diff --git a/site_ansto/instrument/config/environment/sct_cybaman.tcl b/site_ansto/instrument/config/environment/sct_cybaman.tcl
index b8ea8903..cab78402 100644
--- a/site_ansto/instrument/config/environment/sct_cybaman.tcl
+++ b/site_ansto/instrument/config/environment/sct_cybaman.tcl
@@ -347,18 +347,21 @@ namespace eval ::scobj::cybaman {
     set par "[sct target]"
     set channel [string toupper [string range [basename [sct]] end-1 end]]
     if { "$channel" == "GA" } {
-      # and move by maximum 90 degree steps
+      # and move by maximum 179 degree steps
       set here [hval [pathname [sct]]/act_pos_GA]
       if { $par > $here } {
-        if { ($par - $here) > 90.0 } {
-          set par [expr $here + 90.0]
+        if { ($par - $here) > 179.0 } {
+          set par [expr $here + 179.0]
         }
       } elseif { $par < $here } {
-        if { ($par - $here) < -90.0 } {
-          set par [expr $here - 90.0]
+        if { ($par - $here) < -179.0 } {
+          set par [expr $here - 179.0]
         }
       }
-      sct print "Setting GA to $par (was [sct target])"
+      if { $par != [sct target] } {
+        debug_log "Setting GA to $par (cur = $here, target = [sct target])"
+        sct print "Setting GA to $par (cur = $here, target = [sct target])"
+      }
       # change [-180,180] to [0,360]
       if { $par < 0 } {
         set data "[expr {round(10000 * ( 360.0 + $par ))}]"
@@ -767,11 +770,12 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
             # still moving
           } elseif { "$current_state" == 1 } {
             # has become idle
-            if { [hgetpropval $tc_root/display/set_pos_GA target] != [hval $tc_root/display/set_pos_GA] } {
-              sct print "we should take another bite"
-            #  hset $tc_root/Display/set_pos_GA [hgetpropval /display/set_pos_GA target]
-            #}
-            if { [hval $tc_root/display/act_pos_GA] == [hval $tc_root/display/set_pos_GA] &&
+            if { [hval $tc_root/display/set_pos_GA] != [hgetpropval $tc_root/display/set_pos_GA target] } {
+              broadcast "we should take another bite [hval $tc_root/display/set_pos_GA] != [hgetpropval $tc_root/display/set_pos_GA target]"
+              debug_log "we should take another bite [hval $tc_root/display/set_pos_GA] != [hgetpropval $tc_root/display/set_pos_GA target]"
+              hset $tc_root/Display/set_pos_GA [hgetpropval $tc_root/display/set_pos_GA target]
+              hset $tc_root/Display/visstart 1
+            } elseif { [hval $tc_root/display/act_pos_GA] == [hval $tc_root/display/set_pos_GA] &&
               [hval $tc_root/display/act_pos_GB] == [hval $tc_root/display/set_pos_GB] &&
               [hval $tc_root/display/act_pos_GC] == [hval $tc_root/display/set_pos_GC] } {
               hsetprop $tc_root/device_state my_state "STATE_IDLE"
@@ -780,6 +784,8 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
               hsetprop $tc_root/GC/Setpoint driving 0
               debug_log "drive_state: [sct] IDLE"
               hset $tc_root/drive_state "IDLE"
+            } else {
+              hset $tc_root/Display/visstart 1
             }
             set nextState "idle"
           } else {
@@ -891,6 +897,7 @@ debug_log "checktol $tc_root $currtime $timecheck"
       return "hwfault"
     }
     if {[sct driving]} {
+      debug_log "drivestatus: [sct] busy"
       return "busy"
     } else {
       debug_log "drivestatus: [sct] idle"
@@ -1036,7 +1043,7 @@ debug_log "Creating node $nodeName"
         Display  opmode          0 0 0 int   user     {opmode}          {rdValue}      {}                 {}         {}\
         Display  prognumber      1 0 0 int   user     {mainProgNumber}  {rdValue}      {}                 {}         {}\
         Display  reset           1 1 0 int   user     {visin_ctrlR}     {rdValue}      {visin_ctrlR}      {wrValue}  {}\
-        Display  set_pos_GA       1 1 0 float user     {p101}            {rdAngle}      {p101}             {wrAngle}  {-180:180}\
+        Display  set_pos_GA       1 1 0 float user     {p101}            {rdAngle}      {p101}             {wrAngle}  {-179:180}\
         Display  set_pos_GB       1 1 0 float user     {p102}            {rdAngle}      {p102}             {wrAngle}  {-180:180}\
         Display  set_pos_GC       1 1 0 float user     {p103}            {rdAngle}      {p103}             {wrAngle}  {-180:180}\
         Display  feed_rate       1 1 0 int   user     {p104}            {rdValue}      {p104}             {wrValue}  {0:99999}\
@@ -1047,7 +1054,7 @@ debug_log "Creating node $nodeName"
         Display  vise_stop       0 1 0 int   user     {vise_stop}       {rdValue}      {vise_stop}        {wrValue}  {}\
         Display  Value           1 0 0 int   internal {mainProgNumber}  {rdValue}      {}                 {}         {}\
         {}       Setpoint        0 1 1 int   user     {}                {}             {}                 {setPoint} {}\
-       GA        Setpoint        0 1 1 float user     {}                {}             {}                 {setPt}    {-180:180}\
+       GA        Setpoint        0 1 1 float user     {}                {}             {}                 {setPt}    {-179:180}\
        GA        Value           1 0 0 float user     {}                {rdV.rdN}      {}                 {}         {}\
        GB        Setpoint        0 1 1 float user     {}                {}             {}                 {setPt}    {-180:180}\
        GB        Value           1 0 0 float user     {}                {rdV.rdN}      {}                 {}         {}\