Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r023b561bbcfe0c8e93f375cfcb96f9b801d93ffd -rd27dcf1fbbc9651636f211028917a1c0702bb56a
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 023b561bbcfe0c8e93f375cfcb96f9b801d93ffd)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision d27dcf1fbbc9651636f211028917a1c0702bb56a)
@@ -104,6 +104,12 @@
 #define DOP_PWM_ZERO_OFFSET                     0.1             ///< 10% PWM duty cycle = zero speed.
 /// Macro converts a flow rate to an estimated PWM duty cycle %.
 #define DOP_PWM_FROM_ML_PER_MIN(rate)           ( (rate) * DOP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * DOP_GEAR_RATIO * DOP_MOTOR_RPM_TO_PWM_DC_FACTOR + DOP_PWM_ZERO_OFFSET )
+/// Conversion from PWM duty cycle % to commanded pump motor speed.
+#ifndef V2_0_SYSTEM
+    #define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm)      ( ((pwm) - DOP_PWM_ZERO_OFFSET) * 4000.0 )
+#else
+    #define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm)      ( ((pwm) - DOP_PWM_ZERO_OFFSET) * 3200.0 )
+#endif
 
 #define PUMP_DIR_ERROR_COUNT_MASK                0x3F           ///< Bit mask for pump direction error counter.
 
@@ -571,7 +577,7 @@
             resetPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, (F32)( (S32)lastGivenRate - getTargetDialInFlowRate() ) * UF_PWM_DC_PCT_PER_ML_PER_MIN );
         }
         dialOutPumpControlModeSet = dialOutPumpControlMode;
-        setDialOutPumpControlSignalPWM( dialOutPumpPWMDutyCyclePct );
+        setDialOutPumpControlSignalPWM( dialOutPumpPWMDutyCyclePctSet );
         dopControlTimerCounter = 0;
         result = DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE;
     }
@@ -646,7 +652,7 @@
  *************************************************************************/
 static void stopDialOutPump( void )
 {
-    dialOutPumpPWMDutyCyclePctSet = 0.0;
+    dialOutPumpPWMDutyCyclePctSet = DOP_PWM_ZERO_OFFSET;
     setDialOutPumpControlSignalPWM( 0 );
     SET_DOP_STOP();
     isDialOutPumpOn = FALSE;
@@ -858,9 +864,10 @@
 static void checkDialOutPumpSpeeds( void )
 {
     F32 measMotorSpeed = getMeasuredDialOutPumpSpeed();
+    F32 measMCMotorSpeed = fabs( getMeasuredDialOutPumpMCSpeed() );
 
     // Check for pump running while commanded off
-    if ( FALSE == isDialOutPumpOn )
+    if ( dialOutPumpPWMDutyCyclePctSet > DOP_PWM_ZERO_OFFSET )
     {
         if ( measMotorSpeed > DOP_MAX_MOTOR_SPEED_WHILE_OFF_RPM )
         {
@@ -884,19 +891,20 @@
 
     if ( DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE == dialOutPumpState )
     {
-        F32 controllerMotorSpeed = getMeasuredDialOutPumpMCSpeed();
-        F32 deltaMotorSpeed = fabs( measMotorSpeed - controllerMotorSpeed );
+        F32 cmdMotorSpeed = DOP_PWM_TO_MOTOR_SPEED_RPM( dialOutPumpPWMDutyCyclePctSet );
+        F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
+        F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = getMeasuredDialOutPumpRotorSpeed();
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DOP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
-        if ( deltaMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM )
+        if ( ( deltaMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) )
         {
             if ( ++errorDialOutMotorSpeedPersistTimerCtr >= DOP_MOTOR_SPEED_ERROR_PERSIST )
             {
 #ifndef DISABLE_PUMP_SPEED_CHECKS
-                SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DIAL_OUT_PUMP_MOTOR_SPEED_CHECK, controllerMotorSpeed, measMotorSpeed );
+                SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DIAL_OUT_PUMP_MOTOR_SPEED_CHECK, cmdMotorSpeed, measMotorSpeed );
 #endif
             }
         }