diff --git a/src/py/bbctrl/State.py b/src/py/bbctrl/State.py
index c89bdde..66dc40e 100644
--- a/src/py/bbctrl/State.py
+++ b/src/py/bbctrl/State.py
@@ -245,12 +245,12 @@ class State(object):
 
         # Loading origin from config after homing 
         if load_position and self.vars.get('cycle') == 'idle':
-            for axis in 'xyz':
+            for axis in 'xyzabc':
                 offset = self.ctrl.config.get('offset_' + axis)
                 if offset is not None and self.get('offset_'+ axis) == 0:
                     origin = offset if self.get('metric') == True else offset / 25.4
                     self.log.info('axis: {} offset: {} origin: {}'.format(axis, offset, origin))
-                    self.ctrl.mach.set_position(axis,-origin)
+                    self.ctrl.mach.set_position(axis, -origin)
             
 
     def update(self, update):
diff --git a/src/resources/config-template.json b/src/resources/config-template.json
index 17c6199..ddaff08 100644
--- a/src/resources/config-template.json
+++ b/src/resources/config-template.json
@@ -711,6 +711,18 @@
     "offset_z": {
       "type": "float",
       "default": 0
+    },
+    "offset_a": {
+      "type": "float",
+      "default": 0
+    },
+    "offset_b": {
+      "type": "float",
+      "default": 0
+    },
+    "offset_c": {
+      "type": "float",
+      "default": 0
     }
   },