diff --git a/SCinter.c b/SCinter.c
index 1867618f..acd616f3 100644
--- a/SCinter.c
+++ b/SCinter.c
@@ -895,7 +895,9 @@ int InterpWrite(SicsInterp * pSics, char *buffer)
 
   assert(pSics);
   pTcl = (Tcl_Interp *) pSics->pTcl;
-  Tcl_SetResult(pTcl, buffer, TCL_VOLATILE);
+  if(Tcl_GetStringResult(pTcl) != buffer){
+	  Tcl_SetResult(pTcl, buffer, TCL_VOLATILE);
+  }
   return 1;
 }
 
diff --git a/access.c b/access.c
index 51e62db0..2b77d4b7 100644
--- a/access.c
+++ b/access.c
@@ -21,6 +21,9 @@ int decodeSICSPriv(char *privText)
   int code = 0;
 
   strtolower(privText);
+  if(strcmp(privText,"manager") == 0){
+	  return 1;
+  }
   while (aCode[code] != NULL) {
     if (strcmp(aCode[code], privText) == 0) {
       return code;
diff --git a/devser.c b/devser.c
index c192d38a..73fa4372 100644
--- a/devser.c
+++ b/devser.c
@@ -327,7 +327,7 @@ static void DevReset(DevSer * devser)
       devser->current->kill(devser->current->data);
     }
     devser->killCurrent = 0;
-    free(devser->current);
+   /* free(devser->current); */
   }
 }
 
diff --git a/diffscan.c b/diffscan.c
index 4fe97de2..0dd9e54d 100644
--- a/diffscan.c
+++ b/diffscan.c
@@ -322,11 +322,22 @@ static int DiffScanTask(void *pData)
     countValue = (float) data->lCount;
     rawCount = data->lCount;
     rawMon = data->Monitors[self->scaleMonitor - 1];
-    self->normalizationScale = data->Monitors[self->scaleMonitor - 1];
+    if(rawMon > 100){
+    	self->normalizationScale = rawMon;
+    	traceSys("diffscan","START:normalizing on %d, scale monitor is %d",
+    			self->normalizationScale, self->scaleMonitor);
+    } else {
+    	traceSys("diffscan","START:normalization count  %d, on scale monitor is %d and is to low",
+    			rawMon, self->scaleMonitor);
+    	SCWrite(self->scanObject->pCon,"WARNING: Skipping first point because of low count rate", eWarning);
+    	return finish;
+    }
   } else {
     if (data->Monitors[self->scaleMonitor - 1] -
         self->last.Monitors[self->scaleMonitor - 1] < 5) {
       SCWrite(self->scanObject->pCon, "WARNING: low count rate", eLog);
+      traceSys("diffscan","RUN:low monitor difference from %d to %d",data->Monitors[self->scaleMonitor-1],
+    		  self->last.Monitors[self->scaleMonitor -1]);
     }
     rawCount = data->lCount;
     rawMon = data->Monitors[self->scaleMonitor - 1];
@@ -344,6 +355,8 @@ static int DiffScanTask(void *pData)
            fPos, countValue, rawCount, rawMon);
   SCWrite(self->scanObject->pCon, pBueffel, eLog);
   InvokeCallBack(self->scanObject->pCall, SCANPOINT, self->scanObject);
+  traceSys("diffscan","RUN: pos, count, rawcount, rawmon: %f, %d, %d, %d",
+		  fPos, countValue, rawCount, rawMon);
 
   /*
      check for interrupt
diff --git a/doc/manager/nxscript.htm b/doc/manager/nxscript.htm
index fc8635f4..6c27eff5 100644
--- a/doc/manager/nxscript.htm
+++ b/doc/manager/nxscript.htm
@@ -163,6 +163,10 @@ designated by targetAlias.
  to write as a Tcl list and obj is the SICS object to write. Obj can be a 
  histogram memory; then the histogram memory data is written. Or it can be 
  a sicsdata object, the value of which will then be written. 
+<dt>nxscript putslab16 alias startlist sizelist obj
+<dd>Writes a slab of data as above. Parameters are as setailed above. 
+ The difference is that this converts the data to a6 bit int before writing. 
+ And SICSData objects are not supported. 
 </dl>
 </p>
 <H1>Automatic Updating of NeXus Files</H1>
diff --git a/emon.c b/emon.c
index 814360e6..7cbcc702 100644
--- a/emon.c
+++ b/emon.c
@@ -6,6 +6,8 @@
 
   Mark Koennecke, Juli 1997
   
+  Reduced polling frequency to any 20 seconds, Mark Koennecke, August 2011
+
        Copyright:
 
        Labor fuer Neutronenstreuung
@@ -39,6 +41,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include <assert.h>
+#include <time.h>
 #include <tcl.h>                /* for DString */
 #include "fortify.h"
 #include "lld.h"
@@ -46,6 +49,11 @@
 #include "emon.i"
 #include "emon.h"
 #include "event.h"
+
+/*
+ * any how many seconds we check
+ */
+#define SCANINTERVALL 20
 /*--------------------------------------------------------------------------*/
 pEnvMon CreateEnvMon(void)
 {
@@ -68,6 +76,7 @@ pEnvMon CreateEnvMon(void)
     free(pNew);
     return NULL;
   }
+  pNew->nextRun = time(NULL)+SCANINTERVALL;
   AddCommand(pServ->pSics, "emon", EVWrapper, DeleteEnvMon, pNew);
   return pNew;
 }
@@ -340,7 +349,10 @@ int EnvMonTask(void *pData)
     return 0;
   }
 
-  EVMonitorControllers(self);
+  if(time(NULL) > self->nextRun){
+	  EVMonitorControllers(self);
+	  self->nextRun = time(NULL) + SCANINTERVALL;
+  }
   return 1;
 }
 
diff --git a/emon.h b/emon.h
index 3a01e7b4..d1a747d0 100644
--- a/emon.h
+++ b/emon.h
@@ -1,5 +1,5 @@
 
-#line 148 "emonitor.w"
+#line 149 "emonitor.w"
 
 /*--------------------------------------------------------------------------
                 E N V I R O N M E N T   M O N I T O R
@@ -14,31 +14,31 @@
 ----------------------------------------------------------------------------*/
 #ifndef SICSEMON
 #define SICSEMON
-typedef struct __EnvMon *pEnvMon;
+  typedef struct __EnvMon *pEnvMon;
 /*-------------------------------------------------------------------------*/
 
-#line 85 "emonitor.w"
+#line 86 "emonitor.w"
 
 
-pEnvMon CreateEnvMon(void);
-void DeleteEnvMon(void *pData);
+   pEnvMon CreateEnvMon(void);
+   void    DeleteEnvMon(void *pData);
 
-int EVRegisterController(pEnvMon self, char *pName, void *pData,
-                         SConnection * pCon);
-int EVUnregister(pEnvMon self, char *name);
+   int EVRegisterController(pEnvMon self, char *pName, void *pData,
+                            SConnection *pCon);
+   int EVUnregister(pEnvMon self, char *name);
+   
+   int EVMonitorControllers(pEnvMon self);
 
-int EVMonitorControllers(pEnvMon self);
+   int EVList(pEnvMon self, SConnection *pCon);
 
-int EVList(pEnvMon self, SConnection * pCon);
+   int EVWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
+                 int argc, char *argv[]);
 
-int EVWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
-              int argc, char *argv[]);
+   pEnvMon FindEMON(SicsInterp *pSics);
+   
+   int EnvMonTask(void *pEv);
+   void EnvMonSignal(void *pEndv, int iSignal, void *pSigData);
 
-pEnvMon FindEMON(SicsInterp * pSics);
-
-int EnvMonTask(void *pEv);
-void EnvMonSignal(void *pEndv, int iSignal, void *pSigData);
-
-#line 164 "emonitor.w"
+#line 165 "emonitor.w"
 
 #endif
diff --git a/emon.i b/emon.i
index 1ff51a27..f1754e46 100644
--- a/emon.i
+++ b/emon.i
@@ -10,6 +10,7 @@
                             pObjectDescriptor pDes;
                             int iList;
                             int iEnd;
+                            time_t nextRun;
                             } EnvMon;
 /*---------------------------------------------------------------------------*/
    typedef struct {
diff --git a/emonitor.tex b/emonitor.tex
index 5e2447e2..91803789 100644
--- a/emonitor.tex
+++ b/emonitor.tex
@@ -68,6 +68,7 @@ $\langle$emondat {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@                            pObjectDescriptor pDes;@\\
 \mbox{}\verb@                            int iList;@\\
 \mbox{}\verb@                            int iEnd;@\\
+\mbox{}\verb@                            time_t nextRun;@\\
 \mbox{}\verb@                            } EnvMon;@\\
 \mbox{}\verb@/*---------------------------------------------------------------------------*/@\\
 \mbox{}\verb@   typedef struct {@\\
@@ -77,7 +78,7 @@ $\langle$emondat {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@                  } EVEntry, *pEVEntry;     @\\
 \mbox{}\verb@@\\
 \mbox{}\verb@@\\
-\mbox{}\verb@@$\diamond$
+\mbox{}\verb@@$\Diamond$
 \end{list}
 \vspace{-1ex}
 \footnotesize\addtolength{\baselineskip}{-1ex}
@@ -120,7 +121,7 @@ $\langle$emonint {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@   @\\
 \mbox{}\verb@   int EnvMonTask(void *pEv);@\\
 \mbox{}\verb@   void EnvMonSignal(void *pEndv, int iSignal, void *pSigData);@\\
-\mbox{}\verb@@$\diamond$
+\mbox{}\verb@@$\Diamond$
 \end{list}
 \vspace{-1ex}
 \footnotesize\addtolength{\baselineskip}{-1ex}
@@ -193,7 +194,7 @@ controllers configured into SICS.
 \mbox{}\verb@/*-------------------------------------------------------------------------*/@\\
 \mbox{}\verb@@$\langle$emonint {\footnotesize ?}$\rangle$\verb@@\\
 \mbox{}\verb@#endif@\\
-\mbox{}\verb@@$\diamond$
+\mbox{}\verb@@$\Diamond$
 \end{list}
 \vspace{-2ex}
 \end{minipage}\\[4ex]
@@ -211,7 +212,7 @@ controllers configured into SICS.
 \mbox{}\verb@   Mark Koennecke, Juli 1997@\\
 \mbox{}\verb@---------------------------------------------------------------------------*/@\\
 \mbox{}\verb@@$\langle$emondat {\footnotesize ?}$\rangle$\verb@@\\
-\mbox{}\verb@@$\diamond$
+\mbox{}\verb@@$\Diamond$
 \end{list}
 \vspace{-2ex}
 \end{minipage}\\[4ex]
diff --git a/emonitor.w b/emonitor.w
index ef294610..db5f5b10 100644
--- a/emonitor.w
+++ b/emonitor.w
@@ -63,6 +63,7 @@ The environment monitor uses the following datastructures:
                             pObjectDescriptor pDes;
                             int iList;
                             int iEnd;
+                            time_t nextRun;
                             } EnvMon;
 /*---------------------------------------------------------------------------*/
    typedef struct {
diff --git a/exebuf.c b/exebuf.c
index 1ab096e5..e5ae6c56 100644
--- a/exebuf.c
+++ b/exebuf.c
@@ -95,9 +95,9 @@ static char *locateName(char *filename)
 /*-----------------------------------------------------------------------*/
 int exeBufLoad(pExeBuf self, char *filename)
 {
-  char line[256];
+  char line[256], *pPtr;
   FILE *fd = NULL;
-  int status;
+  int status, idx;
 
   assert(self);
   fd = fopen(filename, "r");
@@ -114,6 +114,16 @@ int exeBufLoad(pExeBuf self, char *filename)
     }
   }
   fclose(fd);
+
+  /**
+   * make sure that there is a \n at the end
+   */
+  idx = GetDynStringLength(self->bufferContent);
+  pPtr = GetCharArray(self->bufferContent);
+  if(pPtr[idx-1] != '\n'){
+	  DynStringConcat(self->bufferContent,"\n");
+  }
+
   if (self->name != NULL) {
     free(self->name);
   }
diff --git a/exeman.c b/exeman.c
index 38d85c47..d470a98c 100644
--- a/exeman.c
+++ b/exeman.c
@@ -721,6 +721,7 @@ static int appendLine(pExeMan self, SConnection * pCon,
     SCWrite(pCon, "ERROR: no upload in operation", eError);
     return 0;
   }
+  memset(pLine,0,sizeof(pLine));
   Arg2Text(argc - 2, &argv[2], pLine, 1023);
   exeBufAppend(self->uploadBuffer, pLine);
   return 1;
diff --git a/fourmess.c b/fourmess.c
index f9e7eae5..bf09019c 100644
--- a/fourmess.c
+++ b/fourmess.c
@@ -34,6 +34,9 @@
 #include "scanvar.h"
 #include "scan.i"
 #include "sdynar.h"
+#include "lld.h"
+
+extern char *trim(char *);
 
 extern void SNXFormatTime(char *pBueffel, int iLen);
 
@@ -797,12 +800,15 @@ static int hklCompare(const void *h1, const void *h2)
   }
 }
 
-/*----------------------------------------------------------------------------*/
+/*----------------------------------------------------------------------------
+ * This sorts on two theta only.
+ -----------------------------------------------------------------------------*/
 static int SortRef(pSICSOBJ self, SConnection * pCon, pHdb commandNode,
                    pHdb par[], int nPar)
 {
   double *sortlist, d, lambda, om, hkl[4], ang[4];
   const double *cell;
+  double *hklc;
   int nRefl, i, j;
   MATRIX B, H, Z1;
   lattice direct;
@@ -860,7 +866,195 @@ static int SortRef(pSICSOBJ self, SConnection * pCon, pHdb commandNode,
   SCSendOK(pCon);
   return 1;
 }
+/*----------------------------------------------------------------------------
+ * Sorting reflection is actually a variant of the traveling salesman
+ * problem. Optimal solutions for this are computationally expensive.
+ * Optimise for the shortest path between reflections. Not all motors
+ * are equal though. Om and phi move quick whereas stt and chi go slow.
+ * As a compromise, what I try here is sorting by a weighted addition of
+ * stt and chi.
+ ----------------------------------------------------------------------------*/
+static int SortRefNew(pSICSOBJ self, SConnection * pCon, pHdb commandNode,
+                   pHdb par[], int nPar)
+{
+  double *sortlist, d, lambda, om, hkl[4], ang[4];
+  const double *cell;
+  double *hklc;
+  int nRefl, i, j, status, count;
+  SingleXModes mode;
+  pFourMess priv = self->pPrivate;
+  pSingleDiff diffi = NULL;
 
+  diffi = SXGetDiffractometer();
+  mode = SXGetMode();
+  if(diffi == NULL){
+	  SCWrite(pCon,"ERROR: not initialized, no diffractometer", eError);
+	  return 0;
+  }
+
+  nRefl = ReflectionListCount(priv->messList);
+  sortlist = malloc(nRefl * 4 * sizeof(double));
+  if (sortlist == NULL) {
+    SCWrite(pCon, "ERROR: out of memory in SortRef", eError);
+    return 0;
+  }
+
+  /*
+   * I am using hkl[3] for storing the sort value to sort for! */
+  for (i = 0, count = 0; i < nRefl; i++) {
+    GetRefIndex(priv->messList, i, hkl);
+    status = diffi->calculateSettings(diffi,hkl,ang);
+    if(status == 1){
+    	if(mode == Bisecting){
+    		hkl[3] = ang[0] + 0.5* ang[2];
+    		if(ang[2] < 0){
+    			SCWrite(pCon,"WARNING: chi < 0!", eWarning);
+    		}
+    	} else if(mode == NB){
+    		/*
+    		 * sort for nu in the first place. In order to cope with negativity, add
+    		 * 10.
+    		 */
+    		hkl[3] = ang[2]+10 + 0.1 * ang[0];
+    	} else {
+    		hkl[3] = ang[0];
+    	}
+    	memcpy(sortlist + count * 4, hkl, 4 * sizeof(double));
+    	count++;
+    }
+  }
+
+  qsort(sortlist, count, 4 * sizeof(double), hklCompare);
+
+  ClearReflectionList(priv->messList);
+  for (i = 0; i < count; i++) {
+	  hklc = sortlist+i*4;
+	  hklc[3] = .0; /* otherwise this will be interpreted as psi! */
+	  status = diffi->calculateSettings(diffi,hklc,ang);
+	  AddRefIdxAng(priv->messList, sortlist+i*4,ang);
+	  /* AddRefIdx(priv->messList, sortlist + i * 4); */
+  }
+  free(sortlist);
+  SCSendOK(pCon);
+  return 1;
+}
+/*----------------------------------------------------------------------------
+ * Write a reflection list in the TSPLIB format for running a traveling
+ * salesman algorithm against it.
+----------------------------------------------------------------------------- */
+static int WriteTSP(pSICSOBJ self, SConnection * pCon, pHdb commandNode,
+                   pHdb par[], int nPar)
+{
+  double hkl[4], ang[4];
+  int nRefl, i, j, status, count;
+  SingleXModes mode;
+  pFourMess priv = self->pPrivate;
+  pSingleDiff diffi = NULL;
+  FILE *fd = NULL;
+
+  if(nPar < 1) {
+	  SCWrite(pCon,"ERROR: need a filename parameter", eError);
+	  return 0;
+  }
+  fd = fopen(trim(par[0]->value.v.text),"w");
+  if(fd == NULL){
+	SCPrintf(pCon,eError,"ERROR: failed to open %s for writing", par[0]->value.v.text);
+	return 0;
+  }
+
+  diffi = SXGetDiffractometer();
+  mode = SXGetMode();
+  if(diffi == NULL){
+	  SCWrite(pCon,"ERROR: not initialized, no diffractometer", eError);
+	  return 0;
+  }
+
+  nRefl = ReflectionListCount(priv->messList);
+  /*
+   * smear header...
+   */
+  fprintf(fd,"NAME : %s\n", par[0]->value.v.text);
+  fprintf(fd,"TYPE : TSP\n");
+  fprintf(fd,"DIMENSION : %d\n", nRefl);
+  fprintf(fd,"EDGE_WEIGHT_TYPE : EUC_3D\n");
+  fprintf(fd,"NODE_COORD_SECTION\n");
+
+
+  for (i = 0, count = 0; i < nRefl; i++) {
+    GetRefIndex(priv->messList, i, hkl);
+    status = diffi->calculateSettings(diffi,hkl,ang);
+    if(status == 1){
+    	if(mode == Bisecting){
+    		fprintf(fd,"%d %e %e %e\n",i+1,ang[0]*3*100,ang[2]*2*100,ang[3]*100);
+    	} else if(mode == NB){
+    		fprintf(fd,"%d %e %e %e\n",i,ang[2]*4*100,ang[0]*3*100,ang[1]*100);
+    	} else {
+    		fprintf(fd,"%d %e %e %e\n",i,ang[0]*3*100,ang[2]*2*100,ang[3]*2*100);
+    	}
+    }
+  }
+  fclose(fd);
+
+  SCSendOK(pCon);
+  return 1;
+}
+/*----------------------------------------------------------------------------
+ * read a tour file as generated by LKH or other TSP solvers and
+ * reorder the reflection list accordingly.
+ -----------------------------------------------------------------------------*/
+static int ReadTour(pSICSOBJ self, SConnection * pCon, pHdb commandNode,
+                   pHdb par[], int nPar)
+{
+	FILE *fd = NULL;
+	char buffer[132];
+	double hkl[4], ang[4];
+	int idx, tour;
+	pFourMess priv = self->pPrivate;
+	pSingleDiff diffi = NULL;
+
+
+	if(nPar < 1) {
+		SCWrite(pCon,"ERROR: need name of a tour file to read", eError);
+		return 0;
+	}
+	fd = fopen(par[0]->value.v.text,"r");
+	if(fd == NULL){
+		SCPrintf(pCon,eError,"ERROR: failed to open tour file %s for reading",
+				par[0]->value.v.text);
+		return 0;
+	}
+	tour = LLDcreate(sizeof(hkl));
+	diffi = SXGetDiffractometer();
+	assert(diffi != NULL);
+
+	/* skip header */
+	while(fgets(buffer,sizeof(buffer),fd) != NULL){
+		if(strstr(buffer,"TOUR_SECTION") != NULL){
+			break;
+		}
+	}
+	while(fscanf(fd,"%d",&idx) == 1){
+		if(idx < 0){
+			break;
+		}
+		GetRefIndex(priv->messList,idx-1,hkl);
+		LLDnodeAppendFrom(tour,hkl);
+	}
+	fclose(fd);
+
+	idx = LLDnodePtr2First(tour);
+	ClearReflectionList(priv->messList);
+	while(idx == 1){
+		LLDnodeDataTo(tour,hkl);
+		hkl[3] = 0;
+		diffi->calculateSettings(diffi,hkl,ang);
+		AddRefIdxAng(priv->messList, hkl,ang);
+		idx = LLDnodePtr2Next(tour);
+	}
+	LLDdelete(tour);
+	SCSendOK(pCon);
+	return 1;
+}
 /*----------------------------------------------------------------------------*/
 static int FourMessSave(void *data, char *name, FILE * fd)
 {
@@ -982,7 +1176,15 @@ void InstallFourMess(SConnection * pCon, SicsInterp * pSics)
   cmd =
       AddSICSHdbPar(pNew->objectNode, "indsort", usUser,
                     MakeSICSFunc(SortRef));
+  cmd =
+      AddSICSHdbPar(pNew->objectNode, "writetsp", usUser,
+                    MakeSICSFunc(WriteTSP));
+  AddSICSHdbPar(cmd, "filename", usUser, MakeHdbText("Unknown"));
 
+  cmd =
+      AddSICSHdbPar(pNew->objectNode, "readtour", usUser,
+                    MakeSICSFunc(ReadTour));
+  AddSICSHdbPar(cmd, "filename", usUser, MakeHdbText("Unknown"));
 
   cmd =
       AddSICSHdbPar(pNew->objectNode, "template", usMugger,
diff --git a/hdbtable.c b/hdbtable.c
index 95cd4a4b..abdc7efc 100644
--- a/hdbtable.c
+++ b/hdbtable.c
@@ -295,6 +295,53 @@ static int GetRowCmd(pSICSOBJ self, SConnection *pCon, pHdb commandNode,
 	return 1;
 }
 /*----------------------------------------------------------------------*/
+static int GetRowNoCmd(pSICSOBJ self, SConnection *pCon, pHdb commandNode,
+                  pHdb par[], int nPar)
+{
+	pHdb row = NULL, child, data;
+	int i, nodeNo;
+	char path[132];
+	pDynString result, val;
+
+	if(nPar < 1){
+		SCWrite(pCon,"ERROR: need index of row to read",eError);
+		return 0;
+	}
+	nodeNo = par[0]->value.v.intValue;
+
+	data = GetHipadabaNode(self->objectNode,"data");
+	assert(data != NULL);
+	row = data->child;
+	for(i = 0; i < nodeNo; i++){
+		row = row->next;
+		if(row == NULL){
+			SCPrintf(pCon,eError,"ERROR: row %d not found", nodeNo);
+			return 0;
+		}
+	}
+
+	result = CreateDynString(128,128);
+	if(result == NULL){
+		SCWrite(pCon,"ERROR: out of memory in GetRowCmd", eError);
+		return 0;
+	}
+	child = row->child;
+	while(child != NULL){
+		val = formatValue(child->value, child);
+		if(val != NULL){
+			DynStringConcat(result,GetCharArray(val));
+			if(child->next != NULL){
+				DynStringConcatChar(result,',');
+			}
+			DeleteDynString(val);
+		}
+		child = child->next;
+	}
+	SCWrite(pCon,GetCharArray(result),eValue);
+	DeleteDynString(result);
+	return 1;
+}
+/*----------------------------------------------------------------------*/
 static int ListTblCmd(pSICSOBJ self, SConnection *pCon, pHdb commandNode,
                   pHdb par[], int nPar)
 {
@@ -414,7 +461,15 @@ pSICSOBJ MakeHdbTable(char *name, char *hdbclass)
     node = MakeHipadabaNode("id",HIPTEXT,1);
     SetHdbProperty(node,"priv","user");
     AddHipadabaChild(cmd,node, NULL);
-	
+
+    cmd = AddSICSHdbPar(result->objectNode, "getno", usUser,
+			MakeSICSFunc(GetRowNoCmd));
+	SetHdbProperty(cmd,"type","command");
+	SetHdbProperty(cmd,"priv","user");
+    node = MakeHipadabaNode("id",HIPINT,1);
+    SetHdbProperty(node,"priv","user");
+    AddHipadabaChild(cmd,node, NULL);
+
 	return result;
 }
 /*---------------------------------------------------------------------------*/
diff --git a/hipadaba.c b/hipadaba.c
index 58437c0b..220a243e 100644
--- a/hipadaba.c
+++ b/hipadaba.c
@@ -354,6 +354,7 @@ hdbValue MakeHdbInt(int initValue)
   result.dataType = HIPINT;
   result.arrayLength = 1;
   result.v.intValue = initValue;
+  result.doNotFree = 0;
   return result;
 }
 
@@ -365,6 +366,7 @@ hdbValue MakeHdbFloat(double initValue)
   result.dataType = HIPFLOAT;
   result.arrayLength = 1;
   result.v.doubleValue = initValue;
+  result.doNotFree = 0;
   return result;
 }
 
@@ -376,6 +378,7 @@ hdbValue MakeHdbText(char *initText)
   result.dataType = HIPTEXT;
   result.v.text = initText;     /* no strdup here ! */
   result.arrayLength = strlen(initText);
+  result.doNotFree = 0;
   return result;
 }
 
@@ -387,6 +390,7 @@ hdbValue MakeHdbIntArray(int length, int *data)
   result.dataType = HIPINTAR;
   result.arrayLength = length;
   result.v.intArray = data;
+  result.doNotFree = 0;
   return result;
 }
 
@@ -398,6 +402,7 @@ hdbValue MakeHdbFloatArray(int length, double *data)
   result.dataType = HIPFLOATAR;
   result.arrayLength = length;
   result.v.floatArray = data;
+  result.doNotFree = 0;
   return result;
 }
 
@@ -408,6 +413,7 @@ hdbValue MakeHdbFunc(voidFunc * func)
 
   result.dataType = HIPFUNC;
   result.v.func = func;
+  result.doNotFree = 0;
   return result;
 }
 
@@ -418,6 +424,7 @@ hdbValue MakeHdbObj(void *obj)
 
   result.dataType = HIPOBJ;
   result.v.obj = obj;
+  result.doNotFree = 0;
   return result;
 }
 
diff --git a/hmcontrol.c b/hmcontrol.c
index e0a65263..21036ecb 100644
--- a/hmcontrol.c
+++ b/hmcontrol.c
@@ -9,11 +9,19 @@
  copyright: see copyright.h
  
  Mark Koennecke, June 2001
+
+ Added a flag which does not call halt after the counter
+ finished. This feauture is necessary to allow normal
+ counting on CCD camera. When they get interrupted, the
+ image is invalid. This is not what is wanted.
+
+ Mark Koennecke, July 2011
 -------------------------------------------------------------------------*/
 
 #include <stdlib.h>
 #include <assert.h>
 #include <tcl.h>
+#include <unistd.h>
 #include "fortify.h"
 #include "hmcontrol.h"
 #include "HistMem.h"
@@ -66,14 +74,27 @@ static int HMCStart(void *pData, SConnection * pCon)
     return HWFault;
   }
 
-  for (i = 0; i < self->nSlaves; i++) {
-    ReleaseCountLock(self->slaves[i]);
-    status = self->slaves[i]->StartCount(self->slaveData[i], pCon);
-    if (status != OKOK) {
-      HMCHalt(self);
-      return status;
-    }
+  for (i = 1; i < self->nSlaves; i++) {
+	    ReleaseCountLock(self->slaves[i]);
+	    status = self->slaves[i]->StartCount(self->slaveData[i], pCon);
+	    if (status != OKOK) {
+	      HMCHalt(self);
+	      return status;
+	    }
   }
+  /*
+   * This starts the counter: always 0, last.This should be the
+   * right thing as the HM do not start counting in earnest before
+   * the busy line from the counter box is set.
+   */
+  ReleaseCountLock(self->slaves[0]);
+  status = self->slaves[0]->StartCount(self->slaveData[0], pCon);
+  if (status != OKOK) {
+    HMCHalt(self);
+    return status;
+  }
+
+
   /*
 	 Warning: this assumes that slaves 1 - MAXSLAVE are histogram memories.
 	 If this assumption does not hold, change this code to check if this
@@ -114,7 +135,10 @@ static int HMCStatus(void *pData, SConnection * pCon)
 		   stop counting on slaves when finished or when an error
 		   occurred.
 		   */
-		  HMCHalt(self);
+		  if(self->stopSlaves){
+			  HMCHalt(self);
+		  }
+		  ReleaseCountLock(self->pCount);
 		  self->checkSlaves = 1;
 		  status = HWBusy;
 	  }
@@ -301,6 +325,7 @@ int MakeHMControl(SConnection * pCon, SicsInterp * pSics,
     pNew->slaves[pNew->nSlaves] = pCount;
     pNew->slaveData[pNew->nSlaves] = pCom->pData;
     pNew->nSlaves++;
+    pNew->stopSlaves = 1;
   }
 
   /*
@@ -335,14 +360,19 @@ int HMControlAction(SConnection * pCon, SicsInterp * pSics,
    */
   self = (pHMcontrol) pData;
   assert(self);
-  if (argc < 4) {
+  if (argc < 2) {
     snprintf(pBueffel, 131, "ERROR: Usage %s start preset mode", argv[0]);
     SCWrite(pCon, pBueffel, eError);
     return 0;
   }
   strtolower(argv[1]);
   if (strcmp(argv[1], "start") == 0) {
-    /*
+	  if (argc < 4) {
+	    snprintf(pBueffel, 131, "ERROR: Usage %s start preset mode", argv[0]);
+	    SCWrite(pCon, pBueffel, eError);
+	    return 0;
+	  }
+   /*
        interpret count parameters
      */
     status = Tcl_GetDouble(pSics->pTcl, argv[2], &dPreset);
@@ -374,6 +404,15 @@ int HMControlAction(SConnection * pCon, SicsInterp * pSics,
     }
     InvokeCallBack(self->pCall, COUNTSTART, pCon);
     SCSendOK(pCon);
+  }else if(strcmp(argv[1],"stopslaves")  == 0){
+	  if(argc < 3){
+		  SCPrintf(pCon,eValue,"hm.stopslaves = %d", self->stopSlaves);
+		  return 1;
+	  } else {
+		  self->stopSlaves = atoi(argv[2]);
+		  SCPrintf(pCon,eValue,"hm.stopslaves = %d", self->stopSlaves);
+		  return 1;
+	  }
   } else {
     SCWrite(pCon, "ERROR: subcommand not recognized", eError);
     return 0;
diff --git a/hmcontrol.h b/hmcontrol.h
index f2bf5ce5..92500bf0 100644
--- a/hmcontrol.h
+++ b/hmcontrol.h
@@ -33,6 +33,7 @@ typedef struct {
   CounterMode eMode;
   pICallBack pCall;
   int checkSlaves;
+  int stopSlaves;
 } HMcontrol, *pHMcontrol;
 
 
diff --git a/interface.c b/interface.c
index 9e72eec6..c0f8ebf2 100644
--- a/interface.c
+++ b/interface.c
@@ -162,7 +162,7 @@ int GetDrivablePosition(void *pObject, SConnection * pCon, float *fPos)
     return MotorGetSoftPosition(pMot, pCon, fPos);
   }
   value = pDriv->GetValue(pObject, pCon);
-  if (value < 9999.99) {
+  if (value < -9999.99) {
     return 0;
   }
   *fPos = value;
diff --git a/motorlist.c b/motorlist.c
index ba745e37..ebfeeb87 100644
--- a/motorlist.c
+++ b/motorlist.c
@@ -169,7 +169,6 @@ static float MOLIGetValue(void *data, SConnection * pCon)
 pIDrivable makeMotListInterface()
 {
   pIDrivable pDriv = NULL;
-
   pDriv = CreateDrivableInterface();
   if (pDriv == NULL) {
     return NULL;
diff --git a/nserver.c b/nserver.c
index 167339c7..99b76c3f 100644
--- a/nserver.c
+++ b/nserver.c
@@ -478,31 +478,7 @@ int UserWait(SConnection * pCon, SicsInterp * pSics, void *pData,
     return 1;
   }
 }
-
-/*------------------------------------------------------------------------*/
-int SicsWaitOld(long lTime)
-{
-  WaitStruct sWait;
-  pTaskMan pTasker = NULL;
-  long lID;
-
-  if (pServ->simMode) {
-    return 1;
-  }
-
-  pTasker = GetTasker();
-  sWait.dFinish = DoubleTime() + lTime;
-  sWait.iEnd = 0;
-  lID = TaskRegister(pTasker, WaitTask, WaitSignal, NULL, &sWait, 1);
-  TaskWait(pTasker, lID);
-  return 1;
-}
-
-/*------------------------------------------------------------------------
-  The new SicsWait is still on probation. It prevents commands to be 
-  executed on the same task on which the Sicswait is acting.
-  M.K. December 2005
-  -------------------------------------------------------------------------*/
+/*--------------------------------------------------------------------------*/
 int SicsWait(long lTime)
 {
   pTaskMan pTasker = NULL;
diff --git a/nxscript.c b/nxscript.c
index cdf4c575..ae899bbb 100644
--- a/nxscript.c
+++ b/nxscript.c
@@ -971,7 +971,7 @@ static void putSlab(SConnection * pCon, SicsInterp * pSics, pNXScript self,
   memsec = (pCounter) FindCommandData(pSics, argv[5], "HistMemSec");
   if(memsec != NULL){
 	  node = GetHipadabaNode(memsec->pDes->parNode,"data");
-	  if(data != NULL){
+	  if(node == NULL){
 		  SCWrite(pCon,"ERROR: ?? data node to second gen HM not found", eError);
 		  return;
 	  }
@@ -1001,6 +1001,116 @@ static void putSlab(SConnection * pCon, SicsInterp * pSics, pNXScript self,
             eLogError);
   }
 }
+/*----------------------------------------------------------------------*/
+static short *HistInt2Short(HistInt *data, int length)
+{
+	int i;
+
+	int16_t *shdata = NULL;
+	shdata = malloc(length*sizeof(int16_t));
+	if(shdata == NULL){
+		return NULL;
+	}
+	memset(shdata,0,length*sizeof(int16_t));
+	for(i = 0; i < length; i++){
+		shdata[i] = (short)data[i];
+	}
+	return shdata;
+}
+/*----------------------------------------------------------------------*/
+static void putSlab16(SConnection * pCon, SicsInterp * pSics, pNXScript self,
+                    int argc, char *argv[])
+{
+  int start[NX_MAXRANK], size[NX_MAXRANK], dim[MAXDIM];
+  int status, written = 0, rank, i;
+  pHistMem mem = NULL;
+  HistInt *histData = NULL;
+  int16_t *shortData = NULL;
+  pHdb node = NULL;
+  unsigned int length;
+  pCounter memsec = NULL;
+
+  if (argc < 6) {
+    SCWrite(pCon, "ERROR: insufficient number of arguments to putslab",
+            eLogError);
+    return;
+  }
+
+  status = NXDopenalias(self->fileHandle, self->dictHandle, argv[2]);
+  if (status != NX_OK) {
+    SCPrintf(pCon, eLogError, "ERROR: failed to open alias %s", argv[2]);
+    return;
+  }
+
+  status = listToArray(pSics, argv[3], start);
+  if (status != TCL_OK) {
+    SCWrite(pCon, "ERROR: failed to convert start value list", eLogError);
+    return;
+  }
+
+  status = listToArray(pSics, argv[4], size);
+  if (status != TCL_OK) {
+    SCWrite(pCon, "ERROR: failed to convert size value list", eLogError);
+    return;
+  }
+
+
+  /*
+   * try to write HM data
+   */
+  mem = (pHistMem) FindCommandData(pSics, argv[5], "HistMem");
+  if (mem != NULL) {
+    histData = GetHistogramPointer(mem, pCon);
+    if (histData) {
+    	GetHistDim(mem, dim,&rank);
+    	for(i = 0, length = 1; i < rank; i++){
+    		length *= dim[i];
+    	}
+    	shortData = HistInt2Short(histData,length);
+    	if(shortData != NULL){
+    		status = NXputslab(self->fileHandle, shortData, start, size);
+    		free(shortData);
+    	}
+        if (status == NX_OK) {
+          written = 1;
+        }
+    }
+  }
+
+  /*
+   * try to write second gen histogram data
+   */
+  memsec = (pCounter) FindCommandData(pSics, argv[5], "HistMemSec");
+  if(memsec != NULL){
+	  node = GetHipadabaNode(memsec->pDes->parNode,"data");
+	  if(node == NULL){
+		  SCWrite(pCon,"ERROR: ?? data node to second gen HM not found", eError);
+		  return;
+	  }
+	  GetHistDim((pHistMem)memsec, dim,&rank);
+	  for(i = 0, length = 1; i < rank; i++){
+		  length *= dim[i];
+	  }
+	  shortData = HistInt2Short(node->value.v.intArray,length);
+	  if(shortData != NULL){
+		  status = NXputslab(self->fileHandle, shortData, start, size);
+		  free(shortData);
+	  }
+      if (status == NX_OK) {
+        written = 1;
+      }
+  }
+
+   /*
+   * drop out of hierarchy
+   */
+  NXopenpath(self->fileHandle, "/");
+
+  if (written == 0) {
+    SCWrite(pCon, "ERROR: failed to write data, data not recognised",
+            eLogError);
+  }
+}
 
 /*-------------------------------------------------------------------*/
 static void putTimeBinning(SConnection * pCon, SicsInterp * pSics,
@@ -1397,6 +1507,9 @@ static int handlePut(SConnection * pCon, SicsInterp * pSics,
   } else if (strcmp(argv[1], "putslab") == 0) {
     /*===============*/
     putSlab(pCon, pSics, self, argc, argv);
+  } else if (strcmp(argv[1], "putslab16") == 0) {
+    /*===============*/
+    putSlab16(pCon, pSics, self, argc, argv);
   } else {
     SCPrintf(pCon, eLogError, "ERROR: put command %s not recognised", argv[1] );
   }
diff --git a/scriptcontext.c b/scriptcontext.c
index e471dc76..f2751521 100644
--- a/scriptcontext.c
+++ b/scriptcontext.c
@@ -1174,20 +1174,21 @@ static char *TransactionHandler(void *actionData, char *lastReply,
     return st->command;
   } else {
     st->sent = 2;
+    /*
     if (st->controller->verbose) {
       SCPrintf(st->con, eLog, "%6.3f reply : %s", secondsOfMinute(), lastReply);
     }
     if (st->controller->fd != NULL) {
       fprintf(st->controller->fd,"%6.3f reply : %s\n", secondsOfMinute(), lastReply);
     }
+    */
     /* printf("Transact: %s got %s\n", st->command, lastReply); */
-    if(st->controller != NULL){
+     if(st->controller != NULL){
     	traceIO(st->controller->node->name, "transreply:%s", lastReply);
     } else {
     	traceIO("sctunknown", "transreply:%s", lastReply);
     }
-
-    st->reply = strdup(lastReply);
+     st->reply = strdup(lastReply);
     return NULL;
   }
 }
@@ -1218,14 +1219,24 @@ static int SctTransactCmd(pSICSOBJ ccmd, SConnection * con,
   st->con = SCCopyConnection(con);
   st->command = strdup(par[0]->value.v.text);
   st->controller = c;
+  st->sent = 0;
 
   DevQueue(c->devser, st, WritePRIO,
            TransactionHandler, SctTransactMatch, NULL, NULL);
   while (st->sent != 2) {
     TaskYield(pServ->pTasker);
+    /*
+     * This is definitly shit: it will free the st pointer,
+     * which makes memory corruption when the queued task finally
+     * runs. I have commented it out for now. See if this test
+     * is needed at all. Other options include:
+     * - dequeuing the transaction from the DevQueue
+     * - writing an error message and return. This causes a little
+     *   memory leak but as interrupts are not frequent this may be OK
     if (SCGetInterrupt(con) != eContinue) {
-      break;
+    	break;
     }
+    */
   }
   if (st->reply != NULL) {
     SCWrite(con,st->reply,eValue);
diff --git a/sicshipadaba.c b/sicshipadaba.c
index 93ff1a79..90f6aee7 100644
--- a/sicshipadaba.c
+++ b/sicshipadaba.c
@@ -2324,12 +2324,9 @@ static int SetHdbNode(SConnection * pCon, SicsInterp * pSics, void *pData,
   pHdb targetNode = NULL;
   hdbValue newValue;
   pDynString parData = NULL;
-  char error[512];
-  int i, status;
+  char error[512], value[132];
+  int i, status, priv;
 
-  if (!SCMatchRights(pCon, usUser)) {
-    return 0;
-  }
 
   if (argc < 3) {
     SCWrite(pCon, "ERROR: insufficient number of arguments to SetHdbNode",
@@ -2342,6 +2339,17 @@ static int SetHdbNode(SConnection * pCon, SicsInterp * pSics, void *pData,
   if (targetNode == NULL) {
     return 0;
   }
+  status = GetHdbProperty(targetNode,"priv",value,sizeof(value));
+  if(status == 1){
+	  priv = decodeSICSPriv(value);
+  } else {
+	  priv = usUser;
+  }
+  if (!SCMatchRights(pCon, priv)) {
+	  return 0;
+  }
+
+
   if (!cloneHdbValue(&targetNode->value, &newValue)) {
     SCWrite(pCon, "ERROR: out of memory cloning node", eError);
     return 0;
@@ -2439,6 +2447,9 @@ static int ZipGetHdbNode(SConnection * pCon, SicsInterp * pSics,
   char error[512], oriPath[512];
   int status;
   hdbValue newValue;
+  pDynString parData = NULL, result= NULL;
+  Protocol protocol = normal_protocol;
+  OutCode outCode;
 
   if (argc < 2) {
     SCWrite(pCon, "ERROR: need path to node", eError);
@@ -2452,7 +2463,26 @@ static int ZipGetHdbNode(SConnection * pCon, SicsInterp * pSics,
   }
   memset(&newValue, 0, sizeof(hdbValue));
   GetHipadabaPar(targetNode, &newValue, pCon);
-  status = sendZippedNodeData(targetNode, newValue, pCon);
+  if(newValue.dataType == HIPTEXT){
+	  parData = formatValue(newValue, targetNode);
+	   if (parData == NULL) {
+	     SCWrite(pCon, "ERROR: out of memory formatting data", eError);
+	     return 0;
+	   }
+	   if ((protocol = isJSON(pCon)) == 1)
+	     outCode = eHdbEvent;
+	   else
+	     outCode = eValue;
+
+	   result = CreateDynString(128, 128);
+	   formatNameValue(protocol, oriPath, GetCharArray(parData), result,
+	                   newValue.dataType);
+	   SCWrite(pCon, GetCharArray(result), outCode);
+	   DeleteDynString(parData);
+	   DeleteDynString(result);
+  } else {
+	  status = sendZippedNodeData(targetNode, newValue, pCon);
+  }
   ReleaseHdbValue(&newValue);
   return status;
 }
diff --git a/sicsutil.c b/sicsutil.c
index 74579732..53f89034 100644
--- a/sicsutil.c
+++ b/sicsutil.c
@@ -30,6 +30,9 @@ int decodeSICSPriv(char *privText)
   int code = 0;
 
   strtolower(privText);
+  if(strcmp(privText,"manager") == 0){
+	  return 1;
+  }
   while (aCode[code] != NULL) {
     if (strcmp(aCode[code], privText) == 0) {
       return code;
diff --git a/splitter.c b/splitter.c
index 5253ada3..562cdda3 100644
--- a/splitter.c
+++ b/splitter.c
@@ -1,10 +1,14 @@
 /*---------------------------------------------------------------------------
 
 	Splitter:  a module to break a line in a list of words,
-	therby determinig type and storing results in a List.
+	thereby determining type and storing results in a List.
 	
 	Mark Koennecke October 1996
 	
+	Fixed a line overrun in SplitText
+
+	Mark Koennecke, July 2011
+
 	Free for non commercial use, no warranties of any kind taken.
 ---------------------------------------------------------------------------*/
 #include "fortify.h"
@@ -153,7 +157,7 @@ TokenList *SplitText(char *pLine)
         i++;
       }
       pBueffel[i] = '\0';
-      pChar++;
+/*      pChar++; */
       eWhat = eeText;
     } else {
       i = 0;
diff --git a/tasdrive.c b/tasdrive.c
index c2e12494..b338fea8 100644
--- a/tasdrive.c
+++ b/tasdrive.c
@@ -7,6 +7,10 @@
 
  In the long run it might be useful to switch all this to the more 
  general motor list driving code.
+
+ Modified to rather use drivables then motors
+
+ Mark Koennecke, September 2011
 --------------------------------------------------------------------*/
 #include <assert.h>
 #include "sics.h"
@@ -57,12 +61,12 @@ static int readTASMotAngles(ptasUB self, SConnection * pCon,
   /*
      Monochromator
    */
-  status = MotorGetSoftPosition(self->motors[A1], pCon, &val);
+  status = GetDrivablePosition(self->motors[A1], pCon, &val);
   if (status == 0) {
     return status;
   }
   theta = val;
-  status = MotorGetSoftPosition(self->motors[A2], pCon, &val);
+  status = GetDrivablePosition(self->motors[A2], pCon, &val);
   if (status == 0) {
     return status;
   }
@@ -76,12 +80,12 @@ static int readTASMotAngles(ptasUB self, SConnection * pCon,
      Analyzer
    */
   if (self->tasMode != ELASTIC) {
-    status = MotorGetSoftPosition(self->motors[A5], pCon, &val);
+    status = GetDrivablePosition(self->motors[A5], pCon, &val);
     if (status == 0) {
       return status;
     }
     theta = val;
-    status = MotorGetSoftPosition(self->motors[A6], pCon, &val);
+    status = GetDrivablePosition(self->motors[A6], pCon, &val);
     if (status == 0) {
       return status;
     }
@@ -97,22 +101,22 @@ static int readTASMotAngles(ptasUB self, SConnection * pCon,
   /*
      crystal
    */
-  status = MotorGetSoftPosition(self->motors[A3], pCon, &val);
+  status = GetDrivablePosition(self->motors[A3], pCon, &val);
   if (status == 0) {
     return status;
   }
   ang->a3 = val;
-  status = MotorGetSoftPosition(self->motors[A4], pCon, &val);
+  status = GetDrivablePosition(self->motors[A4], pCon, &val);
   if (status == 0) {
     return status;
   }
   ang->sample_two_theta = val;
-  status = MotorGetSoftPosition(self->motors[SGU], pCon, &val);
+  status = GetDrivablePosition(self->motors[SGU], pCon, &val);
   if (status == 0) {
     return status;
   }
   ang->sgu = val;
-  status = MotorGetSoftPosition(self->motors[SGL], pCon, &val);
+  status = GetDrivablePosition(self->motors[SGL], pCon, &val);
   if (status == 0) {
     return status;
   }
@@ -205,6 +209,7 @@ static int TASHalt(void *pData)
 {
   ptasMot self = (ptasMot) pData;
   int i, length = 12;
+  pIDrivable pDriv = NULL;
 
   assert(self);
   /**
@@ -215,7 +220,8 @@ static int TASHalt(void *pData)
   }
   for (i = 0; i < length; i++) {
     if (self->math->motors[i] != NULL) {
-      self->math->motors[i]->pDrivInt->Halt(self->math->motors[i]);
+      pDriv = GetDrivableInterface(self->math->motors[i]);
+      pDriv->Halt(self->math->motors[i]);
     }
   }
   return 1;
@@ -239,7 +245,7 @@ static float getMotorValue(pMotor mot, SConnection * pCon)
 {
   float val;
 
-  MotorGetSoftPosition(mot, pCon, &val);
+  GetDrivablePosition(mot, pCon, &val);
   return val;
 }
 
@@ -250,17 +256,23 @@ static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
   float val, fixed;
   int status = OKOK;
   char buffer[132];
+  pIDrivable pDriv = NULL;
+  pDummy dum = NULL;
 
-  val = getMotorValue(mot, pCon);
-  MotorGetPar(mot, "fixed", &fixed);
-  if (ABS(fixed - 1.0) < .1) {
-    snprintf(buffer, 131, "WARNING: %s is FIXED", name);
-    SCWrite(pCon, buffer, eWarning);
-    return OKOK;
+  dum = (pDummy)mot;
+  if(strcmp(dum->pDescriptor->name,"Motor") == 0){
+	  val = getMotorValue(mot, pCon);
+	  MotorGetPar(mot, "fixed", &fixed);
+	  if (ABS(fixed - 1.0) < .1) {
+		  snprintf(buffer, 131, "WARNING: %s is FIXED", name);
+		  SCWrite(pCon, buffer, eWarning);
+		  return OKOK;
+	  }
   }
   mot->stopped = 0;
   if (ABS(val - target) > MOTPREC) {
-    status = mot->pDrivInt->SetValue(mot, pCon, (float) target);
+	pDriv = GetDrivableInterface(mot);
+    status = pDriv->SetValue(mot, pCon, (float) target);
     if (status != OKOK) {
       return status;
     }
@@ -390,14 +402,13 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
   char error[131];
   char pBueffel[256];
   float val;
+  pIDrivable pDrivInt = NULL;
 
   MotorGetPar(self->math->motors[A3], "fixed", &val);
   if ((int) val != 1) {
-    status =
-        self->math->motors[A3]->pDrivInt->CheckLimits(self->math->
-                                                      motors[A3],
-                                                      angles.a3, error,
-                                                      131);
+	pDrivInt = GetDrivableInterface(self->math->motors[A3]);
+    status = pDrivInt->CheckLimits(self->math->motors[A3],
+                                angles.a3, error,131);
     if (status != 1) {
       retVal = 0;
       snprintf(pBueffel, 256, "ERROR: limit violation an a3: %s", error);
@@ -405,8 +416,8 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
     }
   }
 
-  status =
-      self->math->motors[A4]->pDrivInt->CheckLimits(self->math->motors[A4],
+  pDrivInt = GetDrivableInterface(self->math->motors[A4]);
+  status = pDrivInt->CheckLimits(self->math->motors[A4],
                                                     angles.
                                                     sample_two_theta,
                                                     error, 131);
@@ -417,9 +428,8 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
   }
 
   if (driveTilt == 1) {
-    status =
-        self->math->motors[SGU]->pDrivInt->CheckLimits(self->math->
-                                                      motors[SGU],
+	pDrivInt = GetDrivableInterface(self->math->motors[SGU]);
+    status = pDrivInt->CheckLimits(self->math->motors[SGU],
                                                       angles.sgu, error,
                                                       131);
     if (status != 1) {
@@ -428,9 +438,8 @@ static int checkQMotorLimits(ptasMot self, SConnection * pCon,
       SCWrite(pCon, pBueffel, eError);
     }
 
-    status =
-        self->math->motors[SGL]->pDrivInt->CheckLimits(self->math->
-                                                       motors[SGL],
+    pDrivInt = GetDrivableInterface(self->math->motors[SGL]);
+    status = pDrivInt->CheckLimits(self->math->motors[SGL],
                                                        angles.sgl, error,
                                                        131);
     if (status != 1) {
@@ -516,6 +525,7 @@ static int checkMotors(ptasMot self, SConnection * pCon)
 {
   int i, status, length = 12;
   int mask[12];
+  pIDrivable pDrivInt = NULL;
 
   self->math->mustRecalculate = 1;
   if (self->math->tasMode == ELASTIC) {
@@ -532,9 +542,8 @@ static int checkMotors(ptasMot self, SConnection * pCon)
 
   for (i = 0; i < 12; i++) {
     if (self->math->motors[i] != NULL && mask[i] != 0) {
-      status =
-          self->math->motors[i]->pDrivInt->CheckStatus(self->math->
-                                                       motors[i], pCon);
+      pDrivInt = GetDrivableInterface(self->math->motors[i]);
+      status = pDrivInt->CheckStatus(self->math->motors[i], pCon);
       if (status != HWIdle && status != OKOK) {
         return status;
       }
diff --git a/tasscanub.c b/tasscanub.c
index cc1b189f..9bfa31e6 100644
--- a/tasscanub.c
+++ b/tasscanub.c
@@ -4,6 +4,10 @@
 
   Mark Koennecke, May 2005, using code from an earlier TASAMAD emulation
   core.
+
+  Modified to write UV matrix.
+
+  Mark Koennecke, July 2011
 ---------------------------------------------------------------------------*/
 #include <stdio.h>
 #include <assert.h>
@@ -317,6 +321,17 @@ static int TASUBHeader(pScanData self)
   fprintf(self->fd, "PARAM: AA=%8.4f, BB=%8.4f, CC=%8.4f\n",
           pTAS->ub->cell.alpha, pTAS->ub->cell.beta, pTAS->ub->cell.gamma);
 
+  fprintf(self->fd, "PARAM: UB11=%8.4f, UB12=%8.4f, UB13=%8.4f\n",
+          pTAS->ub->machine.UB[0][0], pTAS->ub->machine.UB[0][1], pTAS->ub->machine.UB[0][2]);
+  fprintf(self->fd, "PARAM: UB21=%8.4f, UB22=%8.4f, UB23=%8.4f\n",
+          pTAS->ub->machine.UB[1][0], pTAS->ub->machine.UB[1][1], pTAS->ub->machine.UB[1][2]);
+  fprintf(self->fd, "PARAM: UB31=%8.4f, UB32=%8.4f, UB33=%8.4f\n",
+          pTAS->ub->machine.UB[2][0], pTAS->ub->machine.UB[2][1], pTAS->ub->machine.UB[2][2]);
+
+  fprintf(self->fd, "PARAM: PN1=%8.4f, PN2=%8.4f, PN3=%8.4f\n",
+          pTAS->ub->machine.planeNormal[0][0], pTAS->ub->machine.planeNormal[1][0], pTAS->ub->machine.planeNormal[2][0]);
+
+
   r = pTAS->ub->r1;
   fprintf(self->fd, "PARAM: AX=%8.4f, AY=%8.4f, AZ=%8.4f\n",
           r.qe.qh, r.qe.qk, r.qe.ql);
diff --git a/tasub.c b/tasub.c
index 9948e276..618972eb 100644
--- a/tasub.c
+++ b/tasub.c
@@ -9,10 +9,15 @@
  Reworked to support an updater script for Integration into Hipadaba
  
  Mark Koennecke, July 2009
+
+ Modified to use drivables rather then motors
+
+ Mark Koennecke, September 2011
 ----------------------------------------------------------------------*/
 #include <assert.h>
 #include "sics.h"
 #include "lld.h"
+#include "SCinter.h"
 #include "trigd.h"
 #include "tasub.h"
 #include "tasdrive.h"
@@ -203,7 +208,7 @@ static int readTASAngles(ptasUB self, SConnection * pCon, ptasAngles ang)
   /*
      Monochromator
    */
-  status = MotorGetSoftPosition(self->motors[A2], pCon, &val);
+  status = GetDrivablePosition(self->motors[A2], pCon, &val);
   if (status == 0) {
     return status;
   }
@@ -213,7 +218,7 @@ static int readTASAngles(ptasUB self, SConnection * pCon, ptasAngles ang)
      Analyzer
    */
   if (self->tasMode != ELASTIC) {
-    status = MotorGetSoftPosition(self->motors[A6], pCon, &val);
+    status = GetDrivablePosition(self->motors[A6], pCon, &val);
     if (status == 0) {
       return status;
     }
@@ -225,22 +230,22 @@ static int readTASAngles(ptasUB self, SConnection * pCon, ptasAngles ang)
   /*
      crystal
    */
-  status = MotorGetSoftPosition(self->motors[A3], pCon, &val);
+  status = GetDrivablePosition(self->motors[A3], pCon, &val);
   if (status == 0) {
     return status;
   }
   ang->a3 = val;
-  status = MotorGetSoftPosition(self->motors[A4], pCon, &val);
+  status = GetDrivablePosition(self->motors[A4], pCon, &val);
   if (status == 0) {
     return status;
   }
   ang->sample_two_theta = val;
-  status = MotorGetSoftPosition(self->motors[SGU], pCon, &val);
+  status = GetDrivablePosition(self->motors[SGU], pCon, &val);
   if (status == 0) {
     return status;
   }
   ang->sgu = val;
-  status = MotorGetSoftPosition(self->motors[SGL], pCon, &val);
+  status = GetDrivablePosition(self->motors[SGL], pCon, &val);
   if (status == 0) {
     return status;
   }
@@ -270,7 +275,21 @@ static void updateTargets(ptasUB pNew, SConnection * pCon)
   readTASAngles(pNew, pCon, &ang);
   calcTasQEPosition(&pNew->machine, ang, &pNew->target);
 }
+/*--------------------------------------------------------------------*/
+static pMotor TasFindMotor(SicsInterp *pSics, char *name)
+{
+	pMotor mot = NULL;
+	CommandList *pCom = NULL;
 
+	mot = FindMotor(pSics,name);
+	if(mot == NULL){
+		pCom = FindCommand(pSics,name);
+		if(pCom != NULL && GetDrivableInterface(pCom->pData) != NULL){
+			mot = (pMotor)pCom->pData;
+		}
+	}
+	return mot;
+}
 /*--------------------------------------------------------------------*/
 int TasUBFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
                  int argc, char *argv[])
@@ -306,34 +325,34 @@ int TasUBFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
     /*
      * default names and assignement
      */
-    pNew->motors[0] = FindMotor(pSics, "a1");
-    pNew->motors[1] = FindMotor(pSics, "a2");
-    pNew->motors[2] = FindMotor(pSics, "mcv");
-    pNew->motors[3] = FindMotor(pSics, "mch");
-    pNew->motors[4] = FindMotor(pSics, "a3");
-    pNew->motors[5] = FindMotor(pSics, "a4");
-    pNew->motors[6] = FindMotor(pSics, "sgu");
-    pNew->motors[7] = FindMotor(pSics, "sgl");
-    pNew->motors[8] = FindMotor(pSics, "a5");
-    pNew->motors[9] = FindMotor(pSics, "a6");
-    pNew->motors[10] = FindMotor(pSics, "acv");
-    pNew->motors[11] = FindMotor(pSics, "ach");
+    pNew->motors[0] = TasFindMotor(pSics, "a1");
+    pNew->motors[1] = TasFindMotor(pSics, "a2");
+    pNew->motors[2] = TasFindMotor(pSics, "mcv");
+    pNew->motors[3] = TasFindMotor(pSics, "mch");
+    pNew->motors[4] = TasFindMotor(pSics, "a3");
+    pNew->motors[5] = TasFindMotor(pSics, "a4");
+    pNew->motors[6] = TasFindMotor(pSics, "sgu");
+    pNew->motors[7] = TasFindMotor(pSics, "sgl");
+    pNew->motors[8] = TasFindMotor(pSics, "a5");
+    pNew->motors[9] = TasFindMotor(pSics, "a6");
+    pNew->motors[10] = TasFindMotor(pSics, "acv");
+    pNew->motors[11] = TasFindMotor(pSics, "ach");
   } else {
     /*
      * user defined names 
      */
-    pNew->motors[0] = FindMotor(pSics, argv[2]);
-    pNew->motors[1] = FindMotor(pSics, argv[3]);
-    pNew->motors[2] = FindMotor(pSics, argv[4]);
-    pNew->motors[3] = FindMotor(pSics, argv[5]);
-    pNew->motors[4] = FindMotor(pSics, argv[6]);
-    pNew->motors[5] = FindMotor(pSics, argv[7]);
-    pNew->motors[6] = FindMotor(pSics, argv[8]);
-    pNew->motors[7] = FindMotor(pSics, argv[9]);
-    pNew->motors[8] = FindMotor(pSics, argv[10]);
-    pNew->motors[9] = FindMotor(pSics, argv[11]);
-    pNew->motors[10] = FindMotor(pSics, argv[12]);
-    pNew->motors[11] = FindMotor(pSics, argv[13]);
+    pNew->motors[0] = TasFindMotor(pSics, argv[2]);
+    pNew->motors[1] = TasFindMotor(pSics, argv[3]);
+    pNew->motors[2] = TasFindMotor(pSics, argv[4]);
+    pNew->motors[3] = TasFindMotor(pSics, argv[5]);
+    pNew->motors[4] = TasFindMotor(pSics, argv[6]);
+    pNew->motors[5] = TasFindMotor(pSics, argv[7]);
+    pNew->motors[6] = TasFindMotor(pSics, argv[8]);
+    pNew->motors[7] = TasFindMotor(pSics, argv[9]);
+    pNew->motors[8] = TasFindMotor(pSics, argv[10]);
+    pNew->motors[9] = TasFindMotor(pSics, argv[11]);
+    pNew->motors[10] = TasFindMotor(pSics, argv[12]);
+    pNew->motors[11] = TasFindMotor(pSics, argv[13]);
   }
   /*
      curvature motors may be missing, anything else is a serious problem
@@ -1047,7 +1066,7 @@ static int addAuxReflection(ptasUB self, SConnection * pCon,
   if (status != 1) {
     r2.qe.kf = self->current.kf;
     r2.qe.ki = self->current.ki;
-    MotorGetSoftPosition(self->motors[A3], pCon, &value);
+    GetDrivablePosition(self->motors[A3], pCon, &value);
     r2.angles.a3 = value + 180.;
     r2.angles.sgu = .0;
     r2.angles.sgl = .0;
diff --git a/test/DataNumber b/test/DataNumber
index 85ca8a81..1d6489e6 100644
--- a/test/DataNumber
+++ b/test/DataNumber
@@ -1,3 +1,3 @@
- 324 
+ 332 
 NEVER, EVER modify or delete this file
 You'll risk eternal damnation and a reincarnation as a cockroach!