop if one of the alpha (X axis or alpha tower) endstops are hit during normal operation. Machine halts and enters ALARM state.
		Speed, in millimetres/second, at which to home for the alpha actuator (X axis or alpha tower). This is the first phase of the two-stage homing process.
		Speed, in millimetres/second, at which to re-home for the alpha actuator (X axis or alpha tower) once the endstop has been hit once — the precision phase of the two-stage homing process. Slower speeds provide more accurate and repeatable homing positions.
		Distance to retract the alpha actuator (X axis or alpha tower) once the endstop is first hit, before re-homing at a slower speed. Must be large enough to fully release the endstop switch.
		Beta (Y axis or beta tower) minimum limit endstop pin. Set to nc if not installed on your machine. Example: 1.26^
		Beta (Y axis or beta tower) maximum limit endstop pin. Set to nc if not installed on your machine. Example: 1.27^
		In which direction to home. home_to_min: homing (using the G28 G-code) moves until it hits the minimum endstop, then sets the current position to . home_to_max: homing moves until it hits the maximum endstop, then sets the current position to .
		This gets loaded after homing when is set to home_to_min and the minimum endstop is hit.
		This gets loaded after homing when is set to home_to_max and the maximum endstop is hit.
		This determines how far the Y axis can travel looking for the endstop before it gives up. CRITICAL: Set this value larger than your actual machine travel distance to prevent false failures.
		If set to true, the machine will stop if one of the beta (Y axis or beta tower) endstops are hit during normal operation. Machine halts and enters ALARM state.
		Speed, in millimetres/second, at which to home for the beta actuator (Y axis or beta tower). This is the first phase of the two-stage homing process.
		Speed, in millimetres/second, at which to re-home for the beta actuator (Y axis or beta tower) once the endstop has been hit once — the precision phase of the two-stage homing process. Slower speeds provide more accurate and repeatable homing positions.
		Distance to retract the beta actuator (Y axis or beta tower) once the endstop is first hit, before re-homing at a slower speed. Must be large enough to fully release the endstop switch.
		Gamma (Z axis or gamma tower) minimum limit endstop pin. Set to nc if not installed on your machine. Example: 1.28^
		Gamma (Z axis or gamma tower) maximum limit endstop pin. Set to nc if not installed on your machine. Example: 1.29^
		In which direction to home. home_to_min: homing (using the G28 G-code) moves until it hits the minimum endstop, then sets the current position to . home_to_max: homing moves until it hits the maximum endstop, then sets the current position to .
		This gets loaded after homing when is set to home_to_min and the minimum endstop is hit.
		This gets loaded after homing when is set to home_to_max and the maximum endstop is hit.
		This determines how far the Z axis can travel looking for the endstop before it gives up. CRITICAL: Set this value larger than your actual machine travel distance to prevent false failures.
		If set to true, the machine will stop if one of the gamma (Z axis or gamma tower) endstops are hit during normal operation. Machine halts and enters ALARM state.
		Speed, in millimetres/second, at which to home for the gamma actuator (Z axis or gamma tower) — the first phase of the two-stage homing process. The Z-axis typically uses a slower rate (4-10 mm/s) for safety, to prevent bed crashes.
		Speed, in millimetres/second, at which to re-home for the gamma actuator (Z axis or gamma tower) once the endstop has been hit once — the precision phase of the two-stage homing process. The Z-axis often uses the slowest rate (1-5 mm/s) for maximum precision.
		Distance to retract the gamma actuator (Z axis or gamma tower) once the endstop is first hit, before re-homing at a slower speed. The Z-axis often uses smaller values (1-3 mm) to minimize travel, but the value must still be large enough to fully release the endstop switch.

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