diff --git a/motorApp/NewportSrc/XPSAxis.cpp b/motorApp/NewportSrc/XPSAxis.cpp
index 14ade6aa..0beced1d 100644
--- a/motorApp/NewportSrc/XPSAxis.cpp
+++ b/motorApp/NewportSrc/XPSAxis.cpp
@@ -870,80 +870,102 @@ asynStatus XPSAxis::setClosedLoop(bool closedLoop)
   return (asynStatus)status;
 }
 
-asynStatus XPSAxis::setPositionCompare(bool enable, double minPosition, double maxPosition, double stepSize, 
-                                       double pulseWidth, double settlingTime)
+asynStatus XPSAxis::setPositionCompare()
 {
+  int enable;
+  double minPosition, maxPosition, stepSize, pulseWidth, settlingTime;
+  int itemp;
   int status;
   static const char *functionName = "setPositionCompare";
+
+  pC_->getIntegerParam(pC_->XPSPositionCompareEnable_,       &enable);
+  pC_->getDoubleParam (pC_->XPSPositionCompareMinPosition_,  &minPosition);
+  pC_->getDoubleParam (pC_->XPSPositionCompareMaxPosition_,  &maxPosition);
+  pC_->getDoubleParam (pC_->XPSPositionCompareStepSize_,     &stepSize);
+  pC_->getIntegerParam(pC_->XPSPositionComparePulseWidth_,   &itemp);
+  pulseWidth = positionComparePulseWidths[itemp];
+  pC_->getIntegerParam(pC_->XPSPositionCompareSettlingTime_, &itemp);
+  settlingTime = positionCompareSettlingTimes[itemp];
   
+  // Disable the position compare so we can set parameters
+  status = PositionerPositionCompareDisable(pollSocket_, positionerName_);
+  if (status) {
+    asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+              "%s:%s: [%s,%d]: error calling PositionerPositionCompareDisable status=%d\n",
+              driverName, functionName, pC_->portName, axisNo_, status);
+    return asynError;
+  }
+  status = PositionerPositionComparePulseParametersSet(pollSocket_, positionerName_, pulseWidth, settlingTime);
+  if (status) {
+    asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+              "%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersSet status=%d\n",
+               driverName, functionName, pC_->portName, axisNo_, status);
+    return asynError;
+  }
+  status = PositionerPositionCompareSet(pollSocket_, positionerName_, minPosition, maxPosition, stepSize);
+  if (status) {
+    asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+              "%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
+               driverName, functionName, pC_->portName, axisNo_, status);
+    return asynError;
+  }
   if (enable) {
-    status = PositionerPositionComparePulseParametersSet(pollSocket_, positionerName_, pulseWidth, settlingTime);
-    if (status) {
-      asynPrint(pasynUser_, ASYN_TRACE_ERROR,
-                "%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersSet status=%d\n",
-                 driverName, functionName, pC_->portName, axisNo_, status);
-      return asynError;
-    }
-    status = PositionerPositionCompareSet(pollSocket_, positionerName_, minPosition, maxPosition, stepSize);
-    if (status) {
-      asynPrint(pasynUser_, ASYN_TRACE_ERROR,
-                "%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
-                 driverName, functionName, pC_->portName, axisNo_, status);
-      return asynError;
-    }
     status = PositionerPositionCompareEnable(pollSocket_, positionerName_);
     if (status) {
       asynPrint(pasynUser_, ASYN_TRACE_ERROR,
                 "%s:%s: [%s,%d]: error calling PositionerPositionCompareEnable status=%d\n",
                  driverName, functionName, pC_->portName, axisNo_, status);
       return asynError;
-    } else {
-      asynPrint(pasynUser_, ASYN_TRACE_FLOW,
-                "%s:%s: set XPS %s, axis %d positionCompare set and enable\n",
-                 driverName, functionName, pC_->portName, axisNo_);
     }
-  } else {
-    status = PositionerPositionCompareDisable(pollSocket_, positionerName_);
-    if (status) {
-      asynPrint(pasynUser_, ASYN_TRACE_ERROR,
-                "%s:%s: [%s,%d]: error calling PositionerPositionCompareDisable status=%d\n",
-                driverName, functionName, pC_->portName, axisNo_, status);
-      return asynError;
-    } else {
-      asynPrint(pasynUser_, ASYN_TRACE_FLOW,
-                "%s:%s: motorAxisSetInteger set XPS %s, axis %d positionCompare disable\n",
-                driverName, functionName, pC_->portName, axisNo_);
-    }
-  }
+  } 
+  
+  asynPrint(pasynUser_, ASYN_TRACE_FLOW,
+            "%s:%s: set XPS %s, axis %d positionCompare set and enable\n",
+             driverName, functionName, pC_->portName, axisNo_);
+
   return asynSuccess;
 }
 
-asynStatus XPSAxis::getPositionCompare(bool *enable, double *minPosition, double *maxPosition, double *stepSize, 
-                                       double *pulseWidth, double *settlingTime)
+asynStatus XPSAxis::getPositionCompare()
 {
+  bool enable;
   int status;
-  static const char *functionName = "setPositionCompare";
+  int i;
+  double minPosition, maxPosition, stepSize, pulseWidth, settlingTime;
+  static const char *functionName = "getPositionCompare";
   
-    status = PositionerPositionComparePulseParametersGet(pollSocket_, positionerName_, pulseWidth, settlingTime);
-    if (status) {
-      asynPrint(pasynUser_, ASYN_TRACE_ERROR,
-                "%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersSet status=%d\n",
-                 driverName, functionName, pC_->portName, axisNo_, status);
-      return asynError;
-    }
-    status = PositionerPositionCompareGet(pollSocket_, positionerName_, minPosition, maxPosition, stepSize, enable);
-    if (status) {
-      asynPrint(pasynUser_, ASYN_TRACE_ERROR,
-                "%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
-                 driverName, functionName, pC_->portName, axisNo_, status);
-      return asynError;
-    } else {
-      asynPrint(pasynUser_, ASYN_TRACE_FLOW,
-                "%s:%s: set XPS %s, axis %d positionCompareGet,"
-                " enable=%d, minPosition=%f, maxPosition=%f, stepSize=%f, pulseWidth=%f, settlingTime=%f\n",
-                 driverName, functionName, pC_->portName, axisNo_,
-                 *enable, *minPosition, *maxPosition, *stepSize, *pulseWidth, *settlingTime);
-    }
+  status = PositionerPositionComparePulseParametersGet(pollSocket_, positionerName_, &pulseWidth, &settlingTime);
+  if (status) {
+    asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+              "%s:%s: [%s,%d]: error calling PositionerPositionComparePulseParametersGet status=%d\n",
+               driverName, functionName, pC_->portName, axisNo_, status);
+    return asynError;
+  }
+  status = PositionerPositionCompareGet(pollSocket_, positionerName_, &minPosition, &maxPosition, &stepSize, &enable);
+  if (status) {
+    asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+              "%s:%s: [%s,%d]: error calling PositionerPositionCompareGet status=%d\n",
+               driverName, functionName, pC_->portName, axisNo_, status);
+    return asynError;
+  } 
+  asynPrint(pasynUser_, ASYN_TRACE_FLOW,
+            "%s:%s: set XPS %s, axis %d positionCompareGet,"
+            " enable=%d, minPosition=%f, maxPosition=%f, stepSize=%f, pulseWidth=%f, settlingTime=%f\n",
+             driverName, functionName, pC_->portName, axisNo_,
+             enable, minPosition, maxPosition, stepSize, pulseWidth, settlingTime);
+
+  setIntegerParam(pC_->XPSPositionCompareEnable_,      enable);
+  setDoubleParam(pC_->XPSPositionCompareMinPosition_,  minPosition);
+  setDoubleParam(pC_->XPSPositionCompareMaxPosition_,  maxPosition);
+  setDoubleParam(pC_->XPSPositionCompareStepSize_,     stepSize);
+  for (i=0; i<MAX_PULSE_WIDTHS; i++) {
+    if (fabs(pulseWidth - positionComparePulseWidths[i]) < 0.001) break;
+  }
+  setIntegerParam(pC_->XPSPositionComparePulseWidth_,  i);
+  for (i=0; i<MAX_SETTLING_TIMES; i++) {
+    if (fabs(settlingTime - positionCompareSettlingTimes[i]) < 0.001) break;
+  }
+  setIntegerParam(pC_->XPSPositionCompareSettlingTime_,  i);
   return asynSuccess;
 }