diff --git a/SphereBot Arduino/SphereBot/StepperModel.cpp b/SphereBot Arduino/SphereBot/StepperModel.cpp
index 69ff40e..bb7fdda 100644
--- a/SphereBot Arduino/SphereBot/StepperModel.cpp	
+++ b/SphereBot Arduino/SphereBot/StepperModel.cpp	
@@ -42,16 +42,18 @@ StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inE
   pinMode(dirPin, OUTPUT);  
   pinMode(stepPin, OUTPUT);  
   pinMode(enablePin, OUTPUT);  
-  pinMode(ms1Pin, OUTPUT);  
-  pinMode(ms2Pin, OUTPUT); 
   if(endStopPin>=0)
-    pinMode(endStopPin, INPUT);  
+    pinMode(endStopPin, INPUT); 
+  if((ms1Pin >=0) && (ms2Pin >=0))
+  {
+	  pinMode(ms1Pin, OUTPUT);  
+	  pinMode(ms2Pin, OUTPUT); 	
+	  digitalWrite(ms1Pin, vms1);    
+	  digitalWrite(ms2Pin, vms2);
+  }
 
   digitalWrite(dirPin, LOW);
   digitalWrite(stepPin, LOW);
-    
-  digitalWrite(ms1Pin, vms1);    
-  digitalWrite(ms2Pin, vms2);
  
   currentStepcount=0;
   targetStepcount=0;
diff --git a/SphereBot Arduino/SphereBot/config.h b/SphereBot Arduino/SphereBot/config.h
index 52a09d7..45e708a 100644
--- a/SphereBot Arduino/SphereBot/config.h	
+++ b/SphereBot Arduino/SphereBot/config.h	
@@ -2,6 +2,8 @@
  * PINS
  */
  
+	//ms1 and ms2 are optional. You can simply make these settings by hardwiring the pins to high or low
+ 
    /*  ms1  |  ms2
     ----------------
       L    |  L        ->  Full Step
@@ -18,16 +20,15 @@
 #define YAXIS_DIR_PIN 14
 #define YAXIS_STEP_PIN 15
 #define YAXIS_ENABLE_PIN 21
-#define YAXIS_MS1_PIN 19      //don´t make this connection!! ADC6 and ADC7 can not be used as a digital pin ( I made the pull up connection manually)
-#define YAXIS_MS2_PIN 28
-//#define YAXIS_MS3_PIN 18
+#define YAXIS_MS1_PIN -1      //ADC6 and ADC7 can not be used as a digital pin ( I made the pull up connection manually)
+#define YAXIS_MS2_PIN -1
 #define YAXIS_ENDSTOP_PIN -1    //13    
 
 #define XAXIS_DIR_PIN 10
 #define XAXIS_STEP_PIN 8
 #define XAXIS_ENABLE_PIN 2
-#define XAXIS_MS1_PIN 3
-#define XAXIS_MS2_PIN 4
+#define XAXIS_MS1_PIN -1
+#define XAXIS_MS2_PIN -1
 #define XAXIS_ENDSTOP_PIN -1 // <0 0> No Endstop!
 
 #define SERVO_PIN 13
@@ -37,8 +38,8 @@
  */
 
 #define DEFAULT_PEN_UP_POSITION 35
-#define XAXIS_MIN_STEPCOUNT -5.6*230000
-#define XAXIS_MAX_STEPCOUNT 5*230000
+#define XAXIS_MIN_STEPCOUNT -5.6*230000		//max and min Values are not used by the firmware right now
+#define XAXIS_MAX_STEPCOUNT 5*230000		//
 #define DEFAULT_ZOOM_FACTOR 0.1808 // With a Zoom-Faktor of .65, I can print gcode for Makerbot Unicorn without changes. 
                                // The zoom factor can be also manipulated by the propretiary code M402