diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 0d438d52..d97e5da3 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -196,6 +196,9 @@ struct __MoDriv {
   double lastPosition; /**< Position at last position check */
   int lastSteps;
   int lastCounts;
+  double lastReportTime;
+  int lastReportedCounts;
+  int lastReportedSteps;
   double origPosition; /**< Position at motor start */
   double origTime; /**< Time at motor start */
   int origSteps;
@@ -271,6 +274,7 @@ struct __MoDriv {
   double S_r;
   bool doTracking;
   TrackEntryBuffer *trackHead, *trackTail;
+  bool doReportMotion; /**< flag for reporting motion when not driving */
   bool doOscillate; /**< flag for motor oscillation */
   bool oscillate_up; /**< next oscillation move is to high position */
   bool oscillate_init; /**< initial move is not counted */
@@ -1149,18 +1153,36 @@ static void set_lastMotion(pDMC2280Driv self, int steps, int counts) {
   gettimeofday(&(self->time_lastPos_set), NULL);
 }
 
-static void report_motion(pDMC2280Driv self) {
+static bool report_motion(pDMC2280Driv self, bool isIdle) {
   SConnection *pDumCon;
   MotCallback sCall;
+  double current_time, skip_time;
+  long lDelta;
   if (self->pMot == NULL)
     self->pMot = FindMotor(pServ->pSics, self->name);
   assert(self->pMot);
-  pDumCon = SCCreateDummyConnection(pServ->pSics);
-  MotorGetSoftPosition(self->pMot,pDumCon,&sCall.fVal);
-  SCDeleteConnection(pDumCon);
-  sCall.pName = self->pMot->name;
-  InvokeCallBack(self->pMot->pCall, MOTDRIVE, &sCall);
-  InvokeCallBack(self->pMot->pCall, MOTEND, &sCall);
+  current_time = DoubleTime();
+  skip_time = 0.001 * getMotorParam(self, "movecount");
+  if (self->lastReportTime + skip_time <= current_time) {
+    if (self->abs_encoder)
+      lDelta = fabs(self->currCounts - self->lastReportedCounts);
+    else
+      lDelta = fabs(self->currSteps - self->lastReportedSteps);
+    if (lDelta > 1) {
+      pDumCon = SCCreateDummyConnection(pServ->pSics);
+      MotorGetSoftPosition(self->pMot, pDumCon, &sCall.fVal);
+      SCDeleteConnection(pDumCon);
+      sCall.pName = self->pMot->name;
+      InvokeCallBack(self->pMot->pCall, MOTDRIVE, &sCall);
+      if (isIdle)
+        InvokeCallBack(self->pMot->pCall, MOTEND, &sCall);
+      self->lastReportedCounts = self->currCounts;
+      self->lastReportedSteps = self->currSteps;
+      self->lastReportTime = current_time;
+      return true;
+    }
+  }
+  return false;
 }
 
 /** \brief Reads absolute encoder.
@@ -2329,7 +2351,6 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
         pAsyncTxn pCmd = event->event.msg.cmd;
         if (self->subState == 1) { /* Status Response */
           int iRet;
-          long lDelta;
           iRet = rspStatus(self, pCmd->inp_buf);
           if (iRet == 0)
             break;
@@ -2340,14 +2361,8 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
             return;
           }
           /* if the motor moved, update any observers */
-          if (self->abs_encoder)
-            lDelta = fabs(self->currCounts - self->lastCounts);
-          else
-            lDelta = fabs(self->currSteps - self->lastSteps);
-          if (lDelta > 10) {
+          if (report_motion(self, true))
             set_lastMotion(self, self->currSteps, self->currCounts);
-            report_motion(self);
-          }
           if (trace_switches || self->debug)
             DMC_SetTimer(self, self->motorPollFast);
           else
@@ -3309,6 +3324,8 @@ static void DMCState_StepMove(pDMC2280Driv self, pEvtEvent event) {
               ent->Counts = self->currCounts;
             }
           }
+          if (self->doReportMotion)
+            (void) report_motion(self, false);
           /* if the status response can be handled here, return */
           if (motorHandleStatus(self))
             return;
@@ -3972,6 +3989,7 @@ static int DMC2280Run(void *pData,float fValue){
   if (fValue >= self->fLower && fValue <= self->fUpper) {
     self->fTarget = fValue;
     self->doOscillate = false;
+    self->doReportMotion = false;
     state_cmd_execute(self, CMD_RUN);
     return 1;
   }
@@ -5492,6 +5510,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
           else
             self->oscillate_up = false;
           self->doOscillate = true;
+          self->doReportMotion = true;
           self->oscillate_init = true;
           self->oscillate_counter = 0;
           state_cmd_execute(self, CMD_RUN);
@@ -5561,6 +5580,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
               self->fTarget = fHard;
               SCPrintf(pCon, eLog, "Running %s to soft=%g, hard=%g", self->name, fSoft, fHard);
               self->doOscillate = false;
+              self->doReportMotion = true;
               state_cmd_execute(self, CMD_RUN);
             }
           }