$21=0 leaves Hard Limits off, because I didn’t see much point in switches on both ends of all the axes for this little bitty machine. $20=1 turns on Soft Limits, thereby producing an error when you (or the G-Code) tries to move beyond the machine’s limits, as defined by the $120 $121 $122 values relative to the Home switch positions. $3=5 reverses the X and Z motor rotation, so you can use the same type of cable on all three axes and have them move the way you’d expect. There’s no force worth mentioning on a diamond scribe when the motors stop, so there’s no reason to keep them energized, and the DRV8825 chips resume from the same microstep when re-enabled.
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