diff --git a/amor2t.c b/amor2t.c
index ac777262..996818cb 100644
--- a/amor2t.c
+++ b/amor2t.c
@@ -931,12 +931,23 @@
           return 0;
        }
        memcpy(pAOM,pNew,sizeof(Amor2T));
+       pAOM->pDriv = CreateDrivableInterface();
+       pAOM->pDes = CreateDescriptor("Amor2T");
+       if(!pAOM->pDriv || !pAOM->pDes )
+       {
+          A2TKill(pNew);
+          SCWrite(pCon,"ERROR: out of memory in Amor2TFactory",eError);
+          return 0;
+       }
        
        /* set modified interface functions */
+       pAOM->pDes->GetInterface = A2TGetInterface;
+       pAOM->pDriv->Halt = A2THalt;
        pAOM->pDes->SaveStatus =   NULL;
        pAOM->pDriv->CheckLimits = ANA2TCheck;
        pAOM->pDriv->SetValue = ANA2TSetValue;
        pAOM->pDriv->GetValue = ANA2TGetValue;
+       pAOM->pDriv->CheckStatus = A2TStatus;
 
 
        /* install commands */
diff --git a/fitcenter.c b/fitcenter.c
index 7754281b..5139ce7a 100644
--- a/fitcenter.c
+++ b/fitcenter.c
@@ -454,7 +454,7 @@
      SCWrite(pCon,pBueffel,eValue);
      sprintf(pBueffel,"Maximum peak height: %ld\n", self->lPeak);
      SCWrite(pCon,pBueffel,eValue);
-     sprintf(pBueffel,"Aproximate FWHM: %f\n",self->FWHM);                                                    
+     sprintf(pBueffel,"Approximate FWHM: %f\n",self->FWHM);                                                    
      SCWrite(pCon,pBueffel,eValue);
      
      return 1;
diff --git a/hkl.c b/hkl.c
index bc525eeb..48a24b91 100644
--- a/hkl.c
+++ b/hkl.c
@@ -822,6 +822,16 @@
        return 0;         
      }
      
+     /* some people are stupid.......... */
+     if(myPsi > 360.)
+     {
+       myPsi -= 360;
+     }
+     if(myPsi < .0)
+     {
+       myPsi += 360.;
+     }
+     
      /* no retries if normal beam calculation 
         or specific Hamilton or specific 
         psi requested */
@@ -901,11 +911,15 @@
            return 1;
        }
      }
-     sprintf(pBueffel,
-       "ERROR: failed to find a possible setting for %4.1f %4.1f %4.1f %s",
-        fHKL[0], fHKL[1], fHKL[2], "\n Even tried 36 psi settings");
-     SCWrite(pCon,pBueffel,eError);       
-     return 0;
+     if(iRetry != 1)
+     {
+        sprintf(pBueffel,
+         "ERROR: failed to find a possible setting for %4.1f %4.1f %4.1f %s",
+          fHKL[0], fHKL[1], fHKL[2], "\n Even tried 36 psi settings");
+        SCWrite(pCon,pBueffel,eError);       
+        return 0;
+     }
+     return 0;        
   }          
 /*-------------------------------------------------------------------------*/
   int RunHKL(pHKL self, float fHKL[3], 
@@ -1557,13 +1571,16 @@ ente:
          return 0;
        }
        iRet = CalculateSettings(self,fHKL, fPsi, iHamil, fSet,pCon);
-       if(!iRet)
-       {
-         return 0;
-       }
-       sprintf(pBueffel,"{ theta = %f, omega = %f, chi = %f, phi = %f",
+       sprintf(pBueffel," theta = %f, omega = %f, chi = %f, phi = %f",
                fSet[0], fSet[1], fSet[2],fSet[3]);
        SCWrite(pCon,pBueffel,eValue);
+       if(!iRet)
+       {
+         SCWrite(pCon,
+           "WARNING: Settings violate motor limits or cannot be calculated",
+           eWarning); 
+         return 0;
+       }
        return 1;        
      }
 /*------------------ run */
diff --git a/motor.c b/motor.c
index 34dca100..935c295b 100644
--- a/motor.c
+++ b/motor.c
@@ -733,7 +733,7 @@ extern void KillPiPiezo(void *pData);
     iRet = self->pDriver->GetPosition(self->pDriver,&fVal);
     if(iRet == OKOK) /* all went well, the exception */
     {
-      *fHard = fVal;
+     *fHard = fVal;
       return 1;
     }
     else /* a problem, the usual case: try fix the problem */
@@ -791,7 +791,14 @@ extern void KillPiPiezo(void *pData);
     }
     
     /* apply zeropoint */
-    fValue -= ObVal(self->ParArray,SZERO);
+    if(ObVal(self->ParArray,SIGN) < 0.)
+    {
+       fValue += ObVal(self->ParArray,SZERO);
+    }
+    else
+    {
+       fValue -= ObVal(self->ParArray,SZERO);
+    }
     *fVal = fValue;
 
     /* apply sign */
diff --git a/sicsstatus.tcl b/sicsstatus.tcl
index 66f129d8..c05429ff 100644
--- a/sicsstatus.tcl
+++ b/sicsstatus.tcl
@@ -129,8 +129,8 @@ phone setAccess 2
 adress UNKNOWN
 adress setAccess 2
 # Counter counter
-counter SetPreset 1.000000
-counter SetMode Preset
+counter SetPreset 10.000000
+counter SetMode Timer
 # Motor som
 som SoftZero 0.000000
 som SoftLowerLim 0.000000
@@ -236,9 +236,9 @@ d1l sign 1.000000
 d1l InterruptMode 0.000000
 d1l AccessCode 2.000000
 # Motor d1r
-d1r SoftZero 0.000000
-d1r SoftLowerLim -20.000000
-d1r SoftUpperLim 20.000000
+d1r SoftZero 2.000000
+d1r SoftLowerLim -22.000000
+d1r SoftUpperLim 18.000000
 d1r Fixed -1.000000
 d1r sign 1.000000
 d1r InterruptMode 0.000000
diff --git a/velo.c b/velo.c
index bc0782f5..d11a7da9 100644
--- a/velo.c
+++ b/velo.c
@@ -1184,9 +1184,9 @@
           SCWrite(pCon,pBueffel,eError);
           return 0;
         }
+        fRot = fVal;     
      }
 
-     fRot = fVal;     
      /* do drive if we really need to */
      if(iDrive)
      {
@@ -1219,7 +1219,7 @@
      /* list command */
      if(strcmp(argv[1],"list") == 0)
      {
-       sprintf(pBueffel,"%s.rotation = %f\n%s.Tilt = %f",argv[0], fRot,
+        sprintf(pBueffel,"%s.rotation = %f\n%s.Tilt = %f",argv[0], fRot,
                argv[0],fTilt);
         SCWrite(pCon,pBueffel,eValue);
         return 1;