diff --git a/motorApp/AerotechSrc/doCommand.ab b/motorApp/AerotechSrc/doCommand.ab
index 1621ab37..6b6095ab 100755
--- a/motorApp/AerotechSrc/doCommand.ab
+++ b/motorApp/AerotechSrc/doCommand.ab
@@ -18,6 +18,14 @@ HEADER
 	DEFINE cmdSCOPESTATUS		15
 	DEFINE cmdSCOPETRIG			16
 	DEFINE cmdSCOPETRIGPERIOD	17
+	DEFINE cmdDRIVEINFO			18
+	DEFINE cmdLINEAR			19
+	DEFINE cmdDATAACQ_TRIG		20
+	DEFINE cmdDATAACQ_INP		21
+	DEFINE cmdDATAACQ_ON		22
+	DEFINE cmdDATAACQ_OFF		23
+	DEFINE cmdDATAACQ_READ		24
+	DEFINE cmdDOTRAJECTORY		25
 
 	DEFINE cmdVar	45
 	DEFINE iarg1Var	46
@@ -35,6 +43,7 @@ HEADER
 	DEFINE darg9Var	9
 	DEFINE numIArg	44
 	DEFINE numDArg	43
+	DEFINE pvtWaitMSVar 42
 
 	' Numerical values for first arg to scopedata()
 	DEFINE sd_PositionCommand	0
@@ -66,12 +75,34 @@ PROGRAM
 	DIM axis4Number AS Integer
 	DIM keepon as Integer
 	DIM iarg as integer
+	DIM pvtWaitMS as integer
+	dim pos as double
+	dim vel as double
+	dim timeval as double
+	dim timeIsAbs as integer
+	dim timeInitialized as integer
+	dim numpoints as integer
+	dim i as integer
 
 	wait mode nowait
-	
+	ABS
 	keepon = 1
+	pvtWaitMS = IGLOBAL(pvtWaitMSVar)
+	IF pvtWaitMS < 1 THEN
+		pvtWaitMS = 50
+	END IF
 	WHILE keepon
-	    IF IGLOBAL(cmdVar) = cmdVELOCITY_ON THEN
+	    IF IGLOBAL(cmdVar) = cmdPVT1 THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			pos = DGLOBAL(darg1Var)
+			vel = DGLOBAL(darg2Var)
+			timeval = DGLOBAL(darg3Var)
+			if timeIsAbs and not timeInitialized then
+				PVT INIT TIME ABS
+				timeInitialized = 1
+			end if
+	        PVT @axis1Number pos, vel TIME timeval
+		ELSEIF IGLOBAL(cmdVar) = cmdVELOCITY_ON THEN
 	        VELOCITY ON
 	    ELSEIF IGLOBAL(cmdVar) = cmdVELOCITY_OFF THEN
 	        VELOCITY OFF
@@ -79,16 +110,13 @@ PROGRAM
 	        HALT
 		ELSEIF IGLOBAL(cmdVar) = cmdSTARTABORT THEN
 			START
-			ABORT @0 @1 @2 @3 @4
+			ABORT @0
 			acknowledgeall
-			enable @0 @1 @2 @3 @4
+			enable @0
 			keepon = 0
 	    ELSEIF IGLOBAL(cmdVar) = cmdSTART THEN
 	        START
 			keepon = 0
-	    ELSEIF IGLOBAL(cmdVar) = cmdPVT1 THEN
-			axis1Number = IGLOBAL(iarg1Var)
-	        PVT @axis1Number DGLOBAL(darg1Var), DGLOBAL(darg2Var) TIME DGLOBAL(darg3Var)
 	    ELSEIF IGLOBAL(cmdVar) = cmdPVT  THEN
 			axis1Number = IGLOBAL(iarg1Var)
 			axis2Number = IGLOBAL(iarg2Var)
@@ -104,8 +132,11 @@ PROGRAM
 				PVT @axis1Number DGLOBAL(darg1Var), DGLOBAL(darg2Var) @axis2Number DGLOBAL(darg3Var), DGLOBAL(darg4Var) @axis3Number DGLOBAL(darg5Var), DGLOBAL(darg6Var) @axis4Number DGLOBAL(darg7Var), DGLOBAL(darg8Var) TIME DGLOBAL(darg9Var)
 			end if
 		ELSEIF IGLOBAL(cmdVar) = cmdPVT_INIT_TIME_ABS THEN
-			PVT INIT TIME ABS
+			'PVT INIT TIME ABS
+			timeIsAbs = 1
+			timeInitialized = 0
 	    ELSEIF IGLOBAL(cmdVar) = cmdPVT_INIT_TIME_INC THEN
+			timeIsAbs = 0
 			PVT INIT TIME INC
 	    ELSEIF IGLOBAL(cmdVar) = cmdABORT THEN
 			axis1Number = IGLOBAL(iarg1Var)
@@ -123,7 +154,8 @@ PROGRAM
 			end if
 			keepon = 0
 		ELSEIF IGLOBAL(cmdVar) = cmdSCOPEBUFFER THEN
-			SCOPEBUFFER IGLOBAL(iarg1Var)
+			iarg = IGLOBAL(iarg1Var)
+			SCOPEBUFFER iarg
 		ELSEIF IGLOBAL(cmdVar) = cmdSCOPEDATA THEN
 			iarg = IGLOBAL(iarg1Var)
 			if iarg = sd_PositionCommand then
@@ -132,16 +164,70 @@ PROGRAM
 				DGLOBAL(darg1Var) = SCOPEDATA(PositionFeedback, IGLOBAL(iarg2Var))
 			elseif iarg = sd_CurrentFeedback then
 				DGLOBAL(darg1Var) = SCOPEDATA(CurrentFeedback, IGLOBAL(iarg2Var))
+			else
+				DGLOBAL(darg1Var) = -1.2345654321
 			end if
 		ELSEIF IGLOBAL(cmdVar) = cmdSCOPESTATUS THEN
 			IGLOBAL(iarg1Var) = SCOPESTATUS(IGLOBAL(iarg1Var))
 		ELSEIF IGLOBAL(cmdVar) = cmdSCOPETRIG THEN
-			SCOPETRIG
+			if IGLOBAL(iarg1Var) = 1 then
+				SCOPETRIG STOP
+			ELSE
+				SCOPETRIG
+			END IF
 		ELSEIF IGLOBAL(cmdVar) = cmdSCOPETRIGPERIOD THEN
-			SCOPETRIGPERIOD IGLOBAL(iarg1Var)
+			iarg = IGLOBAL(iarg1Var)
+			'SCOPETRIGPERIOD iarg
+			SCOPETRIGPERIOD iarg*1.0
+	' Not until version 4.03
+	'	ELSEIF IGLOBAL(cmdVar) = cmdDRIVEINFO THEN
+	'		IGLOBAL(iarg1Var) = DRIVEINFO(X, 59)
+		ELSEIF IGLOBAL(cmdVar) = cmdLINEAR THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			LINEAR @axis1Number DGLOBAL(darg1Var) F DGLOBAL(darg2Var)
+		ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_TRIG THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			DATAACQ @axis1Number TRIGGER IGLOBAL(iarg2Var)
+		ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_INP THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			DATAACQ @axis1Number INPUT IGLOBAL(iarg2Var)
+		ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_ON THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			DATAACQ @axis1Number ON IGLOBAL(iarg2Var)
+		ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_OFF THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			DATAACQ @axis1Number OFF
+		ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_READ THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			DATAACQ @axis1Number READ IGLOBAL(iarg2Var), IGLOBAL(iarg3Var)
+		ELSEIF IGLOBAL(cmdVar) = cmdDOTRAJECTORY THEN
+			axis1Number = IGLOBAL(iarg1Var)
+			numpoints = IGLOBAL(iarg2Var)
+			VELOCITY ON
+			PVT INIT TIME ABS
+			for i = 0 to numpoints-1 step 1
+				pos = dglobal(3*i)
+				vel = dglobal(3*i+1)
+				timeVal = dglobal(3*i+2)
+				if i = numpoints-2 then
+					VELOCITY OFF
+				end if
+				PVT @axis1Number pos, vel time timeVal
+				dwell pvtWaitMS/1000
+			next i
+		elseif IGLOBAL(cmdVar) = cmdDONE then
+			' do nothing
+		else
+			IGLOBAL(cmdVar) = 1000
 		END IF
-	    IGLOBAL(cmdVar) = cmdDONE
-	    DWELL 0.01
+		
+		IF IGLOBAL(cmdVar) = cmdPVT1 THEN
+			D = pvtWaitMS/1000
+		ELSE
+			D = .001
+		END IF
+	    IGLOBAL(cmdVar) = -(IGLOBAL(cmdVar))
+		DWELL D
 	WEND
 
 END PROGRAM