diff --git a/GalilSup/Db/galil_Home_ForwLimit.dmc b/GalilSup/Db/galil_Home_ForwLimit.dmc
index c021834..1ebfc3f 100644
--- a/GalilSup/Db/galil_Home_ForwLimit.dmc
+++ b/GalilSup/Db/galil_Home_ForwLimit.dmc
@@ -1,45 +1,58 @@
 NO*****************AXIS ${AXIS}********************
+
 NO*******HOME - Forward Limit************
 #HOME${AXIS}
 IF ((home${AXIS}=1))
-    inhome${AXIS}=1
+	inhome${AXIS}=1
 	IF ((home${AXIS}=1) & (hjog${AXIS}=0))
-	    slimfl${AXIS}=_FL${AXIS};FL${AXIS}=2147483647
+		slimfl${AXIS}=_FL${AXIS};FL${AXIS}=2147483647
 		slimbl${AXIS}=_BL${AXIS};BL${AXIS}=-2147483648
 		hjog${AXIS}=1
 	ENDIF
 	IF ((_LR${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
-		home${AXIS}=0;MG "home${AXIS}", home${AXIS};ENDIF
+		home${AXIS}=0;MG "home${AXIS}", home${AXIS}
+	ENDIF
 	IF ((hjog${AXIS}=1) & (_BG${AXIS}=1) & (home${AXIS}=1))
-		ST${AXIS};ENDIF
+		ST${AXIS}
+	ENDIF
 	IF ((hjog${AXIS}=1) & (_BG${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
 		oldecel${AXIS}=_DC${AXIS};speed${AXIS}=_SP${AXIS};
 		DC${AXIS}=@ABS[hjgdc${AXIS}]
 		JG${AXIS}=@ABS[hjgsp${AXIS}]*-1
-		SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=2
+		IF (_MO${AXIS}=1);SH${AXIS};ENDIF
+		hjog${AXIS}=2
+	ENDIF
+	IF ((hjog${AXIS}=2) & (_MO${AXIS}=0) & (home${AXIS}=1))
+		BG${AXIS};hjog${AXIS}=3
 	ENDIF
 	IF ((hjog${AXIS}=1) & (_BG${AXIS}=0) & (_LF${AXIS}=1) & (home${AXIS}=1))
-		hjog${AXIS}=3
+		hjog${AXIS}=4
 	ENDIF
-	IF ((hjog${AXIS}=2) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
-		ST${AXIS}
-		hjog${AXIS}=3
+	IF ((hjog${AXIS}=3) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
+		ST${AXIS};hjog${AXIS}=4
 	ENDIF
-	IF ((hjog${AXIS}=3) & (_BG${AXIS}=0) & (_LF${AXIS}=1) & (home${AXIS}=1))
+	IF ((hjog${AXIS}=4) & (_BG${AXIS}=0) & (_LF${AXIS}=1) & (home${AXIS}=1))
 		DC${AXIS}=@ABS[hjgdc${AXIS}]
 		JG${AXIS}=@ABS[hjgsp${AXIS}]
-		SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=4
+		IF (_MO${AXIS}=1);SH${AXIS};ENDIF
+		hjog${AXIS}=5
+	ENDIF
+	IF ((hjog${AXIS}=5) & (_MO${AXIS}=0) & (home${AXIS}=1))
+		BG${AXIS};hjog${AXIS}=6
 	ENDIF
-	IF ((hjog${AXIS}=4) & (_BG${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
+	IF ((hjog${AXIS}=6) & (_BG${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
 		DC${AXIS}=@ABS[hjgdc${AXIS}]
 		JG${AXIS}=@ABS[hjgsp${AXIS}]/-10
-		SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=5
+		IF (_MO${AXIS}=1);SH${AXIS};ENDIF
+		hjog${AXIS}=7
 	ENDIF
-	IF ((hjog${AXIS}=5) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
-		ST${AXIS}
-		hjog${AXIS}=6
+	IF ((hjog${AXIS}=7) & (_MO${AXIS}=0) & (home${AXIS}=1))
+		BG${AXIS};hjog${AXIS}=8
+	ENDIF
+	IF ((hjog${AXIS}=8) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
+		ST${AXIS};hjog${AXIS}=9
 	ENDIF
-	IF ((hjog${AXIS}=6) & (_BG${AXIS}=0) & (home${AXIS}=1))
+	IF ((hjog${AXIS}=9) & (_BG${AXIS}=0) & (home${AXIS}=1))
 		hjog${AXIS}=0;home${AXIS}=0;homed${AXIS}=1
 		MG "home${AXIS}", home${AXIS};MG "homed${AXIS}", homed${AXIS}
 	ENDIF
@@ -47,7 +60,7 @@ ELSE
 	hjog${AXIS}=0
 ENDIF
 IF ((home${AXIS}=0) & (inhome${AXIS}=1))
-    FL${AXIS}=slimfl${AXIS}
+	FL${AXIS}=slimfl${AXIS}
 	BL${AXIS}=slimbl${AXIS}
 	inhome${AXIS}=0
 ENDIF
diff --git a/GalilSup/src/GalilAxis.cpp b/GalilSup/src/GalilAxis.cpp
index c4c93db..b1d421d 100644
--- a/GalilSup/src/GalilAxis.cpp
+++ b/GalilSup/src/GalilAxis.cpp
@@ -1999,6 +1999,8 @@ void GalilAxis::checkEncoder(void)
             double sc_code = getGalilAxisVal("_SC");
             // get axis moving state
             double bg_code = getGalilAxisVal("_BG");
+            // in case we are homing record hjog
+            int hjog_code = getGalilAxisVal("hjog");
             //Pass stall status to higher layers
             setIntegerParam(pC_->motorStatusSlip_, 1);
             //Set the stop reason so limit deceleration is applied during stop
@@ -2011,7 +2013,7 @@ void GalilAxis::checkEncoder(void)
             sprintf(message, "Encoder stall stop motor %c", axisName_);
             //Set controller error mesg monitor
             pC_->setCtrlError(message);
-            std::cerr << "STALL: pestall_time=" << pestall_time << " (>" << estall_time << ") encoderMove_=" << encoderMove_ << " encDirOk_=" << encDirOk_ << " _SC" << axisName_ << "=" << sc_code << " [" << lookupStopCode((int)sc_code) << "] _BG" << axisName_ << "=" << bg_code << std::endl;
+            std::cerr << "STALL: pestall_time=" << pestall_time << " (>" << estall_time << ") encoderMove_=" << encoderMove_ << " encDirOk_=" << encDirOk_ << " _SC" << axisName_ << "=" << sc_code << " [" << lookupStopCode((int)sc_code) << "] _BG" << axisName_ << "=" << bg_code << " hjog" << axisName_ << "=" << hjog_code  << std::endl;
             }
          }
       }