> For the complete documentation index, see [llms.txt](https://manual.rotrics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://manual.rotrics.com/gcode/marlin-original-commands/marlin-g028-home-and-stallguard.md).

# \[Marlin] G028 - Home and StallGuard

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**📅Update: 2020/10/13**
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## Description

DexArm supported TMC2209 StallGuard.

## Notes

<div align="left"><img src="/files/-MJWCfjByCScHDsv48iO" alt=""></div>

Because of the particularity of DexArm, We have made some customization to the `G28`.

* `G28` Go to X0 Y300 Z0. Similar to M1112. Based on the position sensor of 3 Axiss.
* `G28 C` or `G28 Z` Home C Axis to the machine home position. Based on the stallguard of TMC2209.
* `G28 B` or `G28 Y` Home B Axis to the machine home position. Based on the stallguard of TMC2209.
* `G28 A` or `G28 X` Home A Axis to the machine home position. Based on the stallguard of TMC2209.
* Home C/Z before Home AB/XY.

## Examples

Modify some mesh points and view the new mesh:

```
> G28
> G28 C
> G28 B
> G28 A
```