diff --git a/motorApp/MotorSrc/drvMotorAsyn.c b/motorApp/MotorSrc/drvMotorAsyn.c
index 184c6787..505a4141 100644
--- a/motorApp/MotorSrc/drvMotorAsyn.c
+++ b/motorApp/MotorSrc/drvMotorAsyn.c
@@ -19,9 +19,9 @@
  *     of this distribution.
  *     ************************************************************************
  *
- * Version: $Revision: 1.20 $
- * Modified by: $Author: peterd $
- * Last Modified: $Date: 2008-05-20 15:39:58 $
+ * Version: $Revision: 1.21 $
+ * Modified by: $Author: mp49 $
+ * Last Modified: $Date: 2008-11-14 14:27:41 $
  *
  * Original Author: Peter Denison
  * Current Author: Peter Denison
@@ -102,6 +102,7 @@ static motorCommandStruct motorCommands[] = {
     {motorStatusGainSupport, "STATUS_GAINSUPPORT"},
     {motorStatusCommsError, "STATUS_COMMSERROR"},
     {motorStatusLowLimit, "STATUS_LOWLIMIT"},
+    {motorStatusHomed, "STATUS_HOMED"},
 };
 
 typedef enum{typeInt32, typeFloat64, typeFloat64Array} dataType;
@@ -799,7 +800,7 @@ static void intCallback(void *axisPvt, unsigned int nChanged,
        correct */
     for (i = 0; i < nChanged; i++) {
 	if (changed[i] >= motorAxisDirection && 
-	    changed[i] <= motorAxisLowHardLimit) {
+	    changed[i] <= motorAxisHomed) {
 	    bit_num = changed[i] - motorAxisDirection;
 	    changedmask |= (1 << bit_num);
 	    (*pPvt->drvset->getInteger)(pAxis->axis, changed[i], &ivalue);
diff --git a/motorApp/MotorSrc/drvMotorAsyn.h b/motorApp/MotorSrc/drvMotorAsyn.h
index 0bec1090..e4b5e7e5 100644
--- a/motorApp/MotorSrc/drvMotorAsyn.h
+++ b/motorApp/MotorSrc/drvMotorAsyn.h
@@ -40,7 +40,7 @@ typedef enum {
     motorStatusSlip, motorStatusPowerOn, motorStatusFollowingError,
     motorStatusHome, motorStatusHasEncoder, motorStatusProblem,
     motorStatusMoving, motorStatusGainSupport, motorStatusCommsError,
-    motorStatusLowLimit, motorStatusLast
+    motorStatusLowLimit, motorStatusHomed, motorStatusLast
 } motorCommand; 
 
 #endif
diff --git a/motorApp/MotorSrc/motor.h b/motorApp/MotorSrc/motor.h
index 348519c6..401cd918 100644
--- a/motorApp/MotorSrc/motor.h
+++ b/motorApp/MotorSrc/motor.h
@@ -3,9 +3,9 @@ FILENAME...	motor.h
 USAGE...	Definitions and structures common to all levels of motorRecord
 		support (i.e., record, device and driver).
 
-Version:	$Revision: 1.18 $
-Modified By:	$Author: sluiter $
-Last Modified:	$Date: 2006-06-02 21:19:09 $
+Version:	$Revision: 1.19 $
+Modified By:	$Author: mp49 $
+Last Modified:	$Date: 2008-11-14 14:27:40 $
 */
 
 /*
@@ -141,7 +141,8 @@ typedef union
     struct
     {
 #ifdef MSB_First
-	unsigned int na		    :18;/* N/A bits  */
+	unsigned int na		    :17;/* N/A bits  */
+        unsigned int RA_HOMED       :1; /* Axis has been homed.*/
 	unsigned int RA_MINUS_LS    :1;	/* minus limit switch has been hit */
 	unsigned int CNTRL_COMM_ERR :1;	/* Controller communication error. */
 	unsigned int GAIN_SUPPORT   :1;	/* Motor supports closed-loop position control. */
@@ -171,7 +172,8 @@ typedef union
 	unsigned int GAIN_SUPPORT   :1;	/* Motor supports closed-loop position control. */
 	unsigned int CNTRL_COMM_ERR :1;	/* Controller communication error. */
 	unsigned int RA_MINUS_LS    :1;	/* minus limit switch has been hit */
-	unsigned int na		    :18;/* N/A bits  */
+        unsigned int RA_HOMED       :1; /* Axis has been homed.*/
+	unsigned int na		    :17;/* N/A bits  */
 #endif
     } Bits;                                
 } msta_field;
diff --git a/motorApp/MotorSrc/motor_interface.h b/motorApp/MotorSrc/motor_interface.h
index 6bf03c50..8f4172ac 100644
--- a/motorApp/MotorSrc/motor_interface.h
+++ b/motorApp/MotorSrc/motor_interface.h
@@ -325,6 +325,7 @@ typedef enum
     motorAxisHasClosedLoop,    /**< Motor supports closed-loop position control. */
     motorAxisCommError,        /**< Controller communication error. */
     motorAxisLowHardLimit,     /**< minus limit switch has been hit */
+    motorAxisHomed,            /**< Motor has been homed.*/
     motorAxisDeferMoves,       /**< Moves are not executed immediately, but are deferred until this parameter is set to zero */
     motorAxisLastParam
 } motorAxisParam_t;
@@ -519,6 +520,7 @@ typedef int (*motorAxisSetIntegerFunc)( AXIS_HDL pAxis,  motorAxisParam_t, int )
 */
 
 #ifdef DEFINE_MOTOR_PROTOTYPES
+    /* XXXX Change the motorAxisParam_t to int */
 static int motorAxisSetInteger( AXIS_HDL pAxis, motorAxisParam_t function, int value );
 #endif
 
@@ -670,7 +672,7 @@ typedef int (*motorAxisProfileMoveFunc)( AXIS_HDL pAxis, int npoints, double pos
 
     The motion along the profile will not start until triggered. If
     the relative parameter is zero (i.e. the positions indicated are
-    absolute), then the controller should immediately move the the
+    absolute), then the controller should immediately move to the
     first position and stop awaiting the trigger.
 
     The trigger parameter defines when to initiate the motion along