diff --git a/docs/motorRecord.html b/docs/motorRecord.html
index df4721b9..e0902527 100644
--- a/docs/motorRecord.html
+++ b/docs/motorRecord.html
@@ -242,6 +242,14 @@ below.
     <td>DOUBLE</td>
     <td>acceleration time</td>
   </tr>
+  <tr>
+    <td><a href="#Fields_motion">ACCS</a></td>
+    <td>R/W</td>
+    <td>Acceleration (EGU/s^2)</td>
+    <td>DOUBLE</td>
+    <td><br>
+    </td>
+  </tr>
   <tr>
     <td><a href="#Fields_status">ADEL</a></td>
     <td>R/W</td>
@@ -1675,7 +1683,8 @@ below.
     <td colspan="5">The motor record expects the hardware to produce a trapezoidal 
     speed profile. That is, the motor speed is expected to increase linearly with 
     time from the base speed, VBAS, to the full speed, VELO, in ACCL seconds. At the 
-    end of a motion, the speed is expected to decrease similarly to VBAS.&nbsp;</td>
+    end of a motion, the speed is expected to decrease similarly to VBAS.
+    Note that the ACCS field can be use to specify the acceleration in EGU/s^2.&nbsp;</td>
   </tr>
   <tr>
     <td>JVEL</td>
@@ -2329,7 +2338,7 @@ below.
     <td colspan="5">When one of these fields is set to 1, the record will 
     immediately reset it to 0, and the motor will move (with backlash takeout if 
     BDST is nonzero) by a distance TWV (in user coordinates) at the acceleration 
-    specified by ACCL and at speed VELO.</td>
+    specified by ACCL/ACCS and at speed VELO.</td>
   </tr>
   <tr valign="top">
     <td>TWV</td>
diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc
index 0129b879..4ddbeba4 100644
--- a/motorApp/MotorSrc/motorRecord.cc
+++ b/motorApp/MotorSrc/motorRecord.cc
@@ -475,6 +475,83 @@ static void callbackFunc(struct callback *pcb)
 }
 
 
+static double accEGUfromVelo(motorRecord *pmr, double veloEGU)
+{
+    double vmin = pmr->vbas;
+    double vmax = fabs(veloEGU);
+    double acc;
+    /* ACCL or ACCS */
+    if (pmr->accu == motorACCSused_Accs)
+        acc = pmr->accs;
+    else if (vmax > vmin)
+        acc = (vmax - vmin) / pmr->accl;
+    else
+        acc = vmax / pmr->accl;
+
+    return acc;
+}
+
+static void updateACCLfromACCS(motorRecord *pmr)
+{
+    if (pmr->accu != motorACCSused_Accs)
+    {
+        pmr->accu = motorACCSused_Accs;
+        db_post_events(pmr, &pmr->accu, DBE_VAL_LOG);
+    }
+    if (pmr->accs > 0.0)
+    {
+        double temp_dbl = pmr->velo / pmr->accs;
+        if (pmr->accl != temp_dbl)
+        {
+            pmr->accl = temp_dbl;
+            db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
+        }
+    }
+}
+
+static void updateACCSfromACCL(motorRecord *pmr)
+{
+    double temp_dbl;
+    if (pmr->accu != motorACCSused_Accl)
+    {
+        pmr->accu = motorACCSused_Accl;
+        db_post_events(pmr, &pmr->accu, DBE_VAL_LOG);
+    }
+    temp_dbl = pmr->velo / pmr->accl;
+    if (pmr->accs != temp_dbl)
+    {
+        pmr->accs = temp_dbl;
+        db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
+    }
+}
+
+static void updateACCL_ACCSfromVELO(motorRecord *pmr)
+{
+    if (pmr->accu == motorACCSused_Accs)
+    {
+        if (pmr->accs > 0.0)
+        {
+            double temp_dbl = pmr->velo / pmr->accs;
+            if (pmr->accl != temp_dbl)
+            {
+                pmr->accl = temp_dbl;
+                db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
+            }
+        }
+    }
+    else
+    {
+        double temp_dbl = pmr->velo / pmr->accl;
+        if (pmr->accs != temp_dbl)
+        {
+            pmr->accs = temp_dbl;
+            db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
+        }
+    }
+}
+
+
+
 /******************************************************************************
         enforceMinRetryDeadband()
 
@@ -859,7 +936,7 @@ static long postProcess(motorRecord * pmr)
 
             if (pmr->mip & MIP_JOG_STOP)
             {
-                double acc = (vel - vbase) > 0 ? ((vel - vbase)/ pmr->accl) : (vel / pmr->accl);
+                double acc = accEGUfromVelo(pmr, pmr->velo);
 
                 if (vel <= vbase)
                     vel = vbase + 1;
@@ -2190,7 +2267,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
             double newpos = pmr->dval / pmr->mres;      /* where to go     */
             double vbase = pmr->vbas / fabs(pmr->mres); /* base speed      */
             double vel = pmr->velo / fabs(pmr->mres);   /* normal speed    */
-            double acc = (vel - vbase) > 0 ? ((vel - vbase) / pmr->accl) : (vel / pmr->accl);     /* normal accel.   */
+            double acc = accEGUfromVelo(pmr, pmr->velo);
             /*
              * 'bpos' is one backlash distance away from 'newpos'.
              */
@@ -2595,6 +2672,7 @@ static long special(DBADDR *paddr, int after)
         /* new velo: make s agree */
     case motorRecordVELO:
         range_check(pmr, &pmr->velo, pmr->vbas, pmr->vmax);
+        updateACCL_ACCSfromVELO(pmr);
 
         if ((pmr->urev != 0.0) && (pmr->s != (temp_dbl = pmr->velo / fabs_urev)))
         {
@@ -2612,6 +2690,7 @@ static long special(DBADDR *paddr, int after)
             pmr->velo = temp_dbl;
             db_post_events(pmr, &pmr->velo, DBE_VAL_LOG);
         }
+        updateACCL_ACCSfromVELO(pmr);
         break;
 
         /* new bvel: make sbak agree */
@@ -2643,6 +2722,13 @@ static long special(DBADDR *paddr, int after)
             pmr->accl = 0.1;
             db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
         }
+        updateACCSfromACCL(pmr);
+        break;
+
+        /* new accs */
+    case motorRecordACCS:
+        db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
+        updateACCLfromACCS(pmr);
         break;
 
         /* new bacc */
diff --git a/motorApp/MotorSrc/motorRecord.dbd b/motorApp/MotorSrc/motorRecord.dbd
index aa455cba..64c7bd13 100644
--- a/motorApp/MotorSrc/motorRecord.dbd
+++ b/motorApp/MotorSrc/motorRecord.dbd
@@ -69,6 +69,11 @@ menu(motorRMOD) {
         choice(motorRMOD_I,"In-Position")
 }
 
+menu(motorACCSused) {
+        choice(motorACCSused_Accl, "Accl")
+        choice(motorACCSused_Accs, "Accs")
+}
+
 include "menuOmsl.dbd"
 
 recordtype(motor) {
@@ -173,6 +178,18 @@ recordtype(motor) {
                 interest(1)
                 initial("0.2")
         }
+        field(ACCS,DBF_DOUBLE) {
+                prompt("Move Accel. (EGU/s^2)")
+                promptgroup(GUI_COMMON)
+                special(SPC_MOD)
+                interest(1)
+        }
+        field(ACCU,DBF_MENU) {
+                initial("Default")
+                prompt("ACCS used")
+                special(SPC_NOMOD)
+                menu(motorACCSused)
+        }
         field(BDST,DBF_DOUBLE) {
                 prompt("BL Distance (EGU)")
                 asl(ASL0)