diff --git a/dda.c b/dda.c
index dbb6b32..f1e2143 100644
--- a/dda.c
+++ b/dda.c
@@ -232,6 +232,7 @@ void dda_create(DDA *dda, TARGET *target) {
 		// get steppers ready to go
 		steptimeout = 0;
 		power_on();
+		stepper_enable();
 		x_enable();
 		y_enable();
 		// Z is enabled in dda_start()
diff --git a/gcode_process.c b/gcode_process.c
index e0d17c0..d0e094f 100644
--- a/gcode_process.c
+++ b/gcode_process.c
@@ -377,6 +377,7 @@ void process_gcode_command() {
 
 				timer_stop();
 				queue_flush();
+				stepper_disable();
 				x_disable();
 				y_disable();
 				z_disable();
@@ -395,6 +396,7 @@ void process_gcode_command() {
 				break;
 			// M84- stop idle hold
 			case 84:
+				stepper_disable();
 				x_disable();
 				y_disable();
 				z_disable();
@@ -675,6 +677,7 @@ void process_gcode_command() {
 				//? This one is pointless in Teacup. Implemented to calm the RepRap gurus.
 				//?
 				power_on();
+				stepper_enable();
 				x_enable();
 				y_enable();
 				z_enable();
@@ -690,6 +693,7 @@ void process_gcode_command() {
 					// wait for all moves to complete
 					queue_wait();
 				#endif
+				stepper_disable();
 				x_disable();
 				y_disable();
 				z_disable();
diff --git a/home.c b/home.c
index 62d6fd3..dd646b5 100644
--- a/home.c
+++ b/home.c
@@ -34,6 +34,7 @@ void home() {
 void home_x_negative() {
 	power_on();
 	queue_wait();
+	stepper_enable();
 	x_enable();
 
 	#if defined X_MIN_PIN
@@ -82,6 +83,7 @@ void home_x_negative() {
 void home_x_positive() {
 	power_on();
 	queue_wait();
+	stepper_enable();
 	x_enable();
 
 	#if defined X_MAX_PIN
@@ -130,6 +132,7 @@ void home_x_positive() {
 void home_y_negative() {
 	power_on();
 	queue_wait();
+	stepper_enable();
 	y_enable();
 
 	#if defined Y_MIN_PIN
@@ -178,6 +181,7 @@ void home_y_negative() {
 void home_y_positive() {
 	power_on();
 	queue_wait();
+	stepper_enable();
 	y_enable();
 
 	#if defined Y_MAX_PIN
@@ -226,6 +230,7 @@ void home_y_positive() {
 void home_z_negative() {
 	power_on();
 	queue_wait();
+	stepper_enable();
 	z_enable();
 
 	#if defined Z_MIN_PIN
@@ -275,6 +280,7 @@ void home_z_negative() {
 void home_z_positive() {
 	power_on();
 	queue_wait();
+	stepper_enable();
 	z_enable();
 
 	#if defined Z_MAX_PIN
diff --git a/pinio.c b/pinio.c
index 01c77d4..4e2006d 100644
--- a/pinio.c
+++ b/pinio.c
@@ -2,13 +2,6 @@
 
 void power_on() {
 
-	#ifdef	STEPPER_ENABLE_PIN
-		#ifdef	STEPPER_ENABLE_INVERT
-			WRITE(STEPPER_ENABLE_PIN, 0);
-		#else
-			WRITE(STEPPER_ENABLE_PIN, 1);
-		#endif
-	#endif
 	#ifdef	PS_ON_PIN
 		WRITE(PS_ON_PIN, 0);
 		SET_OUTPUT(PS_ON_PIN);
@@ -17,17 +10,11 @@ void power_on() {
 
 void power_off() {
 
+	stepper_disable();
 	x_disable();
 	y_disable();
 	z_disable();
 
-	#ifdef	STEPPER_ENABLE_PIN
-		#ifdef	STEPPER_ENABLE_INVERT
-			WRITE(STEPPER_ENABLE_PIN, 1);
-		#else
-			WRITE(STEPPER_ENABLE_PIN, 0);
-		#endif
-	#endif
 	#ifdef	PS_ON_PIN
 		SET_INPUT(PS_ON_PIN);
 	#endif
diff --git a/pinio.h b/pinio.h
index c93d1ee..1d9a6d7 100644
--- a/pinio.h
+++ b/pinio.h
@@ -155,6 +155,19 @@ End Step - All Steppers
 Stepper Enable Pins
 */
 
+#ifdef	STEPPER_ENABLE_PIN
+	#ifdef	STEPPER_ENABLE_INVERT
+		#define stepper_enable()	do { WRITE(STEPPER_ENABLE_PIN, 0); } while (0)
+		#define stepper_disable()	do { WRITE(STEPPER_ENABLE_PIN, 1); } while (0)
+	#else
+		#define stepper_enable()	do { WRITE(STEPPER_ENABLE_PIN, 1); } while (0)
+		#define stepper_disable()	do { WRITE(STEPPER_ENABLE_PIN, 0); } while (0)
+	#endif
+#else
+	#define	stepper_enable()		do { } while (0)
+	#define	stepper_disable()		do { } while (0)
+#endif
+
 #ifdef	X_ENABLE_PIN
 	#define	x_enable()					do { WRITE(X_ENABLE_PIN, X_INVERT_ENABLE); SET_OUTPUT(X_ENABLE_PIN); } while (0)
 	#define	x_disable()					do { WRITE(X_ENABLE_PIN, X_INVERT_ENABLE ^ 1); SET_OUTPUT(X_ENABLE_PIN); } while (0)