diff --git a/ag.cc b/ag.cc
index 56ee029..3da211c 100644
--- a/ag.cc
+++ b/ag.cc
@@ -97,7 +97,7 @@ namespace ag
                "    return iter_func, table, 0\n"
                "end\n"
 
-               "ag.createAMotor = function(obj1, obj2, axis1, axis2, axis3)\n"
+               "ag.createAMotor = function(obj1, obj2, axis0, axis1, axis2)\n"
                "    local o1 = obj1\n"
                "    local o2 = obj2\n"
                "    local num_axes = 1\n"
@@ -111,6 +111,20 @@ namespace ag
                "            o2 = { id = 0 }\n"
                "        end\n"
                "    end\n"
+               "    local num_axes = 0\n"
+               "    if (axis0 ~= nil) then\n"
+               "        setAMotorAxis(0, axis0)\n"
+               "        num_axes = 1\n"
+               "        if (axis1 ~= nil) then\n"
+               "            setAMotorAxis(1, axis1)\n"
+               "            num_axes = 1\n"
+               "            if (axis2 ~= nil) then\n"
+               "                setAMotorAxis(2, axis2)\n"
+               "                num_axes = 2\n"
+               "            end\n"
+               "        end\n"
+               "    end\n"
+               "    ag.setAMotorNumAxes(num_axes)\n"
                "end\n"
                );
         lua_pcall(L, 0, 0, 0);