diff --git a/drive.c b/drive.c
index 51a6fcdd..27a575be 100644
--- a/drive.c
+++ b/drive.c
@@ -153,6 +153,7 @@ int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
   int iRet;
   float fDelta;
   long lTime;
+  float target;
 
   assert(pCon);
   assert(pInter);
diff --git a/hmcontrol.c b/hmcontrol.c
index 21036ecb..aed00d55 100644
--- a/hmcontrol.c
+++ b/hmcontrol.c
@@ -16,12 +16,19 @@
  image is invalid. This is not what is wanted.
 
  Mark Koennecke, July 2011
+
+ Made a special status function for BOA which aborts the CCD when the 
+ camera overruns the counter for more then 120 seconds and repeats the 
+ measurement.
+
+ Mark Koennecke, July 2012
 -------------------------------------------------------------------------*/
 
 #include <stdlib.h>
 #include <assert.h>
 #include <tcl.h>
 #include <unistd.h>
+#include <time.h>
 #include "fortify.h"
 #include "hmcontrol.h"
 #include "HistMem.h"
@@ -119,47 +126,92 @@ static int HMCStatus(void *pData, SConnection * pCon)
   assert(self);
 
   if(self->checkSlaves == 0) {
-	  status = self->slaves[0]->CheckCountStatus(self->slaveData[0], pCon);
-	  /*
-		 Warning: this assumes that slaves 1 - MAXSLAVE are histogram memories.
-		 If this assumption does not hold, change this code to check if this
-		 is really a histogram memory.
-	   */
-	  for (i = 1; i < MAXSLAVE; i++) {
-		  if (self->slaves[i] != NULL) {
-			  HistDirty((pHistMem) self->slaveData[i]);
-		  }
-	  }
-	  if (status == HWIdle || status == HWFault) {
-		  /*
-		   stop counting on slaves when finished or when an error
-		   occurred.
-		   */
-		  if(self->stopSlaves){
-			  HMCHalt(self);
-		  }
-		  ReleaseCountLock(self->pCount);
-		  self->checkSlaves = 1;
-		  status = HWBusy;
-	  }
+    status = self->slaves[0]->CheckCountStatus(self->slaveData[0], pCon);
+    /*
+      Warning: this assumes that slaves 1 - MAXSLAVE are histogram memories.
+      If this assumption does not hold, change this code to check if this
+      is really a histogram memory.
+    */
+    for (i = 1; i < MAXSLAVE; i++) {
+      if (self->slaves[i] != NULL) {
+	HistDirty((pHistMem) self->slaveData[i]);
+      }
+    }
+    if (status == HWIdle || status == HWFault) {
+      /*
+	stop counting on slaves when finished or when an error
+	occurred.
+      */
+      if(self->stopSlaves){
+	HMCHalt(self);
+      }
+      ReleaseCountLock(self->pCount);
+      self->checkSlaves = 1;
+      status = HWBusy;
+    }
   } else {
-	  /*
-	   * wait for the detectors to report finish too. Otherwise, with the second
-	   * generation HM data may not be fully transferred.
-	   */
-	  for(i = 1; i < self->nSlaves; i++){
-		  status = self->slaves[i]->CheckCountStatus(self->slaveData[i], pCon);
-		  if(status != HWIdle || status != HWFault){
-			  return status;
-		  }
-	  }
-	  status = HWIdle;
-	  InvokeCallBack(self->pCall, COUNTEND, pCon);
-	  self->checkSlaves = 0;
+    /*
+     * wait for the detectors to report finish too. Otherwise, with the second
+     * generation HM data may not be fully transferred.
+     */
+    for(i = 1; i < self->nSlaves; i++){
+      status = self->slaves[i]->CheckCountStatus(self->slaveData[i], pCon);
+      if(status != HWIdle || status != HWFault){
+	return status;
+      }
+    }
+    status = HWIdle;
+    InvokeCallBack(self->pCall, COUNTEND, pCon);
+    self->checkSlaves = 0;
   }
   return status;
 }
+/*----------------------------------------------------------------------*/
+static int HMCBoaStatus(void *pData, SConnection * pCon)
+{
+  int status, i, j;
+  pHMcontrol self = NULL;
 
+  self = (pHMcontrol) pData;
+  assert(self);
+
+  /* check counter */
+  if(self->checkSlaves == 0) {
+    status = self->slaves[0]->CheckCountStatus(self->slaveData[0], pCon);
+    if (status == HWIdle || status == HWFault) {
+      ReleaseCountLock(self->pCount);
+      self->checkSlaves = 1;
+      self->counterStop = time(NULL);
+      status = HWBusy;
+    }
+  } else {
+    /* check HM */
+    for(i = 1; i < self->nSlaves; i++){
+      status = self->slaves[i]->CheckCountStatus(self->slaveData[i], pCon);
+      if(status != HWIdle || status != HWFault){
+	if(time(NULL) > self->counterStop + 100) {
+	  SCWrite(pCon,"WARNING: CCD overrun, restarting counting...", eLogError);
+	  HMCHalt(self);
+	  ReleaseCountLock(self->pCount);
+	  self->checkSlaves = 0;
+	  for(j = 0; j < 100; j++){
+	    SicsWait(1);
+	    status = self->slaves[i]->CheckCountStatus(self->slaveData[i], pCon);
+	    if(status == HWIdle || status == HWFault) {
+	      HMCStart(self, pCon);
+	      return HWBusy;
+            }
+          }
+        }
+	return status;
+      }
+    }
+    status = HWIdle;
+    InvokeCallBack(self->pCall, COUNTEND, pCon);
+    self->checkSlaves = 0;
+  }
+  return status;
+}
 /*-------------------------------------------------------------------------*/
 static int HMCPause(void *pData, SConnection * pCon)
 {
@@ -357,7 +409,7 @@ int HMControlAction(SConnection * pCon, SicsInterp * pSics,
 
   /* 
      checks
-   */
+  */
   self = (pHMcontrol) pData;
   assert(self);
   if (argc < 2) {
@@ -367,14 +419,14 @@ int HMControlAction(SConnection * pCon, SicsInterp * pSics,
   }
   strtolower(argv[1]);
   if (strcmp(argv[1], "start") == 0) {
-	  if (argc < 4) {
-	    snprintf(pBueffel, 131, "ERROR: Usage %s start preset mode", argv[0]);
-	    SCWrite(pCon, pBueffel, eError);
-	    return 0;
-	  }
-   /*
-       interpret count parameters
-     */
+    if (argc < 4) {
+      snprintf(pBueffel, 131, "ERROR: Usage %s start preset mode", argv[0]);
+      SCWrite(pCon, pBueffel, eError);
+      return 0;
+    }
+    /*
+      interpret count parameters
+    */
     status = Tcl_GetDouble(pSics->pTcl, argv[2], &dPreset);
     if (status != TCL_OK) {
       snprintf(pBueffel,sizeof(pBueffel)-1, "ERROR: failed to convert %s to number", argv[2]);
@@ -393,8 +445,8 @@ int HMControlAction(SConnection * pCon, SicsInterp * pSics,
     }
 
     /*
-       set count parameters and go
-     */
+      set count parameters and go
+    */
     self->pCount->SetCountParameters(self, (float) dPreset, eMode);
     status = StartDevice(pServ->pExecutor, "hmcontrol", self->pDes,
                          self, pCon, RUNRUN, 99);
@@ -405,14 +457,18 @@ int HMControlAction(SConnection * pCon, SicsInterp * pSics,
     InvokeCallBack(self->pCall, COUNTSTART, pCon);
     SCSendOK(pCon);
   }else if(strcmp(argv[1],"stopslaves")  == 0){
-	  if(argc < 3){
-		  SCPrintf(pCon,eValue,"hm.stopslaves = %d", self->stopSlaves);
-		  return 1;
-	  } else {
-		  self->stopSlaves = atoi(argv[2]);
-		  SCPrintf(pCon,eValue,"hm.stopslaves = %d", self->stopSlaves);
-		  return 1;
-	  }
+    if(argc < 3){
+      SCPrintf(pCon,eValue,"hm.stopslaves = %d", self->stopSlaves);
+      return 1;
+    } else {
+      self->stopSlaves = atoi(argv[2]);
+      SCPrintf(pCon,eValue,"hm.stopslaves = %d", self->stopSlaves);
+      return 1;
+    }
+  }else if(strcmp(argv[1],"boamode")  == 0){
+    self->pCount->CheckCountStatus = HMCBoaStatus;
+    SCSendOK(pCon);
+    return 1;
   } else {
     SCWrite(pCon, "ERROR: subcommand not recognized", eError);
     return 0;
diff --git a/hmcontrol.h b/hmcontrol.h
index 92500bf0..c9113182 100644
--- a/hmcontrol.h
+++ b/hmcontrol.h
@@ -34,6 +34,7 @@ typedef struct {
   pICallBack pCall;
   int checkSlaves;
   int stopSlaves;
+  time_t counterStop;
 } HMcontrol, *pHMcontrol;
 
 
diff --git a/macro.c b/macro.c
index 446537ba..b3a3e03a 100644
--- a/macro.c
+++ b/macro.c
@@ -765,15 +765,6 @@ int ClientLog(SConnection * pCon, SicsInterp * pInter, void *pData,
   free(pMessage);
   return 1;
 }
-/*-----------------------------------------------------------------------
- A heartbeat command .............
- ------------------------------------------------------------------------*/
-int Poch(SConnection * pCon, SicsInterp * pInter, void *pData,
-              int argc, char *argv[])
-{
-  SCPureSockWrite(pCon,"Poch", eLog);
-  return 1;
-}
 /*-----------------------------------------------------------------------*/
 int GumPut(SConnection * pCon, SicsInterp * pInter, void *pData,
            int argc, char *argv[])
diff --git a/motorsec.c b/motorsec.c
index cc5ae903..b77643de 100644
--- a/motorsec.c
+++ b/motorsec.c
@@ -123,7 +123,7 @@ static long SecMotorRun(void *sulf, SConnection * pCon, float fNew)
 static int SecMotorCheckBoundary(pMotor self, float fVal, float *fTarget,
                                  char *pError, int iErrLen)
 {
-  double fZero, fixed, lowerlim, upperlim, sign;
+  double fZero, fixed, lowerlim, upperlim, sign, offset;
   float fHard, hupper, hlower;
   char pBueffel[512];
   hdbValue v;
@@ -134,6 +134,8 @@ static int SecMotorCheckBoundary(pMotor self, float fVal, float *fTarget,
   fixed = v.v.doubleValue;
   assert(SICSHdbGetPar(self, NULL, "softzero", &v) == 1);
   fZero = v.v.doubleValue;
+  assert(SICSHdbGetPar(self, NULL, "staticoffset", &v) == 1);
+  offset = v.v.doubleValue;
   assert(SICSHdbGetPar(self, NULL, "softlowerlim", &v) == 1);
   lowerlim = v.v.doubleValue;
   assert(SICSHdbGetPar(self, NULL, "softupperlim", &v) == 1);
@@ -165,6 +167,7 @@ static int SecMotorCheckBoundary(pMotor self, float fVal, float *fTarget,
   }
 
   /* correct for zero point */
+  fZero += offset;
   fZero = -fZero;
   fHard = fVal - fZero;
 
@@ -392,15 +395,16 @@ static void AddMotorPar(pHdb node, int priv, char *name)
 /*---------------------------------------------------------------------------*/
 static float hardToSoftPosition(pMotor self, float hard)
 {
-  float sign, zero, fVal;
+  float sign, zero, fVal, offset;
 
   SecMotorGetPar(self, "sign", &sign);
   SecMotorGetPar(self, "softzero", &zero);
+  SecMotorGetPar(self, "staticoffset", &offset);
   fVal = hard;
   if (sign < 0) {
-    fVal += zero;
+    fVal += zero + offset;
   } else {
-    fVal -= zero;
+    fVal -= zero + offset;
   }
   fVal *= sign;
   return fVal;
@@ -728,6 +732,11 @@ pMotor SecMotorInit(char *name)
   SetHdbProperty(child, "__save", "true");
   AddHipadabaChild(node, child, NULL);
 
+  child = MakeSICSHdbPar("staticoffset", usMugger,
+                         MakeHdbFloat((double) 0.0));
+  SetHdbProperty(child, "__save", "true");
+  AddHipadabaChild(node, child, NULL);
+
   child = MakeHipadabaNode("status", HIPTEXT, 1);
   SetHdbProperty(child, "motname", name);
   AddHipadabaChild(node, child, NULL);
diff --git a/nread.c b/nread.c
index b4676c9a..a7948974 100644
--- a/nread.c
+++ b/nread.c
@@ -1035,6 +1035,9 @@ static int testAndInvokeInterrupt(pCommandCBData self, int handle)
               "ERROR: insufficient privilege to invoke Interrupt", eError);
     }
     return 1;
+  } else if(strstr(pPtr,"Poch") != NULL){
+      SCPureSockWrite(self->pCon,"Poch\r\n", eLog);
+      return 1;
   }
   return 0;
 }
diff --git a/ofac.c b/ofac.c
index 6c293fc0..25fec993 100644
--- a/ofac.c
+++ b/ofac.c
@@ -69,7 +69,6 @@ static void InitIniCommands(SicsInterp * pInter)
   PCMD("Capture",               CaptureAction);
   PCMD("ClientPut",             ClientPut);
   PCMD("ClientLog",             ClientLog);
-  PCMD("Poch",                  Poch);
   PCMD("config",                ConfigCon);
   PCMD("db",                    SICSDebug);
   PCMD("Dir",                   ListObjects);
diff --git a/reflist.c b/reflist.c
index 19a9e78f..3a5426b1 100644
--- a/reflist.c
+++ b/reflist.c
@@ -240,9 +240,11 @@ static void AddRowIntern(pSICSOBJ refl, double hkl[], double ang[],
 	  if(child != NULL){
 		  UpdateHipadabaPar(child, MakeHdbFloat(ang[3]),NULL);
 	  }
-	  child = child->next;
 	  if(child != NULL){
-		  UpdateHipadabaPar(child, MakeHdbFloat(ang[4]),NULL);
+	    child = child->next;
+	    if(child != NULL){
+	      UpdateHipadabaPar(child, MakeHdbFloat(ang[4]),NULL);
+	    }
 	  }
 	  runObjFunction(refl, pCon, node);  
 }
@@ -318,13 +320,15 @@ static int AddIndexesAnglesCmd(pSICSOBJ self, SConnection * pCon,
   } else if(node!= NULL) {
 	  UpdateHipadabaPar(node, v, pCon);
   }
-  node = node->next;
-  if(node != NULL && nPar > 7){
+  if(node != NULL){
+    node = node->next;
+    if(node != NULL && nPar > 7){
 	  UpdateHipadabaPar(node, par[7]->value, pCon);
-  } else if(node!= NULL) {
+    } else if(node!= NULL) {
 	  UpdateHipadabaPar(node, v, pCon);
-  }
-  
+    }
+  }  
+
   return runObjFunction(self, pCon, addrowNode);
 }
 /*-----------------------------------------------------------------------*/
diff --git a/sicshipadaba.c b/sicshipadaba.c
index eeffe81a..2de06507 100644
--- a/sicshipadaba.c
+++ b/sicshipadaba.c
@@ -634,7 +634,8 @@ static hdbCallbackReturn SICSNotifyCallback(pHdb node, void *userData,
     }
     formatNameValue(protocol, pPath, GetCharArray(printedData), result,
                     mm->v->dataType);
-    SCWrite(cbInfo->pCon, GetCharArray(result), outCode);
+    /* SCWrite(cbInfo->pCon, GetCharArray(result), outCode); */
+    SCPureSockWrite(cbInfo->pCon, GetCharArray(result), outCode);
     DeleteDynString(printedData);
   } else {
     formatNameValue(protocol, pPath, "!!datachange!!", result, HIPTEXT);
diff --git a/tasdrive.c b/tasdrive.c
index 505a781e..87c14a53 100644
--- a/tasdrive.c
+++ b/tasdrive.c
@@ -284,18 +284,14 @@ static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
   mot->stopped = 0;
   if (ABS(val - target) > MOTPREC) {
 	pDriv = GetDrivableInterface(mot);
-	/* SCStartBuffering(pCon); */
     status = pDriv->SetValue(mot, pCon, (float) target);
+    if(status != OKOK){
+      SCPrintf(pCon,eLog,"ERROR: failed to drive %s to %f", name, target); 
+    }
     /*
       to force updates on targets
     */
     InvokeNewTarget(pServ->pExecutor, name, target);
-    /*mes = SCEndBuffering(pCon);
-    if (status != OKOK) {
-      SCPrintf(pCon,eLogError, GetCharArray(mes));
-      return status;
-    }
-    */
   }
   writeMotPos(pCon, silent, name, val, target);
   return status;
@@ -611,7 +607,8 @@ static int TASGetStatus(void *pData, SConnection * pCon)
   if (self->math->mustDrive == 1) {
     status = calculateAndDrive(self, pCon);
     if (status != OKOK) {
-      return HWFault;
+      TASHalt(pData);
+      return HWBusy;
     } else {
       return HWBusy;
     }
diff --git a/test/DataNumber b/test/DataNumber
index 00ce41bb..00597567 100644
--- a/test/DataNumber
+++ b/test/DataNumber
@@ -1,3 +1,3 @@
- 340 
+ 348 
 NEVER, EVER modify or delete this file
 You'll risk eternal damnation and a reincarnation as a cockroach!
diff --git a/test/sicsstat.tcl b/test/sicsstat.tcl
index 3c750926..5d8a7f5c 100644
--- a/test/sicsstat.tcl
+++ b/test/sicsstat.tcl
@@ -270,18 +270,18 @@ simidx anglim 0.5
 simi preset 0
 simi mode monitor
 
-
-nano targetposition -50
-nano sign 1
-nano softzero 0
-nano softlowerlim -10000
-nano softupperlim 10000
-nano fixed -1
-nano interruptmode 0
-nano precision 0.01
-nano accesscode 2
-nano failafter 3
-nano maxretry 3
-nano ignorefault 0
-nano movecount 10
+eva targetposition 5
+eva sign -1
+eva softzero -2
+eva softlowerlim -38
+eva softupperlim 38
+eva fixed -1
+eva interruptmode 0
+eva precision 0.01
+eva accesscode 2
+eva failafter 3
+eva maxretry 3
+eva ignorefault 0
+eva movecount 10
+eva staticoffset -3
 
diff --git a/test/testini.tcl b/test/testini.tcl
index ee794e04..728b91df 100644
--- a/test/testini.tcl
+++ b/test/testini.tcl
@@ -807,7 +807,7 @@ jvlsct debug -1
 jvl::make ja 2 jvlsct -10000 10000 120
 }
 
-set nanotec 1
+set nanotec 0
 
 if {$nanotec == 1} {
 source ../sim/boa_sics/nanotec.tcl
@@ -815,3 +815,20 @@ makesctcontroller nanosct std localhost:8080 \r 1 \r
 nanosct debug -1
 nanotec::make nano 1 nanosct -100000 100000 120
 }
+
+set agilent 0
+
+if {$agilent == 1} {
+    source ../tcl/stddrive.tcl
+    source ../tmp/agilent.tcl
+    makesctcontroller agi std 129.129.195.78:5025 \n 2 \n \n
+    agilent::make agi
+}
+
+set secmot 1
+
+if {$secmot ==  1} {
+    source ../sim/sicscommon/secsim.tcl
+    MakeSecSim eva -40 40 .3
+}
+