diff --git a/sinqEPICSApp/src/EuroMoveDriver.cpp b/sinqEPICSApp/src/EuroMoveDriver.cpp
index f5f3641..7db7a86 100644
--- a/sinqEPICSApp/src/EuroMoveDriver.cpp
+++ b/sinqEPICSApp/src/EuroMoveDriver.cpp
@@ -314,6 +314,7 @@ asynStatus EuroMoveAxis::move(double position, int relative, double minVelocity,
   sprintf(command,"G%d=%d", motNo, (int)position);
   status = pC_->transactController(motNo,command,reply);
   next_poll = -1;
+  targetPosition = (int)position;
   return status;
 }
 
@@ -478,16 +479,28 @@ asynStatus EuroMoveAxis::poll(bool *moving)
 
     /* Testing limit switches */
     if((axStatus & 2) > 0){ // bit 2
-      setIntegerParam(pC_->motorStatusHighLimit_, true);
-      errlogPrintf("HighLimit detected on %d\n", motNo);
-      sendStop();
+      if(targetPosition > position) {
+        /*
+	  Error codition only when we wish to move further
+	*/
+	setIntegerParam(pC_->motorStatusHighLimit_, true);
+	errlogPrintf("HighLimit detected on %d\n", motNo);
+	updateMsgTxtFromDriver("On high limit switch");
+	sendStop();
+      }
     } else {
       setIntegerParam(pC_->motorStatusHighLimit_, false);
     }
     if((axStatus & 1) > 0){ // bit 1
-      setIntegerParam(pC_->motorStatusLowLimit_, true);    
-      errlogPrintf("LowLimit detected on %d\n", motNo);
-      sendStop();
+      setIntegerParam(pC_->motorStatusLowLimit_, true);
+      if(targetPosition < position) {
+        /*
+	  Error treatment onlly when we want to go below the limits
+	*/
+	errlogPrintf("LowLimit detected on %d\n", motNo);
+	sendStop();
+	updateMsgTxtFromDriver("On low limit switch");
+      }
     } else {
       setIntegerParam(pC_->motorStatusLowLimit_, false);
     }
diff --git a/sinqEPICSApp/src/EuroMoveDriver.h b/sinqEPICSApp/src/EuroMoveDriver.h
index 990a224..3a66e45 100644
--- a/sinqEPICSApp/src/EuroMoveDriver.h
+++ b/sinqEPICSApp/src/EuroMoveDriver.h
@@ -49,6 +49,7 @@ private:
   asynStatus sendStop();
   int resolution;
   friend class EuroMoveController;
+  int targetPosition;
 };
 
 class EuroMoveController : public SINQController {