diff --git a/klippy/extras/idle_timeout.py b/klippy/extras/idle_timeout.py
index 39563b12..af3e773c 100644
--- a/klippy/extras/idle_timeout.py
+++ b/klippy/extras/idle_timeout.py
@@ -9,41 +9,85 @@ TURN_OFF_HEATERS
 M84
 """
 
+PIN_MIN_TIME = 0.100
+READY_TIMEOUT = .500
+
 class IdleTimeout:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.toolhead = None
-        self.last_timeout = 0.
+        self.reactor = self.printer.get_reactor()
+        self.gcode = self.printer.lookup_object('gcode')
+        self.toolhead = self.timeout_timer = None
+        self.state = "Idle"
         self.idle_timeout = config.getfloat('timeout', 600., above=0.)
         self.idle_gcode = config.get('gcode', DEFAULT_IDLE_GCODE).split('\n')
     def printer_state(self, state):
         if state == 'ready':
             self.toolhead = self.printer.lookup_object('toolhead')
-            reactor = self.printer.get_reactor()
-            reactor.register_timer(self.timeout_handler, reactor.NOW)
-    def run_idle_script(self):
-        gcode = self.printer.lookup_object('gcode')
+            self.timeout_timer = self.reactor.register_timer(
+                self.timeout_handler)
+            self.printer.register_event_handler("toolhead:sync_print_time",
+                                                self.handle_sync_print_time)
+    def transition_idle_state(self, eventtime):
+        self.state = "Printing"
         try:
-            res = gcode.process_batch(self.idle_gcode)
+            res = self.gcode.process_batch(self.idle_gcode)
         except:
             logging.exception("idle timeout gcode execution")
-            return
+            return eventtime + 1.
         if not res:
             # Raced with incoming g-code commands
-            return
-        self.last_timeout = self.toolhead.get_last_move_time()
-    def timeout_handler(self, eventtime):
-        info = self.toolhead.get_status(eventtime)
-        print_time = info['print_time']
-        status = info['status']
-        if print_time <= self.last_timeout or status == 'Printing':
+            return eventtime + 1.
+        print_time = self.toolhead.get_last_move_time()
+        self.state = "Idle"
+        self.printer.send_event("idle_timeout:idle", print_time)
+        return self.reactor.NEVER
+    def check_idle_timeout(self, eventtime):
+        # Make sure toolhead class isn't busy
+        print_time, est_print_time, lookahead_empty = self.toolhead.check_busy(
+            eventtime)
+        idle_time = est_print_time - print_time
+        if not lookahead_empty or idle_time < 1.:
+            # Toolhead is busy
             return eventtime + self.idle_timeout
-        estimated_print_time = info['estimated_print_time']
-        elapsed_time = estimated_print_time - print_time
-        if elapsed_time < self.idle_timeout:
-            return eventtime + self.idle_timeout - elapsed_time
-        self.run_idle_script()
-        return eventtime + 1.
+        if idle_time < self.idle_timeout:
+            # Wait for idle timeout
+            return eventtime + self.idle_timeout - idle_time
+        if not self.gcode.process_batch([]):
+            # Gcode class busy
+            return eventtime + 1.
+        # Idle timeout has elapsed
+        return self.transition_idle_state(eventtime)
+    def timeout_handler(self, eventtime):
+        if self.state == "Ready":
+            return self.check_idle_timeout(eventtime)
+        # Check if need to transition to "ready" state
+        print_time, est_print_time, lookahead_empty = self.toolhead.check_busy(
+            eventtime)
+        buffer_time = min(2., print_time - est_print_time)
+        if not lookahead_empty:
+            # Toolhead is busy
+            return eventtime + READY_TIMEOUT + max(0., buffer_time)
+        if buffer_time > -READY_TIMEOUT:
+            # Wait for ready timeout
+            return eventtime + READY_TIMEOUT + buffer_time
+        if not self.gcode.process_batch([]):
+            # Gcode class busy
+            return eventtime + READY_TIMEOUT
+        # Transition to "ready" state
+        self.state = "Ready"
+        self.printer.send_event("idle_timeout:ready",
+                                est_print_time + PIN_MIN_TIME)
+        return eventtime + self.idle_timeout
+    def handle_sync_print_time(self, curtime, print_time, est_print_time):
+        if self.state == "Printing":
+            return
+        # Transition to "printing" state
+        self.state = "Printing"
+        check_time = READY_TIMEOUT + print_time - est_print_time
+        self.reactor.update_timer(self.timeout_timer, curtime + check_time)
+        self.printer.send_event("idle_timeout:printing",
+                                est_print_time + PIN_MIN_TIME)
 
 def load_config(config):
     return IdleTimeout(config)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index dff6e3fa..e1683451 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -265,10 +265,13 @@ class ToolHead:
         for m in self.all_mcus:
             m.flush_moves(flush_to_time)
     def _calc_print_time(self):
-        est_print_time = self.mcu.estimated_print_time(self.reactor.monotonic())
+        curtime = self.reactor.monotonic()
+        est_print_time = self.mcu.estimated_print_time(curtime)
         if est_print_time + self.buffer_time_start > self.print_time:
             self.print_time = est_print_time + self.buffer_time_start
             self.last_print_start_time = self.print_time
+            self.printer.send_event("toolhead:sync_print_time",
+                                    curtime, est_print_time, self.print_time)
     def get_next_move_time(self):
         if self.sync_print_time:
             self.sync_print_time = False
@@ -391,6 +394,10 @@ class ToolHead:
         is_active = buffer_time > -60. or not self.sync_print_time
         return is_active, "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
             self.print_time, max(buffer_time, 0.), self.print_stall)
+    def check_busy(self, eventtime):
+        est_print_time = self.mcu.estimated_print_time(eventtime)
+        lookahead_empty = not self.move_queue.queue
+        return self.print_time, est_print_time, lookahead_empty
     def get_status(self, eventtime):
         print_time = self.print_time
         estimated_print_time = self.mcu.estimated_print_time(eventtime)