diff --git a/maurice_gmoccapy.py b/maurice_gmoccapy.py
index e65290b5e86d2d84d328ab77b87b10e729e910d4..92a9ef99b887dfbd676c8bc0d70d65fa675d0b51 100755
--- a/maurice_gmoccapy.py
+++ b/maurice_gmoccapy.py
@@ -3587,6 +3587,7 @@ class gmoccapy(object):
         #self.command.home(-1)
         # Maurice homing
         self.halcomp["joint.all.home"] = 1
+        sleep(0.5)
         self.halcomp["joint.all.home"] = 0
 
     def _on_btn_unhome_clicked(self, widget):
@@ -3614,11 +3615,12 @@ class gmoccapy(object):
         self._set_motion_mode(0)
         #self.command.home(joint_or_axis)
         # Maurice homing
-        if joint_axis == -1:
+        if joint_or_axis == -1:
             home_pin = "joint.all.home"
         else:
-            home_pin = "joint.%d.home" % (joint_axis)
+            home_pin = "joint.%d.home" % (joint_or_axis)
         self.halcomp[home_pin] = 1
+        sleep(0.5)
         self.halcomp[home_pin] = 0
         
     def _unhome_signal(self, object, joint):
@@ -5219,3 +5221,4 @@ if __name__ == "__main__":
 
     gtk.main()
 
+