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).

https://makr.zone/smoothieware-new-firmware-for-pnp/500/

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.