diff --git a/README.md b/README.md
index 7b97501..f760421 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20230907, see the [changelog](changelog.md) for details.  
+Latest build date is 20230919, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update of builds earlier than 20230125. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in build 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  
diff --git a/changelog.md b/changelog.md
index aa4fae0..83522bf 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,5 +1,24 @@
 ## grblHAL changelog
 
+<a name="20230919"/>Build 20230919
+
+Core:
+
+* Added setting option to _$21 - Hard limit enable_ to enable exception for rotary axes.
+
+Plugins:
+
+* Spindle: fix for {issue #22](https://github.com/grblHAL/Plugins_spindle/issues/22), H100 VFD driver not working.
+
+Drivers:
+
+* Simulator: updates for core changes and for using native libraries for Windows build. Linux and Windows executables can now be built using the [Web Builder](http://svn.io-engineering.com:8080/?driver=Simulator).
+
+* STM32F1xx, STM32F4xx, LPC176x, RP2040: now keeps motor enable signals high until startup is completed to avoid current surges with Trinamic drivers.
+Ref [RP2040 issue #74](https://github.com/grblHAL/RP2040/issues/74)
+
+---
+
 <a name="20230917"/>Build 20230917
 
 Core:
diff --git a/config.h b/config.h
index ae8846e..d013d2c 100644
--- a/config.h
+++ b/config.h
@@ -919,6 +919,9 @@ not throw an alarm message.
 #if !defined DEFAULT_CHECK_LIMITS_AT_INIT || defined __DOXYGEN__
 #define DEFAULT_CHECK_LIMITS_AT_INIT Off
 #endif
+#if !defined DEFAULT_HARD_LIMITS_DISABLE_FOR_ROTARY || defined __DOXYGEN__
+#define DEFAULT_HARD_LIMITS_DISABLE_FOR_ROTARY Off
+#endif
 
 /*! @name Group_Limits_DualAxis
 \brief Dual axis limits settings (Group_Limits_DualAxis)
diff --git a/grbl.h b/grbl.h
index 0c282f0..f0c9d44 100644
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230917
+#define GRBL_BUILD 20230919
 
 #define GRBL_URL "https://github.com/grblHAL"
 
diff --git a/machine_limits.c b/machine_limits.c
index 0b16f63..8f75a71 100644
--- a/machine_limits.c
+++ b/machine_limits.c
@@ -87,6 +87,11 @@ ISR_CODE void ISR_FUNC(limit_interrupt_handler)(limit_signals_t state) // DEFAUL
     // locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
     // limit setting if their limits are constantly triggering after a reset and move their axes.
 
+#if N_AXIS > 3
+    if((limit_signals_merge(state).value & sys.hard_limits.mask) == 0)
+        return;
+#endif
+
     memcpy(&sys.last_event.limits, &state, sizeof(limit_signals_t));
 
     if (!(state_get() & (STATE_ALARM|STATE_ESTOP)) && !sys.rt_exec_alarm) {
diff --git a/motion_control.c b/motion_control.c
index 3449b9d..4febedc 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -954,7 +954,9 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
 
     system_add_rt_report(Report_Homed);
 
-    homed_status = settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value
+    homed_status = settings.limits.flags.hard_enabled &&
+                    settings.limits.flags.check_at_init &&
+                     (limit_signals_merge(hal.limits.get_state()).value & sys.hard_limits.mask)
                     ? Status_LimitsEngaged
                     : Status_OK;
 
diff --git a/protocol.c b/protocol.c
index bc10593..65daac8 100644
--- a/protocol.c
+++ b/protocol.c
@@ -149,7 +149,9 @@ bool protocol_main_loop (void)
         // blocks from crashing into things uncontrollably. Very bad.
         system_raise_alarm(Alarm_HomingRequired);
         grbl.report.feedback_message(Message_HomingCycleRequired);
-    } else if (settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value) {
+    } else if (settings.limits.flags.hard_enabled &&
+                settings.limits.flags.check_at_init &&
+                 (limit_signals_merge(hal.limits.get_state()).value & sys.hard_limits.mask)) {
         if(sys.alarm == Alarm_LimitsEngaged && hal.control.get_state().limits_override)
             state_set(STATE_IDLE); // Clear alarm state to enable limit switch pulloff.
         else {
diff --git a/settings.c b/settings.c
index c0cbf63..55b2f8c 100644
--- a/settings.c
+++ b/settings.c
@@ -143,6 +143,7 @@ PROGMEM const settings_t defaults = {
     .limits.flags.soft_enabled = DEFAULT_SOFT_LIMIT_ENABLE,
     .limits.flags.jog_soft_limited = DEFAULT_JOG_LIMIT_ENABLE,
     .limits.flags.check_at_init = DEFAULT_CHECK_LIMITS_AT_INIT,
+    .limits.flags.hard_disabled_rotary = DEFAULT_HARD_LIMITS_DISABLE_FOR_ROTARY,
     .limits.flags.two_switches = DEFAULT_LIMITS_TWO_SWITCHES_ON_AXES,
     .limits.invert.mask = DEFAULT_LIMIT_SIGNALS_INVERT_MASK,
     .limits.disable_pullup.mask = DEFAULT_LIMIT_SIGNALS_PULLUP_DISABLE_MASK,
@@ -467,7 +468,11 @@ PROGMEM static const setting_detail_t setting_detail[] = {
      { Setting_ProbePullUpDisable, Group_Probing, "Pullup disable probe pin", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_probe_disable_pullup, get_int, is_setting_available },
      { Setting_SoftLimitsEnable, Group_Limits, "Soft limits enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_soft_limits_enable, get_int, NULL },
 #if COMPATIBILITY_LEVEL <= 1
+  #if N_AXIS > 3
+     { Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_XBitfield, "Enable,Strict mode,Disable for rotary axes", NULL, NULL, Setting_IsExpandedFn, set_hard_limits_enable, get_int, NULL },
+  #else
      { Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_XBitfield, "Enable,Strict mode", NULL, NULL, Setting_IsExpandedFn, set_hard_limits_enable, get_int, NULL },
+  #endif
 #else
      { Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_hard_limits_enable, get_int, NULL },
 #endif
@@ -1062,12 +1067,28 @@ static status_code_t set_offset_lock (setting_id_t id, uint_fast16_t int_value)
     return Status_OK;
 }
 
+static inline void tmp_set_hard_limits (void)
+{
+    sys.hard_limits.mask = settings.limits.flags.hard_enabled ? AXES_BITMASK : 0;
+  #if N_AXIS > 3
+    if(settings.limits.flags.hard_disabled_rotary)
+        sys.hard_limits.mask &= ~settings.steppers.is_rotational.mask;
+  #endif
+}
+
 static status_code_t set_hard_limits_enable (setting_id_t id, uint_fast16_t int_value)
 {
-    settings.limits.flags.hard_enabled = bit_istrue(int_value, bit(0));
+    if((settings.limits.flags.hard_enabled = bit_istrue(int_value, bit(0)))) {
 #if COMPATIBILITY_LEVEL <= 1
-    settings.limits.flags.check_at_init = bit_istrue(int_value, bit(1));
+        settings.limits.flags.check_at_init = bit_istrue(int_value, bit(1));
+  #if N_AXIS > 3
+        settings.limits.flags.hard_disabled_rotary = bit_istrue(int_value, bit(2));
+  #endif
 #endif
+    } else
+        settings.limits.flags.check_at_init = settings.limits.flags.hard_disabled_rotary = Off;
+
+    tmp_set_hard_limits();
     hal.limits.enable(settings.limits.flags.hard_enabled, (axes_signals_t){0}); // Change immediately. NOTE: Nice to have but could be problematic later.
 
     return Status_OK;
@@ -1553,7 +1574,9 @@ static uint32_t get_int (setting_id_t id)
             break;
 
         case Setting_HardLimitsEnable:
-            value = ((settings.limits.flags.hard_enabled & bit(0)) ? bit(0) | (settings.limits.flags.check_at_init ? bit(1) : 0) : 0);
+            value = ((settings.limits.flags.hard_enabled & bit(0)) ? bit(0) |
+                     (settings.limits.flags.check_at_init ? bit(1) : 0) |
+                      (settings.limits.flags.hard_disabled_rotary ? bit(2) : 0) : 0);
             break;
 
         case Setting_JogSoftLimited:
@@ -2784,6 +2807,7 @@ void settings_init (void)
     xbar_set_homing_source();
 
     tmp_set_soft_limits();
+    tmp_set_hard_limits();
 
     if(spindle_get_count() == 0)
         spindle_add_null();
diff --git a/settings.h b/settings.h
index 5f20a37..b30591d 100644
--- a/settings.h
+++ b/settings.h
@@ -640,12 +640,13 @@ typedef struct {
 typedef union {
     uint8_t value;
     struct {
-        uint8_t hard_enabled     :1,
-                soft_enabled     :1,
-                check_at_init    :1,
-                jog_soft_limited :1,
-                two_switches     :1,
-                unassigned       :3;
+        uint8_t hard_enabled         :1,
+                soft_enabled         :1,
+                check_at_init        :1,
+                jog_soft_limited     :1,
+                two_switches         :1,
+                hard_disabled_rotary :1,
+                unassigned           :2;
     };
 } limit_settings_flags_t;
 
diff --git a/system.h b/system.h
index 92453b6..0ffced1 100644
--- a/system.h
+++ b/system.h
@@ -307,6 +307,7 @@ typedef struct system {
     bool mpg_mode;                          //!< To be moved to system_flags_t
     signal_event_t last_event;              //!< Last signal events (control and limits signal).
     int32_t position[N_AXIS];               //!< Real-time machine (aka home) position vector in steps.
+    axes_signals_t hard_limits; //!< temporary?, will be removed when available in settings.
     axes_signals_t soft_limits; //!< temporary, will be removed when available in settings.
 //@}
 } system_t;