diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index eb1d1a3a..3ec72255 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -220,6 +220,7 @@ int DMC2280MotionControl = 1; /* defaults to enabled */
 #define MOTCMDTMO  -19 /* Motor Command Timeout */
 #define STATEERROR -20
 #define THREADZERO -21 /* Thread zero not running */
+//#define AMPERROR   -22 /* Amplifier OK not asserted */
 /*--------------------------------------------------------------------*/
 #define STATUSMOVING 128 /* Motor is moving */
 #define STATUSERRORLIMIT 64 /* Number of errors exceed limit */
@@ -1178,7 +1179,7 @@ static bool has_var_x(pDMC2280Driv self, const char* vars, const char* name) {
   return false; /* found partial (ZVVVx=) only */
 }
 
-/* State Callbacks */
+/* State Machine Events */
 
 static int state_msg_callback(pAsyncTxn pCmd);
 static int state_tmr_callback(void* ctx, int mode);
@@ -1193,7 +1194,7 @@ static int cmdStatus(pDMC2280Driv self) {
   char cmd[CMDLEN];
 
   if (self->has_airpads == 3)
-    snprintf(cmd, CMDLEN, "MG {F10.0} _TD%c,_TP%c,_TS%c,_RUN%c,_TI0,_TI1,_XQ0",
+    snprintf(cmd, CMDLEN, "MG {F10.0} _TD%c,_TP%c,_TS%c,RUN%c,_TI0,_TI1,_XQ0",
         self->axisLabel, self->axisLabel, self->axisLabel, self->axisLabel);
   else
     snprintf(cmd, CMDLEN, "MG {F10.0} _TD%c,_TP%c,_TS%c,_BG%c,_TI0,_TI1,_XQ0",
@@ -1292,7 +1293,7 @@ static int rspStatus(pDMC2280Driv self, const char* text) {
   self->thread0 = iXQ0;
   self->input0 = iTI0;
   self->input1 = iTI1;
-  if (self->axisLabel >= 'A' && self->axisLabel >= 'D')
+  if (self->axisLabel >= 'A' && self->axisLabel <= 'D')
     self->ampError = !(1 & (iTI0 >> (self->axisLabel - 'A')));
   else
     self->ampError = !(1 & (iTI1 >> (self->axisLabel - 'E')));
@@ -1664,6 +1665,16 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
           self->errorCode = MOTIONCONTROLUNK;
         self->driver_status = HWFault;
       }
+      else if (self->threadError) {
+        self->errorCode = THREADZERO;
+        self->driver_status = HWFault;
+      }
+#ifdef AMPERROR
+      else if (self->ampError) {
+        self->errorCode = AMPERROR;
+        self->driver_status = HWFault;
+      }
+#endif
       else {
         int iFlags;
         int fwd_limit_active, rvrs_limit_active, errorlimit;
@@ -1754,7 +1765,20 @@ static void DMCState_MotorOn(pDMC2280Driv self, pEvtEvent event) {
           iRet = rspStatus(self, pCmd->inp_buf);
           if (iRet == 0)
             break;
-          /* TODO AMPERR */
+          if (self->threadError) {
+            self->errorCode = THREADZERO;
+            self->driver_status = HWFault;
+            change_state(self, DMCState_Error);
+            return;
+          }
+#ifdef AMPERROR
+          else if (self->ampError) {
+            self->errorCode = AMPERROR;
+            self->driver_status = HWFault;
+            change_state(self, DMCState_Error);
+            return;
+          }
+#endif
           set_lastMotion(self, self->currSteps, self->currCounts);
           /* compute position for PA command */
           target = self->fTarget;
@@ -1854,7 +1878,20 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
           iRet = rspStatus(self, pCmd->inp_buf);
           if (iRet == 0)
             break;
-          /* TODO AMPERR */
+          if (self->threadError) {
+            self->errorCode = THREADZERO;
+            self->driver_status = HWFault;
+            change_state(self, DMCState_Error);
+            return;
+          }
+#ifdef AMPERROR
+          else if (self->ampError) {
+            self->errorCode = AMPERROR;
+            self->driver_status = HWFault;
+            change_state(self, DMCState_Error);
+            return;
+          }
+#endif
           iFlags = self->currFlags;
           moving = (iFlags & STATUSMOVING);
           if (moving) {
@@ -2427,6 +2464,11 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
     case THREADZERO:
       strncpy(error, "THREAD ZERO NOT RUNNING ON CONTROLLER", (size_t)errLen);
       break;
+#ifdef AMPERROR
+    case AMPERROR:
+      strncpy(error, "DRIVE AMPLIFIER ERROR", (size_t)errLen);
+      break;
+#endif
     default:
       /* FIXME What's the default */
       snprintf(error, (size_t)errLen, "Unknown Motor Error: %d", self->errorCode);
@@ -2461,6 +2503,9 @@ static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
     case MOTIONCONTROLUNK:
     case MOTCMDTMO:
     case THREADZERO:
+#ifdef AMPERROR
+    case AMPERROR:
+#endif
       return MOTFAIL;
     case POSFAULT:
 #if HAS_RS232