Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r39c791d03f363ce2c684597080fc8c2f5515976f -rfc81a8aec8b013e2f8f6ee9022de0490d6428a4a
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 39c791d03f363ce2c684597080fc8c2f5515976f)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision fc81a8aec8b013e2f8f6ee9022de0490d6428a4a)
@@ -90,8 +90,9 @@
 #define TEN_PCT_OVER_ALLOWANCE                        1.1                                   ///< Allow 10 percent over target before alarming on over travel.
 #define FIVE_PCT_OVER_ALLOWANCE                       1.05                                  ///< Allow 5 percent over target before alarming on over travel.
 
-/// Expected position of empty in relation to home postion.
-#define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 10.84 )
+/// Expected position of empty in relation to home position.
+#define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 10.84 )  ///< get syringe volume from home to empty (11 mL is placeholder)
+
 /// Margin of error for empty position determination.
 #define SYRINGE_PUMP_EMPTY_POS_MARGIN                 ( SYRINGE_ENCODER_COUNTS_PER_ML * 0.5 )
 /// Minimum retract position.
@@ -1164,6 +1165,9 @@
 {
     SYRINGE_PUMP_STATE_T result = SYRINGE_PUMP_OFF_STATE;
 
+    isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, FALSE );       // reset direction alarm persistence when pump is off
+    isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, FALSE );    // reset direction alarm persistence when pump is off
+
 #ifndef DISABLE_SYRINGE_PUMP_ALARMS
     // Check position is not changing while stopped
     if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_NOT_STOPPED_ERROR, ( syringePumpLastPosition != getSyringePumpPosition() ) ) )