diff --git a/polterwrite.c b/polterwrite.c
index c4aebd1..885bda3 100644
--- a/polterwrite.c
+++ b/polterwrite.c
@@ -335,7 +335,11 @@ static void PoldiStart(pPolterdi self, SConnection * pCon)
     for (i = 0; i < iLength; i++) {
       fTime2[i] = fTime[i] / 2.;
     }
-    sprintf(pBueffel, "%d", iLength);
+    if(iLength > 2){
+      sprintf(pBueffel, "%d", iLength);
+    } else {
+      sprintf(pBueffel, "%d", 1);
+    }
     NXDupdate(hdict, "timebin", pBueffel);
     NXDputalias(hfil, hdict, "dtime", fTime2);
     free(fTime2);
diff --git a/tabledrive.c b/tabledrive.c
index d6329fc..6700652 100644
--- a/tabledrive.c
+++ b/tabledrive.c
@@ -367,18 +367,21 @@ static float calculateNextStep(pTableDrive self)
 /*------------------------------------------------------------------------*/
 static int runToNextStep(pTableDrive self, SConnection * pCon, float value)
 {
-  int status, test;
+  int status;
   tdMotor moti;
   float target;
+  long motID;
 
+  self->groupID = GetTaskGroupID(pServ->pTasker);
   status = LLDnodePtr2First(self->motorTable);
   while (status != 0) {
     LLDnodeDataTo(self->motorTable, &moti);
     target = findTarget(moti, value);
-    test = MotorRun(moti.pMot, pCon, target);
-    if (test != OKOK) {
-      return test;
+    motID = StartDriveTask(moti.pMot,pCon,moti.motorName,target);
+    if(motID < 0){
+      return HWFault;
     }
+    AddTaskToGroup(pServ->pTasker,motID,self->groupID);
     status = LLDnodePtr2Next(self->motorTable);
   }
   return 1;
@@ -391,18 +394,11 @@ static int checkRunning(pTableDrive self, SConnection * pCon)
   int test;
   tdMotor moti;
 
-  status = LLDnodePtr2First(self->motorTable);
-  while (status != 0) {
-    LLDnodeDataTo(self->motorTable, &moti);
-    test = moti.pMot->pDrivInt->CheckStatus(moti.pMot, pCon);
-    if (test != HWIdle && test != OKOK) {
-      return test;
-    }
-    status = LLDnodePtr2Next(self->motorTable);
-  }
+  if(isTaskGroupRunning(pServ->pTasker,self->groupID)){
+    return HWBusy;
+  } 
   return HWIdle;
 }
-
 /*------------------------------------------------------------------------*/
 static void showPositions(pTableDrive self, SConnection * pCon,
                           char *pBueffel, int buffLen)
@@ -529,11 +525,13 @@ static int startASDS(pTableDrive self, SConnection * pCon, int target)
   int status;
   char name[132];
   float targetValue;
+  long motID;
 
   if (self == NULL || self->motorTable < 0) {
     return 0;
   }
 
+  self->groupID = GetTaskGroupID(pServ->pTasker);
   status = LLDnodePtr2First(self->motorTable);
   while (status != 0) {
     LLDnodeDataTo(self->motorTable, &moti);
@@ -545,10 +543,12 @@ static int startASDS(pTableDrive self, SConnection * pCon, int target)
       } else {
         targetValue = findTarget(moti, self->targetPosition);
       }
-      status = MotorRun(moti.pMot, pCon, targetValue);
-      if (status != OKOK) {
-        return status;
+      motID = StartDriveTask(moti.pMot,pCon,moti.motorName,targetValue);
+      if(motID < 0){
+	return HWFault;
       }
+      AddTaskToGroup(pServ->pTasker,motID,self->groupID);
+
     }
     status = LLDnodePtr2Next(self->motorTable);
   }
@@ -562,11 +562,13 @@ static int startOthers(pTableDrive self, SConnection * pCon)
   int status;
   char name[132];
   float targetValue;
+  long motID;
 
   if (self == NULL || self->motorTable < 0) {
     return 0;
   }
 
+  self->groupID = GetTaskGroupID(pServ->pTasker);
   status = LLDnodePtr2First(self->motorTable);
   while (status != 0) {
     LLDnodeDataTo(self->motorTable, &moti);
@@ -574,10 +576,11 @@ static int startOthers(pTableDrive self, SConnection * pCon)
     strtolower(name);
     if (strstr(name, "ds") == NULL && strstr(name, "as") == NULL) {
       targetValue = findTarget(moti, self->targetPosition);
-      status = MotorRun(moti.pMot, pCon, targetValue);
-      if (status != OKOK) {
-        return status;
+      motID = StartDriveTask(moti.pMot,pCon,moti.motorName,targetValue);
+      if(motID < 0){
+	return HWFault;
       }
+      AddTaskToGroup(pServ->pTasker,motID,self->groupID);
     }
     status = LLDnodePtr2Next(self->motorTable);
   }
diff --git a/tabledrive.h b/tabledrive.h
index 3648c4e..eced49c 100644
--- a/tabledrive.h
+++ b/tabledrive.h
@@ -39,6 +39,7 @@ typedef struct {
   int debug;
   tdMotor oriMotor;
   int oriInvalid;
+  long groupID;
 } TableDrive, *pTableDrive;
 
 /*-------------------------------------------------------------------------*/