diff --git a/site_ansto/instrument/hipd/config/commands/commands.tcl b/site_ansto/instrument/hipd/config/commands/commands.tcl
index 8d986538..75bd42d8 100644
--- a/site_ansto/instrument/hipd/config/commands/commands.tcl
+++ b/site_ansto/instrument/hipd/config/commands/commands.tcl
@@ -17,8 +17,9 @@ catch {
 #ffr Changed 0.5 to 0.2 on 30/06/2014 because
 #    oct hits upper limit switch at about 1.27 degrees
 #    with new "oct oscillate" command.
-   oct oscillate_low [expr -abs($range/2.0) - 0.2]
-   oct oscillate_high [expr abs($range/2.0) + 0.2]
+#dcl Removed 0.2 because old osc limits it to +/-1.0
+   oct oscillate_low [expr -abs($range/2.0)]
+   oct oscillate_high [expr abs($range/2.0)]
 
    set spd [expr 2.0*$range / $time]
    oct maxretry 5
diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 0b530e3d..4640a517 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -285,6 +285,7 @@ struct __MoDriv {
   bool doReportMotion; /**< flag for reporting motion when not driving */
   bool doOscillate; /**< flag for motor oscillation */
   bool oscillate_up; /**< next oscillation move is to high position */
+  bool oscillate_up_first; /**< first oscillation move is to high position */
   bool oscillate_init; /**< initial move is not counted */
   int oscillate_count; /**< number of moves to make or -1 for continuous */
   int oscillate_counter; /**< number of moves made - half-oscillations */
@@ -3284,15 +3285,9 @@ static void DMCState_Oscillate(pDMC2280Driv self, pEvtEvent event) {
 
   switch (event->event_type) {
     case eStateEvent:
+      /* Cancel any return address */
       self->myNextState = NULL;
-      /* handle termination conditions (e.g. count) */
-      if (self->oscillate_count > 0 && self->oscillate_counter >= self->oscillate_count)
-        self->doOscillate = false;
-      if (!self->doOscillate) {
-        (void) report_motion(self, eReportFinal);
-        change_state(self, DMCState_OffTimer); /* TODO: check this is OK */
-        return;
-      }
+      /* Calculate our next move */
       if (self->oscillate_up) {
         double fHard;
         if (getHardFromSoft(self, NULL, self->oscillate_high, &fHard))
@@ -3304,6 +3299,49 @@ static void DMCState_Oscillate(pDMC2280Driv self, pEvtEvent event) {
           self->fTarget = fHard;
         self->oscillate_up = true;
       }
+      /*
+       * We do not want to count the first move-to-end.
+       * We want to count each time we are at the same point as the first time.
+       * So, we remember what we were doing the first time
+       * And we count each time it is the same.
+       */
+      if (self->oscillate_init) {
+        if (true /*self->verbose*/) {
+          SICSLogPrintf(eLog, "Motor=%s oscillate: first move is to %f, next is %s",
+              self->name,
+              self->fTarget,
+              self->oscillate_up ? "UP" : "DOWN");
+        }
+        self->oscillate_up_first = self->oscillate_up;
+        self->oscillate_init = false;
+      } else {
+        if (self->oscillate_up_first == self->oscillate_up ? false : true) {
+          self->oscillate_counter++;
+        }
+        /* handle termination conditions (e.g. count) */
+        if (self->oscillate_count > 0 && self->oscillate_counter >= self->oscillate_count) {
+          self->doOscillate = false;
+        } else {
+          if (true /*self->verbose*/) {
+            SICSLogPrintf(eLog, "Motor=%s oscillate: count %d move is to %f, next is %s",
+                self->name,
+                self->oscillate_counter,
+                self->fTarget,
+                self->oscillate_up ? "UP" : "DOWN");
+          }
+        }
+      }
+      /* handle termination conditions (e.g. count) */
+      if (!self->doOscillate) {
+          if (true /*self->verbose*/) {
+            SICSLogPrintf(eLog, "Motor=%s oscillate: stopped at count %d",
+                self->name,
+                self->oscillate_counter);
+          }
+        (void) report_motion(self, eReportFinal);
+        change_state(self, DMCState_OffTimer); /* TODO: check this is OK */
+        return;
+      }
       /* TODO: set timer for optional pause */
       /* Note: fallthrough is intentional */
     case eTimerEvent:
@@ -3320,9 +3358,6 @@ static void DMCState_Oscillate(pDMC2280Driv self, pEvtEvent event) {
       }
       /* set the next state after this move */
       self->myNextState = DMCState_Oscillate;
-      if (!self->oscillate_init)
-        self->oscillate_counter++;
-      self->oscillate_init = false;
       change_state(self, DMCState_StepMove);
       return;
     case eCommandEvent:
@@ -5684,6 +5719,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
     }
     else if (strcasecmp("oscillate_counter", argv[1]) == 0) {
       SCPrintf(pCon, eValue, "%s.oscillate_counter = %d", self->name, self->oscillate_counter);
+      return 1;
     }
     else if(strcasecmp("osc", argv[1]) == 0 || strcasecmp("oscillate", argv[1]) == 0) {
       if (argc > 2) {
@@ -5698,6 +5734,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
         if (strcasecmp("start", argv[2]) == 0) {
           float fFixed;
           double fHard;
+          /* Check that it is OK to do this */
           MotorGetPar(self->pMot, "fixed", &fFixed);
           if (fFixed >= 0) {
             SCPrintf(pCon, eWarning, "Motor %s is Fixed", self->name);
@@ -5711,14 +5748,20 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
             SCPrintf(pCon, eWarning, "Oscillate high point is in error");
             return 1;
           }
-          if (fabs(self->oscillate_high - motPosit(self)) < fabs(self->oscillate_low - motPosit(self)))
+          /* choose the starting end, either as told or the nearest */
+          if (argc > 3 && strcasecmp("high", argv[3]) == 0)
+            self->oscillate_up = true;
+          else if (argc > 3 && strcasecmp("low", argv[3]) == 0)
+            self->oscillate_up = false;
+          else if (fabs(self->oscillate_high - motPosit(self)) < fabs(self->oscillate_low - motPosit(self)))
             self->oscillate_up = true;
           else
             self->oscillate_up = false;
+          /* Set up the initial conditions */
           self->doOscillate = true;
           self->doReportMotion = true;
           self->oscillate_init = true;
-          self->oscillate_counter = 0;
+          self->oscillate_counter = -1 /* allow for move-to-start */;
           state_cmd_execute(self, CMD_RUN);
           return 1;
         }