--- motor-R6-8-RC1_1-2/motorApp/ImsSrc/ImsMDrivePlusMotorAxis.cpp	2013-07-08 06:54:20.000000002 -0700
+++ motorR6-8/motorApp/ImsSrc/ImsMDrivePlusMotorAxis.cpp	2014-12-15 16:24:01.000000002 -0800
@@ -17,11 +17,11 @@
 #include <string.h>
 #include <exception>
 #include <epicsThread.h>
-#include <epicsExport.h>
 #include <iocsh.h>
 #include <asynOctetSyncIO.h>
 
 #include "ImsMDrivePlusMotorController.h"
+#include <epicsExport.h>
 
 ////////////////////////////////////////////////////////
 //! ImsMDrivePlusMotorAxis()
@@ -132,7 +132,7 @@
 
 	// set accceleration
 	if (acceleration != 0) {
-		sprintf(cmd, "A=%ld", (long)maxVelocity);
+		sprintf(cmd, "A=%ld", (long)acceleration);
 		status = pController->writeController(cmd, IMS_TIMEOUT);
 		if (status) goto bail;
 	}
@@ -311,15 +311,7 @@
 		direction = 3;
 	}
 	asynPrint(pController->pasynUserSelf, ASYN_TRACEIO_DRIVER, "%s:%s: VBASE=%f, VELO=%f, ACCL=%f, forwards=%d\n", DRIVER_NAME, functionName, minVelocity, maxVelocity, acceleration, forwards);
-
-	// home to home switch or home to index
-	if (pController->homeSwIn == HOME_TO_INDEX)
-		sprintf(cmd, "HI %d", direction);
-	else
-		sprintf(cmd, "HM %d", direction);
-// Debug line
-//printf("\n\nDebug output: writing command\t%s\t to output\n\n", cmd);
-
+	sprintf(cmd, "HM %d", direction);
 	status  = pController->writeController(cmd, IMS_TIMEOUT);
 	if (status) goto bail;
 
@@ -585,7 +577,7 @@
 	case 82: strcpy(errCodeString, "Went to both limits and did not find home"); break;
 	case 83: strcpy(errCodeString, "Reached plus limit switch"); break;
 	case 84: strcpy(errCodeString, "Reached minus limit switch"); break;
-	case 85: strcpy(errCodeString, "MA or MR isn't allowed during home and home isn't allowed while device is in motion"); break;
+	case 85: strcpy(errCodeString, "MA or MR isn't allowed during home and home isn't allowed while moving"); break;
 	case 86: strcpy(errCodeString, "Stall detected"); break;
 	case 87: strcpy(errCodeString, "In clock mode"); break;
 	case 88: strcpy(errCodeString, "Following error"); break;