diff --git a/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp b/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp
index 8a7c1fe6b..1bddcede1 100644
--- a/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp
@@ -160,9 +160,7 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
 #ifdef USE_LOGGING
     BOOST_LOG(log)<< "initial jacobi: "<<std::endl<<sys.Jacobi<<std::endl
                   << "residual: "<<sys.Residual.transpose()<<std::endl
-                  << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>()
-		  << std::endl<<"Real Jacobi: "<<sys.m_jacobi<<std::endl
-		  << "Real residual: "<<sys.m_residual.transpose()<<std::endl;
+                  << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>();
 #endif
     sys.removeLocalGradientZeros();
 
@@ -219,14 +217,12 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
         number_type rho;
 
         //get the update step
-        calculateStep(g, sys.Jacobi,  sys.Residual, h_dl, delta);
+        calculateStep(g, sys.Jacobi, sys.Residual, h_dl, delta);
 
 #ifdef USE_LOGGING
-        BOOST_LOG(log)<<"Step in iter "<<iter<<std::endl
+        BOOST_LOG(log)<< "Step in iter "<<iter<<std::endl
                       << "Step: "<<h_dl.transpose()<<std::endl
-                      << "Jacobi: "<<sys.Jacobi<<std::endl
-                      << "Real Jacobi: "<<sys.m_jacobi<<std::endl
-                      << "Residual: "<<F_old.transpose()<<std::endl;
+                      << "Jacobi: "<<sys.Jacobi<<std::endl;
 #endif
 
         // calculate the linear model
diff --git a/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp b/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp
index faa76785d..ab4036c06 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp
@@ -25,6 +25,8 @@
 
 #include <boost/graph/undirected_dfs.hpp>
 
+#include <opendcm/core/kernel.hpp>
+
 #ifdef DCM_EXTERNAL_CORE
 #include "opendcm/core/imp/kernel_imp.hpp"
 #include "opendcm/core/imp/clustergraph_imp.hpp"
@@ -359,9 +361,13 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
 #endif
                 //cool, lets do uncylic. first all rotational constraints with rotational parameters
                 mes.setAccess(rotation);
-                //solve can be done without catching exceptions, because this only fails if the system in
-                //unsolvable
-                DummyScaler re;
+
+                //solve can be done without catching exceptions, because this only fails if the system is
+                //unsolvable. We need the rescaler here two as unscaled rotations may be unprecise if the
+                //parts are big (as ne the normals are always 1) and then distances may not be possible
+                //to solve correctly with only translations
+                Rescaler re(cluster, mes);
+                re();
                 sys.kernel().solve(mes, re);
 
                 //now let's see if we have to go on with the translations