diff --git a/config/hardware.example.ini b/config/hardware.example.ini
index b0ac06b..42d72f1 100644
--- a/config/hardware.example.ini
+++ b/config/hardware.example.ini
@@ -132,7 +132,7 @@ scan_speed_deg_s  = 8.0
 ; they cannot use the counts_per_deg that homing derives - they convert through
 ; the scale this file implies (steps_per_rev / travel_deg), which on the IOTA
 ; agrees with the measured one to 0.25%.
-homing_speed_deg_s = 2.0
+homing_speed_deg_s = 4.0
 center_speed_deg_s = 6.0
 
 ; --- Told to the firmware, which holds none of it itself --------------------
@@ -146,9 +146,12 @@ center_speed_deg_s = 6.0
 ; stalls on ordinary friction, trips the same latch a real stop does, and the
 ; bogus limit is accepted.
 steps_per_rev      = 1210778
-; |XACTUAL - XENC| that means "position untrustworthy". Re-measure whenever the
-; homing current changes: the free-running gap is coupled to it.
-enc_deviation      = 1500
+; |XACTUAL - XENC| that means "position untrustworthy". 1000 here: the
+; free-running gap measured 199-229 counts on tower 121, so this is ~4x headroom.
+; Re-measure whenever the homing CURRENT changes - the gap is coupled to it, and
+; notably NOT to speed (229 counts at VMAX 6000, 199 at 30000). Lowering is the
+; safe direction; raising it blunts the only stall signal the rig has.
+enc_deviation      = 1000
 ; TMC SW_MODE - physical endstop switches on REFL/REFR. Yaw on this rig homes by
 ; StallGuard with no switches (0); an axis with real switches sets the bits.
 sw_mode            = 0
diff --git a/hardware/lattepanda-iota/install.sh b/hardware/lattepanda-iota/install.sh
index faecd88..37e005e 100755
--- a/hardware/lattepanda-iota/install.sh
+++ b/hardware/lattepanda-iota/install.sh
@@ -436,12 +436,14 @@ EOF
 ; things on different gear ratios, so it is not portable between towers. The
 ; host converts through counts_per_deg and sends SPEED.
 scan_speed_deg_s   = 8.0
-homing_speed_deg_s = 2.0
+homing_speed_deg_s = 4.0
 center_speed_deg_s = 6.0
-; |XACTUAL - XENC| that means "position untrustworthy". 1500 is this mechanism's
-; starting point; re-measure it whenever the homing current changes, because the
-; free-running gap is coupled to it.
-enc_deviation      = 1500
+; |XACTUAL - XENC| that means "position untrustworthy". 1000 on this mechanism:
+; the free-running gap measured 199-229 counts on tower 121, so this is ~4x
+; headroom. Re-measure whenever the homing CURRENT changes - the gap is coupled
+; to it, and notably NOT to speed (229 counts at VMAX 6000, 199 at 30000).
+; Lowering is the safe direction; raising it blunts the only stall signal there is.
+enc_deviation      = 1000
 ; Is this axis's encoder aligned to XACTUAL and usable for hold and DIAG?
 has_encoder        = true
 EOF