diff --git a/SCinter.c b/SCinter.c
index bca74aac..f8fb2140 100644
--- a/SCinter.c
+++ b/SCinter.c
@@ -252,6 +252,7 @@ extern char *SkipSpace(char *pPtr);
     char pBrk[] = {" \r\n\0"};
     char *pPtr;
     char **argv = NULL;
+    commandContext comCon;
    
     
     assert(self);
@@ -306,13 +307,7 @@ extern char *SkipSpace(char *pPtr);
     self->eOut = eStatus;
     Tcl_ResetResult((Tcl_Interp *)self->pTcl);
     MacroPush(pCon);
-    SCWrite(pCon, "", eStart);
-    pCon->conStatus = 0;
     iRet = pCommand->OFunc(pCon, self, pCommand->pData, argc, argv);
-    /* If a task is registered with the dev exec then conStatus is HWBusy*/
-    if (pCon->conStatus != HWBusy) {
-      SCWrite(pCon,"",eFinish);
-    }
     MacroPop();
 
   deleteArgv:
diff --git a/drive.c b/drive.c
index dd04e9e6..06298e6f 100644
--- a/drive.c
+++ b/drive.c
@@ -453,14 +453,24 @@
        assert(pCon);
        assert(pSics);
        
-       iRet = AddCommand(pSics,"drive", DriveWrapper,NULL,NULL);
+       if(argc > 1)
+       {
+           iRet = AddCommand(pSics,argv[1], DriveWrapper,NULL,NULL);
+       } else {
+           iRet = AddCommand(pSics,"drive", DriveWrapper,NULL,NULL);
+       }
        if(!iRet)
        {
          sprintf(pBueffel,"ERROR: duplicate command drive not created");
          SCWrite(pCon,pBueffel,eError);
          return 0;
        }
-       iRet = AddCommand(pSics,"run", RunWrapper,NULL,NULL);
+       if(argc < 2)
+       {
+           iRet = AddCommand(pSics,argv[2], RunWrapper,NULL,NULL);
+       } else {
+           iRet = AddCommand(pSics,"run", RunWrapper,NULL,NULL);
+       }     
        if(!iRet)
        {
          sprintf(pBueffel,"ERROR: duplicate command run not created");
diff --git a/fourlib.c b/fourlib.c
index a1a916ef..81551a9f 100644
--- a/fourlib.c
+++ b/fourlib.c
@@ -489,11 +489,12 @@ int z1mToNormalBeam(double lambda, MATRIX z1m, double *gamma, double *om, double
     phimat(dum,omdeg);
     znew = mat_mul(dum,z1m);
     if(znew[0][0] < 0) {
-	*om = *om -2.*atan2(-znew[0][0], -znew[2][0]);
+	*om = *om -2.*atan2(-znew[0][0], -znew[1][0]);
         omdeg = *om * RD; 
     }
     b = (sign(180.,omdeg)+ omdeg)/360.;
-    /* omdeg = omdeg - 360. * floor(b); */
+    b = sign(1,b)* floor(ABS(b));
+    omdeg = omdeg - 360. * b ;
     *nu = asin(lambda*z1m[2][0]);
     *gamma = acos(cos(2.*(theta/RD)))/cos(*nu);
     *om = omdeg;    
diff --git a/hkl.c b/hkl.c
index 44d1f52d..b139a04f 100644
--- a/hkl.c
+++ b/hkl.c
@@ -474,15 +474,16 @@ static int checkNormalBeam(double om, double *gamma, double nu,
   char pError[132];
   float fHard;
 
+  fSet[0] = (float)*gamma;
+  fSet[1] = (float)om;
+  fSet[2] = (float)nu;
+
    /* check omega, gamma and nu  */
    iTest = MotorCheckBoundary(self->pOmega,(float)om, &fHard,pError,131);
    iTest += checkTheta(self,gamma);
    iTest += MotorCheckBoundary(self->pNu,(float)nu, &fHard,pError,131);
    if(iTest == 3) /* none of them burns */
    {
-     fSet[0] = (float)*gamma;
-     fSet[1] = (float)om;
-     fSet[2] = (float)nu;
      return 1;
    }
    return 0;
@@ -677,7 +678,7 @@ static int calculateBisecting(MATRIX z1, pHKL self, SConnection *pCon,
 static int calculateNormalBeam(MATRIX z1, pHKL self, SConnection *pCon,
 			      float fSet[4], double myPsi, int iRetry)
 {
-  int i, iTest;
+  int i, iTest, status;
   double stt, om, chi, phi, gamma, nu, psi, omnb;
   float currentPhi, currentChi;
   double ompsi, chipsi, phipsi;
@@ -699,7 +700,6 @@ static int calculateNormalBeam(MATRIX z1, pHKL self, SConnection *pCon,
   {
     return 0;
   }
-  /*
   phim = mat_creat(3,3,ZERO_MATRIX);
   phimat(phim,(double)currentPhi);
   z4 = mat_mul(phim,z1);
@@ -709,9 +709,13 @@ static int calculateNormalBeam(MATRIX z1, pHKL self, SConnection *pCon,
   mat_free(phim);
   mat_free(chim);
   mat_free(z4);
-  */
 
-  if(!z1mToNormalBeam(self->fLambda, z1, &gamma, &omnb, &nu)){
+
+  status = z1mToNormalBeam(self->fLambda, z3, &gamma, &omnb, &nu);
+  omnb += 180.;
+  mat_free(z3);
+  if(status != 1)
+  {
       return 0;
   }
   if(checkNormalBeam(omnb, &gamma, nu,fSet,pCon,self)){
@@ -719,61 +723,6 @@ static int calculateNormalBeam(MATRIX z1, pHKL self, SConnection *pCon,
   } else { 
       return 0;
   } 
- 
-  if(!z1mToBisecting(self->fLambda,z1,&stt,&om,&chi,&phi))
-  {
-    return 0;        
-  }
-    if(bisToNormalBeam(stt,om,chi,phi,
-		       &omnb, &gamma, &nu))
-    {
-	/* om = -om + 180.;	*/
-      if(checkNormalBeam(omnb, &gamma, nu,fSet,pCon,self))
-      {
-	return 1;
-      }
-    }
-    return 0;
-
-  /*
-    do the bisecting angles first
-  */
-  if(!z1mToBisecting(self->fLambda,z3,&stt,&om,&chi,&phi))
-  {
-    return 0;        
-  }
-
-  if(ABS(chi -90.) < .001 && ABS(phi-180.) < .001)
-  {
-    chi = .0;
-    phi = .0;
-  }
-
-  /*
-    in order to cope with all those limitations: rotate through psi
-  */
-  for(i = 0; i < iRetry; i++)
-  {
-    if(iRetry > 1)
-    {
-      psi = i*.5;
-    }
-    else
-    {
-      psi = myPsi;
-    }
-    rotatePsi(om,chi,phi,psi,&ompsi,&chipsi,&phipsi);
-    if(bisToNormalBeam(stt,ompsi,chipsi,phipsi,
-		       &om, &gamma, &nu))
-    {
-      if(checkNormalBeam(om, &gamma, nu,fSet,pCon,self))
-      {
-	return 1;
-      }
-    }
-  }
-
-  return 0;
 }
 /*---------------------------------------------------------------------*/
 static int calculateNormalBeamOmega(MATRIX z1, pHKL self, 
diff --git a/hklmot.c b/hklmot.c
index 6f7c66cb..2d897360 100644
--- a/hklmot.c
+++ b/hklmot.c
@@ -109,6 +109,7 @@ static int HKLCheckStatus(void *pData, SConnection *pCon){
     status = RunHKL(self->pHkl,self->pHkl->targetHKL,.0,0,pCon);
     self->pHkl->targetDirty = 0;
     if(status != 1){
+      SCSetInterrupt(pCon,eAbortOperation);
       return HWFault;
     }
     return HWBusy;
diff --git a/hklscan.c b/hklscan.c
index de9bf0c9..6ed90cdd 100644
--- a/hklscan.c
+++ b/hklscan.c
@@ -7,6 +7,14 @@
  copyright: see copyright.h
 
  Mark Koennecke, June 1999
+ 
+ This is obsolete: h,k,l are now drivable. Logged variables have been added 
+ to the scan module. The command is now implemented through scripts.
+ This module is left in the source tree in order to allow for a quick
+ reinstallation in case of problems but should be retired from the
+ source tree in the shutdown 2007
+ 
+ Mark Koennecke, January 2006
  --------------------------------------------------------------------------*/
 #include <stdlib.h>
 #include <stdio.h>
@@ -86,7 +94,7 @@
       }
 
       /* alright. Install command */
-      iRet = AddCommand(pSics, "hklscan",
+      iRet = AddCommand(pSics, "__hklscan",
                         HklscanAction,KillHklscan,pNew);
       if(!iRet)
       {
@@ -232,7 +240,7 @@
     self->fd = NULL;
     return 1;
   }
-/*------------------------------------------------------------------------*/
+/*-------------------------------------------------------------------*/
   int Hklscan(pHklscan self, SConnection *pCon, 
              int iNP, int iMode, float fPreset)
   {
@@ -279,10 +287,11 @@
                     int argc, char *argv[])
   {
       char pBueffel[512];
-      int iRet, iMode, iNP;
+      int iRet, iMode, iNP, iPoint;
       pHklscan self = NULL;
       double dVal;
       float fPreset;
+      void *pPtr;
 
       assert(pCon);
       assert(pSics);
@@ -438,7 +447,7 @@
             SCSendOK(pCon);
 	 }
          return iRet;
-      }
+      } 
       sprintf(pBueffel,
         "ERROR: %s not recognized as command word to hklscan",argv[1]);
       SCWrite(pCon,pBueffel,eError);
diff --git a/mesure.c b/mesure.c
index 8ef861f8..771864fd 100644
--- a/mesure.c
+++ b/mesure.c
@@ -24,6 +24,8 @@
 #include "danu.h"
 #include "integrate.h"
 #include "hkl.h"
+#include "matrix/matrix.h"
+#include "hkl.i"
 #include "sicsvar.h"
 #include "evcontroller.h"
 #include "mesure.h"
@@ -755,6 +757,8 @@ static int ScanReflection(pMesure self, float twoTheta, SConnection *pCon)
       float fVal, fUB[9];
       pSicsVariable pVar = NULL;
       char *pFile = NULL, *pPtr;
+      float zero, pos;
+      pMotor pMot = NULL;
       
       
       assert(self);
@@ -830,11 +834,11 @@ static int ScanReflection(pMesure self, float twoTheta, SConnection *pCon)
       fprintf(self->fHKL,"filetime = %s\n",pBueffel);
       GetLambda(self->pCryst,&fVal);
       fprintf(self->fHKL,"lambda = %f Angstroem\n",fVal);
-      GetUB(self->pCryst,fUB);
+         GetUB(self->pCryst,fUB);
       fprintf(self->fHKL,
        "UB = %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f\n",
        fUB[0], fUB[1],fUB[2],fUB[3],fUB[4],fUB[5],fUB[6],fUB[7],fUB[8]);
-      
+         
       /* write sample & user info */
       strcpy(pBueffel,"CCL, Instr=TRICS, ");
       pVar = FindVariable(pServ->pSics,"sample");
@@ -852,8 +856,58 @@ static int ScanReflection(pMesure self, float twoTheta, SConnection *pCon)
         strcat(pBueffel,pBuff);
       }
       fprintf(self->fRefl,"%s\n",pBueffel);
+      fprintf(self->fRefl,"lambda = %f Angstroem\n",fVal);
+      fprintf(self->fRefl,
+       "UB = %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f %7.6f\n",
+       fUB[0], fUB[1],fUB[2],fUB[3],fUB[4],fUB[5],fUB[6],fUB[7],fUB[8]);
 
 
+      /*
+       * zero points for Juerg
+       */
+      pBueffel[0] = '\0';
+      if(self->pCryst->pTheta != NULL){ 
+          MotorGetPar(self->pCryst->pTheta,"softzero",&zero);
+          snprintf(pBuff,131,"stt.zero = %f ", zero);
+          strcat(pBueffel,pBuff);
+      }
+      if(self->pCryst->pOmega != NULL){ 
+          MotorGetPar(self->pCryst->pOmega,"softzero",&zero);
+          snprintf(pBuff,131,"om.zero = %f ", zero);
+          strcat(pBueffel,pBuff);
+      }
+      if(self->pCryst->pChi != NULL){ 
+          MotorGetPar(self->pCryst->pChi,"softzero",&zero);
+          snprintf(pBuff,131,"chi.zero = %f ", zero);
+          strcat(pBueffel,pBuff);
+      }
+      if(self->pCryst->pPhi != NULL){ 
+          MotorGetPar(self->pCryst->pPhi,"softzero",&zero);
+          snprintf(pBuff,131,"phi.zero = %f ", zero);
+          strcat(pBueffel,pBuff);
+      }
+      fprintf(self->fRefl,"%s\n",pBueffel);
+
+      /*
+       * CEX motors ....
+       */
+      pBueffel[0] = '\0';
+      pMot = FindCommandData(pServ->pSics,"cex1","Motor");
+      if(pMot != NULL){
+          MotorGetSoftPosition(pMot,pCon,&pos);
+          snprintf(pBuff,131,"cex1 = %f ",pos);
+          strcat(pBueffel,pBuff);
+      }
+      pMot = FindCommandData(pServ->pSics,"cex2","Motor");
+      if(pMot != NULL){
+          MotorGetSoftPosition(pMot,pCon,&pos);
+          snprintf(pBuff,131,"cex2 = %f ",pos);
+          strcat(pBueffel,pBuff);
+      }
+      if(strlen(pBueffel) > 1) {
+        fprintf(self->fRefl,"%s\n",pBueffel);
+      }
+
       return 1; 
   }
 /*---------------------------------------------------------------------------*/
@@ -1536,7 +1590,7 @@ static int ScanReflection(pMesure self, float twoTheta, SConnection *pCon)
      
       strtolower(argv[1]);
 /*------ start */      
-      if(strcmp(argv[1],"start") == 0)
+      if(strcmp(argv[1],"open") == 0)
       {
          if(!SCMatchRights(pCon,usUser))
          {
diff --git a/motor.c b/motor.c
index 84286166..08c2d105 100644
--- a/motor.c
+++ b/motor.c
@@ -1058,22 +1058,23 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
     iLen = ObParLength(self->ParArray);
     sprintf(pBueffel,"Parameter Listing for motor %s",self->name);
     SCWrite(pCon,pBueffel,eValue);
+    sprintf(pBueffel,"%s.Position = %f\n", self->name,self->fPosition);
+    SCWrite(pCon,pBueffel,eStatus);
+    sprintf(pBueffel,"%s.TargetPosition = %f\n", self->name,self->fTarget);
+    SCWrite(pCon,pBueffel,eStatus);
+
+    snprintf(pBueffel,511,"%s.hardlowerlim = %f",self->name,
+         self->pDriver->fLower);
+    SCWrite(pCon,pBueffel,eValue);
     snprintf(pBueffel,511,"%s.hardupperlim = %f",self->name,
 	     self->pDriver->fUpper);
     SCWrite(pCon,pBueffel,eValue);
-    snprintf(pBueffel,511,"%s.hardlowerlim = %f",self->name,
-	     self->pDriver->fLower);
-    SCWrite(pCon,pBueffel,eValue);
     for(i = 0; i < iLen; i++)
     {
       sprintf(pBueffel,"%s.%s = %f\n",self->name,
               self->ParArray[i].name,self->ParArray[i].fVal);
       SCWrite(pCon,pBueffel,eStatus);
     }
-    sprintf(pBueffel,"%s.Position = %f\n", self->name,self->fPosition);
-    SCWrite(pCon,pBueffel,eStatus);
-    sprintf(pBueffel,"%s.TargetPosition = %f\n", self->name,self->fTarget);
-    SCWrite(pCon,pBueffel,eStatus);
     
     /*
       list driver parameters when appropriate
diff --git a/protocol.c b/protocol.c
index cc790d5d..a099183b 100644
--- a/protocol.c
+++ b/protocol.c
@@ -191,6 +191,7 @@ static int ContextDo(SConnection *pCon, SicsInterp *pSics, void *pData,
 
     SCPushContext2(pCon,comCon);
     status = InterpExecute(pSics,pCon,command);
+    SCWrite(pCon,"",eFinish);
     SCPopContext(pCon);
     return status;
 }
@@ -442,26 +443,18 @@ int SCWriteSycamore(SConnection *pCon, char *pBuffer, int iOut)
     char **argv = NULL;
     int argc;
     char *parser = "sycformat ";
-    char batchName[50];
-    strcpy(batchName,"::ansto::batch::next");
     CommandList *pCommand = NULL;
 
     if(!SCVerifyConnection(pCon))
     {
-        DeleteDynString(parseCmd);
         return 0;
     }
 
     comCon = SCGetContext(pCon); 
 
-    if (strcmp(comCon.deviceID, batchName) == 0) {
-      DeleteDynString(parseCmd);
-      return 1;
-    }
     /* Return 0 without dying if no message data */
     if(pBuffer == NULL)
     {
-        DeleteDynString(parseCmd);
         return 0;
     }
 
diff --git a/scan.c b/scan.c
index 911649af..4911cef9 100644
--- a/scan.c
+++ b/scan.c
@@ -217,11 +217,7 @@ static void ConfigureScanDict(pStringDict dict)
   int AddScanVar(pScanData self, SicsInterp *pSics, SConnection *pCon,
                  char *name, float fStart, float fStep)
   {
-     CommandList *pCom = NULL;
-     pIDrivable  pDriv = NULL;
-     pDummy      pData = NULL;
      pVarEntry    pVar = NULL;
-     char pBueffel[512];
      
      if(self->iActive)
      {
@@ -240,6 +236,31 @@ static void ConfigureScanDict(pStringDict dict)
      DynarPut(self->pScanVar,self->iScanVar,pVar);
      self->iScanVar++;
      
+     return 1; 
+  }         
+/*-------------------------------------------------------------------------*/
+  int AddLogVar(pScanData self, SicsInterp *pSics, SConnection *pCon,
+                 char *name)
+  {
+     pVarEntry    pVar = NULL;
+     
+     if(self->iActive)
+     {
+       SCWrite(pCon,"ERROR: cannot change parameters while scan is running",
+           eError);
+       return 0;
+     }
+     
+     pVar = MakeLogVar(pSics,pCon,name);
+     if(pVar == NULL)
+     {
+       return 0;
+     }
+     
+     /* put it away */
+     DynarPut(self->pScanVar,self->iScanVar,pVar);
+     self->iScanVar++;
+     
      return 1; 
   }         
 /*--------------------------------------------------------------------------*/
@@ -277,8 +298,15 @@ static void ConfigureScanDict(pStringDict dict)
        pVar = (pVarEntry)pData;
        if(pVar)
        {
-	 fprintf(fd,"%s add %s %f %f\n", self->objectName, ScanVarName(pVar),
-		 ScanVarStart(pVar), ScanVarStep(pVar));
+         if(isLogVar(pVar))
+         {
+             fprintf(fd,"%s log %s\n", self->objectName, ScanVarName(pVar));
+         } 
+         else 
+         {
+     fprintf(fd,"%s add %s %f %f\n", self->objectName, ScanVarName(pVar),
+         ScanVarStart(pVar), ScanVarStep(pVar));
+         }
        }
        pData = NULL;
      } 
@@ -1961,7 +1989,7 @@ static int DumpScan(pScanData self, SConnection *pCon)
           return 0;
         }
 /*---------- add command */
-        if(strcmp(argv[1],"add") == 0)
+       if(strcmp(argv[1],"add") == 0)
         {
            if(argc < 5)
            {
@@ -1994,6 +2022,23 @@ static int DumpScan(pScanData self, SConnection *pCon)
            }
            return iRet;  
         }
+        else if(strcmp(argv[1],"log") == 0)
+        {
+           if(argc < 3)
+           {
+             sprintf(pBueffel,
+                 "ERROR: Insufficient number of arguments given for %s log",
+                     argv[0]);
+             SCWrite(pCon,pBueffel,eError);
+             return 0;        
+           }
+           iRet = AddLogVar(self,pSics,pCon,argv[2]);
+           if(iRet)
+           {
+             SCSendOK(pCon);
+           }
+           return iRet;  
+        }
 /* --------clear */
         else if(strcmp(argv[1],"clear") == 0)
         {
diff --git a/scanvar.c b/scanvar.c
index 6f49bf36..800c2a6a 100644
--- a/scanvar.c
+++ b/scanvar.c
@@ -65,6 +65,55 @@ pVarEntry MakeScanVar(SicsInterp *pSics, SConnection *pCon, char
 
   return pVar;
 }
+/*----------------------------------------------------------------------*/
+pVarEntry MakeLogVar(SicsInterp *pSics, SConnection *pCon, char *name){
+  CommandList *pCom = NULL;
+  pIDrivable  pDriv = NULL;
+  pDummy      pData = NULL;
+  pVarEntry    pVar = NULL;
+  char pBueffel[512];
+
+  /*
+    allocate space
+  */
+  pVar = (pVarEntry)malloc(sizeof(VarEntry));
+  if(pVar == NULL){
+    SCWrite(pCon,"ERROR: out of memory allocating scan variable",eError);
+    return NULL;
+  }
+  memset(pVar,0,sizeof(VarEntry));
+
+  /* find the thing */
+  pCom = FindCommand(pSics,name);
+  if(!pCom){
+    snprintf(pBueffel,511,"ERROR: Cannot find variable %s to log",name);
+    SCWrite(pCon,pBueffel,eError);
+    return NULL;
+  }
+  pData = (pDummy)pCom->pData;
+  if(!pData){
+    snprintf(pBueffel,511,"ERROR: Cannot find data for variable %s",name);
+    SCWrite(pCon,pBueffel,eError);
+    return NULL;
+  }
+  pDriv = pData->pDescriptor->GetInterface(pData,DRIVEID);
+  if(!pDriv){
+    snprintf(pBueffel,511,
+       "ERROR: variable %s is NOT driveable and cannot be logged",name);
+    SCWrite(pCon,pBueffel,eError);
+        return NULL;
+  }
+
+  /* got everything, fill in the VarEntry structure */
+  strcpy(pVar->Name,name);
+  pVar->pInter = pDriv;
+  pVar->pObject = pData;
+  pVar->logVar = 1;
+  pVar->dataList = LLDcreate(sizeof(float));
+
+  return pVar;
+}
+
 /*------------------------------------------------------------------*/
 void InitScanVar(pVarEntry pVar){
   LLDdelete(pVar->dataList);
@@ -105,6 +154,13 @@ int StartScanVar(pVarEntry pVar, SConnection *pCon, int i){
   char pBueffel[512];
   int status;
 
+   /**
+    * logged variables are not started
+    */
+  if(pVar->logVar == 1){
+    return 1;
+  }
+
   pDum = (pDummy)pVar->pObject;
   fVal = pVar->fStart +  i * pVar->fStep;
   status = StartDevice(pServ->pExecutor, 
@@ -122,6 +178,32 @@ int StartScanVar(pVarEntry pVar, SConnection *pCon, int i){
   return 1;
 }
 /*-------------------------------------------------------------------------*/
+int CheckScanVar(pVarEntry pVar, SConnection *pCon, int np){
+    int status;
+    char pError[132], pBueffel[512];
+
+    if(pVar->logVar == 1){
+        return 1;
+    }    
+    
+    status = pVar->pInter->CheckLimits(pVar->pObject,
+                                         pVar->fStart,pError,131);
+    if(status != 1){
+        snprintf(pBueffel,511,"ERROR: %s, scan aborted",pError);
+        SCWrite(pCon,pBueffel,eError);
+        return 0;
+    }                                     
+    status = pVar->pInter->CheckLimits(pVar->pObject,
+                                         pVar->fStart + np * pVar->fStep,
+                                         pError,131);
+    if(status != 1){
+        snprintf(pBueffel,511,"ERROR: %s, scan aborted",pError);
+        SCWrite(pCon,pBueffel,eError);
+        return 0;
+    }                                     
+    return 1;
+}
+/*-------------------------------------------------------------------------*/
 void AppendScanVar(pVarEntry pVar, float pos){
   float fVal = pos;
   LLDnodeAppendFrom(pVar->dataList,&fVal);
@@ -151,4 +233,8 @@ void CopyScanVar(pVarEntry pVar, float *fData, int np){
     status = LLDnodePtr2Next(pVar->dataList);
   }
 }
+/*-------------------------------------------------------------------------*/
+int isLogVar(pVarEntry pVar){
+        return pVar->logVar;
+}
 
diff --git a/scanvar.h b/scanvar.h
index 93303639..7bb1dbfb 100644
--- a/scanvar.h
+++ b/scanvar.h
@@ -21,6 +21,7 @@
                    float      fStep;
                    float      *fData;
                    int        dataList;
+                   int logVar;
                   }VarEntry, *pVarEntry;
 
 /*---------------------------------------------------------------------*/
@@ -34,13 +35,22 @@
   * @param start The start position from which to scan
   * @param step The step width with which to scan.
   * @return A pointer to a new scan variable object on success, NULL
-  * else
+  * else NULL
   */
   pVarEntry MakeScanVar(SicsInterp *pSics, SConnection *pCon, char
                         *name, float start, float step);
+  /*
+   * Make a variable which is logged during the scan
+   * @param pSics The SICS interpreter to search for the variable
+   * @param pCon A connection to report problems to
+   * @param name The name of the variable to log
+  * @return A pointer to a new scan variable object on success, NULL
+  * else NULL
+  */
+  pVarEntry MakeLogVar(SicsInterp *pSics, SConnection *pCon, char *name);                      
   /**
     * InitScanVar clears the list of scan points
-    * @param pvar The scna variable to clear
+    * @param pvar The scan variable to clear
     */
   void InitScanVar(pVarEntry pVar);
   /**
@@ -66,6 +76,14 @@
     * @return The step width for the scan.
     */
   float ScanVarStep(pVarEntry pVar);
+  /**
+   * check if the scan is possible, i.e the scan variable does
+   * not violate the limits in the scan
+   * @param pVar The scan variable to check
+   * @param pCon The connection to report errors to
+   * @return 1 when OK, 0 when the limits are violated.
+   */ 
+  int CheckScanVar(pVarEntry pVar, SConnection *pCon, int np);
   /**
     * StartScanVar starts the scan variable to drive to the next
     * position.
@@ -96,5 +114,8 @@
     * @param np The number of slots in fData.
     */
   void CopyScanVar(pVarEntry pVar, float *fData, int np);
-
+  /**
+   * enquires if a variable is a logged variable or a proper scan variable
+   */
+  int isLogVar(pVarEntry pVar);
 #endif
diff --git a/sicslist.c b/sicslist.c
index 60bfc496..0985e17f 100644
--- a/sicslist.c
+++ b/sicslist.c
@@ -22,10 +22,11 @@ static void listAllObjects(SConnection *pCon, SicsInterp *pSics){
     
     pCom = pSics->pCList;
     while(pCom != NULL){
-        Tcl_DStringAppendElement(&lst,pCom->pName);
+        Tcl_DStringAppend(&lst,pCom->pName,-1);
         pCom = pCom->pNext;
+        Tcl_DStringAppend(&lst, ", ",-1);
     }
-    Tcl_DStringAppendElement(&lst,"ENDLIST");
+    Tcl_DStringAppend(&lst,"ENDLIST",-1);
     SCWrite(pCon,Tcl_DStringValue(&lst), eValue);
     Tcl_DStringFree(&lst);
 }
@@ -37,45 +38,45 @@ static void listAllObjectData(SConnection *pCon, char *name, pDummy data){
     
     Tcl_DStringInit(&lst);
     if(data == NULL){
-        snprintf(buffer,255,"%s = command", name);
-        Tcl_DStringAppendElement(&lst,buffer);
+        snprintf(buffer,255,"%s = command, ", name);
+        Tcl_DStringAppend(&lst,buffer,-1);
     } else {
-        snprintf(buffer,255,"%s=obj", name);
-        Tcl_DStringAppendElement(&lst,buffer);
-        snprintf(buffer,255,"type=%s",data->pDescriptor->name);        
-        Tcl_DStringAppendElement(&lst,buffer);
+        snprintf(buffer,255,"%s=obj, ", name);
+        Tcl_DStringAppend(&lst,buffer,-1);
+        snprintf(buffer,255,"type=%s, ",data->pDescriptor->name);        
+        Tcl_DStringAppend(&lst,buffer,-1);
         if(data->pDescriptor->GetInterface(data,DRIVEID) != NULL){
-            snprintf(buffer,255,"drivable=true");
+            snprintf(buffer,255,"drivable=true, ");
         } else {
-            snprintf(buffer,255,"drivable=false");
+            snprintf(buffer,255,"drivable=false, ");
         }
-        Tcl_DStringAppendElement(&lst,buffer);
+        Tcl_DStringAppend(&lst,buffer,-1);
         if(data->pDescriptor->GetInterface(data,COUNTID) != NULL){
-            snprintf(buffer,255,"countable=true");
+            snprintf(buffer,255,"countable=true, ");
         } else {
-            snprintf(buffer,255,"countable=false");
+            snprintf(buffer,255,"countable=false, ");
         }
-        Tcl_DStringAppendElement(&lst,buffer);
+        Tcl_DStringAppend(&lst,buffer,-1);
         if(data->pDescriptor->GetInterface(data,CALLBACKINTERFACE) != NULL){
-            snprintf(buffer,255,"callback=true");
+            snprintf(buffer,255,"callback=true, ");
         } else {
-            snprintf(buffer,255,"callback=false");
+            snprintf(buffer,255,"callback=false, ");
         }
-        Tcl_DStringAppendElement(&lst,buffer);
+        Tcl_DStringAppend(&lst,buffer,-1);
         if(data->pDescriptor->GetInterface(data,ENVIRINTERFACE) != NULL){
-            snprintf(buffer,255,"environment=true");
+            snprintf(buffer,255,"environment=true, ");
         } else {
-            snprintf(buffer,255,"environment=false");
+            snprintf(buffer,255,"environment=false, ");
         }
-        Tcl_DStringAppendElement(&lst,buffer);
+        Tcl_DStringAppend(&lst,buffer,-1);
         prop = data->pDescriptor->pKeys;
         while(prop != NULL){
-            snprintf(buffer,255,"%s=%s",prop->name,prop->value);
-            Tcl_DStringAppendElement(&lst,buffer);
+            snprintf(buffer,255,"%s=%s, ",prop->name,prop->value);
+            Tcl_DStringAppend(&lst,buffer,-1);
             prop = prop->pNext;        
         }
     }
-    Tcl_DStringAppendElement(&lst,"ENDLIST");
+    Tcl_DStringAppend(&lst,"ENDLIST",-1);
     SCWrite(pCon,Tcl_DStringValue(&lst),eValue);
     Tcl_DStringFree(&lst);
 }
@@ -190,7 +191,8 @@ static void listToString(int list,Tcl_DString *txt){
     while(status != 0){
         pPtr = (char *)LLDnodePtr(list);
         if(pPtr != NULL){
-            Tcl_DStringAppendElement(txt,pPtr);
+            Tcl_DStringAppend(txt,pPtr,-1);
+            Tcl_DStringAppend(txt, ", ",-1);
         }
         status = LLDnodePtr2Next(list);
     }
@@ -205,7 +207,7 @@ static void printKeyTypes(SicsInterp *pSics, SConnection *pCon,
     Tcl_DString result;
     
     if(strcmp(key,"interface") == 0){
-        SCWrite(pCon,"drivable countable callback environment",eValue);
+        SCWrite(pCon,"drivable, countable, callback, environment",eValue);
         return;
     }
     
@@ -254,11 +256,12 @@ static void printObjectsMatchingKeyVal(SicsInterp *pSics,
             }
         }
         if(status == 1){
-            Tcl_DStringAppendElement(&result,pCom->pName);
+            Tcl_DStringAppend(&result,pCom->pName,-1);
+            Tcl_DStringAppend(&result, ", ",-1);
         }                        
         pCom = pCom->pNext;
     }
-    Tcl_DStringAppendElement(&result,"ENDLIST");
+    Tcl_DStringAppend(&result,"ENDLIST",-1);
     SCWrite(pCon,Tcl_DStringValue(&result),eValue);
     Tcl_DStringFree(&result);
 } 
@@ -368,11 +371,11 @@ static int printServer(SConnection *pCon){
     Tcl_DStringInit(&txt);
     current = pSICSOptions;
     while(current != NULL){
-        snprintf(buffer,511,"%s=%s",current->name,current->value);
-        Tcl_DStringAppendElement(&txt,buffer);
+        snprintf(buffer,511,"%s=%s, ",current->name,current->value);
+        Tcl_DStringAppend(&txt,buffer,-1);
         current = current->pNext;
     }
-    Tcl_DStringAppendElement(&txt,"ENDLIST");
+    Tcl_DStringAppend(&txt,"ENDLIST",-1);
     SCWrite(pCon,Tcl_DStringValue(&txt),eValue);
     Tcl_DStringFree(&txt);
     return 1;
@@ -437,11 +440,12 @@ static void printMatch(SConnection *pCon, SicsInterp *pSics,
     current = pSics->pCList;
     while(current != NULL){
         if(!match(mask,current->pName)){
-            Tcl_DStringAppendElement(&txt, current->pName);
+            Tcl_DStringAppend(&txt, current->pName,-1);
+            Tcl_DStringAppend(&txt, ", ",-1);
         }
         current = current->pNext;
     }
-    Tcl_DStringAppendElement(&txt,"ENDLIST");
+    Tcl_DStringAppend(&txt,"ENDLIST",-1);
     SCWrite(pCon,Tcl_DStringValue(&txt), eValue);
     Tcl_DStringFree(&txt);
 }
diff --git a/sicsstat.tcl b/sicsstat.tcl
index e69de29b..552344a7 100644
--- a/sicsstat.tcl
+++ b/sicsstat.tcl
@@ -0,0 +1,7 @@
+# Counter counter
+counter SetPreset 500.000000
+counter SetMode Timer
+hm CountMode timer
+hm preset 600.000000
+hm genbin 1000.000000 1000.000000 1000
+hm init
diff --git a/stdscan.c b/stdscan.c
index 2da901bf..8a25f6ff 100644
--- a/stdscan.c
+++ b/stdscan.c
@@ -415,27 +415,12 @@ int prepareDataFile(pScanData self){
        pVar = (pVarEntry)pDings;
        if(pVar)
        {
-          /* start value */
-          fVal = ScanVarStart(pVar);
-          iRet = pVar->pInter->CheckLimits(pVar->pObject,
-                                         fVal,pBueffel,511);
+          iRet = CheckScanVar(pVar,self->pCon,self->iNP - 1);
           if(!iRet)
           {
-             sprintf(pMessage,"ERROR: %s, scan aborted",pBueffel);
-             SCWrite(self->pCon,pBueffel,eError);
              return 0;
           }           
-          /* end value */
-          fVal = pVar->fStart + (self->iNP - 1) * ScanVarStep(pVar);
-          iRet = pVar->pInter->CheckLimits(pVar->pObject,
-                                         fVal,pBueffel,511);
-          if(!iRet)
-          {
-             sprintf(pMessage,"ERROR: %s, scan aborted",pBueffel);
-             SCWrite(self->pCon,pBueffel,eError);
-             return 0;
-          }         
-	  InitScanVar(pVar);
+    	  InitScanVar(pVar);
        }
        else
        {
@@ -478,27 +463,12 @@ int prepareDataFile(pScanData self){
        pVar = (pVarEntry)pDings;
        if(pVar)
        {
-          /* start value */
-          fVal = ScanVarStart(pVar);
-          iRet = pVar->pInter->CheckLimits(pVar->pObject,
-                                         fVal,pBueffel,511);
+          iRet = CheckScanVar(pVar,self->pCon,self->iNP);   
           if(!iRet)
           {
-             sprintf(pMessage,"ERROR: %s, scan aborted",pBueffel);
-             SCWrite(self->pCon,pBueffel,eError);
              return 0;
           }           
-          /* end value */
-          fVal = pVar->fStart + (self->iNP - 1) * ScanVarStep(pVar);
-          iRet = pVar->pInter->CheckLimits(pVar->pObject,
-                                         fVal,pBueffel,511);
-          if(!iRet)
-          {
-             sprintf(pMessage,"ERROR: %s, scan aborted",pBueffel);
-             SCWrite(self->pCon,pBueffel,eError);
-             return 0;
-          }         
-	  InitScanVar(pVar);
+    	  InitScanVar(pVar);
        }
        else
        {
@@ -522,7 +492,6 @@ int prepareDataFile(pScanData self){
      pVarEntry pVar = NULL;
      void *pDings;
      int i, iRet;
-     float fVal;
      char pBueffel[512];
      char pMessage[1024];
      
@@ -537,9 +506,7 @@ int prepareDataFile(pScanData self){
        pVar = (pVarEntry)pDings;
        if(pVar)
        {
-          /* start value */
-          fVal = ScanVarStart(pVar);
-	  InitScanVar(pVar);
+    	  InitScanVar(pVar);
        }
        else
        {
@@ -647,6 +614,45 @@ int prepareDataFile(pScanData self){
   {
     return CollectScanDataIntern(self,iPoint,1);
   }
+/*------------------------------------------------------------------------*/
+  static int CollectSilent(pScanData self, int iPoint)
+  {
+     pVarEntry pVar = NULL;
+     void *pDings;
+     int i, iRet, status, jochenFlag = 1;
+     float fVal;
+     CountEntry sCount;
+
+     assert(self);
+     assert(self->pCon);
+     InitCountEntry(&sCount);
+
+     /* loop over all scan variables */
+     status = 1;
+     for(i = 0; i < self->iScanVar; i++)
+     {
+        DynarGet(self->pScanVar,i,&pDings);
+        pVar = (pVarEntry)pDings;
+        if(pVar)
+        {
+       if(jochenFlag == 1 && 
+         strcmp(pVar->pObject->pDescriptor->name, "Motor") == 0)
+       {
+         MotorGetSoftPosition((pMotor)pVar->pObject,self->pCon,&fVal);
+           }
+           else
+       {
+         fVal = pVar->pInter->GetValue(pVar->pObject,self->pCon);
+           }
+           AppendScanVar(pVar,fVal);
+        }
+     }
+  
+     /* store counter data */
+     sCount = CollectCounterData(self);
+     
+     return 1;
+  }  
 /*--------------------------------------------------------------------------*/
   static int StartToDrive(pScanData self, int iPoint)
   {
@@ -927,6 +933,8 @@ int StandardScanWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
     return ScanCount(self,iPoint);
   } else if(strcmp(argv[1],"collect") == 0){
     return CollectScanData(self,iPoint);
+  } else if(strcmp(argv[1],"silentcollect") == 0){
+    return CollectSilent(self,iPoint);
   } else if(strcmp(argv[1],"writepoint") == 0){
     return WriteScanPoints(self,iPoint);
   } else {
diff --git a/sycFormat.tcl b/sycFormat.tcl
index 78c21694..7a92daef 100644
--- a/sycFormat.tcl
+++ b/sycFormat.tcl
@@ -28,16 +28,17 @@ if { [info exists sycinit] == 0 } {
   # 'tag' and 'msgString' parameters must be passed within braces
   # eg sycFormat con0004 t000005 s1 event  {s1} {type.position status.HWBusy}
   proc sycformat {connID transID devID msgFlag tag msgString} {
-    global statusMap cache
+    global statusMap 
 
     set fullmatch ""; set msg ""; set eventType ""; set status ""
     set position ""
 
     proc _prefix {flag} {
-	upvar connID cID transID tID devID dID
-	return "\[$cID:$tID:$dID:$flag\]"
+      upvar connID cID transID tID devID dID
+      return "\[$cID:$tID:$dID:$flag\]"
     }
       
+    set msgString [string trim $msgString]
     regexp {<(.*)>} $msgString match msg
     regexp {type\.(\w*)} $msgString match eventType
     regexp {status\.(\w*)} $msgString match status
@@ -48,16 +49,15 @@ if { [info exists sycinit] == 0 } {
   }
    
     switch $msgFlag {
-      "start" {
-        set output "[_prefix start] $msgString"
-        
-      }
       "event" {
         switch $eventType {
           "POSITION" {
             regexp {(\w+)\.position *= *(\d+(?:\.\d+)?)} $msgString match device position
             set output "[_prefix event] $tag={type=$eventType,$devID.position=$position}"
           }
+          "STATUS" {
+            set output "[_prefix event] $tag={type=$eventType,$devID.status=$statusMap($status)}"
+          }
           default {
             # Error
           }
@@ -83,7 +83,7 @@ if { [info exists sycinit] == 0 } {
         }
       }
       default {
-        set output "[_prefix $msgFlag] $msgString"
+        set output "[_prefix $msgFlag] $tag=\{$msgString\}"
       }
     }
     return $output
diff --git a/tcldrivable.c b/tcldrivable.c
index eb0bbaff..0b91c1f2 100644
--- a/tcldrivable.c
+++ b/tcldrivable.c
@@ -565,6 +565,7 @@ int TclDrivableInvoke(SConnection *pCon, SicsInterp *pSics,
   /*
     invoke and report
   */
+  memset(pError,0,132*sizeof(char));
   switch(functionIndex){
   case TCLHALT:
     if(!pDriv->Halt){