It was sent from the first revision! I added it ALSO in case there is motion and another motion command is issued, even though I don't find the latter necessary as I said before.
Finally got to test it... I made black box testing (no debug info activated, especially considering the fact that it is very CPU intensive). Everything looks very good, I am very satisfied! Even Abort button works like a charm! The only 2 things to note - Presets range is way too big; # of Samples can be only 16/32/64/128, but there is possibility to choose in between them. They are not critical, just to mention In any case you rock!
Please review it and let me know of any proposed changes. I'd also appreciate it if you can send me something similar for the Baader dome documetation so we can also add it to the devices section.