diff --git a/dornier2.c b/dornier2.c
index 9e3293c..1b4166c 100644
--- a/dornier2.c
+++ b/dornier2.c
@@ -615,7 +615,7 @@ static int DornierStatNew(pVelSelDriv self, int *iCode, float *fCur){
       memset(pDorn,0,sizeof(Dornier));
       
       /* host name */
-      pPtr = Tcl_GetVar2(pTcl,name,"Host",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Host",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
         Tcl_AppendResult(pTcl,"ERROR: no hostname found in",name,NULL);
@@ -625,7 +625,7 @@ static int DornierStatNew(pVelSelDriv self, int *iCode, float *fCur){
       strncpy(pHost,pPtr,131);
       
       /* port number */
-      pPtr = Tcl_GetVar2(pTcl,name,"Port",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Port",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
         Tcl_AppendResult(pTcl,"ERROR: no port number found in",name,NULL);
@@ -640,7 +640,7 @@ static int DornierStatNew(pVelSelDriv self, int *iCode, float *fCur){
       }
       
       /* time out. This one gets defaulted when not specified */
-      pPtr = Tcl_GetVar2(pTcl,name,"Timeout",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Timeout",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
          pDorn->iTimeOut = 1000;
@@ -656,7 +656,7 @@ static int DornierStatNew(pVelSelDriv self, int *iCode, float *fCur){
        }
 
       /* minimum control speed */
-      pPtr = Tcl_GetVar2(pTcl,name,"MinControl",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"MinControl",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
          pDorn->minRPM = 3100;
diff --git a/ecbdriv.c b/ecbdriv.c
index 78d5596..ed80e4f 100644
--- a/ecbdriv.c
+++ b/ecbdriv.c
@@ -632,8 +632,9 @@ static int controlMotor(pECBMotDriv self, int enable){
     usleep(delay);
     return 1;
   }else {
+
     /*
-      disable motor
+      disable air cushions
     */
     in.e =  8;
     in.b = 11; /* set control signal */
@@ -644,15 +645,21 @@ static int controlMotor(pECBMotDriv self, int enable){
       return 0;
     }
     usleep(delay);
+
+    /*
+      clear enable
+    */
     in.e =  0;
     in.b = 11; /* set control signal */
-    in.c = -self->ecbIndex;
+    in.c = self->ecbIndex;
     status = ecbExecute(self->ecb,MOPARA,in,&out);
     if(status != 1){
       self->errorCode = COMMERROR;
       return 0;
     }
     usleep(delay);
+
+
     return 1;
   }
 }
diff --git a/el734hp.c b/el734hp.c
index 90a9cd0..ba280a0 100644
--- a/el734hp.c
+++ b/el734hp.c
@@ -214,7 +214,7 @@ static int EL734Run(void *pData,float fValue){
   self = (pEL734Driv)pData;
   assert(self);
 
-  self->oredMsr = 0;
+  self->oredMsr = 3;
   snprintf(pCommand,79,"p %d %.3f\r",self->iMotor,fValue);
   status = transactEL734(self->controller,pCommand,strlen(pCommand),
 			 pReply,79);
@@ -632,6 +632,7 @@ MotorDriver *CreateEL734HP(SConnection *pCon, int argc, char *argv[]){
   pNew->KillPrivate = KillEL734;
   pNew->controller = controller;
   pNew->iMotor = motor;
+  pNew->oredMsr = 3;
 
   /*
     connection will already have been set up, read limits
diff --git a/libpsi.a b/libpsi.a
index c5e0124..3a64648 100644
Binary files a/libpsi.a and b/libpsi.a differ
diff --git a/make_gen b/make_gen
index 7abd7ef..df3d3bc 100644
--- a/make_gen
+++ b/make_gen
@@ -8,7 +8,7 @@
 
 OBJ=psi.o buffer.o ruli.o dmc.o nxsans.o nextrics.o sps.o pimotor.o \
 	pipiezo.o sanswave.o faverage.o fowrite.o amor2t.o nxamor.o \
-	amorstat.o tasinit.o tasdrive.o tasutil.o tasscan.o swmotor.o \
+	amorstat.o tasinit.o tasdriveo.o tasutil.o tasscan.o swmotor.o \
 	polterwrite.o ecb.o frame.o el734driv.o el734dc.o ecbdriv.o \
 	ecbcounter.o el737driv.o sinqhmdriv.o tdchm.o velodorn.o \
 	velodornier.o docho.o sanscook.o tecsdriv.o itc4driv.o itc4.o\
diff --git a/makefile_linux b/makefile_linux
index 8c3f32f..b8146bb 100644
--- a/makefile_linux
+++ b/makefile_linux
@@ -11,8 +11,8 @@ include ../linux_def
 
 CC       = gcc
 CFLAGS = -I$(HDFROOT)/include -DHDF4  -DHDF5 $(NI) -Ihardsup \
-       -I.. -fwritable-strings -DCYGNUS -DNONINTF -g $(DFORTIFY) \
-       -Wall -Wno-unused -Wno-comment -Wno-switch -Werror
+       -I..  -DCYGNUS -DNONINTF -g $(DFORTIFY) \
+       -Wall -Werror -Wno-unused -Wno-comment -Wno-switch 
 
 EXTRA=nintf.o
 
diff --git a/pimotor.c b/pimotor.c
index edb555b..f46c948 100644
--- a/pimotor.c
+++ b/pimotor.c
@@ -310,7 +310,7 @@
      memset(pNew,0,sizeof(C804Driv));
      
      /* connection parameters */
-     pPar = Tcl_GetVar2(pTcl,pArray,"Computer",TCL_LEAVE_ERR_MSG);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"Computer",TCL_LEAVE_ERR_MSG);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find serial port server host name",NULL);
@@ -320,7 +320,7 @@
      pNew->hostname = strdup(pPar);
      
      pPar = NULL;
-     pPar = Tcl_GetVar2(pTcl,pArray,"port",TCL_LEAVE_ERR_MSG);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"port",TCL_LEAVE_ERR_MSG);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find serial port server port adress",NULL);
@@ -337,7 +337,7 @@
      pNew->iPort = iVal;
      
      pPar = NULL;
-     pPar = Tcl_GetVar2(pTcl,pArray,"channel",TCL_LEAVE_ERR_MSG);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"channel",TCL_LEAVE_ERR_MSG);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find serial port server channel adress",NULL);
@@ -354,7 +354,7 @@
      pNew->iChannel = iVal;
      pPar = NULL;
 
-     pPar = Tcl_GetVar2(pTcl,pArray,"motor",TCL_LEAVE_ERR_MSG);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"motor",TCL_LEAVE_ERR_MSG);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find motor number",NULL);
@@ -372,7 +372,7 @@
      
      /* limits */
      pPar = NULL;
-     pPar = Tcl_GetVar2(pTcl,pArray,"lowerlimit",TCL_LEAVE_ERR_MSG);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"lowerlimit",TCL_LEAVE_ERR_MSG);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to  find lower motor limit",NULL);
@@ -389,7 +389,7 @@
      pNew->fLower = dVal;
      
      pPar = NULL;
-     pPar = Tcl_GetVar2(pTcl,pArray,"upperlimit",TCL_LEAVE_ERR_MSG);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"upperlimit",TCL_LEAVE_ERR_MSG);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find upper motor limit",NULL);
diff --git a/pipiezo.c b/pipiezo.c
index e63a400..a24ee3c 100644
--- a/pipiezo.c
+++ b/pipiezo.c
@@ -297,7 +297,7 @@
      memset(pNew,0,sizeof(PiPiezo));
      
      /* connection parameters */
-     pPar = Tcl_GetVar2(pTcl,pArray,"Computer",TCL_GLOBAL_ONLY);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"Computer",TCL_GLOBAL_ONLY);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find serial port server host name",NULL);
@@ -307,7 +307,7 @@
      pNew->hostname = strdup(pPar);
      
      pPar = NULL;
-     pPar = Tcl_GetVar2(pTcl,pArray,"port",TCL_GLOBAL_ONLY);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"port",TCL_GLOBAL_ONLY);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find serial port server port adress",NULL);
@@ -324,7 +324,7 @@
      pNew->iPort = iVal;
      
      pPar = NULL;
-     pPar = Tcl_GetVar2(pTcl,pArray,"channel",TCL_GLOBAL_ONLY);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"channel",TCL_GLOBAL_ONLY);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find serial port server channel adress",NULL);
@@ -341,7 +341,7 @@
      pNew->iChannel = iVal;
      pPar = NULL;
 
-     pPar = Tcl_GetVar2(pTcl,pArray,"motor",TCL_GLOBAL_ONLY);
+     pPar = (char *)Tcl_GetVar2(pTcl,pArray,"motor",TCL_GLOBAL_ONLY);
      if(!pPar)
      {
         Tcl_SetResult(pTcl,"Failed to find motor number",NULL);
diff --git a/sinqhttp.c b/sinqhttp.c
index f7e3139..5b221b7 100644
--- a/sinqhttp.c
+++ b/sinqhttp.c
@@ -159,7 +159,7 @@ static int SinqHttpConfigure(pHistDriver self, SConnection *pCon,
             eError);
         return 0;
    }
-   
+
    /* 
     *  looser credentials
     */
@@ -175,7 +175,6 @@ static int SinqHttpConfigure(pHistDriver self, SConnection *pCon,
             eError);
         return 0;
    }
-    
    
    /* actual configuration. Check for flag INIT in
         options. We do not need to configure, if the HM has configured
@@ -228,7 +227,7 @@ static int SinqHttpConfigure(pHistDriver self, SConnection *pCon,
             httpStatus = ghttp_process(pPriv->syncRequest);
             confData = (char *)ghttp_get_body(pPriv->syncRequest);
             if(httpStatus != ghttp_done){
-	        confData = ghttp_get_error(pPriv->syncRequest);
+	        confData = (char *)ghttp_get_error(pPriv->syncRequest);
                 snprintf(confCommand,511,"ERROR: http error %s occurred",
                     confData);
                 SCWrite(pCon,confCommand,eError);
diff --git a/tcpdornier.c b/tcpdornier.c
index d6c8bda..675ffde 100644
--- a/tcpdornier.c
+++ b/tcpdornier.c
@@ -869,7 +869,7 @@ static int TcpAsMotHalt(void *pData){
 
       
       /* host name */
-      pPtr = Tcl_GetVar2(pTcl,name,"Host",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Host",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
         Tcl_AppendResult(pTcl,"ERROR: no hostname found in",name,NULL);
@@ -879,7 +879,7 @@ static int TcpAsMotHalt(void *pData){
       strncpy(host,pPtr,131);
        
       /* port number */
-      pPtr = Tcl_GetVar2(pTcl,name,"Port",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Port",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
         Tcl_AppendResult(pTcl,"ERROR: no port number found in",name,NULL);
@@ -904,13 +904,13 @@ static int TcpAsMotHalt(void *pData){
       /*
 	username and password 
       */
-      pPtr = Tcl_GetVar2(pTcl,name,"User",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"User",TCL_GLOBAL_ONLY);
       if(!pPtr){
 	strncpy(pDorn->user,"NVS",131);
       } else {
 	strncpy(pDorn->user,pPtr,131);
       }
-      pPtr = Tcl_GetVar2(pTcl,name,"Password",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Password",TCL_GLOBAL_ONLY);
       if(!pPtr){
 	strncpy(pDorn->pword,"NVS",131);
       } else {
@@ -918,7 +918,7 @@ static int TcpAsMotHalt(void *pData){
       }
        
        /* time out. This one gets defaulted when not specified */
-      pPtr = Tcl_GetVar2(pTcl,name,"Timeout",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Timeout",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
 	  pDorn->timeout = 5;
@@ -932,7 +932,7 @@ static int TcpAsMotHalt(void *pData){
           }
         }
 
-      pPtr = Tcl_GetVar2(pTcl,name,"Debug",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Debug",TCL_GLOBAL_ONLY);
       if(pPtr != NULL)
       {
 	  setRS232Debug(pDorn->controller, 10);
@@ -964,7 +964,7 @@ static int TcpAsMotHalt(void *pData){
       pNew->Init           = TcpDornierInit;
 
        /* tolerance This one gets defaulted when not specified */
-      pPtr = Tcl_GetVar2(pTcl,name,"Tolerance",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Tolerance",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
 	  pNew->fTolerance = 10.;
@@ -1055,7 +1055,8 @@ int VelSelTcpFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
        /* 
 	  now initialize additional parameters for the motor
        */
-      pPtr = Tcl_GetVar2(pSics->pTcl,argv[2],"TiltTolerance",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pSics->pTcl,argv[2],"TiltTolerance",
+				 TCL_GLOBAL_ONLY);
       pAstDriv->fTolerance = .1;
       if(pPtr != NULL){
          iRet = Tcl_GetDouble(pSics->pTcl,pPtr,&d);
@@ -1065,7 +1066,7 @@ int VelSelTcpFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
       }
 
       limit = 10.;
-      pPtr = Tcl_GetVar2(pSics->pTcl,argv[2],"TiltUpper",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pSics->pTcl,argv[2],"TiltUpper",TCL_GLOBAL_ONLY);
       if(pPtr != NULL){
          iRet = Tcl_GetDouble(pSics->pTcl,pPtr,&d);
          if(iRet == TCL_OK){
@@ -1075,7 +1076,7 @@ int VelSelTcpFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
       pAstDriv->fUpper = limit;
       MotorSetPar(pTilt,pCon,"softupperlim",limit);
 
-      pPtr = Tcl_GetVar2(pSics->pTcl,argv[2],"TiltLower",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pSics->pTcl,argv[2],"TiltLower",TCL_GLOBAL_ONLY);
       limit = -10.;
       if(pPtr != NULL){
          iRet = Tcl_GetDouble(pSics->pTcl,pPtr,&d);
diff --git a/velodornier.c b/velodornier.c
index 3e8e213..fbaf100 100644
--- a/velodornier.c
+++ b/velodornier.c
@@ -595,7 +595,7 @@ typedef enum {vStart, eRegel, eHalted} eVeloMode;
       memset(pDorn,0,sizeof(Dornier));
       
       /* host name */
-      pPtr = Tcl_GetVar2(pTcl,name,"Host",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Host",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
         Tcl_AppendResult(pTcl,"ERROR: no hostname found in",name,NULL);
@@ -605,7 +605,7 @@ typedef enum {vStart, eRegel, eHalted} eVeloMode;
       pDorn->pComputer = strdup(pPtr);
       
       /* port number */
-      pPtr = Tcl_GetVar2(pTcl,name,"Port",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Port",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
         Tcl_AppendResult(pTcl,"ERROR: no port number found in",name,NULL);
@@ -622,7 +622,7 @@ typedef enum {vStart, eRegel, eHalted} eVeloMode;
       pDorn->iPort = iVal;
       
       /* channel number */
-      pPtr = Tcl_GetVar2(pTcl,name,"Channel",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Channel",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
         Tcl_AppendResult(pTcl,"ERROR: no channel number found in",name,NULL);
@@ -639,7 +639,7 @@ typedef enum {vStart, eRegel, eHalted} eVeloMode;
       pDorn->iChannel = iVal;
       
       /* time out. This one gets defaulted when not specified */
-      pPtr = Tcl_GetVar2(pTcl,name,"Timeout",TCL_GLOBAL_ONLY);
+      pPtr = (char *)Tcl_GetVar2(pTcl,name,"Timeout",TCL_GLOBAL_ONLY);
       if(!pPtr)
       {
          pDorn->iTimeOut = 1000;