diff --git a/configure/RELEASE b/configure/RELEASE
index 38e15fc..d80c2fd 100644
--- a/configure/RELEASE
+++ b/configure/RELEASE
@@ -36,4 +36,5 @@ STD=/usr/local/epics/support/std-3-1
 ANC=/usr/local/epics/anc350v17
 STREAMS=/usr/local/epics/support/StreamDevice-2-6
 LAKESHORE336=/usr/local/epics/support/lakeshore336
-BUSY=/usr/local/epics/support/busy-1-4
\ No newline at end of file
+BUSY=/usr/local/epics/support/busy-1-4
+OXINSTCRYOJET=/usr/local/epics/support/OxInstCryojet-2-18-3
diff --git a/iocBoot/iocsinqEPICS/motor.substitutions.nanoboa b/iocBoot/iocsinqEPICS/motor.substitutions.nanoboa
index 895f512..1dc20e6 100644
--- a/iocBoot/iocsinqEPICS/motor.substitutions.nanoboa
+++ b/iocBoot/iocsinqEPICS/motor.substitutions.nanoboa
@@ -2,5 +2,5 @@ file "$(MOTOR)/db/basic_asyn_motor.db"
 {
 pattern
 {P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,   DHLM, DLLM, INIT}
-{KM36:nano:, 1, "m$(N)", "asynMotor",  nano,  1,    "m1",     mm,    Pos,   2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,     180,    -180,    "1"}
+{KM36:nano:, 1, "rd", "asynMotor",  nano,  1,    "rd",      mm,      Pos,   2.0,   0.1,  .2,    0,    1,   .2,     .0001,    3,     220,   0,   "1"}
 }
diff --git a/iocBoot/iocsinqEPICS/nanotestboa.cmd b/iocBoot/iocsinqEPICS/nanotestboa.cmd
index 7543380..43fc8de 100755
--- a/iocBoot/iocsinqEPICS/nanotestboa.cmd
+++ b/iocBoot/iocsinqEPICS/nanotestboa.cmd
@@ -19,8 +19,9 @@ sinqEPICS_registerRecordDeviceDriver pdbbase
 
 #---------- load Nanotec motor controller
 #drvAsynIPPortConfigure("serial1", "narziss-ts:3002",0,0,0)
-drvAsynIPPortConfigure("serial1", "boa-ts:3013",0,0,0)
-NanotecCreateController("nano","serial1","1","4");
+drvAsynIPPortConfigure("serial1", "boa-ts:3014",0,0,0)
+#drvAsynIPPortConfigure("serial1", "localhost:2020",0,0,0)
+NanotecCreateController("nano","serial1","1","11");
 
 ### Motors
 
diff --git a/sinqEPICSApp/src/NanotecDriver.cpp b/sinqEPICSApp/src/NanotecDriver.cpp
index 45c2c40..855425c 100644
--- a/sinqEPICSApp/src/NanotecDriver.cpp
+++ b/sinqEPICSApp/src/NanotecDriver.cpp
@@ -36,6 +36,7 @@ July 2015
 
 #define IDLEPOLL 60
 
+#define ABS(x) (x < 0 ? -(x) : (x))
 
 /** Creates a new NanotecController object.
   * \param[in] portName          The name of the asyn port that will be created for this driver
@@ -206,6 +207,9 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
   }
 
   homing = 0;
+  setIntegerParam(pC_->motorStatusAtHome_, false);
+  setIntegerParam(pC_->motorStatusHighLimit_, false);
+  setIntegerParam(pC_->motorStatusLowLimit_, false);
 
   /*
     set mode
@@ -244,15 +248,8 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
   //static const char *functionName = "NanotecAxis::home";
   char command[COMLEN], reply[COMLEN];
 
-  /*
-    set mode
-  */
-  snprintf(command,sizeof(command),"#%dp4",busAddress);
-  status = pC_->transactController(command,reply);
-  if(status != asynSuccess){
-    return status;
-  }
-  
+  setIntegerParam(pC_->motorStatusAtHome_, false);
+
   /*
     reset positioning errors
   */
@@ -261,6 +258,16 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
   if(status != asynSuccess){
     return status;
   }
+ 
+ /*
+    set mode
+  */
+  snprintf(command,sizeof(command),"#%dp4",busAddress);
+  status = pC_->transactController(command,reply);
+  if(status != asynSuccess){
+    return status;
+  }
+  
 
   /*
     set direction
@@ -362,6 +369,7 @@ asynStatus NanotecAxis::poll(bool *moving)
   char command[COMLEN], reply[COMLEN];
   char *pPtr; 
   int posVal, statVal;
+  double lowLim, highLim;
 
 
   // protect against excessive polling
@@ -397,13 +405,16 @@ asynStatus NanotecAxis::poll(bool *moving)
 
   setIntegerParam(pC_->motorStatusDone_, false);
   *moving = true;
+  pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowLim);
+  pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&highLim);
+
   if(homing){
+    /*
+      code for homing 
+    */
     switch(statVal) {
-    case 164:
-      setPosition(.0);
-      break;
     case 163:
-    case 161:
+      setPosition(lowLim);
       *moving = false;
       setIntegerParam(pC_->motorStatusAtHome_, true);
       setIntegerParam(pC_->motorStatusDone_, true);
@@ -417,10 +428,23 @@ asynStatus NanotecAxis::poll(bool *moving)
       break;
     }
   } else {
+    /*
+      code for normal movement
+    */ 
       if(statVal & 1) {
 	*moving = false;
 	setIntegerParam(pC_->motorStatusDone_, true);
-      }
+      } else if (statVal & 4) {
+	setIntegerParam(pC_->motorStatusDone_, true);
+	setIntegerParam(pC_->motorStatusProblem_, true);
+	errlogSevPrintf(errlogMajor, "Limit or other positioning problem at %d", axisNo_);
+	if(ABS(posVal - lowLim) < ABS(posVal - highLim)){
+	  setIntegerParam(pC_->motorStatusLowLimit_, true);
+	} else {
+	  setIntegerParam(pC_->motorStatusHighLimit_, true);
+	}
+	*moving = false;
+      } 
   }
 
   if(*moving == true){