Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r33e855270275c6a5601ca0ee7fee39dcfb56eee5 -r95a792887b08b72bd99ec7ca8beda4e93ac2f7a8
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 33e855270275c6a5601ca0ee7fee39dcfb56eee5)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 95a792887b08b72bd99ec7ca8beda4e93ac2f7a8)
@@ -69,7 +69,7 @@
 #define SYRINGE_PUMP_RATE_ALARM_PERSISTENCE           3000                                  ///< Alarm persistence period (in ms) for syringe pump speed check alarms.
 #define SYRINGE_PUMP_DIR_ALARM_PERSISTENCE            3000                                  ///< Alarm persistence period (in ms) for syringe pump direction check alarms.
 #define SYRINGE_PUMP_OFF_ALARM_PERSISTENCE            1000                                  ///< Alarm persistence period (in ms) for syringe pump off check alarms.
-#define SYRINGE_PUMP_OFF_ERROR_MAX_CNT                10                                    ///< Maximum number of syringe pump not stopped errors within time window before alarm triggered. Do not exceed MAX_TIME_WINDOWED_COUNT.
+#define SYRINGE_PUMP_OFF_ERROR_MAX_CNT                5                                     ///< Maximum number of syringe pump not stopped errors within time window before alarm triggered. Do not exceed MAX_TIME_WINDOWED_COUNT.
 #define SYRINGE_PUMP_OFF_ERROR_TIME_WIN_MS            ( 1 * MS_PER_SECOND )                 ///< Time window for Syringe Pump not stopped error.
 #define SYRINGE_PUMP_PRIMING_TIMEOUT_MS               ( 5 * MS_PER_SECOND )                 ///< Timeout for syringe pump prime operation.
 
@@ -156,6 +156,8 @@
 
 /// Interval (ms/task time) at which the syringe pump speed is calculated (every 40 ms).
 #define SYRINGE_PUMP_SPEED_CALC_INTERVAL              ( 40 / TASK_PRIORITY_INTERVAL )
+/// Interval (ms/task time) at which the syringe pump position is checked when pump off state (every 50 ms).
+#define SYRINGE_PUMP_STOP_POSITION_CHECK_INTERVAL     ( 50 / TASK_PRIORITY_INTERVAL )
 /// Number of syringe pump encoder positions kept in buffer to hold last 1 second of position data.
 #define SYRINGE_PUMP_SPEED_CALC_BUFFER_LEN            ( MS_PER_SECOND / SYRINGE_PUMP_SPEED_CALC_INTERVAL / TASK_PRIORITY_INTERVAL )
 
@@ -164,10 +166,12 @@
 #define SYRINGE_PUMP_STALL_SPEED_THRESHOLD            0.05F                                 ///< Minimum syringe pump speed to be considered not stalled.
 
 #define SYRINGE_PUMP_ADC_FPGA_ERROR_TIMEOUT_MS        ( 2 * MS_PER_SECOND )                 ///< Syringe pump ADC FPGA error timeout in milliseconds.
+
 #define SYRINGE_PUMP_DAC_MAX_RETRIES                  5                                     ///< Syringe pump DAC retries to write.
 #define SYRINGE_PUMP_DAC_TIMER                        ( 200 / TASK_PRIORITY_INTERVAL )      ///< Syringe pump DAC timer between retries.
 #define SYRINGE_PUMP_OCCLUSION_PERSISTENCE            50                                    ///< Syringe pump occlusion persistence timer in milliseconds.
 #define SYRINGE_PUMP_EMPTY_FORCE_COUNT                5                                     ///< Syringe pump empty force voltage count persistence.
+
 /// Defined states for the syringe pump control state machine.
 typedef enum SyringePump_States
 {
@@ -217,9 +221,11 @@
 static S32 syringePumpVolumeStartPosition;                                      ///< Start position for the current volume calculation.
 static S32 syringePumpHomePositionOffset;                                       ///< FPGA reported position when at home postion.
 static S32 syringePumpLastPosition;                                             ///< Position previously recorded.
+static S32 syringePumpStopLastPosition;                                         ///< Syringe pump stop position previously recorded.
 static S32 syringePumpLastPositions[ SYRINGE_PUMP_SPEED_CALC_BUFFER_LEN ];      ///< Last encoder positions for the syringe pump.
 static U32 syringePumpMotorSpeedCalcIdx;                                        ///< Index into 1 second buffer of syringe pump encoder positions.
 static U32 syringePumpSpeedCalcTimerCounter;                                    ///< Used to calculate measured rate from change in position over time.
+static U32 syringePumpStopPositionTimerCounter;                                 ///< Used to check change in encoder position when pump stopped.
 static MOTOR_DIR_T syringePumpControllerMeasuredDirection;                      ///< Measured direction of syringe pump per controller.
 static MOTOR_DIR_T syringePumpEncoderMeasuredDirection;                         ///< Measured direction of syringe pump per encoder position relative to previous.
 static F32 syringePumpVolumeRequired;                                           ///< Volume required for complete therapy (in mL).
@@ -310,12 +316,14 @@
     syringePumpVolumeStartPosition = 0;
     syringePumpHomePositionOffset = 0;
     syringePumpLastPosition = 0;
+    syringePumpStopLastPosition = 0;
     syringePumpVolumeRequired = 0.0;
     syringePumpControllerMeasuredDirection = MOTOR_DIR_FORWARD;
     syringePumpEncoderMeasuredDirection = MOTOR_DIR_FORWARD;
     syringePumpDataPublicationTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT;
     syringePumpSpeedCalcTimerCounter = 0;
     syringePumpRampTimerCtr = 0;
+    syringePumpStopPositionTimerCounter = 0;
     syringePumpSafetyVolumeDelivered = 0.0;
     syringePumpStateStartTime = getMSTimerCount();
 
@@ -343,6 +351,7 @@
     initPersistentAlarm( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, 0, SYRINGE_PUMP_DIR_ALARM_PERSISTENCE );
     initPersistentAlarm( ALARM_ID_HD_SYRINGE_PUMP_RUNNING_WHILE_BP_OFF_ERROR, 0, SYRINGE_PUMP_OFF_ALARM_PERSISTENCE );
     initPersistentAlarm( ALARM_ID_HD_SYRINGE_PUMP_SPEED_ERROR, 0, SYRINGE_PUMP_RATE_ALARM_PERSISTENCE );
+    initPersistentAlarm( ALARM_ID_HD_SYRINGE_PUMP_OCCLUSION, 0, SYRINGE_PUMP_OCCLUSION_PERSISTENCE);
     initTimeWindowedCount( TIME_WINDOWED_COUNT_SYRINGE_PUMP_OFF_ERROR, SYRINGE_PUMP_OFF_ERROR_MAX_CNT, SYRINGE_PUMP_OFF_ERROR_TIME_WIN_MS );
 
     initFPGAPersistentAlarm( FPGA_PERS_ERROR_SYRINGE_PUMP_ADC, ALARM_ID_HD_SYRINGE_PUMP_FPGA_ADC_FAULT,
@@ -1304,17 +1313,25 @@
 {
     SYRINGE_PUMP_STATE_T result = SYRINGE_PUMP_OFF_STATE;
 
-    // Check position is not changing while stopped
-    if ( ( syringePumpLastPosition != getSyringePumpPosition() ) && ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_SYRINGE_PUMP_OFF_ERROR ) ) )
+    // Check the encoder position every 50ms interval after pump off state transition.
+    if ( ++syringePumpStopPositionTimerCounter >= SYRINGE_PUMP_STOP_POSITION_CHECK_INTERVAL )
     {
-#ifndef _RELEASE_
-        if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
-#endif
+        // Check position is not changing while stopped
+        if ( ( syringePumpStopLastPosition != getSyringePumpPosition() ) && ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_SYRINGE_PUMP_OFF_ERROR ) ) )
         {
-            activateAlarmNoData( ALARM_ID_HD_SYRINGE_PUMP_NOT_STOPPED_ERROR );
-            activateSafetyShutdown();
+    #ifndef _RELEASE_
+            if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
+    #endif
+            {
+                activateAlarmNoData( ALARM_ID_HD_SYRINGE_PUMP_NOT_STOPPED_ERROR );
+                activateSafetyShutdown();
+            }
         }
+        // last pump stop position value
+        syringePumpStopLastPosition = getSyringePumpPosition();
+        syringePumpStopPositionTimerCounter = 0;
     }
+
     // Reset persistence for direction alarms while pump is off
     isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, FALSE );
     isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, FALSE );