diff --git a/FluidNC/src/Machine/Macros.cpp b/FluidNC/src/Machine/Macros.cpp
index f58379e73..31a649ac5 100644
--- a/FluidNC/src/Machine/Macros.cpp
+++ b/FluidNC/src/Machine/Macros.cpp
@@ -20,6 +20,7 @@ Macro Macros::_macro[n_macros]               = { { "macro0" }, { "macro1" }, { "
 Macro Macros::_after_homing                  = { "after_homing" };
 Macro Macros::_after_reset                   = { "after_reset" };
 Macro Macros::_after_unlock                  = { "after_unlock" };
+Macro Macros::_on_idle                       = { "on_idle" };
 
 MacroEvent macro0Event { 0 };
 MacroEvent macro1Event { 1 };
diff --git a/FluidNC/src/Machine/Macros.h b/FluidNC/src/Machine/Macros.h
index a462bc0c6..b8d13ee9c 100644
--- a/FluidNC/src/Machine/Macros.h
+++ b/FluidNC/src/Machine/Macros.h
@@ -42,6 +42,7 @@ namespace Machine {
         static Macro _after_homing;
         static Macro _after_reset;
         static Macro _after_unlock;
+        static Macro _on_idle;
 
         Macros() = default;
 
@@ -59,6 +60,7 @@ namespace Machine {
             handler.item(_after_homing._name.c_str(), _after_homing._gcode);
             handler.item(_after_reset._name.c_str(), _after_reset._gcode);
             handler.item(_after_unlock._name.c_str(), _after_unlock._gcode);
+            handler.item(_on_idle._name.c_str(), _on_idle._gcode);
         }
 
         ~Macros() {}
diff --git a/FluidNC/src/Protocol.cpp b/FluidNC/src/Protocol.cpp
index 296989c8b..5646b70c1 100644
--- a/FluidNC/src/Protocol.cpp
+++ b/FluidNC/src/Protocol.cpp
@@ -779,8 +779,12 @@ void protocol_do_cycle_stop() {
                 sys.suspend.bit.holdComplete = true;
                 sys.state                    = State::SafetyDoor;
             } else {
+                State prev_state  = sys.state;
                 sys.suspend.value = 0;
                 sys.state         = State::Idle;
+                if (prev_state == State::Cycle) {
+                    config->_macros->_on_idle.run();
+                }
             }
             break;
         case State::Homing: