diff --git a/config.default.h b/config.default.h
index 0fd13ad..421c24e 100644
--- a/config.default.h
+++ b/config.default.h
@@ -80,6 +80,12 @@
 #define	SEARCH_FEEDRATE_Z			50
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			20
 
diff --git a/config.gen3.h b/config.gen3.h
index 6f77cb1..4ea1230 100644
--- a/config.gen3.h
+++ b/config.gen3.h
@@ -81,6 +81,12 @@
 #define	SEARCH_FEEDRATE_Z			50
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			20
 
diff --git a/config.gen6.h b/config.gen6.h
index d3a46ba..5010312 100644
--- a/config.gen6.h
+++ b/config.gen6.h
@@ -81,6 +81,12 @@
 #define	SEARCH_FEEDRATE_Z			50
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			20
 
diff --git a/config.gen7.h b/config.gen7.h
index 28a8b0f..eadf3a0 100644
--- a/config.gen7.h
+++ b/config.gen7.h
@@ -85,6 +85,12 @@
 #define	SEARCH_FEEDRATE_Z			50
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			289
 
diff --git a/config.ramps-v1.2.h b/config.ramps-v1.2.h
index 9f29d60..b5de929 100644
--- a/config.ramps-v1.2.h
+++ b/config.ramps-v1.2.h
@@ -86,6 +86,12 @@
 #define	SEARCH_FEEDRATE_Z			1
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			0
 
diff --git a/config.ramps-v1.3.h b/config.ramps-v1.3.h
index 75b898c..64266c1 100644
--- a/config.ramps-v1.3.h
+++ b/config.ramps-v1.3.h
@@ -86,6 +86,12 @@
 #define	SEARCH_FEEDRATE_Z			1
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			0
 
diff --git a/config.sanguinololu-v1.1.h b/config.sanguinololu-v1.1.h
index e484f0b..0381190 100644
--- a/config.sanguinololu-v1.1.h
+++ b/config.sanguinololu-v1.1.h
@@ -84,6 +84,12 @@
 #define	SEARCH_FEEDRATE_Z			50
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			20
 
diff --git a/config.sanguinololu-v1.2.h b/config.sanguinololu-v1.2.h
index 4c81a61..d3e0319 100644
--- a/config.sanguinololu-v1.2.h
+++ b/config.sanguinololu-v1.2.h
@@ -84,6 +84,12 @@
 #define	SEARCH_FEEDRATE_Z			50
 // no SEARCH_FEEDRATE_E, as E can't be searched
 
+/** \def SLOW_HOMING
+	wether to search the home point slowly
+		With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define	SLOW_HOMING
+
 /// this is how many steps to suck back the filament by when we stop. set to zero to disable
 #define	E_STARTSTOP_STEPS			20
 
diff --git a/home.c b/home.c
index 82a1914..1c15528 100644
--- a/home.c
+++ b/home.c
@@ -35,15 +35,22 @@ void home_x_negative() {
 	#if defined X_MIN_PIN
 		TARGET t = {0, current_position.Y, current_position.Z};
 
-		// hit home hard
 		t.X = -1000*STEPS_PER_MM_X;
-		t.F = MAXIMUM_FEEDRATE_X;
+		#ifdef SLOW_HOMING
+			// hit home soft
+			t.F = SEARCH_FEEDRATE_X;
+		#else
+			// hit home hard
+			t.F = MAXIMUM_FEEDRATE_X;
+		#endif
 		enqueue_home(&t, 0x1, 1);
 
-		// back off slowly
-		t.X = +1000*STEPS_PER_MM_X;
-		t.F = SEARCH_FEEDRATE_X;
-		enqueue_home(&t, 0x1, 0);
+		#ifndef SLOW_HOMING
+			// back off slowly
+			t.X = +1000*STEPS_PER_MM_X;
+			t.F = SEARCH_FEEDRATE_X;
+			enqueue_home(&t, 0x1, 0);
+		#endif
 
 		// set X home
 		#ifdef X_MIN
@@ -59,15 +66,22 @@ void home_x_positive() {
 	#if defined X_MAX_PIN
 		TARGET t = {0, current_position.Y, current_position.Z};
 
-		// hit home hard
 		t.X = +1000*STEPS_PER_MM_X;
-		t.F = MAXIMUM_FEEDRATE_X;
+		#ifdef SLOW_HOMING
+			// hit home soft
+			t.F = SEARCH_FEEDRATE_X;
+		#else
+			// hit home hard
+			t.F = MAXIMUM_FEEDRATE_X;
+		#endif
 		enqueue_home(t, 0x1, 1);
 
-		// back off slowly
-		t.X = -1000*STEPS_PER_MM_X;
-		t.F = SEARCH_FEEDRATE_X;
-		enqueue_home(t, 0x1, 0);
+		#ifndef SLOW_HOMING
+			// back off slowly
+			t.X = -1000*STEPS_PER_MM_X;
+			t.F = SEARCH_FEEDRATE_X;
+			enqueue_home(t, 0x1, 0);
+		#endif
 
 		// set X home
 		// set position to MAX
@@ -84,15 +98,22 @@ void home_y_negative() {
 	#if defined Y_MIN_PIN
 		TARGET t = {0, current_position.Y, current_position.Z};
 
-		// hit home hard
 		t.Y = -1000*STEPS_PER_MM_Y;
-		t.F = MAXIMUM_FEEDRATE_Y;
+		#ifdef SLOW_HOMING
+			// hit home soft
+			t.F = SEARCH_FEEDRATE_Y;
+		#else
+			// hit home hard
+			t.F = MAXIMUM_FEEDRATE_Y;
+		#endif
 		enqueue_home(&t, 0x2, 1);
 
-		// back off slowly
-		t.Y = +1000*STEPS_PER_MM_Y;
-		t.F = SEARCH_FEEDRATE_Y;
-		enqueue_home(&t, 0x2, 0);
+		#ifndef SLOW_HOMING
+			// back off slowly
+			t.Y = +1000*STEPS_PER_MM_Y;
+			t.F = SEARCH_FEEDRATE_Y;
+			enqueue_home(&t, 0x2, 0);
+		#endif
 
 		// set Y home
 		#ifdef	Y_MIN
@@ -108,15 +129,22 @@ void home_y_positive() {
 	#if defined Y_MAX_PIN
 		TARGET t = {0, current_position.Y, current_position.Z};
 
-		// hit home hard
 		t.Y = +1000*STEPS_PER_MM_Y;
-		t.F = MAXIMUM_FEEDRATE_Y;
+		#ifdef SLOW_HOMING
+			// hit home soft
+			t.F = SEARCH_FEEDRATE_Y;
+		#else
+			// hit home hard
+			t.F = MAXIMUM_FEEDRATE_Y;
+		#endif
 		enqueue_home(&t, 0x2, 1);
 
-		// back off slowly
-		t.X = -1000*STEPS_PER_MM_Y;
-		t.F = SEARCH_FEEDRATE_Y;
-		enqueue_home(&t, 0x2, 0);
+		#ifndef SLOW_HOMING
+			// back off slowly
+			t.X = -1000*STEPS_PER_MM_Y;
+			t.F = SEARCH_FEEDRATE_Y;
+			enqueue_home(&t, 0x2, 0);
+		#endif
 
 		// set Y home
 		// set position to MAX
@@ -133,15 +161,22 @@ void home_z_negative() {
 	#if defined Z_MIN_PIN
 		TARGET t = {current_position.X, current_position.Y, 0};
 
-		// hit home hard
 		t.Z = -1000*STEPS_PER_MM_Z;
-		t.F = MAXIMUM_FEEDRATE_Z;
+		#ifdef SLOW_HOMING
+			// hit home soft
+			t.F = SEARCH_FEEDRATE_Z;
+		#else
+			// hit home hard
+			t.F = MAXIMUM_FEEDRATE_Z;
+		#endif
 		enqueue_home(&t, 0x4, 1);
 
-		// back off slowly
-		t.Z = +1000*STEPS_PER_MM_Z;
-		t.F = SEARCH_FEEDRATE_Z;
-		enqueue_home(&t, 0x4, 0);
+		#ifndef SLOW_HOMING
+			// back off slowly
+			t.Z = +1000*STEPS_PER_MM_Z;
+			t.F = SEARCH_FEEDRATE_Z;
+			enqueue_home(&t, 0x4, 0);
+		#endif
 
 		// set Z home
 		#ifdef Z_MIN
@@ -158,15 +193,22 @@ void home_z_positive() {
 	#if defined Z_MAX_PIN
 		TARGET t = {current_position.X, current_position.Y, 0};
 
-		// hit home hard
 		t.Z = +1000*STEPS_PER_MM_Z;
-		t.F = MAXIMUM_FEEDRATE_Z;
+		#ifdef SLOW_HOMING
+			// hit home soft
+			t.F = SEARCH_FEEDRATE_Z;
+		#else
+			// hit home hard
+			t.F = MAXIMUM_FEEDRATE_Z;
+		#endif
 		enqueue_home(&t, 0x4, 1);
 
-		// back off slowly
-		t.Z = -1000*STEPS_PER_MM_Z;
-		t.F = SEARCH_FEEDRATE_Z;
-		enqueue_home(&t, 0x4, 0);
+		#ifndef SLOW_HOMING
+			// back off slowly
+			t.Z = -1000*STEPS_PER_MM_Z;
+			t.F = SEARCH_FEEDRATE_Z;
+			enqueue_home(&t, 0x4, 0);
+		#endif
 
 		// set Z home
 		// set position to MAX