diff --git a/site_ansto/instrument/config/robots/sct_pickandplace.tcl b/site_ansto/instrument/config/robots/sct_pickandplace.tcl
index 270dd9da..043bc723 100644
--- a/site_ansto/instrument/config/robots/sct_pickandplace.tcl
+++ b/site_ansto/instrument/config/robots/sct_pickandplace.tcl
@@ -42,6 +42,10 @@ debug_log "setNam new data for $tc_root [sct] result=$data"
 
   proc setRot {tc_root nextState cmd} {
     set data [string toupper [sct target]]
+    if {$data < 0 || $data > 100} {
+      sct geterror "Rotation speed must be between 0 and 100, not $data"
+      return idle
+    }
     if {$data != [sct oldval]} {
       sct oldval $data
       sct update $data
@@ -49,7 +53,7 @@ debug_log "setNam new data for $tc_root [sct] result=$data"
 debug_log "setRot new data for $tc_root [sct] result=$data"
       if {$data > 0} {
         hset $tc_root/status "busy"
-        sct send "ROTATE $data -1"
+        sct send "ROTATE $data"
       } else {
         sct send "STOPROT"
       }
@@ -79,8 +83,11 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
   proc setPoint {tc_root nextState cmd} {
     set catch_status [ catch {
 debug_log "setPoint $tc_root $nextState $cmd sct=[sct]"
-debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
-    sct print "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
+debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus] driving=[sct driving]"
+    sct print "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus] driving=[sct driving]"
+    if {[sct driving] == 0} {
+      sct driving 1
+    }
     set err_msg ""
     if { [hval $tc_root/Control/Pallet_Nam] != "A" && [hval $tc_root/Control/Pallet_Nam] != "B" } {
       set err_msg "Invalid Pallet_ Num: [hval $tc_root/Control/Pallet_Nam]"
@@ -142,7 +149,6 @@ debug_log "sct send $cmd"
       hsetprop $tc_root/setpoint driving 0
       return -code error $catch_message
     }
-    sct print "setPoint: [hget $tc_root/drive_state]"
     return $nextState
   }
 
@@ -213,7 +219,7 @@ debug_log "getState returns: $nextState"
         set nextState idle
       } else {
         set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
-        if { $my_driving } {
+        if { $my_driving || [hval $tc_root/status] != "idle"} {
           if { [string toupper [sct result]] == "IDLE" } {
             hset $tc_root/status "idle"
             hsetprop $tc_root/setpoint driving 0
@@ -379,7 +385,7 @@ debug_log "Registering node $nodeName for write callback"
         Display  Status          1 0 0 text  internal {STATUS}   {rdValue}      {}                 {}         {}\
         Display  Location        1 0 0 text  internal {WHERE}    {rdValue}      {}                 {}         {}\
         Control  Pallet_Nam      0 1 0 text  user     {}         {}             {}                 {setNam}   {A,B}\
-        Control  Pallet_Idx      0 1 0 int   user     {}         {}             {}                 {}         {}\
+        Control  Pallet_Idx      0 0 0 int   user     {}         {}             {}                 {}         {}\
         Control  Target_Loc      0 1 0 Text  user     {}         {}             {}                 {setNam}   {Beam,Vacuum}\
         Control  Rotate          0 1 0 int   user     {}         {}             {}                 {setRot}   {}\
       }