One of the main developers for OpenPnP created a version of the Smoothieware firmware to account for some of the issues that arose in Smoothieware when using it for pick-and-place machines. You must download it from his website. Be sure to select the version that is appropriate for you (5-axis or 6-axis).
Be aware that this version of the firmware uses a slightly different version of the configuration file. My configuration files are on a Github site. You can find the link on the main page of the project.