diff --git a/sinqEPICSApp/src/pmacAxis.cpp b/sinqEPICSApp/src/pmacAxis.cpp
index 4359508..52c0060 100644
--- a/sinqEPICSApp/src/pmacAxis.cpp
+++ b/sinqEPICSApp/src/pmacAxis.cpp
@@ -340,7 +340,7 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     char command[pC_->PMAC_MAXBUF_];
     char response[pC_->PMAC_MAXBUF_];
     int cmdStatus = 0;; 
-    int done = 0;
+    int done = 0, posChanging = 0;
     double position = 0; 
     int nvals = 0;
     int axisProblemFlag = 0;
@@ -441,25 +441,33 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     }
 
     /*
-      code to check for checking against too long status 6
+      code to test against too long status 5 or 6
     */
     if(axStat == 5 || axStat == 6){
       if(status6Time == 0){
 	status6Time = time(NULL);
+        statusPos = position;
       } else {
 	if(time(NULL) > status6Time + 60){
-	  done = 1;
-	  *moving = false;
-	  setIntegerParam(pC_->motorStatusMoving_, false);
-	  setIntegerParam(pC_->motorStatusDone_, true);
-	  setIntegerParam(pC_->motorStatusProblem_, true);
-	  errlogPrintf("Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n", axisNo_);
-	  updateMsgTxtFromDriver("Axis stayed in 5,6 for more then 60 seconds: BROKEN");
-	  status6Time = 0;
-	  return asynSuccess;
+	  /* trigger error only when not moving */
+	  if(abs(position-statusPos) < .1){
+	    done = 1;
+	    *moving = false;
+	    setIntegerParam(pC_->motorStatusMoving_, false);
+	    setIntegerParam(pC_->motorStatusDone_, true);
+	    setIntegerParam(pC_->motorStatusProblem_, true);
+	    errlogPrintf("Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n", axisNo_);
+	    updateMsgTxtFromDriver("Axis stayed in 5,6 for more then 60 seconds: BROKEN");
+	    status6Time = 0;
+	    return asynSuccess;
+	  } else {
+	    status6Time = time(NULL);
+	    statusPos = position;
+	  }
         }
       }
-    } 
+    }
+    
 
     if (!done) {
       *moving = true;
diff --git a/sinqEPICSApp/src/pmacAxis.h b/sinqEPICSApp/src/pmacAxis.h
index 51c777e..bb995eb 100644
--- a/sinqEPICSApp/src/pmacAxis.h
+++ b/sinqEPICSApp/src/pmacAxis.h
@@ -56,6 +56,7 @@ class pmacAxis : public SINQAxis
   time_t status6Time;
   int starting;
   int homing;
+  double statusPos;
 
   friend class pmacController;
 };