diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 497e5ea7..42a402ba 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -36,6 +36,8 @@
 #define TEXTPARLEN 1024
 #define CMDLEN 1024
 #define STATE_TRACE (200)
+#define DECADIC_CREEP (10)
+#define SPEED_ON_MOVE 1
 
 /** \brief Used to ensure that the getDMCSetting function is called
  * with valid values.
@@ -471,7 +473,7 @@ static int motSpeed(pDMC2280Driv self, double axisSpeed) {
 }
 
 /** \brief Convert axis acceleration in physical units to
- * motor speed in steps/sec^2
+ * motor acceleration in steps/sec^2
  *
  * \param self (r) provides access to the motor's data structure
  * \param acceleration in physical units, eg mm/sec^2 degrees/sec^2
@@ -602,14 +604,14 @@ static int motCreep(pDMC2280Driv self, double target) {
     if (self->creep_val > 0) /* moving down handle as positive */
       offset = -offset;
     if (offset > fabs(self->stepsPerX * self->creep_precision)) {
-#if 1
+#ifdef DECADIC_CREEP
       /* if half offset is more than creep_offset warp to creep_offset */
       if (offset > (int) (2.0 * fabs(self->stepsPerX * self->creep_offset)))
         offset = offset - fabs(self->stepsPerX * self->creep_offset);
       else {
-        /* if closer than one count, single step else go half way */
+        /* if closer than one count, "single step" else go half way */
         if (offset <= fabs(self->stepsPerX / self->cntsPerX)) {
-          offset = offset / 10;
+          offset = offset / DECADIC_CREEP;
           if (offset < 1)
             offset = 1;
         }
@@ -1308,6 +1310,39 @@ static int cmdOff(pDMC2280Driv self) {
   return DMC_SendReq(self, cmd);
 }
 
+static int cmdSpeed(pDMC2280Driv self) {
+  char cmd[CMDLEN];
+  int value;
+  value =  motSpeed(self, self->speed);
+  snprintf(cmd, CMDLEN, "SP%c=%d", self->axisLabel, value);
+  if (FAILURE == DMC_Send(self, cmd)) {
+    return 0; /* FIXME should signal a HWFault */
+  }
+  return 1;
+}
+
+static int cmdAccel(pDMC2280Driv self) {
+  char cmd[CMDLEN];
+  int value;
+  value =  motAccel(self, self->accel);
+  snprintf(cmd, CMDLEN, "AC%c=%d", self->axisLabel, value);
+  if (FAILURE == DMC_Send(self, cmd)) {
+    return 0; /* FIXME should signal a HWFault */
+  }
+  return 1;
+}
+
+static int cmdDecel(pDMC2280Driv self) {
+  char cmd[CMDLEN];
+  int value;
+  value = motDecel(self, self->decel);
+  snprintf(cmd, CMDLEN, "DC%c=%d", self->axisLabel, value);
+  if (FAILURE == DMC_Send(self, cmd)) {
+    return 0; /* FIXME should signal a HWFault */
+  }
+  return 1;
+}
+
 static int rspStatus(pDMC2280Driv self, const char* text) {
   int iRet, iFlags;
   int iSteps, iCounts;
@@ -1715,6 +1750,9 @@ static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event) {
         /* FIXME: FIXME_DOUG */
         return;
       }
+#ifdef SPEED_ON_MOVE
+      /* Defer Speed, Accel and Decel to move command */
+#else
       /* Set speed */
       value =  motSpeed(self, self->speed);
       snprintf(cmd, CMDLEN, "SP%c=%d", self->axisLabel, value);
@@ -1733,6 +1771,7 @@ static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event) {
       if (FAILURE == DMC_Send(self, cmd)) {
         break;
       }
+#endif
       cmdVars(self);
       self->subState = 1;
       return;
@@ -1800,11 +1839,13 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
       DMC_ClearTimer(self);
       if (self->driver_status == HWBusy)
         self->driver_status = HWIdle;
+#ifdef RESET_RUN_ON_IDLE
       if (self->variables & VAR_RUN) {
         char cmd[CMDLEN];
         snprintf(cmd, CMDLEN, "RUN%c=0", self->axisLabel);
         (void) DMC_Send(self, cmd);
       }
+#endif
       DMC_SetTimer(self, 0);
       self->subState = 0;
       return;
@@ -2063,6 +2104,11 @@ static void DMCState_MotorOn(pDMC2280Driv self, pEvtEvent event) {
             change_state(self, DMCState_MotorStop);
             return;
           }
+#endif
+#ifdef SPEED_ON_MOVE
+          cmdSpeed(self); /* No Response */
+          cmdAccel(self); /* No Response */
+          cmdDecel(self); /* No Response */
 #endif
           set_lastMotion(self, self->currSteps, self->currCounts);
           /* compute position for PA command */
@@ -3355,10 +3401,14 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
       return 1;
     }
     self->speed = newValue;
+#if 1
+    return cmdSpeed(self);  /* FIXME should signal a HWFault */
+#else
     snprintf(cmd,CMDLEN,"SP%c=%d", self->axisLabel, motSpeed(self, self->speed));
     if (FAILURE == DMC_Send(self, cmd))
       return 0; /* FIXME should signal a HWFault */
     return 1;
+#endif
   }
 
   /* Set Acceleration */
@@ -3374,10 +3424,14 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
       return 1;
     }
     self->accel = newValue;
+#if 1
+    return cmdAccel(self);  /* FIXME should signal a HWFault */
+#else
     snprintf(cmd,CMDLEN,"AC%c=%d", self->axisLabel, motAccel(self, self->accel));
     if (FAILURE == DMC_Send(self, cmd))
       return 0; /* FIXME should signal a HWFault */
     return 1;
+#endif
   }
 
   /* Set Deceleration */
@@ -3393,10 +3447,14 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
       return 1;
     }
     self->decel = newValue;
+#if 1
+    return cmdDecel(self);  /* FIXME should signal a HWFault */
+#else
     snprintf(cmd,CMDLEN,"DC%c=%d", self->axisLabel, motDecel(self, self->decel));
     if (FAILURE == DMC_Send(self, cmd))
       return 0; /* FIXME should signal a HWFault */
     return 1;
+#endif
   }
   if (strcasecmp("hardlowerlim", name) == 0) {
     /* Debug Managers only */