diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 08db73c6..7209021e 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -1640,6 +1640,20 @@ static int cmdOn(pDMC2280Driv self) {
   return DMC_SendReq(self, cmd);
 }
 
+static int cmdZero(pDMC2280Driv self) {
+  char cmd[CMDLEN];
+  if (self->abs_encoder == 0) {
+    SICSLogPrintf(eError, "motor=%s, Attempt to zero non-absolute motor", self->name);
+    snprintf(cmd, CMDLEN, "TD%c", self->axisLabel);
+  } else if (self->protocol == 3) {
+    SICSLogPrintf(eError, "motor=%s, Attempt to zero protocol 3 motor", self->name);
+    snprintf(cmd, CMDLEN, "TD%c", self->axisLabel);
+  } else {
+    snprintf(cmd, CMDLEN, "DP%c=0", self->axisLabel);
+  }
+  return DMC_SendReq(self, cmd);
+}
+
 static int cmdPosition(pDMC2280Driv self, int target) {
   char cmd[CMDLEN];
   self->lastPosition = motPosit(self);
@@ -2575,8 +2589,13 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
         change_state(self, DMCState_Idle);
         return;
       }
-      cmdOn(self);
-      self->subState = 1;
+      if (self->abs_encoder && self->rotary_bits > 0) {
+        cmdZero(self);
+        self->subState = 3;
+      } else {
+        cmdOn(self);
+        self->subState = 1;
+      }
       return;
     case eTimerEvent:
       cmdPoll(self);
@@ -2625,6 +2644,23 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
           self->subState = 0;
           return;
         }
+        else if (self->subState == 3) { /* Zero */
+          cmdStatus(self);
+          self->status_valid = false;
+          self->subState = 4;
+        }
+        else if (self->subState == 4) { /* Status after Zero */
+          int iRet;
+          iRet = rspStatus(self, pCmd->inp_buf);
+          if (iRet == 0)
+            break;
+          if (fabs(self->stepsPerX) < fabs(self->currSteps)) {
+            SICSLogPrintf(eError, "motor=%s, cmdZero failed %d", self->name, self->currSteps);
+          }
+          set_lastMotion(self, self->currSteps, self->currCounts);
+          cmdOn(self);
+          self->subState = 1;
+        }
       } while (0);
       break;
     case eCommandEvent: