diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 31a66f13..7494d4a3 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -712,15 +712,19 @@ static int DMC2280RunCommon(pDMC2280Driv self,float fValue){
   snprintf(BGx, CMDLEN, "BG%c", axis);
   target = fValue - self->home;
 
-  if (self->backlash_offset > FLT_EPSILON && target < self->lastPosition) {
-    target += self->backlash_offset;
-    if (target > self->fUpper)
-      target = self->fUpper;
+  if (self->backlash_offset > FLT_EPSILON) {
+    if (target > self->lastPosition) {
+      target += self->backlash_offset;
+      if (target > self->fUpper)
+        target = self->fUpper;
+    }
   }
-  if (self->backlash_offset < -FLT_EPSILON && target > self->lastPosition) {
-    target += self->backlash_offset;
-    if (target < self->fLower)
-      target = self->fLower;
+  else if (self->backlash_offset < -FLT_EPSILON) {
+    if (target < self->lastPosition) {
+      target += self->backlash_offset;
+      if (target < self->fLower)
+        target = self->fLower;
+    }
   }
 
   if (1 == self->abs_endcoder) {