diff --git a/iocsh/digital.png b/iocsh/digital.png
new file mode 100644
index 0000000..f4e1832
Binary files /dev/null and b/iocsh/digital.png differ
diff --git a/iocsh/velo.png b/iocsh/velo.png
new file mode 100644
index 0000000..ac8c85f
Binary files /dev/null and b/iocsh/velo.png differ
diff --git a/src/ecmcSS1SafetyGroup.cpp b/src/ecmcSS1SafetyGroup.cpp
index 08d5ecf..ef0f24a 100644
--- a/src/ecmcSS1SafetyGroup.cpp
+++ b/src/ecmcSS1SafetyGroup.cpp
@@ -403,12 +403,20 @@ bool ecmcSS1SafetyGroup::checkAxesStandstill() {
 
 // Check standstill axis
 bool ecmcSS1SafetyGroup::checkAxisStandstill(safetyAxis* axis) {
-  double velo = 1;
-  int err = getAxisTrajVelo(axis->axisId_, &velo);
+  double traj = 1;
+
+  int err = getAxisTrajVelo(axis->axisId_, &traj);
   if(err) {
     return 0;
   }
-  return std::abs(velo) <= axis->veloLimit_;
+
+  double enc = 1;
+  err = getAxisEncVelo(axis->axisId_, &enc);
+  if(err) {
+    return 0;
+  }
+
+  return std::abs(traj) <= axis->veloLimit_ && std::abs(enc) <= axis->veloLimit_;
 }
 
 // Check standstill and disable
@@ -469,7 +477,8 @@ void ecmcSS1SafetyGroup::addAxis(int axisId, double veloLimit,int standStillTime
   
   
   if(cfgDbgMode_) {
-    printf("Safety %s: Added axis %d to safety group\n",sName_,axisId);
+    printf("Safety %s: Added axis %d to safety group (velo limit = %lf, standstill filter : %d)\n"
+    ,sName_,axisId,veloLimit,standStillTimeMs);
   }
 
   return;