diff --git a/exebuf.c b/exebuf.c
index 7ee47eb7..45d9dee7 100644
--- a/exebuf.c
+++ b/exebuf.c
@@ -224,6 +224,7 @@ int exeBufProcess(pExeBuf self, SicsInterp *pSics,
     DeleteDynString(command);
     if(SCGetInterrupt(pCon) >= eAbortBatch){
       SCWrite(pCon,"ERROR: batch processing interrupted",eError);
+      InvokeCallBack(pCall,BATCHEND,self->name);
       SetStatus(eEager);
       return 0;
     } else {
diff --git a/site_ansto/instrument/TEST_SICS/fakeDMC/dmc2280Server.tcl b/site_ansto/instrument/TEST_SICS/fakeDMC/dmc2280Server.tcl
index ea4fdc0a..7f15b780 100644
--- a/site_ansto/instrument/TEST_SICS/fakeDMC/dmc2280Server.tcl
+++ b/site_ansto/instrument/TEST_SICS/fakeDMC/dmc2280Server.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.3 $
-# $Date: 2007-10-31 06:10:30 $
+# $Revision: 1.4 $
+# $Date: 2009-01-23 05:06:03 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -25,34 +25,36 @@ proc readLine {who channel} {
     } else {        
       puts "RECEIVED: $line"
 
-        switch -glob $line {
-          "" {puts -nonewline $channel ":"}
-          "kill" {exit}
-          "SH*" - "BG*" - "PA*" - "DP*" - "AT*" - "MO*" - "ST*" - "SP*" - "AC*" - "DC*" {
-            eval [parse $line]
-            puts -nonewline $channel ":"
-          }
-          "TP*" - "TD*" - "TI*" - "XQ*" {
-            set output [eval [parse $line]]
-            puts $channel " $output"; puts -nonewline $channel ":"
-          }
-          "LV" {
-            set output [eval [parse $line]]
-            puts $channel "$output"; puts -nonewline $channel ":"
-          }
-          "TS*" {
-            set output [eval [parse $line]]
-            puts $channel " $output"; puts -nonewline $channel ":"
-          }
-          "TC 1" {
-            puts $channel " DMC2280 ERROR"; puts -nonewline $channel ":"
-          }
-          "MG *" {
-            set output [eval [parse $line]]
-            puts $channel " $output"; puts -nonewline $channel ":"
+        foreach cmd [split $line ";"] {
+          switch -glob $cmd {
+            "" {puts -nonewline $channel ":"}
+            "kill" {exit}
+            "SH*" - "BG*" - "PA*" - "PR*" - "JG*" - "DP*" - "AT*" - "MO*" - "ST*" - "SP*" - "AC*" - "DC*" {
+              eval [parse $cmd]
+                puts -nonewline $channel ":"
+            }
+            "TP*" - "TD*" - "TI*" - "XQ*" {
+              set output [eval [parse $cmd]]
+                puts $channel " $output"; puts -nonewline $channel ":"
+            }
+            "LV" {
+              set output [eval [parse $cmd]]
+                puts $channel "$output"; puts -nonewline $channel ":"
+            }
+            "TS*" {
+              set output [eval [parse $cmd]]
+                puts $channel " $output"; puts -nonewline $channel ":"
+            }
+            "TC 1" {
+              puts $channel " DMC2280 ERROR"; puts -nonewline $channel ":"
+            }
+            "MG *" {
+              set output [eval [parse $cmd]]
+                puts $channel " $output"; puts -nonewline $channel ":"
+            }
           }
+          flush $channel;
         }
-      flush $channel;
       set didRead 1
     }
     return;
diff --git a/site_ansto/instrument/TEST_SICS/fakeDMC/mkSimAxes.tcl b/site_ansto/instrument/TEST_SICS/fakeDMC/mkSimAxes.tcl
index 2d87fe0e..b7fb38ed 100755
--- a/site_ansto/instrument/TEST_SICS/fakeDMC/mkSimAxes.tcl
+++ b/site_ansto/instrument/TEST_SICS/fakeDMC/mkSimAxes.tcl
@@ -1,9 +1,9 @@
 #!/usr/bin/tclsh
 
-# $Revision: 1.8 $
-# $Date: 2008-05-12 01:08:15 $
+# $Revision: 1.9 $
+# $Date: 2009-01-23 05:06:03 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: dcl $
+# Last revision by: $Author: ffr $
 
 # Creates fake DMC configuration files based on the instrument
 # configuration file.
@@ -63,14 +63,17 @@ proc mkSimAxes {instrument} {
     set speed [expr $motor(stepsperx) * $motor(maxspeed)]
     set acc [expr $motor(stepsperx) * $motor(maxaccel)]
     set dec [expr $motor(stepsperx) * $motor(maxdecel)]
+    set lolim $motor(hardlowerlim)
+    set uplim $motor(hardupperlim)
     if [ info exists motor(absenc) ] {
       set enPos $motor(absenchome);
       set enCnts $motor(cntsperx);
     } else {
       set enPos 0;
-      set enCnts 0;
+      set enCnts $motor(stepsperx);
     }
-    puts $simFile($IPtoContName($motor(asyncqueue)-$instrument)) "array set $nm \[\list SC 1 TD 0 TP $enPos BG 0 ST 0 SP $speed AC $acc DC $dec cntsperx $enCnts stepsperx $motor(stepsperx) PA 0 TS 44 \]";
+    # MVTYPE = PA (move to target),PR (relative move), JG (move until limswitch or stop cmd)
+    puts $simFile($IPtoContName($motor(asyncqueue)-$instrument)) "array set $nm \[\list SC 1 TD 0 TP $enPos BG 0 ST 0 SP $speed AC $acc DC $dec cntsperx $enCnts stepsperx $motor(stepsperx) PA 0 TS 44 MVTYPE unknown LOLIM $lolim UPLIM $uplim ABSHOME $enPos ATLIM false\]";
 
 #    eval "lappend $IPtoContName($motor(host))_motors $m";
   }
diff --git a/site_ansto/instrument/TEST_SICS/fakeDMC/simAxis.tcl b/site_ansto/instrument/TEST_SICS/fakeDMC/simAxis.tcl
index b4e72093..0f8825a6 100644
--- a/site_ansto/instrument/TEST_SICS/fakeDMC/simAxis.tcl
+++ b/site_ansto/instrument/TEST_SICS/fakeDMC/simAxis.tcl
@@ -1,8 +1,14 @@
-# $Revision: 1.8 $
-# $Date: 2008-05-30 00:26:54 $
+# $Revision: 1.9 $
+# $Date: 2009-01-23 05:06:03 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
+proc sleep {mstime} {
+  set x 0
+  after $mstime {set x 1}
+  vwait x
+}
+
 # Requires a configuration array for each axis that you want to simulate.
 # eg
 #array set B [list AC 25000 TP 7827107 TD 25000 PA 25000 stepsperx 25000 cntsperx 8192 DC 25000 SP 25000]
@@ -30,10 +36,23 @@ proc dmset {cmd axis args} {
   } else {
     set val [evaluate $args]
   }
-  if {[string first $cmd "PA SP AC DC"] != -1} {
-    uplevel #0 set ${axis}($cmd) $val;
-  } else {
-    uplevel #0 $cmd $axis $val;
+  set inst [string range $cmd 0 1]
+  switch $inst {
+    "PA" - "PR" {
+      uplevel #0 set ${axis}(MVTYPE) $inst
+      uplevel #0 set ${axis}($cmd) $val;
+    }
+    "JG" {
+      uplevel #0 set ${axis}(MVTYPE) $inst
+      uplevel #0 set ${axis}($cmd) $val;
+#     uplevel #0 set ${axis}(SP) $val;
+    }
+    "SP" - "AC" - "DC" {
+      uplevel #0 set ${axis}($cmd) $val;
+    }
+    default {
+      uplevel #0 $cmd $axis $val;
+    }
   }
 }
 
@@ -51,8 +70,12 @@ proc DP {axis val} {
 proc TS {axis} {
     uplevel #0 eval set ${axis}(TS)
 }
-proc ST {axis} {
-    uplevel #0 eval set ${axis}(ST) 1
+proc ST {_axis} {
+  upvar #0 $_axis axis;
+  set axis(ST) 1
+  while {$axis(BG) == 1} {
+    sleep 1000
+  }
 }
 
 proc SH {args} {}
@@ -67,15 +90,24 @@ proc BG {_axis} {
   set axis(BG) 1; # motor is moving
   set axis(SC) 0; # motor is running
   set timeStep 0.1; # seconds
-  set target $axis(PA);
-  set diff [expr $target - $axis(TD)];
-  set sign [expr ($axis(PA) - $axis(TD)) < 0 ? -1 : 1];
-  set step [expr $sign * $timeStep * $axis(SP) ];
-  if {[expr abs($diff) < abs($step)]} {
-    set step $diff;
-    set timeStep [expr abs($step / $axis(SP))];
+  set axis(ST) 0
+  switch $axis(MVTYPE) {
+    "PA" {
+      set target $axis(PA);
+      set diff [expr $target - $axis(TD)];
+      set sign [expr ($axis(PA) - $axis(TD)) < 0 ? -1 : 1];
+      set step [expr $sign * $timeStep * $axis(SP) ];
+      if {[expr abs($diff) < abs($step)]} {
+        set step $diff;
+        set timeStep [expr abs($step / $axis(SP))];
+      }
+      every [expr round($timeStep * 1000)] "nextstep $_axis $step target $_axis $target $step"
+    }
+    "JG" {
+      set step [expr $timeStep * $axis(JG) ];
+      every [expr round($timeStep * 1000)] "nextstep $_axis $step jogit"
+    }
   }
-  every [expr round($timeStep * 1000)] "nextstep $_axis $step $target"
 
 #  set diff [expr $target - $axis(TD)];
 #  set mult [expr $axis(cntsperx).0/$axis(stepsperx)];
@@ -107,29 +139,66 @@ proc every {ms body} {
   return;
 }
 
-proc nextstep {paxis step target} {
+proc nextstep {paxis step args} {
   upvar #0 $paxis axis;
+  set finished false
+  if {($axis(ATLIM) == "upper") && ($step > 0)} {
+    return 0
+  } elseif {($axis(ATLIM) == "lower") && ($step < 0)} {
+    return 0
+  }
   set mult [expr double($axis(cntsperx))/$axis(stepsperx)];
   set axis(TP) [expr int($step * $mult + $axis(TP))];
   set TD_POS [expr int($axis(TD) + $step)];
   set axis(TD) [expr int($TD_POS)];
+  set currPos [expr ($axis(TP) - $axis(ABSHOME))/abs(double($axis(cntsperx)))]
   if {$axis(ST) == 1} {
     set axis(TS) 44; # Stopped, limit switches open
     set axis(BG) 0; # motor has stopped 
     set axis(ST) 0; # make sure stop flag is unset
     set axis(SC) 4; # motor stopped by stop command (ST)
-    return 0;
-  } elseif {[expr abs($target - $axis(TD)) < abs($step)]} {
-    set diff [expr $target - $axis(TD)];
-    set axis(TP) [expr int(round($diff*$mult + $axis(TP)))];
-    set axis(TD) [expr int($target)];
+    set axis(ATLIM) false
+    set finished true
+  } elseif {$currPos >= $axis(UPLIM)} {
+    set axis(TS) 36; # Stopped on forward limit switch
+    set axis(BG) 0; # motor has stopped 
+    set axis(ST) 0; # make sure stop flag is unset
+    set axis(SC) 2; # motor stopped by limit switch
+    set axis(ATLIM) upper
+    set finished true
+  } elseif {$currPos <= $axis(LOLIM)} {
+    set axis(TS) 40; # Stopped on reverse limit switch
+    set axis(BG) 0; # motor has stopped 
+    set axis(ST) 0; # make sure stop flag is unset
+    set axis(SC) 3; # motor stopped by limit switch
+    set axis(ATLIM) lower
+    set finished true
+  } elseif {[eval $args]} {
+  # Stop if condition specified in "args" is met
+#   set diff [expr $target - $axis(TD)];
+#   set axis(TP) [expr int(round($diff*$mult + $axis(TP)))];
+#   set axis(TD) [expr int($target)];
     set axis(TS) 44; # Stopped, limit switches open
     set axis(BG) 0; # motor has stopped 
     set axis(ST) 0; # make sure stop flag is unset
     set axis(SC) 1; # motor stopped at commanded position
-    return 0;
+    set axis(ATLIM) false
+    set finished true
   } else {
-    return 1;
+    set finished false
+  }
+  if {$finished} {
+    set axis(MVTYPE) "unknown"
+    return 0
+  } else {
+    return 1
   }
 }
 
+proc target {paxis target step} {
+  upvar #0 $paxis axis;
+  return [expr abs($target - $axis(TD)) < abs($step)]
+}
+proc jogit {} {
+  return false
+}
diff --git a/site_ansto/instrument/config/motors/sct_jogmotor_common.tcl b/site_ansto/instrument/config/motors/sct_jogmotor_common.tcl
index f724466a..2b61ddb9 100644
--- a/site_ansto/instrument/config/motors/sct_jogmotor_common.tcl
+++ b/site_ansto/instrument/config/motors/sct_jogmotor_common.tcl
@@ -58,16 +58,18 @@ namespace eval ::scobj::jogmotor {
           set cmd DOWN
           set dirn -1
         }
+        "stop" {
+          $sct_controller send "ST${axis}"
+          return getACK
+        }
         default {
           set cmd UNKNOWN
         }
       }]
       if {$cmd != "UNKNOWN"} {
-        set jogspeed [expr $dirn * [hval [hsibPath "speed"] ]]
-
-        $sct_controller send "JG${axis}=$jogspeed"
-        $sct_controller send "SH${axis}"
-        sct send "BG${axis}"
+#       set jogspeed [expr $dirn * [hval [hsibPath "speed"] ]]
+        set jogspeed [expr $dirn * [sct jogspeed]]
+        $sct_controller send "ST${axis};JG${axis}=$jogspeed;SH${axis};BG${axis}"
         return getACK
       } else {
         return idle
@@ -125,7 +127,7 @@ proc updatestatus {} {
 # middle n2 "inbetween"
 # lower  n3 "down"
 #}
-  proc mk_sct_jogmotor {sct_controller axis jogmotor {initcmd_table {UP "up" DOWN "down"}}} {
+  proc mk_sct_jogmotor {sct_controller axis jogmotor jogspeed {initcmd_table {UP "up" DOWN "down"}}} {
     variable cmd_table
       foreach {cmd name} $initcmd_table {
         set cmd_table($cmd) [string tolower $name]
@@ -145,6 +147,7 @@ proc updatestatus {} {
       hfactory $jog_hpath/command plain user text
       hsetprop $jog_hpath/command write ${ns}::jogCmd $sct_controller $axis
       hsetprop $jog_hpath/command getACK ${ns}::getACK $sct_controller
+      hsetprop $jog_hpath/command jogspeed  $jogspeed
 
       hfactory $jog_hpath/status plain spy text
       hsetprop $jog_hpath/status read ${ns}::status $axis
diff --git a/site_ansto/instrument/hipd/config/commands/commands.tcl b/site_ansto/instrument/hipd/config/commands/commands.tcl
index f8f2cb32..9beeb7ee 100644
--- a/site_ansto/instrument/hipd/config/commands/commands.tcl
+++ b/site_ansto/instrument/hipd/config/commands/commands.tcl
@@ -5,6 +5,116 @@ namespace eval motor {
     variable is_homing_list ""
 }
 
+namespace eval ajscmds {
+# SetRadColl
+command SetRadColl {
+float time
+float range
+} {
+
+   set spd [expr 2.0*$range / $time]
+   oct softlowerlim [expr -abs($range/2.0) - 0.5]
+   oct softupperlim [expr abs($range/2.0) + 0.5]
+   oct maxretry 5
+   oct accel 0.25
+   oct speed 0.25
+   drive oct [expr abs($range/2.0)]
+   oct speed $spd
+   oct accel $spd
+   oct maxretry 0
+}
+# SimpleRun
+command SimpleRun {
+float=0:inf steptime
+int=1:inf numsteps
+} {
+  
+   RadCollOff
+   histmem mode time
+   histmem preset $steptime
+   newfile HISTOGRAM_XY
+   for {set i 0} {$i < $numsteps} {incr i} {
+      histmem start block
+      save $i
+   }
+}
+# SimpleScan
+command SimpleScan {
+text=drivable motor
+float start
+float step
+int=1:inf numsteps
+float=0:inf steptime
+} {
+
+   RadCollOff
+   histmem mode time
+   histmem preset $steptime
+   newfile HISTOGRAM_XY
+   for {set i 0} {$i < $numsteps} {incr i} {
+      drive $motor [expr $i*$step+$start]
+      histmem start block
+      save $i
+   }
+}
+# RadCollRun
+command RadCollRun {
+int=1:inf oscno
+int=1:inf reps
+} {
+   
+   RadCollOn $oscno
+   histmem mode unlimited
+   newfile HISTOGRAM_XY
+   for {set i 0} {$i < $reps} {incr i} {
+ 	histmem start block
+      	save $i
+   }
+   RadCollOff
+}
+# RadCollTimed
+command RadCollTimed {
+int=1:inf oscno
+float=0:inf time
+} {
+
+   RadCollOn $oscno
+   set tim1 [clock seconds]
+   histmem mode unlimited
+   newfile HISTOGRAM_XY
+   set bool 0
+   set i 0
+   set timsecs [expr $time*60]
+   while {$bool == 0} {
+ 	histmem start block
+	save $i
+	incr i
+	set tim2 [expr [clock seconds] - $tim1]
+        if {$tim2 > $timsecs} {set bool 1}
+   }
+   RadCollOff
+}
+# RadCollScan 
+command RadCollScan {
+text=drivable motor
+float start
+float step
+int=1:inf numsteps
+int=1:inf oscno
+} {
+
+   RadCollOn $oscno
+   histmem mode unlimited
+   newfile HISTOGRAM_XY
+   for {set i 0} {$i < $numsteps} {incr i} {
+      drive $motor [expr $i*$step+$start]
+      histmem start block
+      save $i
+   }
+   RadCollOff
+}
+}
+
 proc ::commands::isc_initialize {} {
   ::commands::ic_initialize
 }