diff --git a/secop_psi/uniax.py b/secop_psi/uniax.py
index c4ccba5..ba555c8 100644
--- a/secop_psi/uniax.py
+++ b/secop_psi/uniax.py
@@ -107,7 +107,7 @@ class Uniax(PersistentMixin, Drivable):
             return True
         return False
 
-    def next_action(self, action, do_now=True):
+    def next_action(self, action):
         """call next action
 
         :param action: function to be called next time
@@ -116,8 +116,6 @@ class Uniax(PersistentMixin, Drivable):
         self._action = action
         self._init_action = True
         self.log.info('action %r', action.__name__)
-        if do_now:
-            self._next_cycle = False
 
     def init_action(self):
         """return true when called the first time after next_action"""
@@ -126,13 +124,6 @@ class Uniax(PersistentMixin, Drivable):
             return True
         return False
 
-    def execute_action(self):
-        for _ in range(5):  # limit number of subsequent actions in one cycle
-            self._next_cycle = True
-            self._action(self.value, self.target)
-            if self._next_cycle:
-                break
-
     def zero_pos(self, value,):
         """get high_pos or low_pos, depending on sign of value
 
@@ -173,11 +164,11 @@ class Uniax(PersistentMixin, Drivable):
                 self.log.info('motor stopped - substantial force detected: %g', force)
                 self._motor.stop()
             elif self.init_action():
-                self.next_action(self.adjust, True)
+                self.next_action(self.adjust)
                 return
             if abs(force) > self.hysteresis:
                 self.set_zero_pos(force, self._motor.read_value())
-            self.next_action(self.adjust, True)
+            self.next_action(self.adjust)
             return
         if force * sign < -self.hysteresis:
             self._previous_force = force
@@ -333,7 +324,7 @@ class Uniax(PersistentMixin, Drivable):
             return Done
         if self.zero_pos(force) is None and abs(force) > self.hysteresis and self._filtered:
             self.set_zero_pos(force, self._motor.read_value())
-        self.execute_action()
+        self._action(self.value, self.target)
         return Done
 
     def write_target(self, target):
@@ -351,7 +342,10 @@ class Uniax(PersistentMixin, Drivable):
         self._cnt_rderr = 0
         self._cnt_wrerr = 0
         self.status = 'BUSY', 'changed target'
-        self.next_action(self.find, False)
+        if self.value * math.copysign(1, target) > self.hysteresis:
+            self.next_action(self.adjust)
+        else:
+            self.next_action(self.find)
         return target
 
     @Command()