diff --git a/site_ansto/hardsup/nhq200util.c b/site_ansto/hardsup/nhq200util.c
index 99a2337c..2208fe27 100644
--- a/site_ansto/hardsup/nhq200util.c
+++ b/site_ansto/hardsup/nhq200util.c
@@ -101,6 +101,16 @@ static int NHQ_Rx(void* ctx, int rxchar)
   int iRet = 1;
   pCommand myCmd = (pCommand) ctx;
 
+  if (rxchar == MCC_TIMEOUT) {
+    /* TODO: handle command timeout */
+    if (myCmd->func)
+      iRet = myCmd->func(myCmd->cntx, NULL, MCC_TIMEOUT);
+    free(myCmd->out_buf);
+    free(myCmd->inp_buf);
+    free(myCmd);
+    return MCC_POP_CMD;
+  }
+
   switch (myCmd->cstate) {
     case 0: /* send with echo */
       if (rxchar != myCmd->out_buf[myCmd->out_idx]) {
@@ -148,6 +158,7 @@ static int NHQ_Rx(void* ctx, int rxchar)
     free(myCmd->out_buf);
     free(myCmd->inp_buf);
     free(myCmd);
+    return MCC_POP_CMD;
   }
   return iRet;
 }
@@ -190,6 +201,11 @@ static void NHQ_Notify(void* context, int event)
   pNHQ200 self = (pNHQ200) context;
 
   switch (event) {
+    case MCC_DISCONNECT:
+      if (self->transWait == 1) {
+        self->transWait = NHQ200__FAULT;
+        strcpy(self->pAns, "DISCONNECTED");
+      }
     case MCC_RECONNECT:
       do {
         mkChannel* sock = MultiChanGetSocket(self->mcc);
@@ -290,50 +306,56 @@ static int InitCallback(void* ctx, const char* resp, int resp_len)
 {
   char cmd[20];
   int cmd_len;
-  /* TODO: FIXME finish initialisation */
   pNHQ200 self = (pNHQ200) ctx;
-  switch (self->iState) {
-    case 0: /* Initial */
-      cmd_len = snprintf(cmd, sizeof(cmd), "#");
-      NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
-      self->iState = STATE_HASH;
-      break;
-    case STATE_HASH: /* # */
-      parse_hash(self, resp, resp_len);
-      cmd_len = snprintf(cmd, sizeof(cmd), "S%d", self->iControl);
-      NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
-      self->iState = STATE_SX;
-      break;
-    case STATE_SX: /* Sx */
-      parse_Sx(self, resp, resp_len);
-      cmd_len = snprintf(cmd, sizeof(cmd), "T%d", self->iControl);
-      NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
-      self->iState = STATE_TX;
-      break;
-    case STATE_TX: /* Tx */
-      parse_Tx(self, resp, resp_len);
-      cmd_len = snprintf(cmd, sizeof(cmd), "M%d", self->iControl);
-      NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
-      self->iState = STATE_MX;
-      break;
-    case STATE_MX: /* Mx */
-      parse_Mx(self, resp, resp_len);
-      cmd_len = snprintf(cmd, sizeof(cmd), "N%d", self->iControl);
-      NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
-      self->iState = STATE_NX;
-      break;
-    case STATE_NX: /* Nx */
-      parse_Nx(self, resp, resp_len);
-      cmd_len = snprintf(cmd, sizeof(cmd), "V%d", self->iControl);
-      NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
-      self->iState = STATE_VX;
-      break;
-    case STATE_VX: /* Vx */
-      parse_Vx(self, resp, resp_len);
-      self->iState = STATE_END;
-      break;
-    case STATE_END:
-      break;
+  /* TODO: FIXME finish initialisation */
+  if (resp_len < 0) {
+    self->iError = NHQ200__BADSET;
+    self->iState = 0;
+  }
+  else {
+    switch (self->iState) {
+      case 0: /* Initial */
+        cmd_len = snprintf(cmd, sizeof(cmd), "#");
+        NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
+        self->iState = STATE_HASH;
+        break;
+      case STATE_HASH: /* # */
+        parse_hash(self, resp, resp_len);
+        cmd_len = snprintf(cmd, sizeof(cmd), "S%d", self->iControl);
+        NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
+        self->iState = STATE_SX;
+        break;
+      case STATE_SX: /* Sx */
+        parse_Sx(self, resp, resp_len);
+        cmd_len = snprintf(cmd, sizeof(cmd), "T%d", self->iControl);
+        NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
+        self->iState = STATE_TX;
+        break;
+      case STATE_TX: /* Tx */
+        parse_Tx(self, resp, resp_len);
+        cmd_len = snprintf(cmd, sizeof(cmd), "M%d", self->iControl);
+        NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
+        self->iState = STATE_MX;
+        break;
+      case STATE_MX: /* Mx */
+        parse_Mx(self, resp, resp_len);
+        cmd_len = snprintf(cmd, sizeof(cmd), "N%d", self->iControl);
+        NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
+        self->iState = STATE_NX;
+        break;
+      case STATE_NX: /* Nx */
+        parse_Nx(self, resp, resp_len);
+        cmd_len = snprintf(cmd, sizeof(cmd), "V%d", self->iControl);
+        NHQ_SendCmd(self->mcc, cmd, cmd_len, InitCallback, self, 80);
+        self->iState = STATE_VX;
+        break;
+      case STATE_VX: /* Vx */
+        parse_Vx(self, resp, resp_len);
+        self->iState = STATE_END;
+        break;
+      case STATE_END:
+        break;
+    }
   }
   return 0;
 }
@@ -353,14 +375,19 @@ static int GetCallback(void* ctx, const char* resp, int resp_len)
   float fRead;
   pNHQ200 self = (pNHQ200) ctx;
 
-  iRet = sscanf(resp,"%g",&fRead);
-  if(iRet != 1) { // Not a number, probably an error response
+  if (resp_len < 0) {
     self->iError = NHQ200__BADREAD;
   }
   else {
-    if (fRead < 0)
-      fRead = -fRead;
-    self->fValue = fRead;
+    iRet = sscanf(resp,"%g",&fRead);
+    if(iRet != 1) { // Not a number, probably an error response
+      self->iError = NHQ200__BADREAD;
+    }
+    else {
+      if (fRead < 0)
+        fRead = -fRead;
+      self->fValue = fRead;
+    }
   }
   self->iGetOut = 0;
   return 0;
@@ -373,9 +400,15 @@ static int TransCallback(void* ctx, const char* resp, int resp_len)
 {
   pNHQ200 self = (pNHQ200) ctx;
 
-  memcpy(self->transReply, resp, resp_len);
-  self->transReply[resp_len] = '\0';
-  self->transWait = 0;
+  if (resp_len < 0) {
+    self->transReply[0] = '\0';
+    self->transWait = -1;
+  }
+  else {
+    memcpy(self->transReply, resp, resp_len);
+    self->transReply[resp_len] = '\0';
+    self->transWait = 0;
+  }
   return 0;
 }
 
@@ -389,8 +422,10 @@ int transactNHQ200(pNHQ200 self, void *send, int sendLen,
   NHQ_SendCmd(self->mcc,
       send, sendLen,
       TransCallback, self, replyLen);
-  while (self->transWait)
+  while (self->transWait == 1)
     TaskYield(pServ->pTasker);
+  if (self->transWait < 0)
+    return self->transWait;
   return 1;
 }
 
@@ -651,74 +686,3 @@ void NHQ200_ErrorTxt(pNHQ200 *pData,int iCode, char *pError, int iLen)
       break;
   }
 }
-
-static int GALIL_Tx(void* ctx)
-{
-  int iRet = 1;
-  pCommand myCmd = (pCommand) ctx;
-
-  if (myCmd) {
-    iRet = MultiChanWrite(myCmd->unit, myCmd->out_buf, myCmd->out_len);
-    /* TODO handle errors */
-    if (iRet < 0) { /* TODO: EOF */
-      iRet = MultiChanReconnect(myCmd->unit);
-      if (iRet == 0)
-        return 0;
-    }
-  }
-  return 1;
-}
-
-static int GALIL_Rx(void* ctx, int rxchar)
-{
-  int iRet = 1;
-  pCommand myCmd = (pCommand) ctx;
-
-  switch (myCmd->cstate) {
-    case 0: /* first character */
-      if (rxchar == ':') {
-        /* normal prompt */
-        myCmd->cstate = 99;
-      }
-      else if (rxchar == '?') {
-        /* TODO: error prompt, send TC1 */
-        myCmd->cstate = 99;
-      }
-      else {
-        /* normal data */
-        myCmd->cstate = 1;
-      }
-      /* note fallthrough */
-    case 1: /* receiving reply */
-      if (myCmd->inp_idx < myCmd->inp_len)
-        myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
-      if (rxchar == 0x0D)
-        myCmd->cstate = 2;
-      break;
-    case 2: /* received CR and looking for LF */
-      if (myCmd->inp_idx < myCmd->inp_len)
-        myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
-      if (rxchar == 0x0A) {
-        myCmd->cstate = 99;
-        /* end of line */
-      }
-      else
-        myCmd->cstate = 1;
-      break;
-  }
-  if (myCmd->cstate == 99) {
-    myCmd->inp_buf[myCmd->inp_idx] = '\0';
-    if (myCmd->func)
-      iRet = myCmd->func(myCmd->cntx, myCmd->inp_buf, myCmd->inp_idx);
-    else
-      iRet = 0;
-    myCmd->cstate = 0;
-    myCmd->inp_idx = 0;
-  }
-  if (iRet == 0) { /* end of command */
-    free(myCmd->out_buf);
-    free(myCmd->inp_buf);
-    free(myCmd);
-  }
-  return iRet;
-}
diff --git a/site_ansto/safetyplc.c b/site_ansto/safetyplc.c
index d8649c17..ec0e860b 100644
--- a/site_ansto/safetyplc.c
+++ b/site_ansto/safetyplc.c
@@ -92,6 +92,16 @@ static int PLC_Rx(void* ctx, int rxchar)
   int iRet = 1;
   pCommand myCmd = (pCommand) ctx;
 
+  if (rxchar == MCC_TIMEOUT) {
+    /* TODO: handle command timeout */
+    if (myCmd->func)
+      iRet = myCmd->func(myCmd->cntx, NULL, MCC_TIMEOUT);
+    free(myCmd->out_buf);
+    free(myCmd->inp_buf);
+    free(myCmd);
+    return MCC_POP_CMD;
+  }
+
   switch (myCmd->cstate) {
     case 0: /* first character */
       /* normal data */
@@ -127,6 +137,7 @@ static int PLC_Rx(void* ctx, int rxchar)
     free(myCmd->out_buf);
     free(myCmd->inp_buf);
     free(myCmd);
+    return MCC_POP_CMD;
   }
   return iRet;
 }
@@ -194,22 +205,27 @@ static int GetCallback(void* ctx, const char* resp, int resp_len)
   int iRet;
   unsigned int iRead;
   pSafetyPLCController self = (pSafetyPLCController) ctx;
-  iRet = sscanf(resp,"READ %x", &iRead);
-  if(iRet != 1) { // Not a number, probably an error response
-    self->iValue = 0;
+  if (resp_len < 0) {
+    DMC2280MotionControl = -1;
   }
   else {
-    if ((iRead & LAMP_TEST_BIT) == 0)
-      self->iValue = iRead;
+    iRet = sscanf(resp,"READ %x", &iRead);
+    if(iRet != 1) { // Not a number, probably an error response
+      self->iValue = 0;
+    }
+    else {
+      if ((iRead & LAMP_TEST_BIT) == 0)
+        self->iValue = iRead;
+    }
+    if ((self->iValue & MOTOR_BOTH_BITS) == 0) /* neither */
+      DMC2280MotionControl = -1;
+    else if ((self->iValue & MOTOR_BOTH_BITS) == MOTOR_BOTH_BITS) /* both */
+      DMC2280MotionControl = -1;
+    else if ((self->iValue & MOTOR_ENABLED_BIT))  /* enabled */
+      DMC2280MotionControl = 1;
+    else /* disabled */
+      DMC2280MotionControl = 0;
   }
-  if ((self->iValue & MOTOR_BOTH_BITS) == 0) /* neither */
-    DMC2280MotionControl = -1;
-  else if ((self->iValue & MOTOR_BOTH_BITS) == MOTOR_BOTH_BITS) /* both */
-    DMC2280MotionControl = -1;
-  else if ((self->iValue & MOTOR_ENABLED_BIT))  /* enabled */
-    DMC2280MotionControl = 1;
-  else /* disabled */
-    DMC2280MotionControl = 0;
 
   self->iGetOut = 0;
   return 0;