diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index 15382ea..63ae10c 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -74,6 +74,11 @@ void Idler::FinishMove() {
     }
 }
 
+bool Idler::SGAllowed(bool forward) const {
+    const uint8_t checkDistance = forward ? 220 : 200;
+    return AxisDistance(mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>())) > checkDistance;
+}
+
 void Idler::UpdateAdaptiveSGTHRS(bool forward) {
     //    return;
     const uint8_t checkDistance = forward ? 220 : 200;
diff --git a/src/modules/idler.h b/src/modules/idler.h
index 3c14cec..3021774 100644
--- a/src/modules/idler.h
+++ b/src/modules/idler.h
@@ -72,6 +72,7 @@ protected:
     virtual bool FinishHomingAndPlanMoveToParkPos() override;
     virtual void FinishMove() override;
     virtual void UpdateAdaptiveSGTHRS(bool forward) override;
+    virtual bool SGAllowed(bool forward) const override;
 
 private:
     enum class Operation : uint8_t {
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index cd67e97..164d0a1 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -69,9 +69,11 @@ void MovableBase::PerformHomeForward() {
     if (mm::motion.StallGuard(axis)) {
         // we have reached the front end of the axis - first part homed probably ok
         mm::motion.StallGuardReset(axis);
-        mm::motion.AbortPlannedMoves(axis, true);
-        PlanHomingMoveBack();
-        state = HomeBack;
+        if (SGAllowed(true)) {
+            mm::motion.AbortPlannedMoves(axis, true);
+            PlanHomingMoveBack();
+            state = HomeBack;
+        }
     } else if (mm::motion.QueueEmpty(axis)) {
         HomeFailed();
     } else {
@@ -83,14 +85,16 @@ void MovableBase::PerformHomeBack() {
     if (mm::motion.StallGuard(axis)) {
         // we have reached the back end of the axis - second part homed probably ok
         mm::motion.StallGuardReset(axis);
-        mm::motion.AbortPlannedMoves(axis, true);
-        mm::motion.SetMode(axis, mg::globals.MotorsStealth() ? mm::Stealth : mm::Normal);
-        if (!FinishHomingAndPlanMoveToParkPos()) {
-            // the measured axis' length was incorrect, something is blocking it, report an error, homing procedure terminated
-            HomeFailed();
-        } else {
-            homingValid = true;
-            // state = Ready; // not yet - we have to move to our parking or target position after homing the axis
+        if (SGAllowed(false)) {
+            mm::motion.AbortPlannedMoves(axis, true);
+            mm::motion.SetMode(axis, mg::globals.MotorsStealth() ? mm::Stealth : mm::Normal);
+            if (!FinishHomingAndPlanMoveToParkPos()) {
+                // the measured axis' length was incorrect, something is blocking it, report an error, homing procedure terminated
+                HomeFailed();
+            } else {
+                homingValid = true;
+                // state = Ready; // not yet - we have to move to our parking or target position after homing the axis
+            }
         }
     } else if (mm::motion.QueueEmpty(axis)) {
         HomeFailed();
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index 23c337f..fdb39e0 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -112,6 +112,7 @@ protected:
 
     /// default implementation is empty
     virtual void UpdateAdaptiveSGTHRS(bool /*forward*/) {}
+    virtual bool SGAllowed(bool forward) const { return true; }
 
     /// Initializes movement of a movable module.
     /// Beware: this operation reinitializes the axis/TMC driver as well (may introduce axis creep as we have seen on the Idler)