diff --git a/secop_psi/trinamic.py b/secop_psi/trinamic.py
index 5ae65a7..3bfbaea 100644
--- a/secop_psi/trinamic.py
+++ b/secop_psi/trinamic.py
@@ -125,8 +125,9 @@ class Motor(PersistentMixin, HasIodev, Drivable):
     # fast_pollfactor = 0.001  # poll as fast as possible when busy
     fast_pollfactor = 0.05
     _started = 0
-    _calcTimeout = True
+    _calc_timeout = True
     _need_reset = None
+    _last_change = 0
 
     def comm(self, cmd, adr, value=0, bank=0):
         """set or get a parameter
@@ -137,8 +138,8 @@ class Motor(PersistentMixin, HasIodev, Drivable):
         :param value: if given, the parameter is written, else it is returned
         :return: the returned value
         """
-        if self._calcTimeout:
-            self._calcTimeout = False
+        if self._calc_timeout:
+            self._calc_timeout = False
             baudrate = getattr(self._iodev._conn.connection, 'baudrate', None)
             if baudrate:
                 if baudrate not in BAUDRATES:
@@ -179,13 +180,17 @@ class Motor(PersistentMixin, HasIodev, Drivable):
         pobj = self.parameters[pname]
         scale = pobj.scale
         rawvalue = round(value / scale)
-        self.comm(SET_AXIS_PAR, pobj.adr, rawvalue, **kwds)
-        if check:
-            result = self.comm(GET_AXIS_PAR, pobj.adr, **kwds)
-            if result != rawvalue:
-                raise HardwareError('result does not match %d != %d' % (result, rawvalue))
-            value = result * scale
-        return value
+        for itry in range(2):
+            self.comm(SET_AXIS_PAR, pobj.adr, rawvalue, **kwds)
+            if check:
+                result = self.comm(GET_AXIS_PAR, pobj.adr, **kwds)
+                if result != rawvalue:
+                    self.log.warning('result for %s does not match %d != %d, try again', pname, result, rawvalue)
+                    continue
+                value = result * scale
+            return value
+        else:
+            raise HardwareError('result for %s does not match %d != %d' % (pname, result, rawvalue))
 
     def startModule(self, started_callback):
         # get encoder value from motor. at this stage self.encoder contains the persistent value
@@ -251,8 +256,12 @@ class Motor(PersistentMixin, HasIodev, Drivable):
                     self.log.error('encoder (%.2f) does not match internal pos (%.2f)', self.encoder, self.steppos)
                     return self.Status.ERROR, 'encoder does not match internal pos'
             return self.status
-        if oldpos != self.steppos or not (self.read_target_reached() or self.read_move_status()
-                                          or self.read_error_bits()):
+        now = self.parameters['steppos'].timestamp
+        if self.steppos != oldpos:
+            self._last_change = now
+            return self.Status.BUSY, 'moving'
+        if now < self._last_change + 0.2 and not (self.read_target_reached() or self.read_move_status()
+                                                  or self.read_error_bits()):
             return self.Status.BUSY, 'moving'
         diff = self.target - self.encoder
         if abs(diff) <= self.tolerance:
@@ -275,7 +284,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
                 self._need_reset = True
                 self.status = self.Status.ERROR, 'encoder does not match internal pos'
                 raise HardwareError('need reset (encoder does not match internal pos)')
-            self.set('steppos', self.encoder - self.zero)
+            self.set('steppos', self.encoder - self.zero, check=False)
         self._started = time.time()
         self.log.debug('move to %.1f', target)
         self.comm(MOVE, 0, (target - self.zero) / ANGLE_SCALE)
@@ -357,7 +366,8 @@ class Motor(PersistentMixin, HasIodev, Drivable):
 
     @Command(FloatRange())
     def set_zero(self, value):
-        self.write_zero(value - self.read_value())
+        raw = self.read_value() - self.zero
+        self.write_zero(value - raw)
 
     def read_baudrate(self):
         return self.comm(GET_GLOB_PAR, 65)