Index: firmware/App/Services/StateServices/TubeSetInstall.c
===================================================================
diff -u -r05e43e76b6ea947bf51326c43aae77582ad70943 -r5fb66a19c7ed117e6da6f6b28e85ec76abefd4be
--- firmware/App/Services/StateServices/TubeSetInstall.c	(.../TubeSetInstall.c)	(revision 05e43e76b6ea947bf51326c43aae77582ad70943)
+++ firmware/App/Services/StateServices/TubeSetInstall.c	(.../TubeSetInstall.c)	(revision 5fb66a19c7ed117e6da6f6b28e85ec76abefd4be)
@@ -36,17 +36,15 @@
 ///< BP timeout interval (ms/task time)
 #define BLOOD_PUMP_TIMEOUT_INTERVAL            ( ( 10 * MS_PER_SECOND ) / TASK_GENERAL_INTERVAL )
 
-//< Blood pump flow rate (mL/min) for Auto-Load operation
-#define AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN      100U
+///< Blood pump flow rate (mL/min) for Auto-Load operation
+#define AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN       100U
 
-/// Blood pump torque threshold (mN.m) above which a tube-set jam is declared
-#define BP_TORQUE_LIMIT_MNM                   9999.0F    // TODO: Replace with lab characterized value
-
 // ********** private data **********
 
 static BOOL confirmTubesetPlaced;                                             ///< Flag indicating user has confirmed tubeset is placed
 static U32  bloodPumpTimerCounter;                                            ///< Blood Pump timer counter
 static BOOL bpLastHome;                                                       ///< Flag for Blood Pump last home (for rising-edge)
+static U32  bpLeftHomeTimerCounter;                                           ///< Timer Counter to measure how long BP has been away from home
 
 static TUBE_SET_INSTALL_STATE_T currentInstallState;                          ///< Current Tubing Set Install sub-state
 
@@ -68,10 +66,11 @@
 **************************************************************************/
 void initTubeSetInstall( void )
 {
-    currentInstallState   = TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION;
-    confirmTubesetPlaced  = FALSE;
-    bloodPumpTimerCounter = 0;
-    bpLastHome            = TRUE;
+    currentInstallState    = TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION;
+    confirmTubesetPlaced   = FALSE;
+    bloodPumpTimerCounter  = 0;
+    bpLastHome             = TRUE;
+    bpLeftHomeTimerCounter = 0;
 }
 
 /*********************************************************************//**
@@ -181,26 +180,34 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BP_TIMEOUT, isPeristalticPumpHome(), bloodPumpTimerCounter );
     }
     // Torque jam check. If measured torque exceeds the limit, the tubing set is likely jammed in the rotor.
-    else if ( bpTorque > BP_TORQUE_LIMIT_MNM )
+    else if ( ( ( FALSE == bpLastHome ) && ( ++bpLeftHomeTimerCounter >= BLOOD_PUMP_TIMEOUT_INTERVAL ) ) ||
+              ( bpTorque > AUTO_LOAD_EJECT_BP_TORQUE_LIMIT ) )
     {
         signalBloodPumpHardStop();
         SET_ALARM_WITH_1_F32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_HIGH_BP_TORQUE, bpTorque );
         setBloodPumpTargetFlowRate( AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN, MOTOR_DIR_REVERSE, PUMP_CONTROL_MODE_OPEN_LOOP );
-        bloodPumpTimerCounter = 0;
-        state                 = TUBE_SET_INSTALL_STATE_AUTO_LOAD_BACK_OFF;
+        bloodPumpTimerCounter  = 0;
+        bpLeftHomeTimerCounter = 0;
+        state                  = TUBE_SET_INSTALL_STATE_AUTO_LOAD_BACK_OFF;
     }
     // BP home position check (rising edge: motor must leave home and return)
     else if ( ( TRUE == bpCurrentHome ) && ( FALSE == bpLastHome ) )
     {
         signalBloodPumpHardStop();
-        bloodPumpTimerCounter = 0;
-        state                 = TUBE_SET_INSTALL_STATE_COMPLETE;
+        bloodPumpTimerCounter  = 0;
+        bpLeftHomeTimerCounter = 0;
+        state                  = TUBE_SET_INSTALL_STATE_COMPLETE;
     }
     else
     {
         // No action required
     }
 
+    if ( TRUE == bpCurrentHome )
+    {
+        bpLeftHomeTimerCounter = 0;
+    }
+
     bpLastHome = bpCurrentHome;
 
     return state;