diff --git a/maurice.hal b/maurice.hal
index 3233e46f288b030e689ce59f60fca8655a39fe64..d5c010cee376bad820dbf890afc8df0c4b4fedc6 100644
--- a/maurice.hal
+++ b/maurice.hal
@@ -2,11 +2,17 @@ loadusr -W lcec_conf maurice.xml
 loadrt lcec
 loadrt trivkins
 loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+loadrt and2 count=2
+loadrt not count=2
 
 addf lcec.read-all servo-thread
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
 addf lcec.write-all servo-thread
+addf and2.0 servo-thread
+addf and2.1 servo-thread
+addf not.0 servo-thread
+addf not.1 servo-thread
 
 net ec_up lcec.state-op => iocontrol.0.emc-enable-in
 
@@ -15,11 +21,33 @@ setp lcec.0.0.drivecontrol-2 1
 setp lcec.0.1.drivecontrol-1 1
 setp lcec.0.1.drivecontrol-2 1
 
-net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-3 => lcec.0.0.drivecontrol-0
-net Yachse_AF joint.1.amp-enable-out => lcec.0.1.drivecontrol-3 => lcec.0.1.drivecontrol-0
+setp lcec.0.0.modecontrol-0 0
+setp lcec.0.0.modecontrol-4 0
+setp lcec.0.1.modecontrol-0 0
+setp lcec.0.1.modecontrol-4 0
+
 
+net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-3 => lcec.0.0.drivecontrol-0
 net Xachse_fb lcec.0.0.pos => joint.0.motor-pos-fb
 net Xachse_cmd joint.0.motor-pos-cmd => lcec.0.0.poscommand
+net Xaxis_fault lcec.0.0.drivestatus-3 => joint.0.amp-fault-in
+
+net Zachse_AF joint.2.amp-enable-out => lcec.0.1.drivecontrol-3 => lcec.0.1.drivecontrol-0
+net Zachse_fb lcec.0.1.pos => joint.2.motor-pos-fb
+net Zachse_cmd joint.2.motor-pos-cmd => lcec.0.1.poscommand
+net Zaxis_fault lcec.0.1.drivestatus-3 => joint.2.amp-fault-in
+
+net Xmodehome lcec.0.0.modestatus-3 <= and2.0.in0
+net Xstat4 lcec.0.0.drivestatus-12 <= and2.0.in1
+net Xhomed and2.0.out => joint.0.home-sw-in
+
+net Xhoming joint.0.homing => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2 => lcec.0.0.drivecontrol-4 => not.0.in
+net Xposition not.0.out => lcec.0.0.modecontrol-3
+
+net Zmodehome lcec.0.1.modestatus-3 <= and2.1.in0
+net Zstat4 lcec.0.1.drivestatus-12 <= and2.1.in1
+net Zhomed and2.1.out => joint.2.home-sw-in
+
+net Zhoming joint.2.homing => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2 => lcec.0.1.drivecontrol-4 => not.1.in
+net Zposition not.1.out => lcec.0.1.modecontrol-3
 
-net Yachse_fb lcec.0.1.pos => joint.1.motor-pos-fb
-net Yachse_cmd joint.1.motor-pos-cmd => lcec.0.1.poscommand
diff --git a/maurice.ini b/maurice.ini
index b306e7d2cbb5d807a89855350f679de32ef1da49..3d3a3b79998703715c6970f169b445d23df49cc8 100644
--- a/maurice.ini
+++ b/maurice.ini
@@ -63,7 +63,7 @@ TOOL_TABLE = tool.tbl
 [KINS]
 KINEMATICS = trivkins coordinates=XZ
 #This is a best-guess at the number of joints, it should be checked
-JOINTS = 2
+JOINTS = 3
 
 [AXIS_X]
 MIN_LIMIT = -200
@@ -84,13 +84,18 @@ MIN_LIMIT = -200
 MAX_LIMIT = 500
 HOME_DELAY = 5
 HOME_VEL = 1
-HOME_OFFSET =                    100.0
-HOME_SEARCH_VEL =                0.0
-HOME_LATCH_VEL =                 0.0
+HOME_OFFSET =                    0
+HOME_SEARCH_VEL =                0
+HOME_LATCH_VEL =                 0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             NO
 HOME_SEQUENCE = 0
 
+[JOINT_1]
+# JOINT_1: not used, home immediately:
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
 
 [AXIS_Z]
 MIN_LIMIT = -200
@@ -98,7 +103,7 @@ MAX_LIMIT = 200
 MAX_VELOCITY = 400.0
 MAX_ACCELERATION = 2000.0
 
-[JOINT_1]
+[JOINT_2]
 TYPE = LINEAR
 HOME = 0.0
 MAX_VELOCITY = 400.0
@@ -111,9 +116,9 @@ MIN_LIMIT = -200
 MAX_LIMIT = 200
 HOME_DELAY = 5
 HOME_VEL = 1
-HOME_OFFSET =                    150.0
-HOME_SEARCH_VEL =                0.0
-HOME_LATCH_VEL =                 0.0
+HOME_OFFSET =                    0
+HOME_SEARCH_VEL =                0
+HOME_LATCH_VEL =                 0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             NO
 HOME_SEQUENCE = 1