diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index a14ca04b..47790008 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -34,6 +34,8 @@
 #define UNITSLEN 256
 #define TEXTPARLEN 1024
 #define CMDLEN 1024
+#define STATE_TRACE (100)
+
 /** \brief Used to ensure that the getDMCSetting function is called
  * with valid values.
  * \see getDMCSetting
@@ -195,6 +197,11 @@ struct __MoDriv {
 #endif
   double* positions;
   int variables;
+#if defined(STATE_TRACE) && (STATE_TRACE > 0)
+  int state_trace_idx;
+  char state_trace_text[STATE_TRACE][CMDLEN];
+  struct timeval state_trace_time[STATE_TRACE];
+#endif
 };
 
 int DMC2280MotionControl = 1; /* defaults to enabled */
@@ -1359,6 +1366,26 @@ static int rspPoll(pDMC2280Driv self, const char* text) {
   return iReply;
 }
 
+static void state_trace_prn(pDMC2280Driv self) {
+#if defined(STATE_TRACE) && (STATE_TRACE > 0)
+  int idx = self->state_trace_idx;
+  SICSLogWrite("state_trace_prn trace listing start", eStatus);
+  do {
+    char* line;
+    struct timeval *tp;
+    tp = &self->state_trace_time[self->state_trace_idx];
+    line = &self->state_trace_text[self->state_trace_idx++][0];
+    if (self->state_trace_idx >= STATE_TRACE)
+      self->state_trace_idx = 0;
+    if (*line)
+      SICSLogWriteTime(line, eStatus, tp);
+  } while (idx != self->state_trace_idx);
+  SICSLogWrite("state_trace_prn trace listing end", eStatus);
+#else
+      SICSLogWrite("state_trace_prn not implemented", eStatus);
+#endif
+}
+
 /* State Functions */
 
 static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event);
@@ -1439,8 +1466,17 @@ static char* event_name(pEvtEvent event, char* text, int length) {
 }
 
 static void report_event(pDMC2280Driv self, pEvtEvent event) {
+#if defined(STATE_TRACE) && (STATE_TRACE > 0)
+  if (true) {
+    char* line;
+    gettimeofday(&self->state_trace_time[self->state_trace_idx], NULL);
+    line = &self->state_trace_text[self->state_trace_idx++][0];
+    if (self->state_trace_idx >= STATE_TRACE)
+      self->state_trace_idx = 0;
+#else
   if (self->debug || self->trace) {
     char line[CMDLEN];
+#endif
     char text[CMDLEN];
     snprintf(line, CMDLEN, "Motor=%s, State=%s(%d), event=%s",
         self->name,
@@ -1455,8 +1491,17 @@ static void report_event(pDMC2280Driv self, pEvtEvent event) {
 }
 
 static void change_state(pDMC2280Driv self, StateFunc func) {
+#if defined(STATE_TRACE) && (STATE_TRACE > 0)
+  if (true) {
+    char* line;
+    gettimeofday(&self->state_trace_time[self->state_trace_idx], NULL);
+    line = &self->state_trace_text[self->state_trace_idx++][0];
+    if (self->state_trace_idx >= STATE_TRACE)
+      self->state_trace_idx = 0;
+#else
   if (self->debug || self->trace) {
     char line[CMDLEN];
+#endif
     snprintf(line, CMDLEN, "Motor=%s, OldState=%s(%d), NewState=%s",
         self->name,
         state_name(self->myState),
@@ -1476,7 +1521,15 @@ static void change_state(pDMC2280Driv self, StateFunc func) {
 }
 
 static void unhandled_event(pDMC2280Driv self, pEvtEvent event) {
+#if defined(STATE_TRACE) && (STATE_TRACE > 0)
+    char* line;
+    gettimeofday(&self->state_trace_time[self->state_trace_idx], NULL);
+    line = &self->state_trace_text[self->state_trace_idx++][0];
+    if (self->state_trace_idx >= STATE_TRACE)
+      self->state_trace_idx = 0;
+#else
     char line[CMDLEN];
+#endif
     char text[CMDLEN];
     snprintf(line, CMDLEN, "Motor=%s, State=%s(%d), unhandled event=%s",
         self->name,
@@ -1488,7 +1541,10 @@ static void unhandled_event(pDMC2280Driv self, pEvtEvent event) {
 
 static void handle_event(pDMC2280Driv self, pEvtEvent event) {
   StateFunc oldState;
+#if defined(STATE_TRACE) && (STATE_TRACE > 0)
+#else
   if (self->debug || self->trace)
+#endif
     report_event(self, event);
   oldState = self->myState;
   self->myState(self, event);
@@ -1776,7 +1832,7 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
         change_state(self, DMCState_MotorStart);
         return;
       }
-      else if (self->run_flag > 0) {
+      else if (self->run_flag < 0) {
         self->run_flag = 0;
         change_state(self, DMCState_MotorHalt);
         return;
@@ -1874,7 +1930,7 @@ static void DMCState_MotorOn(pDMC2280Driv self, pEvtEvent event) {
         change_state(self, DMCState_MotorStart);
         return;
       }
-      else if (self->run_flag > 0) {
+      else if (self->run_flag < 0) {
         self->run_flag = 0;
         change_state(self, DMCState_MotorHalt);
         return;
@@ -2228,7 +2284,9 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
         case CMD_HALT:
           /* handle halt command, send message */
           self->run_flag = -1;
-          change_state(self, DMCState_MotorHalt);
+          if (self->waitResponse == false) {
+            change_state(self, DMCState_MotorHalt);
+          }
           return;
       }
       break;
@@ -2445,6 +2503,7 @@ static void DMCState_MotorStop(pDMC2280Driv self, pEvtEvent event) {
 static void DMCState_Error(pDMC2280Driv self, pEvtEvent event) {
   switch (event->event_type) {
     case eStateEvent:
+      state_trace_prn(self);
       return;
     case eTimerEvent:
     case eMessageEvent:
@@ -2739,6 +2798,7 @@ static int DMC2280Halt(void *pData){
   self = (pDMC2280Driv)pData;
   assert(self != NULL);
 
+  state_trace_prn(self);
   state_cmd_execute(self, CMD_HALT);
   return 1;
 }