diff --git a/Firmware/mmu2.cpp b/Firmware/mmu2.cpp
index 37bb72d6a..2f311fe31 100644
--- a/Firmware/mmu2.cpp
+++ b/Firmware/mmu2.cpp
@@ -78,6 +78,19 @@ void MMU2::StopKeepPowered() {
     mmu2Serial.close();
 }
 
+void MMU2::Tune() {
+    switch (lastErrorCode) {
+    case ErrorCode::HOMING_IDLER_FAILED:
+    {
+        // Prompt a menu for different values
+        tuneIdlerStallguardThreshold();
+        break;
+    }
+    default:
+        break;
+    }
+}
+
 void MMU2::Reset(ResetForm level) {
     switch (level) {
     case Software:
@@ -742,6 +755,9 @@ void MMU2::CheckUserInput() {
             break;
         }
         break;
+    case TuneMMU:
+        Tune();
+        break;
     case ResetMMU:
         Reset(ResetPin); // we cannot do power cycle on the MK3
         // ... but mmu2_power.cpp knows this and triggers a soft-reset instead.
diff --git a/Firmware/mmu2.h b/Firmware/mmu2.h
index c5dd5a6df..4488bb92a 100644
--- a/Firmware/mmu2.h
+++ b/Firmware/mmu2.h
@@ -69,6 +69,10 @@ public:
         ErrorSourceNone = 0xFF,
     };
 
+    /// Tune value in MMU registers as a way to recover from errors
+    /// e.g. Idler Stallguard threshold
+    void Tune();
+
     /// Perform a reset of the MMU
     /// @param level physical form of the reset
     void Reset(ResetForm level);
diff --git a/Firmware/mmu2/buttons.h b/Firmware/mmu2/buttons.h
index d24d86f11..81bd0d6ab 100644
--- a/Firmware/mmu2/buttons.h
+++ b/Firmware/mmu2/buttons.h
@@ -17,6 +17,7 @@ enum class ButtonOperations : uint8_t {
     Unload      = 4,
     StopPrint   = 5,
     DisableMMU  = 6,
+    Tune = 7,
 };
 
 /// Button codes + extended actions performed on the printer's side
@@ -29,6 +30,7 @@ enum Buttons : uint8_t {
     ResetMMU,
     StopPrint,
     DisableMMU,
+    TuneMMU, // Printer changes MMU register value
     
     NoButton = 0xff // shall be kept last
 };
diff --git a/Firmware/mmu2/errors_list.h b/Firmware/mmu2/errors_list.h
index fdf4bafeb..cfe7d45cf 100644
--- a/Firmware/mmu2/errors_list.h
+++ b/Firmware/mmu2/errors_list.h
@@ -349,6 +349,7 @@ static const char MSG_BTN_RESET_MMU[] PROGMEM_I1 = ISTR("ResetMMU"); ////MSG_BTN
 static const char MSG_BTN_UNLOAD[] PROGMEM_I1 = ISTR("Unload"); ////MSG_BTN_UNLOAD c=8
 static const char MSG_BTN_STOP[] PROGMEM_I1 = ISTR("Stop"); ////MSG_BTN_STOP c=8
 static const char MSG_BTN_DISABLE_MMU[] PROGMEM_I1 = ISTR("Disable"); ////MSG_BTN_DISABLE_MMU c=8
+static const char MSG_BTN_TUNE_MMU[] PROGMEM_I1 = ISTR("Tune"); ////MSG_BTN_DISABLE_MMU c=8
 static const char MSG_BTN_MORE[] PROGMEM_N1 = "\x06";
 
 // Used to parse the buttons from Btns().
@@ -359,6 +360,7 @@ static const char * const btnOperation[] PROGMEM = {
     _R(MSG_BTN_UNLOAD),
     _R(MSG_BTN_STOP),
     _R(MSG_BTN_DISABLE_MMU),
+    _R(MSG_BTN_TUNE_MMU),
 };
 
 // We have 8 different operations/buttons at this time, so we need at least 4 bits to encode each.
@@ -380,7 +382,7 @@ static const uint8_t errorButtons[] PROGMEM = {
     Btns(ButtonOperations::Continue, ButtonOperations::NoOperation),//LOAD_TO_EXTRUDER_FAILED
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//SELECTOR_CANNOT_HOME
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//SELECTOR_CANNOT_MOVE
-    Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//IDLER_CANNOT_HOME
+    Btns(ButtonOperations::Retry, ButtonOperations::Tune),//IDLER_CANNOT_HOME
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//IDLER_CANNOT_MOVE
 
     Btns(ButtonOperations::Continue, ButtonOperations::ResetMMU),//WARNING_TMC_PULLEY_TOO_HOT
diff --git a/Firmware/mmu2_error_converter.cpp b/Firmware/mmu2_error_converter.cpp
index cfb940bfa..02226797d 100644
--- a/Firmware/mmu2_error_converter.cpp
+++ b/Firmware/mmu2_error_converter.cpp
@@ -207,7 +207,6 @@ Buttons ButtonAvailable(uint16_t ec) {
     case ERR_MECHANICAL_INSPECT_FINDA:
     case ERR_MECHANICAL_SELECTOR_CANNOT_HOME:
     case ERR_MECHANICAL_SELECTOR_CANNOT_MOVE:
-    case ERR_MECHANICAL_IDLER_CANNOT_HOME:
     case ERR_MECHANICAL_IDLER_CANNOT_MOVE:
     case ERR_MECHANICAL_PULLEY_CANNOT_MOVE:
     case ERR_SYSTEM_UNLOAD_MANUALLY:
@@ -219,6 +218,17 @@ Buttons ButtonAvailable(uint16_t ec) {
             break;
         }
         break;
+    case ERR_MECHANICAL_IDLER_CANNOT_HOME:
+        switch (buttonSelectedOperation) {
+        // may be allow move selector right and left in the future
+        case ButtonOperations::Tune: // Tune Stallguard threshold
+            return TuneMMU;
+        case ButtonOperations::Retry: // "Repeat action"
+            return Middle;
+        default:
+            break;
+        }
+        break;
     case ERR_MECHANICAL_LOAD_TO_EXTRUDER_FAILED:
     case ERR_SYSTEM_FILAMENT_EJECTED:
         switch (buttonSelectedOperation) {
diff --git a/Firmware/mmu2_reporting.cpp b/Firmware/mmu2_reporting.cpp
index ea14fdbea..5198c5543 100644
--- a/Firmware/mmu2_reporting.cpp
+++ b/Firmware/mmu2_reporting.cpp
@@ -4,6 +4,7 @@
 #include "mmu2_error_converter.h"
 #include "mmu2/error_codes.h"
 #include "mmu2/buttons.h"
+#include "menu.h"
 #include "ultralcd.h"
 #include "Filament_sensor.h"
 #include "language.h"
@@ -359,4 +360,38 @@ void ScreenClear(){
     lcd_clear();
 }
 
+// These are global while testing this concept
+uint8_t stallGuardValue = 6; // default
+bool tuningDone = false;
+
+void tuneIdlerStallguardThresholdMenu() {
+    constexpr uint8_t maxStallguardThreshold = 7;
+    constexpr uint8_t minStallguardThreshold = 4;
+    MENU_BEGIN();
+    ON_MENU_LEAVE(
+        tuningDone = true;
+        mmu2.WriteRegister(0x19, (uint16_t)stallGuardValue);
+    );
+    MENU_ITEM_BACK_P(_i("Done"));
+    MENU_ITEM_EDIT_int3_P(
+        _i("Idler"),
+        &stallGuardValue,
+        minStallguardThreshold,
+        maxStallguardThreshold
+    );
+    MENU_END();
+}
+
+void tuneIdlerStallguardThreshold() {
+    tuningDone = false;
+    menu_goto(tuneIdlerStallguardThresholdMenu, 0, 0, 0);
+    while(!tuningDone) {
+        manage_heater();
+        // Manage inactivity, but don't disable steppers on timeout.
+        manage_inactivity(true);
+        lcd_update(0);
+    }
+    lcd_return_to_status();
+}
+
 } // namespace MMU2
diff --git a/Firmware/mmu2_reporting.h b/Firmware/mmu2_reporting.h
index 071dd545e..0018e032a 100644
--- a/Firmware/mmu2_reporting.h
+++ b/Firmware/mmu2_reporting.h
@@ -86,4 +86,6 @@ void FullScreenMsgRestoringTemperature();
 void ScreenUpdateEnable();
 void ScreenClear();
 
+void tuneIdlerStallguardThreshold();
+
 } // namespace