diff --git a/src/ecmcSafetyGroup.cpp b/src/ecmcSafetyGroup.cpp
index 89acd21..d3a12a8 100644
--- a/src/ecmcSafetyGroup.cpp
+++ b/src/ecmcSafetyGroup.cpp
@@ -80,26 +80,28 @@ ecmcSafetyGroup::ecmcSafetyGroup(const char *name,
   rampDownCmd_          = 0;
   axesAreStandstill_    = 0;
   rampDownCmdOld_       = 0;
-  
+  axesAreStandstillOld_ = 0;
+  printEnableStatus_    = 1;
+
   // Config defaults
   cfgDbgMode_           = 0;
   parseConfigStr(cfg_string);
   initAsyn();
   if(cfgDbgMode_) {
-    printf("Safety: Safety group created:\n"
+    printf("Safety %s: Safety group created:\n"
            "    Name:                                      %s\n"
            "    I/O for rampdown command from saftey PLC:  %s\n" 
            "    I/O for axes standstill status:            %s\n"
            "    STO delay [ms]:                            %d\n"
            "    Configuration string:                      %s\n",           
-           sName_,sEcRampDownCmdNameOrg_,sEcAxesStandStillStatOrg_,
-           delayMs_,sConfig_);
+           sName_,sName_,sEcRampDownCmdNameOrg_,
+           sEcAxesStandStillStatOrg_,delayMs_,sConfig_);
   }
 }
 
 ecmcSafetyGroup::~ecmcSafetyGroup() {
   if(cfgDbgMode_) {
-    printf("Safety: Cleanup\n");
+    printf("Safety %s: Cleanup\n",sName_);
   }
 
   free(sName_);
@@ -178,24 +180,26 @@ void ecmcSafetyGroup::validateCfgs() {
   }
 
   if(cfgDbgMode_) {
-    printf("Safety: I/O link parsed:\n" 
+    printf("Safety %s: I/O link parsed:\n" 
            "    name:     %s\n"
            "    masterid: %d\n"
            "    slaveid:  %d\n"
            "    alias:    %s\n"
            "    bit:      %d\n",
+           sName_,
            sEcRampDownCmdNameOrg_,
            masterIdRampDown,
            slaveIdRampDown_,
            aliasRampDown_,
            bitRampDown_);
 
-    printf("Safety: I/O link parsed:\n" 
+    printf("Safety %s: I/O link parsed:\n" 
            "    name:     %s\n"
            "    masterid: %d\n"
            "    slaveid:  %d\n"
            "    alias:    %s\n"
            "    bit:      %d\n",
+           sName_,
            sEcAxesStandStillStatOrg_,
            masterIdStandStill,
            slaveIdStandStill_,
@@ -217,9 +221,10 @@ void ecmcSafetyGroup::stripBits() {
   }
 
   if(cfgDbgMode_) {
-    printf("Safety: I/O bit removed:\n" 
+    printf("Safety %s: I/O bit removed:\n" 
            "    before:     %s\n"
            "    after:      %s\n",
+           sName_,
            sEcRampDownCmdNameOrg_,
            sEcRampDownCmdNameStrip_);
   }
@@ -233,9 +238,10 @@ void ecmcSafetyGroup::stripBits() {
   }
   
   if(cfgDbgMode_) {
-    printf("Safety: I/O bit removed:\n" 
+    printf("Safety %s: I/O bit removed:\n" 
            "    before:     %s\n"
            "    after:      %s\n",
+           sName_,
            sEcAxesStandStillStatOrg_,
            sEcAxesStandStillStatStrip_);
   }
@@ -333,7 +339,7 @@ void ecmcSafetyGroup::execute() {
   if(ecEntryRampDown_->readBit(bitRampDown_,
                                &data)) {
     // Disable all axes
-    setAxesEnable(0);           // disable
+    setAxesDisable();           // disable
     setAxesSafetyInterlocks(0); // stop
     setAxesStandstillStatus(0); // set output
     throw std::out_of_range("Safety: Read rampdown cmd failed");
@@ -342,7 +348,11 @@ void ecmcSafetyGroup::execute() {
   rampDownCmd_ = data == 0;
   
   if(cfgDbgMode_ && rampDownCmdOld_ != rampDownCmd_) {
-    printf("Safety: Ramp down cmd changed state %d\n",rampDownCmd_);
+    if(rampDownCmd_) {
+      printf("Safety %s: Ramp down cmd active\n",sName_);
+    } else {
+      printf("Safety %s: Ramp down cmd not active\n",sName_);
+    }
   }
 
   // set safety interlock in ecmc
@@ -350,6 +360,14 @@ void ecmcSafetyGroup::execute() {
   // check if axes are standstill to safety PLC
   axesAreStandstill_ = checkAxesStandstill();
   setAxesStandstillStatus(axesAreStandstill_);
+  // Disable
+  if(axesAreStandstill_ && rampDownCmd_) {    
+    setAxesDisable();
+  } else {
+    printEnableStatus_ = true;
+  }
+
+
 /*
   //Needed functions in motion.h
   int getAxisBusy(int  axisIndex,
@@ -367,10 +385,19 @@ void ecmcSafetyGroup::execute() {
 
 void ecmcSafetyGroup::setAxesStandstillStatus(int standstill) {
 
+  if(axesAreStandstillOld_ != standstill) {
+    if(standstill) {
+      printf("Safety %s: Axes are not moving\n",sName_);
+    } else {
+      printf("Safety %s: Axes are moving\n",sName_);
+    }
+  }
+
   if(ecEntryStandstill_->writeBit(bitStandStill_,
                                   standstill > 0)) {
     throw std::out_of_range("Safety: Read rampdown cmd failed");
   }
+  axesAreStandstillOld_ = standstill;
 }
 
 // Check standstill axes
@@ -393,13 +420,18 @@ bool ecmcSafetyGroup::checkAxisStandstill(int axisId, double veloLimit) {
 }
 
 // Set safety interlock
-void ecmcSafetyGroup::setAxesEnable(int enable) {
+void ecmcSafetyGroup::setAxesDisable() {
   for(std::vector<safetyAxis*>::iterator saxis = axes_.begin(); saxis != axes_.end(); ++saxis) {
     if(!*saxis) {
-      throw std::runtime_error( "Safety: Axis object NULL.");
+      throw std::runtime_error("Safety: Axis object NULL.");
     }
-    setAxisEnable((*saxis)->axisIndex_,enable);    
+    setAxisEnable((*saxis)->axisIndex_,0);    
   }
+
+  if(printEnableStatus_ && cfgDbgMode_) {
+    printf("Safety %s: Axes are beeing disabled\n",sName_);
+  }
+  printEnableStatus_ = 0;
 }
 
 // Set safety interlock
@@ -432,7 +464,7 @@ void ecmcSafetyGroup::addAxis(int axisId, double veloLimit,int standStillTimeMs)
   axesCounter_++;
   
   if(cfgDbgMode_) {
-    printf("Safety: Added axis %d to safety group \"%s\"\n",axisId,sName_);
+    printf("Safety %s: Added axis %d to safety group\n",sName_,axisId);
   }
 
   return;
diff --git a/src/ecmcSafetyGroup.h b/src/ecmcSafetyGroup.h
index 43ee546..c51bc59 100644
--- a/src/ecmcSafetyGroup.h
+++ b/src/ecmcSafetyGroup.h
@@ -65,7 +65,7 @@ class ecmcSafetyGroup : public asynPortDriver {
   void                  stripBits();
   void                  connectToDataSources();
   void                  setAxesSafetyInterlocks(int stop);
-  void                  setAxesEnable(int enable);
+  void                  setAxesDisable();
   void                  setAxesStandstillStatus(int standstill);
   bool                  checkAxesStandstill();
   bool                  checkAxisStandstill(int axisId, double veloLimit);
@@ -101,7 +101,9 @@ class ecmcSafetyGroup : public asynPortDriver {
   int                   slaveIdStandStill_;
   int                   bitStandStill_;
   int                   axesAreStandstill_;
-  
+  int                   axesAreStandstillOld_;
+  int                   printEnableStatus_;
+
   char                  aliasRampDown_[EC_MAX_OBJECT_PATH_CHAR_LENGTH];
   char                  aliasStandStill_[EC_MAX_OBJECT_PATH_CHAR_LENGTH];