Thanks for that, but I think I need to restate the original question. My problem is that if the motor spins the "wrong" way, then the limit switches don't work because it hits the positive limit while moving negatively and vica-versa. The "polarity_PH_AB" can be used to correct this, but it effects all three axes. My question is: is there a way to control this on a per-axis basis? Say I have one axis where the motor spins the wrong way (or if you prefer where the max and min limits are reversed), but the other two axes are OK, is there anything I can do in software?