diff --git a/motorApp/NewFocusSrc/devPMNC87xx.cc b/motorApp/NewFocusSrc/devPMNC87xx.cc
index c3c87856..a96d98ff 100644
--- a/motorApp/NewFocusSrc/devPMNC87xx.cc
+++ b/motorApp/NewFocusSrc/devPMNC87xx.cc
@@ -243,14 +243,14 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
 	  // if (dType == PMD8751)
 	  // sprintf(buff, "FIN A%d", drive);
 	  //  else
-	      trans->state = IDLE_STATE;	/* No command sent to the controller. */
+	  //    trans->state = IDLE_STATE;	/* No command sent to the controller. */
 	      sendMsg = false;
 	    break;
 	case HOME_REV:
 	  //  if (dType == PMD8751)
 	  //  sprintf(buff, "RIN A%d", drive);
 	  //  else
-	      trans->state = IDLE_STATE;	/* No command sent to the controller. */
+	  //  trans->state = IDLE_STATE;	/* No command sent to the controller. */
 	      sendMsg = false;
 	    break;
 	case LOAD_POS:
@@ -278,10 +278,10 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
 	case SET_VEL_BASE:
 	    if (dType == PMD8753)
 	      {
-		if (abs(intval) > 1999)
-		  intval = 1999;
+		if (abs(intval) >= MAX_VELOCITY)
+		  intval = MAX_VELOCITY-1;
 		/* Set VEL to maximum to eliminate MPV out-of-range error */
-		sprintf(buff, "VEL A%d %d=2000", drive, motor);
+		sprintf(buff, "VEL A%d %d=%d", drive, motor, MAX_VELOCITY);
 		strcpy(motor_call->message, buff);
 
 		rtnval = motor_end_trans_com(mr, drvtabptr);
@@ -299,14 +299,19 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
 
 	    break;
 	case SET_VELOCITY:
-     	    if (abs(intval) > 2000)
-   	        intval = 2000;
+	    if (abs(intval) > MAX_VELOCITY)
+   	        intval = MAX_VELOCITY;
 	    sprintf(buff, "VEL A%d %d=%d", drive, motor, abs(intval));
 	    break;
 	case SET_ACCEL:
 	    /* 
 	     * The value passed is in steps/sec/sec.  
 	     */
+	    if (intval < MIN_ACCEL)
+	      intval = MIN_ACCEL;
+	    else if (intval > MAX_ACCEL)
+	      intval = MAX_ACCEL;
+
 	    sprintf(buff, "ACC A%d %d=%d", drive, motor, intval);
 	    break;
 	case GO:
diff --git a/motorApp/NewFocusSrc/drvPMNC87xx.cc b/motorApp/NewFocusSrc/drvPMNC87xx.cc
index c6ca1746..8ee38718 100644
--- a/motorApp/NewFocusSrc/drvPMNC87xx.cc
+++ b/motorApp/NewFocusSrc/drvPMNC87xx.cc
@@ -133,7 +133,7 @@ STATIC int recv_mess(int, char *, int);
 STATIC RTN_STATUS send_mess(int, char const *, char *);
 STATIC int send_recv_mess(int, char const *, char *, char const *);
 STATIC int set_status(int, int);
-STATIC void start_status(int);
+// STATIC void start_status(int);
 static long report(int);
 static long init();
 STATIC int motor_init();
@@ -236,9 +236,9 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
  * start_status(int card)
  *            if card == -1 then start all cards
  *********************************************************/
-STATIC void start_status(int card)
-{
-}
+// STATIC void start_status(int card)
+// {
+// }
 
 /**************************************************************
  * Parse status and position strings for a card and signal
@@ -303,7 +303,7 @@ STATIC int set_status(int card, int signal)
 	pStr = cntrl->chan_select_string[driverID];
 	recvRtn = send_recv_mess(card, buff, pStr, NULL);
 	CHECKRTN;
-        Debug(2, "start_status(): ChanSelect_string=%s\n", pStr);
+        Debug(2, "set_status(): ChanSelect_string=%s\n", pStr);
         selectMotor = atoi(pStr);
       }
     else
diff --git a/motorApp/NewFocusSrc/drvPMNCCom.h b/motorApp/NewFocusSrc/drvPMNCCom.h
index d5247b20..f443114c 100644
--- a/motorApp/NewFocusSrc/drvPMNCCom.h
+++ b/motorApp/NewFocusSrc/drvPMNCCom.h
@@ -47,6 +47,11 @@ Last Modified:	2004/08/17 21:28:22
 #include "asynDriver.h"
 #include "asynOctetSyncIO.h"
 
+/* Motor Characteristics - in steps */
+#define MAX_VELOCITY    2000 
+#define MIN_ACCEL       16
+#define MAX_ACCEL       32000
+
 /* Picomotor Network Controllers */
 enum PMNC_model
 {