diff --git a/src/drv/old/drvCompuSm.c b/src/drv/old/drvCompuSm.c
index 2c722c9e8..a83da2bb4 100644
--- a/src/drv/old/drvCompuSm.c
+++ b/src/drv/old/drvCompuSm.c
@@ -53,6 +53,7 @@
  * .15	08-02-93	mrk	Added call to taskwdInsert
  * .16	10-29-93	jba	Fixed max number of cards to use module_types.c
  *                      Fixed error in calculating card addresses
+ * .17  04-09-96	ric	Added SM_FIND_LIMIT, SM_FIND_HOME
  */
 #include <vxWorks.h>
 #include <vme.h>
@@ -670,6 +671,13 @@ register int	arg2;
 
 		break;
 
+	case (SM_FIND_HOME):		/* Move to a home switch */
+		break;			/* Not supported by this device */
+
+	case (SM_FIND_LIMIT):		/* Move to a limit switch */
+		arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
+		/* break purposely left out to continue with SM_MOVE */
+
 	case (SM_MOVE):
 		if (compu_motor_array[card].mode == VELOCITY_MODE)
 			return(0);
diff --git a/src/drv/old/drvOms.c b/src/drv/old/drvOms.c
index cede9ac96..9fd9f0bb8 100644
--- a/src/drv/old/drvOms.c
+++ b/src/drv/old/drvOms.c
@@ -62,6 +62,7 @@
  * .21  02-28-94	mrk	Replaced itob by cvtLongToString
  * .22  05-05-94	kornke	Now supports VMEX-8 and VMEX-44E
  *				(8 axis s'motors and 4 encoded s'motors)
+ * .23  04-09-96	ric	Added SM_FIND_LIMIT, SM_FIND_HOME
  */
 
 /* data requests are made from the oms_task at
@@ -510,6 +511,13 @@ int		arg2;
 
 		break;
 
+	case (SM_FIND_HOME):	/* Move to a home switch */
+		break;		/* Not supported by this device */
+
+	case (SM_FIND_LIMIT):	/* Move to a limit switch */
+		arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
+		/* break purposely left out to continue with SM_MOVE */
+
 	case (SM_MOVE):
 		/* move the motor */
 		strcpy(oms_move_msg,"A?\nAF\nMR");
diff --git a/src/drv/old/steppermotor.h b/src/drv/old/steppermotor.h
index f9d827ab3..86e4b95c0 100644
--- a/src/drv/old/steppermotor.h
+++ b/src/drv/old/steppermotor.h
@@ -62,3 +62,5 @@ long	accel;
 #define	SM_ENCODER_RATIO	6
 #define	SM_MOTOR_RESOLUTION	7
 #define	SM_READ			8
+#define SM_FIND_LIMIT		9
+#define SM_FIND_HOME		10
diff --git a/src/vxWorks/drv/old/drvCompuSm.c b/src/vxWorks/drv/old/drvCompuSm.c
index 2c722c9e8..a83da2bb4 100644
--- a/src/vxWorks/drv/old/drvCompuSm.c
+++ b/src/vxWorks/drv/old/drvCompuSm.c
@@ -53,6 +53,7 @@
  * .15	08-02-93	mrk	Added call to taskwdInsert
  * .16	10-29-93	jba	Fixed max number of cards to use module_types.c
  *                      Fixed error in calculating card addresses
+ * .17  04-09-96	ric	Added SM_FIND_LIMIT, SM_FIND_HOME
  */
 #include <vxWorks.h>
 #include <vme.h>
@@ -670,6 +671,13 @@ register int	arg2;
 
 		break;
 
+	case (SM_FIND_HOME):		/* Move to a home switch */
+		break;			/* Not supported by this device */
+
+	case (SM_FIND_LIMIT):		/* Move to a limit switch */
+		arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
+		/* break purposely left out to continue with SM_MOVE */
+
 	case (SM_MOVE):
 		if (compu_motor_array[card].mode == VELOCITY_MODE)
 			return(0);