diff --git a/SphereBot Arduino/SphereBot/SphereBot.ino b/SphereBot Arduino/SphereBot/SphereBot.ino
index 06bef0e..a7cfc1f 100644
--- a/SphereBot Arduino/SphereBot/SphereBot.ino	
+++ b/SphereBot Arduino/SphereBot/SphereBot.ino	
@@ -40,9 +40,9 @@
 
 #define VERSIONCODE "Spherebot 2.0"
 
-StepperModel xAxisStepper(XAXIS_DIR_PIN, XAXIS_STEP_PIN, XAXIS_ENABLE_PIN, XAXIS_ENDSTOP_PIN, XAXIS_MS1_PIN, XAXIS_MS2_PIN, XAXIS_VMS1, XAXIS_VMS2,
+StepperModel xAxisStepper(XAXIS_DIR_PIN, XAXIS_STEP_PIN, XAXIS_ENABLE_PIN, XAXIS_ENDSTOP_PIN, XAXIS_MS1_PIN, XAXIS_MS2_PIN, XAXIS_MS3_PIN, XAXIS_VMS1, XAXIS_VMS2, XAXIS_VMS3,
         XAXIS_MIN_STEPCOUNT, XAXIS_MAX_STEPCOUNT, XAXIS_STEPS_PER_FULL_ROTATION, XAXIS_MICROSTEPPING);
-StepperModel rotationStepper(YAXIS_DIR_PIN, YAXIS_STEP_PIN, YAXIS_ENABLE_PIN, YAXIS_ENDSTOP_PIN, YAXIS_MS1_PIN, YAXIS_MS2_PIN, YAXIS_VMS1, YAXIS_VMS2,
+StepperModel rotationStepper(YAXIS_DIR_PIN, YAXIS_STEP_PIN, YAXIS_ENABLE_PIN, YAXIS_ENDSTOP_PIN, YAXIS_MS1_PIN, YAXIS_MS2_PIN, YAXIS_MS3_PIN, YAXIS_VMS1, YAXIS_VMS2, YAXIS_VMS3,
         YAXIS_MIN_STEPCOUNT, YAXIS_MIN_STEPCOUNT, YAXIS_STEPS_PER_FULL_ROTATION, YAXIS_MICROSTEPPING);
 
 SoftwareServo servo;
diff --git a/SphereBot Arduino/SphereBot/StepperModel.cpp b/SphereBot Arduino/SphereBot/StepperModel.cpp
index bb7fdda..f75ed70 100644
--- a/SphereBot Arduino/SphereBot/StepperModel.cpp	
+++ b/SphereBot Arduino/SphereBot/StepperModel.cpp	
@@ -22,7 +22,7 @@
 /*
  * inEnablePin < 0 => No Endstop
  */
-StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin, bool vms1,bool vms2,
+StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin, int inMs1Pin, int inMs2Pin, int inMs3Pin, bool vms1, bool vms2, bool vms3,
         long minSC, long maxSC,
         double in_kStepsPerRevolution, int in_kMicroStepping)
 {
@@ -35,6 +35,7 @@ StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inE
   endStopPin = inEndStopPin;
   ms1Pin = inMs1Pin;
   ms2Pin = inMs2Pin;
+  ms3Pin = inMs3Pin;
     
   minStepCount=minSC;
   maxStepCount=maxSC;
@@ -44,12 +45,20 @@ StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inE
   pinMode(enablePin, OUTPUT);  
   if(endStopPin>=0)
     pinMode(endStopPin, INPUT); 
-  if((ms1Pin >=0) && (ms2Pin >=0))
+  if((ms1Pin >=0))
   {
-	  pinMode(ms1Pin, OUTPUT);  
-	  pinMode(ms2Pin, OUTPUT); 	
+	  pinMode(ms1Pin, OUTPUT);  	
 	  digitalWrite(ms1Pin, vms1);    
-	  digitalWrite(ms2Pin, vms2);
+  }
+  if((ms2Pin >=0))
+  {
+	  pinMode(ms2Pin, OUTPUT);  	
+	  digitalWrite(ms2Pin, vms1);    
+  }
+  if((ms3Pin >=0))
+  {
+	  pinMode(ms3Pin, OUTPUT);  	
+	  digitalWrite(ms3Pin, vms1);    
   }
 
   digitalWrite(dirPin, LOW);
diff --git a/SphereBot Arduino/SphereBot/StepperModel.h b/SphereBot Arduino/SphereBot/StepperModel.h
index b317dec..99b163e 100644
--- a/SphereBot Arduino/SphereBot/StepperModel.h	
+++ b/SphereBot Arduino/SphereBot/StepperModel.h	
@@ -30,6 +30,8 @@ private:
   int enablePin;
   int ms1Pin;
   int ms2Pin;
+  int ms3Pin;
+  
   int endStopPin;
   
   long minStepCount;
@@ -51,7 +53,7 @@ public:
   volatile long counter;
   double targetPosition;
   
- StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin,bool vms1,bool vms2,
+ StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin, int inMs3Pin, bool vms1, bool vms2, bool vms3,
         long minSC, long maxSC,
         double in_kStepsPerRevolution, int in_kMicroStepping);
   
diff --git a/SphereBot Arduino/SphereBot/config.h b/SphereBot Arduino/SphereBot/config.h
index e36f882..97bfb77 100644
--- a/SphereBot Arduino/SphereBot/config.h	
+++ b/SphereBot Arduino/SphereBot/config.h	
@@ -10,6 +10,7 @@
 #define YAXIS_ENABLE_PIN 21
 #define YAXIS_MS1_PIN -1
 #define YAXIS_MS2_PIN -1
+#define YAXIS_MS3_PIN -1
 #define YAXIS_ENDSTOP_PIN -1     // -1 -> No Endstop
 #define YAXIS_VMS1 HIGH
 #define YAXIS_VMS2 HIGH
@@ -25,6 +26,7 @@
 #define XAXIS_ENABLE_PIN 2
 #define XAXIS_MS1_PIN -1
 #define XAXIS_MS2_PIN -1
+#define XAXIS_MS3_PIN -1
 #define XAXIS_ENDSTOP_PIN -1     // -1 -> No Endstop
 #define XAXIS_VMS1 HIGH
 #define XAXIS_VMS2 HIGH