diff --git a/sinqEPICSApp/src/PhytronDriver.cpp b/sinqEPICSApp/src/PhytronDriver.cpp
index 1ed146c..88372b2 100644
--- a/sinqEPICSApp/src/PhytronDriver.cpp
+++ b/sinqEPICSApp/src/PhytronDriver.cpp
@@ -56,7 +56,7 @@ January 2019
   * \param[in] numAxes           The number of axes that this controller supports 
   */
 PhytronController::PhytronController(const char *portName, const char *PhytronPortName, const char *sel ,
-				     int encX, int encY)
+				     int encX, int encY, int homeZeroX, int homeZeroY)
   :  SINQController(portName, PhytronPortName,2) 
 {
   asynStatus status;
@@ -82,8 +82,8 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
       new PhytronDoseAxis(this, 1, encX);
       new PhytronDoseAxis(this, 2, encY);
   } else {
-     new PhytronAxis(this, 1, encX);
-     new PhytronAxis(this, 2, encY);
+     new PhytronAxis(this, 1, encX, homeZeroX);
+     new PhytronAxis(this, 2, encY, homeZeroY);
  }
 
 
@@ -92,7 +92,7 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
 
 PhytronDoseController::PhytronDoseController(const char *portName, const char *PhytronPortName, const char *sel ,
 				     int encX, int encY)
-  :  PhytronController(portName, PhytronPortName, sel, encX, encY) 
+  :  PhytronController(portName, PhytronPortName, sel, encX, encY, 0, 0) 
 {
   new PhytronDoseAxis(this, 1, encX);
   new PhytronDoseAxis(this, 2, encY);
@@ -106,9 +106,9 @@ PhytronDoseController::PhytronDoseController(const char *portName, const char *P
   * \param[in] numAxes           The number of axes that this controller supports 
   */
 extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, const char *selector,
-				       int encX, int encY)
+				       int encX, int encY, int homeZeroX, int homeZeroY)
 {
-  new PhytronController(portName, PhytronPortName,selector, encX, encY);
+  new PhytronController(portName, PhytronPortName,selector, encX, encY, homeZeroX, homeZeroY);
   return(asynSuccess);
 }
 
@@ -178,10 +178,10 @@ PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
 
 asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
 {
-  asynStatus status;
-  size_t in, out;
-  int reason;
-  char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
+  asynStatus status = asynSuccess;
+  size_t in = 0, out = 0;
+  int reason = 0;
+  char myReply[COMLEN+10] = {0}, myCommand[COMLEN+10] = {0}, *pPtr = {0};
   SINQAxis *axis = getAxis(axisNo);
 
 
@@ -237,7 +237,7 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   * 
   * Initializes register numbers, etc.
   */
-PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
+PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc, int homeZero)
   : SINQAxis(pC, axisNo),
     pC_(pC)
 {  
@@ -251,7 +251,8 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
   brakeIO = -1;
   next_poll = -1;
   homing = 0;
-  homing_direction = 0; 
+  homing_direction = 0;
+  home_zero = homeZero;
 }
 
 int PhytronAxis::setBrake(int brakeNO)
@@ -467,8 +468,6 @@ asynStatus PhytronAxis::poll(bool *moving)
 { 
   asynStatus comStatus = asynSuccess;
   char command[COMLEN], reply[COMLEN];
-  double lowlim;
-
 
   // protect against excessive polling
   if(time(NULL) < next_poll){
@@ -538,12 +537,15 @@ asynStatus PhytronAxis::poll(bool *moving)
 
   if(!*moving) {
     if(homing){
-      if(homing_direction) {
-	    pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&lowlim);
-      } else {
-	    pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
-      } 
-      setPosition(lowlim);
+      double home_pos = 0.0;
+      if(!home_zero) {
+        if(homing_direction) {
+	      pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&home_pos);
+        } else {
+	      pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&home_pos);
+        }
+      }
+      setPosition(home_pos);
       setIntegerParam(pC_->motorStatusAtHome_, true);
     } else {
       /* 
@@ -616,7 +618,7 @@ asynStatus PhytronAxis::poll(bool *moving)
  */
 
 PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
-  : PhytronAxis(pC, axisNo, enc)
+  : PhytronAxis(pC, axisNo, enc, 0)
 {  
   if(axisNo == 1){
     doseChar = '3';
@@ -720,15 +722,20 @@ static const iocshArg PhytronCreateControllerArg1 = {"Phytron port name", iocshA
 static const iocshArg PhytronCreateControllerArg2 = {"Phytron Selector", iocshArgString};
 static const iocshArg PhytronCreateControllerArg3 = {"EncoderX", iocshArgInt};
 static const iocshArg PhytronCreateControllerArg4 = {"EncoderY", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg5 = {"HomeZeroX", iocshArgInt};
+static const iocshArg PhytronCreateControllerArg6 = {"HomeZeroY", iocshArgInt};
 static const iocshArg * const PhytronCreateControllerArgs[] = {&PhytronCreateControllerArg0,
                                                              &PhytronCreateControllerArg1,
-							       &PhytronCreateControllerArg2,
-							       &PhytronCreateControllerArg3,
-                                                             &PhytronCreateControllerArg4};
-static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 5, PhytronCreateControllerArgs};
+							                                 &PhytronCreateControllerArg2,
+               				                                 &PhytronCreateControllerArg3,
+							                                 &PhytronCreateControllerArg4,
+							                                 &PhytronCreateControllerArg5,
+                                                             &PhytronCreateControllerArg6};
+static const iocshFuncDef PhytronCreateControllerDef = {"PhytronCreateController", 7, PhytronCreateControllerArgs};
 static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
 {
-  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
+  PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival, args[4].ival,
+      args[5].ival, args[6].ival);
 }
 
 static const iocshArg PhytronDoseCreateControllerArg0 = {"Port name", iocshArgString};
diff --git a/sinqEPICSApp/src/PhytronDriver.h b/sinqEPICSApp/src/PhytronDriver.h
index 421a7a0..1b37953 100644
--- a/sinqEPICSApp/src/PhytronDriver.h
+++ b/sinqEPICSApp/src/PhytronDriver.h
@@ -30,7 +30,7 @@ class PhytronAxis : public SINQAxis
 {
 public:
   /* These are the methods we override from the base class */
-  PhytronAxis(class PhytronController *pC, int axis, int enc);
+  PhytronAxis(class PhytronController *pC, int axis, int enc, int homeZero);
   void report(FILE *fp, int level);
   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
   asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
@@ -52,6 +52,8 @@ protected:
   int encoder;
   int haveBrake;
   int brakeIO;
+  int home_zero;
+
   
 friend class PhytronController;
 };
@@ -74,7 +76,7 @@ PhytronDoseController *pC_;
 class PhytronController : public SINQController {
 public:
   PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
-		    int encX, int encY);
+		    int encX, int encY, int homeZeroX, int homeZeroY);
 
   void report(FILE *fp, int level);
   PhytronAxis* getAxis(asynUser *pasynUser);