diff -r 1f2c3fdd70d0 -r f62eb0b2e57c etherlab/plc_cia402node.c
--- a/etherlab/plc_cia402node.c	Sat Apr 13 02:14:37 2013 +0200
+++ b/etherlab/plc_cia402node.c	Sat Apr 13 12:27:49 2013 +0200
@@ -153,12 +153,7 @@
 	}
 
 	// Default variables publish
-	if (__CIA402Node_%(location)s.axis->CSP && *(__CIA402Node_%(location)s.ModesOfOperationDisplay) == 0x08) {
-		*(__CIA402Node_%(location)s.TargetPosition) = USER_UNIT_TO_AXIS_UNIT(__CIA402Node_%(location)s.axis->PositionSetPoint);
-	}
-	else {
-		*(__CIA402Node_%(location)s.TargetPosition) = *(__CIA402Node_%(location)s.ActualPosition);
-	}
+	*(__CIA402Node_%(location)s.TargetPosition) = USER_UNIT_TO_AXIS_UNIT(__CIA402Node_%(location)s.axis->PositionSetPoint);
 
 	// Extra variables publish
 %(extra_variables_publish)s