diff --git a/amorset.c b/amorset.c
index 46af797..401cf22 100644
--- a/amorset.c
+++ b/amorset.c
@@ -380,6 +380,8 @@ static int amorSetSave(void *data, char *name,FILE *fd){
     fprintf(fd,"%s dspar %f\n", name, self->dspar);
     fprintf(fd,"%s detectoroffset %f\n", name, self->detectoroffset);
     fprintf(fd,"%s verbose %d\n", name, self->verbose);
+    fprintf(fd,"%s targets %f %f %f\n", name, self->targetath, self->targetm2t,
+        self->targets2t);
     saveAmorComp(fd,name,"chopper",&self->chopper);
     saveAmorComp(fd,name,"mono",&self->M);
 	saveAmorComp(fd,name,"ds",&self->DS);
@@ -619,6 +621,22 @@ int AmorSetAction(SConnection *pCon, SicsInterp *pSics, void *pData,
     		SCWrite(pCon,pBueffel,eValue);
     		return 1;
     	}
+    }else if(strcmp(argv[1],"targets") == 0){
+        if(argc >= 5){
+            if(!SCMatchRights(pCon,usMugger)){
+                return 0;
+            }
+            self->targetath = atof(argv[2]);
+            self->targetm2t = atof(argv[3]);
+            self->targets2t = atof(argv[4]);
+            SCSendOK(pCon);
+            return 1;
+        } else {
+            snprintf(pBueffel,131,"%s targets = %f %f %F", argv[0],
+                 self->targetath, self->targetm2t, self->targets2t);
+            SCWrite(pCon,pBueffel,eValue);
+            return 1;
+        }
     }else if(strcmp(argv[1],"verbose") == 0){
         if(argc > 2){
             if(!SCMatchRights(pCon,usMugger)){
diff --git a/julcho.c b/julcho.c
index f8086b6..d9999ef 100644
--- a/julcho.c
+++ b/julcho.c
@@ -643,7 +643,7 @@ static int ConfigureSingleJulCho(pHdb parent, pJulCho driv,
         return 0;
     }
     AppendHipadabaCallback(child,HCBSET,pCb); 
-    AddHipadabaChild(parent,child);
+    AddHipadabaChild(parent,child,NULL);
     
     child = MakeHipadabaNode("gatewidth",HIPFLOAT,0);
     if(child == NULL){
@@ -659,7 +659,7 @@ static int ConfigureSingleJulCho(pHdb parent, pJulCho driv,
         return 0;
     }
     AppendHipadabaCallback(child,HCBSET,pCb); 
-    AddHipadabaChild(parent,child);
+    AddHipadabaChild(parent,child,NULL);
     
     if(!AppendJulChoROPar(parent,"nomspeed",HIPINT)){
         return 0;
@@ -769,7 +769,7 @@ static int InitJulChoPar(pJulCho driv){
     if(!ConfigureSingleJulCho(child,driv,"","::::")){
         return 0;
     }
-    AddHipadabaChild(driv->parNode,child);
+    AddHipadabaChild(driv->parNode,child,NULL);
 
     child = MakeHipadabaNode(CH2N,HIPNONE,0); 
     if(child == NULL){
@@ -797,7 +797,7 @@ static int InitJulChoPar(pJulCho driv){
         return 0;
     }
     AppendHipadabaCallback(parChild,HCBSET,pCb); 
-    AddHipadabaChild(driv->parNode,child);
+    AddHipadabaChild(driv->parNode,child,NULL);
     
     child = MakeHipadabaNode(CH3N,HIPNONE,0); 
     if(child == NULL){
@@ -806,7 +806,7 @@ static int InitJulChoPar(pJulCho driv){
     if(!ConfigureSingleJulCho(child,driv,"::","::")){
         return 0;
     }
-    AddHipadabaChild(driv->parNode,child);
+    AddHipadabaChild(driv->parNode,child,NULL);
 
     child = MakeHipadabaNode(CH4N,HIPNONE,0); 
     if(child == NULL){
@@ -815,7 +815,7 @@ static int InitJulChoPar(pJulCho driv){
     if(!ConfigureSingleJulCho(child,driv,":::",":")){
         return 0;
     }
-    AddHipadabaChild(driv->parNode,child);
+    AddHipadabaChild(driv->parNode,child,NULL);
 
     child = MakeHipadabaNode(CH5N,HIPNONE,0); 
     if(child == NULL){
@@ -824,7 +824,7 @@ static int InitJulChoPar(pJulCho driv){
     if(!ConfigureSingleJulCho(child,driv,"::::","")){
         return 0;
     }
-    AddHipadabaChild(driv->parNode,child);
+    AddHipadabaChild(driv->parNode,child,NULL);
     
     return 1;            
 }
diff --git a/libpsi.a b/libpsi.a
index 981de56..c68f0bc 100644
Binary files a/libpsi.a and b/libpsi.a differ
diff --git a/pimotor.c b/pimotor.c
index bdb07e5..7cd2767 100644
--- a/pimotor.c
+++ b/pimotor.c
@@ -416,7 +416,7 @@
         KillC804(pNew);
         return NULL;    
      }                  
-     SerialConfig(&pNew->pSerial,5000);
+     SerialConfig(&pNew->pSerial,50000);
 
      /* switch on, just to make sure */
      iTmo = SerialGetTmo(&pNew->pSerial);
diff --git a/tabledrive.c b/tabledrive.c
index 90d53f0..9dcb992 100644
--- a/tabledrive.c
+++ b/tabledrive.c
@@ -86,10 +86,16 @@ static long TableDriveSetValue(void *pData, SConnection *pCon, float fVal){
 static int findOrientingMotor(pTableDrive self, ptdMotor moti){
 	int status;
 	
+    if(!self->oriInvalid){
+        *moti = self->oriMotor;
+        return 1;
+    }
 	status = LLDnodePtr2First(self->motorTable);
 	while(status != 0){
 		LLDnodeDataTo(self->motorTable,moti);
 		if(strcmp(moti->motorName,self->orientMotor) == 0){
+            self->oriMotor = *moti;
+            self->oriInvalid = 0;
 			return 1;
 		}
 		status = LLDnodePtr2Next(self->motorTable);
@@ -227,7 +233,8 @@ static float TableDriveGetValue(void *pData, SConnection *pCon){
 	}
 	value = locatePosition(orient,pCon);
 	checkSync(self,pCon, value);
-	self->currentPosition = value;
+
+    self->currentPosition = value;
 	return value;
 }
 /*-------------------------------------------------------------------------*/
@@ -612,7 +619,8 @@ int TableDriveFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
 	pNew->state              = OUTOFSYNC;
 	pNew->tableLength        = 0;
 	pNew->targetPosition     = 0;
-	
+	pNew->oriInvalid = 1;
+    
 	if(!loadTable(pNew,argv[2],pCon)){
 		killTableDrive(pNew);
 		return 0;
@@ -684,6 +692,7 @@ int TableDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
     				return 0;
     			}
 	    		strncpy(self->orientMotor,argv[2],80);
+                self->oriInvalid = 1;
 	    		SCSendOK(pCon);
 	    		return 1;
     		} else {
diff --git a/tabledrive.h b/tabledrive.h
index 6cc7f98..5067c89 100644
--- a/tabledrive.h
+++ b/tabledrive.h
@@ -37,6 +37,8 @@ typedef struct{
         int state;
         char orientMotor[80];
         int debug;
+        tdMotor oriMotor;
+        int oriInvalid;
         }TableDrive, *pTableDrive;
 
 /*-------------------------------------------------------------------------*/