diff --git a/Machine.pde b/Machine.pde
index 1788b7f..02d9518 100644
--- a/Machine.pde
+++ b/Machine.pde
@@ -430,6 +430,10 @@ class Machine
     PVector framePos = new PVector(getIntProperty("controller.pictureframe.position.x", 200), getIntProperty("controller.pictureframe.position.y", 200));
     Rectangle frame = new Rectangle(inSteps(framePos), inSteps(frameSize));
     setPictureFrame(frame);
+    
+    // penlift positions
+    penLiftDownPosition = getIntProperty("machine.penlift.down", 90);
+    penLiftUpPosition = getIntProperty("machine.penlift.up", 180);
   }
   
   
@@ -502,6 +506,9 @@ class Machine
     // picture frame position
     props.setProperty("controller.pictureframe.position.x", Integer.toString((int) inMM(framePosX)));
     props.setProperty("controller.pictureframe.position.y", Integer.toString((int) inMM(framePosY)));
+    
+    props.setProperty("machine.penlift.down", Integer.toString((int) penLiftDownPosition));
+    props.setProperty("machine.penlift.up", Integer.toString((int) penLiftUpPosition));
 
 //    println("framesize: " + inMM(frameSizeX));
     
diff --git a/controlsActions.pde b/controlsActions.pde
index 225b680..e51e1ca 100644
--- a/controlsActions.pde
+++ b/controlsActions.pde
@@ -89,12 +89,25 @@ void unsetOtherToggles(String except)
 }
 void button_mode_penUp()
 {
-  addToCommandQueue(CMD_PENUP + "END");
+  addToCommandQueue(CMD_PENUP + penLiftUpPosition +",END");
 }
 void button_mode_penDown()
 {
-  addToCommandQueue(CMD_PENDOWN + "END");
+  addToCommandQueue(CMD_PENDOWN + penLiftDownPosition +",END");
 }
+void numberbox_mode_penUpPos(int value)
+{
+  penLiftUpPosition =  value;
+}
+void numberbox_mode_penDownPos(int value)
+{
+  penLiftDownPosition =  value;
+}
+void button_mode_sendPenliftRange()
+{
+  addToCommandQueue(CMD_SETPENLIFTRANGE+penLiftDownPosition+","+penLiftUpPosition+",END");
+}  
+
 void toggle_mode_inputBoxTopLeft(boolean flag)
 {
   if (flag)
diff --git a/controlsSetup.pde b/controlsSetup.pde
index 3068ae1..74901f1 100644
--- a/controlsSetup.pde
+++ b/controlsSetup.pde
@@ -441,6 +441,22 @@ Map<String, Controller> initialiseNumberboxValues(Map<String, Controller> map)
       {
         n.setValue(minimumVectorLineLength);
         n.setMin(0);
+        n.setMultiplier(1);
+      }
+      else if (MODE_PEN_LIFT_POS_UP.equals(key))
+      {
+        n.setDecimalPrecision(1);
+        n.setValue(penLiftUpPosition);
+        n.setMin(0);
+        n.setMax(360);
+        n.setMultiplier(1);
+      }
+      else if (MODE_PEN_LIFT_POS_DOWN.equals(key))
+      {
+        n.setDecimalPrecision(1);
+        n.setValue(penLiftDownPosition);
+        n.setMin(0);
+        n.setMax(360);
         n.setMultiplier(0.1);
       }
     }
@@ -673,6 +689,10 @@ List<String> getControlNamesForDetailPanel()
   controlNames.add(MODE_CHANGE_PEN_TEST_INCREMENT_SIZE);
   controlNames.add(MODE_DRAW_TEST_PENWIDTH);
 
+  controlNames.add(MODE_PEN_LIFT_POS_UP);
+  controlNames.add(MODE_PEN_LIFT_POS_DOWN);
+  controlNames.add(MODE_SEND_PEN_LIFT_RANGE);
+
   controlNames.add(MODE_CHANGE_MACHINE_MAX_SPEED);
   controlNames.add(MODE_CHANGE_MACHINE_ACCELERATION);
   controlNames.add(MODE_SEND_MACHINE_SPEED);
@@ -818,6 +838,9 @@ Map<String, String> buildControlLabels()
   
   result.put(MODE_PEN_LIFT_UP, "Pen lift");
   result.put(MODE_PEN_LIFT_DOWN, "Pen drop");
+  result.put(MODE_PEN_LIFT_POS_UP, "Pen up position");
+  result.put(MODE_PEN_LIFT_POS_DOWN, "Pen down position");
+  result.put(MODE_SEND_PEN_LIFT_RANGE, "Send lift range");
   
   result.put(MODE_SEND_ROVE_AREA, "Send Roving Area");
   result.put(MODE_SEND_START_TEXT, "Start text at point");
@@ -940,6 +963,9 @@ Set<String> buildControlNames()
   result.add(MODE_CHANGE_PIXEL_SCALING);
   result.add(MODE_PEN_LIFT_UP);
   result.add(MODE_PEN_LIFT_DOWN);
+  result.add(MODE_PEN_LIFT_POS_UP);
+  result.add(MODE_PEN_LIFT_POS_DOWN);
+  result.add(MODE_SEND_PEN_LIFT_RANGE);
   
   result.add(MODE_SEND_ROVE_AREA);
   result.add(MODE_SEND_START_TEXT);
diff --git a/drawing.pde b/drawing.pde
index 02ff446..97f80fe 100644
--- a/drawing.pde
+++ b/drawing.pde
@@ -120,6 +120,8 @@ void sendMachineSpec()
   addToCommandQueue(command);
   command = CMD_SETMACHINESTEPMULTIPLIER+machineStepMultiplier+",END";
   addToCommandQueue(command);
+  command = CMD_SETPENLIFTRANGE+penLiftDownPosition+","+penLiftUpPosition+",END";
+  addToCommandQueue(command);
 }
 
 public PVector getMouseVector()
diff --git a/polargraphcontroller.pde b/polargraphcontroller.pde
index ea2c012..dea32ea 100644
--- a/polargraphcontroller.pde
+++ b/polargraphcontroller.pde
@@ -114,6 +114,8 @@ float gridSize = 75.0;
 float currentPenWidth = 0.8;
 float penIncrement = 0.05;
 
+int penLiftDownPosition = 90;
+int penLiftUpPosition = 180;
 // this variable controls how big the pixels are scaled when drawn.
 // 1.0 represents full size, 2.0 would be twice as big as the grid size,
 // 0.5 would be half the grid size.
@@ -281,6 +283,9 @@ static final String MODE_CHOOSE_CHROMA_KEY_COLOUR = "toggle_mode_chooseChromaKey
 static final String MODE_CHANGE_PIXEL_SCALING = "numberbox_mode_changePixelScaling";
 static final String MODE_PEN_LIFT_UP = "button_mode_penUp";
 static final String MODE_PEN_LIFT_DOWN = "button_mode_penDown";
+static final String MODE_PEN_LIFT_POS_UP = "numberbox_mode_penUpPos";
+static final String MODE_PEN_LIFT_POS_DOWN = "numberbox_mode_penDownPos";
+static final String MODE_SEND_PEN_LIFT_RANGE = "button_mode_sendPenliftRange";
 
 static final String MODE_SEND_ROVE_AREA = "button_mode_sendRoveArea";
 static final String MODE_SEND_START_TEXT = "toggle_mode_sendStartText";