diff --git a/docs/RELEASE.md b/docs/RELEASE.md
index 6d6586e8..d705827c 100644
--- a/docs/RELEASE.md
+++ b/docs/RELEASE.md
@@ -49,13 +49,13 @@ R7-4 is a release based on the master branch.
 | **motorOms**       | [R1-2-1](https://github.com/epics-motor/motorOms/releases/tag/R1-2-1)  | Allow encoder ratio to be negative when motor and encoder have opposite senses of direction |
 | **motorOmsAsyn**   | [R1-1](https://github.com/epics-motor/motorOmsAsyn/releases/tag/R1-1) | Added support for the MXA-21 controller |
 | motorOriel         | [R1-0-2](https://github.com/epics-motor/motorOriel/releases/tag/R1-0-2) |         |
-| **motorParker**    | [R1-2](https://github.com/epics-motor/motorParker/releases/tag/R1-2) | Added support for OEM series controllers |
-| **motorPhytron**   | [R1-3](https://github.com/epics-motor/motorPhytron/releases/tag/R1-3) | Added support for MCC-1/MCC-2 controllers and I/O support for all Phytron controllers |
+| **motorParker**    | [R1-2-1](https://github.com/epics-motor/motorParker/releases/tag/R1-2-1) | Added support for OEM series controllers |
+| **motorPhytron**   | [R1-3-1](https://github.com/epics-motor/motorPhytron/releases/tag/R1-3-1) | Added support for MCC-1/MCC-2 controllers and I/O support for all Phytron controllers |
 | **motorPI**        | [R1-1-2](https://github.com/epics-motor/motorPI/releases/tag/R1-1-2) | Fix for clang 16 build errors caused by use of deprecated keyword |
-| **motorPIGCS2**    | [R1-3](https://github.com/epics-motor/motorPIGCS2/releases/tag/R1-3) | Added coordinate-system support for C-887 hexapod controller; print fewer debug messages by default |
+| **motorPIGCS2**    | [R1-3-1](https://github.com/epics-motor/motorPIGCS2/releases/tag/R1-3-1) | Added coordinate-system support for C-887 hexapod controller; print fewer debug messages by default |
 | motorPiJena        | [R1-0-2](https://github.com/epics-motor/motorPiJena/releases/tag/R1-0-2) |         |
 | motorScriptMotor   | [R1-2](https://github.com/epics-motor/motorScriptMotor/releases/tag/R1-2) |         |
-| **motorSmarAct**   | [R2-1-1](https://github.com/epics-motor/motorSmarAct/releases/tag/R2-1-1) | Added support for sensorless positioners; eliminated compiler warnings |
+| **motorSmarAct**   | [R2-1-2](https://github.com/epics-motor/motorSmarAct/releases/tag/R2-1-2) | Added support for sensorless positioners; eliminated compiler warnings |
 | motorSmartMotor    | [R1-0-2](https://github.com/epics-motor/motorSmartMotor/releases/tag/R1-0-2) |         |
 | **motorThorLabs** | [R1-0-3](https://github.com/epics-motor/motorThorLabs/releases/tag/R1-0-3) | Kinesis support now sends velo and accel to controller; fix for windows-x64-mingw compile errors |
 
diff --git a/modules/motorPIGCS2 b/modules/motorPIGCS2
index 3aa221ed..23dbd66e 160000
--- a/modules/motorPIGCS2
+++ b/modules/motorPIGCS2
@@ -1 +1 @@
-Subproject commit 3aa221ed62881d7726e2abc62599dd684c5ed090
+Subproject commit 23dbd66e9a6116e98fe88e35526188d36f8562b8
diff --git a/modules/motorParker b/modules/motorParker
index 165b331a..7ff5ea2e 160000
--- a/modules/motorParker
+++ b/modules/motorParker
@@ -1 +1 @@
-Subproject commit 165b331a936fcf56480fca072f714446c7e7653d
+Subproject commit 7ff5ea2ef051449684b410a6b8d47f32afe308b7
diff --git a/modules/motorPhytron b/modules/motorPhytron
index c98d6d18..220fcb63 160000
--- a/modules/motorPhytron
+++ b/modules/motorPhytron
@@ -1 +1 @@
-Subproject commit c98d6d18caeae17f8488d2e95637391becf9c97f
+Subproject commit 220fcb63ffa498be6d6327980439f0b45cf748e6
diff --git a/modules/motorSmarAct b/modules/motorSmarAct
index e138bce7..843a49d8 160000
--- a/modules/motorSmarAct
+++ b/modules/motorSmarAct
@@ -1 +1 @@
-Subproject commit e138bce78864ec107d6e9d7ee40dd2831f9ae4e5
+Subproject commit 843a49d880bcfb0e9a41d4386ae27d2fff12d132