diff --git a/src/ipa/raspberrypi/controller/af_algorithm.hpp b/src/ipa/raspberrypi/controller/af_algorithm.hpp
index 925b2d03..0008113b 100644
--- a/src/ipa/raspberrypi/controller/af_algorithm.hpp
+++ b/src/ipa/raspberrypi/controller/af_algorithm.hpp
@@ -28,6 +28,8 @@ public:
 	virtual void SetWindows(const libcamera::Rectangle &afWindows) = 0;
 	// set AF range
 	virtual void SetRange(const uint32_t &range) = 0;
+	// set Lens Range
+	virtual void SetLensRange(const uint32_t &low, const uint32_t &high) = 0;
 	// set AF speed
 	virtual void setSpeed(const uint32_t &speed) = 0;
 };
diff --git a/src/ipa/raspberrypi/controller/iob/af.cpp b/src/ipa/raspberrypi/controller/iob/af.cpp
index 1d9bc2bc..a10e1d0a 100644
--- a/src/ipa/raspberrypi/controller/iob/af.cpp
+++ b/src/ipa/raspberrypi/controller/iob/af.cpp
@@ -40,7 +40,7 @@ Af::Af(Controller *controller)
 	: AfAlgorithm(controller), focus_(0), bestFocus_(0),
 	  currentContrast_(0.0), previousContrast_(0.0), maxContrast_(0.0),
 	  maxStep_(0), coarseCompleted_(false), fineCompleted_(false),
-	  mode_(libcamera::controls::AfModeManual)
+	  mode_(libcamera::controls::AfModeManual), lowStep_(0), highStep_(kMaxFocusSteps)
 {
 }
 
@@ -90,6 +90,18 @@ void Af::SetRange([[maybe_unused]] const uint32_t &range)
 {
 }
 
+void Af::SetLensRange(const uint32_t &low, const uint32_t &high)
+{
+	lowStep_ = low;
+	highStep_ = high;
+
+	LOG(IoBAf, Debug) << "Lens range set between " << lowStep_
+			  << " and " << highStep_;
+
+	focus_ = lowStep_;
+	maxStep_ = highStep_;
+}
+
 void Af::setSpeed([[maybe_unused]] const uint32_t &speed)
 {
 }
@@ -118,7 +130,7 @@ void Af::afCoarseScan()
 		status_.lensPosition = focus_;
 		previousContrast_ = 0;
 		maxStep_ = std::clamp(focus_ + static_cast<uint32_t>((focus_ * kFineRange)),
-				      0U, kMaxFocusSteps);
+				      0U, highStep_);
 	}
 }
 
@@ -136,7 +148,7 @@ void Af::afFineScan()
 
 bool Af::afScan(uint32_t minSteps)
 {
-	if (focus_ > maxStep_) {
+	if (focus_ + minSteps > maxStep_) {
 		/* If the max step is reached, move lens to the position. */
 		status_.lensPosition = bestFocus_;
 		return true;
@@ -180,13 +192,13 @@ bool Af::afScan(uint32_t minSteps)
 void Af::afReset()
 {
 	LOG(IoBAf, Debug) << "Reset AF parameters";
-	status_.lensPosition = 0;
-	focus_ = 0;
+	status_.lensPosition = lowStep_;
+	focus_ = lowStep_;
+	maxStep_ = highStep_;
 	status_.state = libcamera::controls::AfStateScanning;
 	previousContrast_ = 0.0;
 	coarseCompleted_ = false;
 	fineCompleted_ = false;
-	maxStep_ = kMaxFocusSteps;
 	maxContrast_ = 0.0;
 }
 
diff --git a/src/ipa/raspberrypi/controller/iob/af.h b/src/ipa/raspberrypi/controller/iob/af.h
index 12d7bbbd..52b9c37d 100644
--- a/src/ipa/raspberrypi/controller/iob/af.h
+++ b/src/ipa/raspberrypi/controller/iob/af.h
@@ -29,6 +29,7 @@ public:
 	void Pause(const uint32_t &pause) override;
 	void SetWindows(const libcamera::Rectangle &afWindows) override;
 	void SetRange(const uint32_t &range) override;
+	void SetLensRange(const uint32_t &low, const uint32_t &high) override;
 	void setSpeed(const uint32_t &speed) override;
 private:
 	bool afNeedIgnoreFrame();
@@ -58,6 +59,9 @@ private:
 	bool fineCompleted_;
 
 	uint32_t mode_;
+
+	uint32_t lowStep_;
+	uint32_t highStep_;
 };
 
 } /* namespace RPiController */