diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 4bf76474..aaa0957d 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -1677,7 +1677,12 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
       }
       break;
     case eTimeoutEvent:
-      /* TODO handle message timeout */
+      /* TODO handle message timeout, I don't know what to do here, maybe this'll work. ferdi */
+      strncpy(self->lastCmd, event->event.msg.cmd->out_buf, CMDLEN);
+      self->errorCode = MOTCMDTMO;
+      self->driver_status = HWFault;
+      change_state(self, DMCState_MotorHalt);
+      return;
       break;
   }
   unhandled_event(self, event);
@@ -1775,7 +1780,7 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
         }
       } while (0);
       break;
-      /* TODO: handle halt command */
+      /* TODO: handle halt command, can we get a HALT between this and MotorOn? ferdi */
     case eTimeoutEvent:
       /* TODO handle message timeout */
       break;
@@ -1882,7 +1887,15 @@ static void DMCState_MotorOn(pDMC2280Driv self, pEvtEvent event) {
         }
       } while (0);
       break;
-      /* TODO: handle halt command */
+      /* TODO: handle halt command,  Hey Doug is this right? ferdi */
+    case eCommandEvent:
+      switch (event->event.cmd.cmd_type) {
+        case CMD_HALT:
+          /* handle halt command, send message */
+          change_state(self, DMCState_MotorHalt);
+          return;
+      }
+      break;
     case eTimeoutEvent:
       /* TODO handle message timeout */
       break;
@@ -2250,7 +2263,7 @@ static void DMCState_MotorStop(pDMC2280Driv self, pEvtEvent event) {
           /* TODO: handle run command */
           return;
         case CMD_HALT:
-          /* TODO: handle halt command */
+          /* TODO: handle halt command, can we get a HALT between this and MotorOff? ferdi */
           return;
       }
       break;
@@ -2284,7 +2297,7 @@ static void DMCState_MotorOff(pDMC2280Driv self, pEvtEvent event) {
           /* TODO: handle run command */
           return;
         case CMD_HALT:
-          /* TODO: handle halt command */
+          /* TODO: handle halt command, can we get a HALT between this and Idle? ferdi */
           return;
       }
       break;