diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index aaa0957d..f6bf9a1e 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -197,7 +197,7 @@ int DMC2280MotionControl = 1; /* defaults to enabled */
 #define AIR_POLL_TIMER  1000
 #define MOTOR_POLL_FAST 200
 #define MOTOR_POLL_SLOW 5000
-#define ON_SETTLE_TIMER 1000
+#define ON_SETTLE_TIMER 200
 #define MAX_CREEP_STEPS 100
 #define MAX_RESTARTS 0
 
@@ -1113,8 +1113,10 @@ static int checkMotion(void *pData) {
   /* calculate observed and expected steps per count ratios */
   if (self->currCounts == self->lastCounts) /* prevent divide by zero */
     ratio_obs = (self->currSteps - self->lastSteps);
-  else
-    ratio_obs = (self->currSteps - self->lastSteps) / (self->currCounts - self->lastCounts);
+  else {
+    ratio_obs = (float) (self->currSteps - self->lastSteps);
+    ratio_obs /= (float) (self->currCounts - self->lastCounts);
+  }
   ratio_exp = (float) self->stepsPerX / (float) self->cntsPerX;
   ratio_cmp = ratio_obs / ratio_exp;
   /* wrong signs, less than half, or more than double is trouble */
@@ -1603,15 +1605,14 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
     case eStateEvent:
       if (self->state_timer)
         NetWatchRemoveTimer(self->state_timer);
-      if ((self->variables & VAR_RUN) && self->runError) {
+      if (self->variables & VAR_RUN) {
         char cmd[CMDLEN];
         snprintf(cmd, CMDLEN, "RUN%c=0", self->axisLabel);
-        DMC_SendCmd(self, cmd, state_msg_callback);
+        DMC2280Send(self, cmd);
       }
-      else
-        NetWatchRegisterTimer(&self->state_timer,
-            MOTOR_POLL_SLOW,
-            state_tmr_callback, self);
+      NetWatchRegisterTimer(&self->state_timer,
+          MOTOR_POLL_SLOW,
+          state_tmr_callback, self);
       self->subState = 0;
       return;
     case eTimerEvent:
@@ -1621,12 +1622,6 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
     case eMessageEvent:
       do {
         pAsyncTxn pCmd = event->event.msg.cmd;
-        if (self->subState == 0) { /* RUNx reset */
-          NetWatchRegisterTimer(&self->state_timer,
-              MOTOR_POLL_SLOW,
-              state_tmr_callback, self);
-          return;
-        }
         if (self->subState == 1) { /* Status Response */
           int iRet;
           float fDelta;
@@ -1683,7 +1678,6 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
       self->driver_status = HWFault;
       change_state(self, DMCState_MotorHalt);
       return;
-      break;
   }
   unhandled_event(self, event);
   self->errorCode = STATEERROR;
@@ -1752,7 +1746,7 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
       do {
         pAsyncTxn pCmd = event->event.msg.cmd;
         if (self->subState == 1) {
-          if (self->has_airpads == 0) { /* SH */
+          if (self->has_airpads == 0) { /* cmdOn */
             change_state(self, DMCState_MotorOn);
             return;
           }
@@ -2111,15 +2105,6 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
                 state_tmr_callback, self);
             return;
           }
-          if (self->motOffDelay)
-            NetWatchRegisterTimer(&self->state_timer,
-                self->motOffDelay,
-                state_tmr_callback, self);
-          else
-            NetWatchRegisterTimer(&self->state_timer,
-                MOTOR_POLL_FAST,
-                state_tmr_callback, self);
-          self->driver_status = HWIdle;
           change_state(self, DMCState_OffTimer);
           return;
         }
@@ -2196,6 +2181,15 @@ static void DMCState_MotorHalt(pDMC2280Driv self, pEvtEvent event) {
 static void DMCState_OffTimer(pDMC2280Driv self, pEvtEvent event) {
   switch (event->event_type) {
     case eStateEvent:
+      self->driver_status = HWIdle;
+      if (self->motOffDelay)
+        NetWatchRegisterTimer(&self->state_timer,
+            self->motOffDelay,
+            state_tmr_callback, self);
+      else
+        NetWatchRegisterTimer(&self->state_timer,
+            MOTOR_POLL_FAST,
+            state_tmr_callback, self);
       return;
     case eTimerEvent:
       change_state(self, DMCState_MotorStop);