diff --git a/motorApp/MotorSimSrc/drvMotorSim.c b/motorApp/MotorSimSrc/drvMotorSim.c
index cf16aa79..114b4b31 100644
--- a/motorApp/MotorSimSrc/drvMotorSim.c
+++ b/motorApp/MotorSimSrc/drvMotorSim.c
@@ -2,9 +2,9 @@
 FILENAME...	drvMotorSim.c
 USAGE...	Simulated Motor Support.
 
-Version:	$Revision: 1.6 $
+Version:	$Revision: 1.7 $
 Modified By:	$Author: peterd $
-Last Modified:	$Date: 2006-08-10 08:12:47 $
+Last Modified:	$Date: 2007-02-03 12:07:17 $
 */
 
 /*
@@ -105,28 +105,28 @@ static motorSim_t drv={ NULL, NULL, motorSimLogMsg, NULL, { 0, 0 } };
 
 static void motorAxisReportAxis( AXIS_HDL pAxis, int level )
 {
-    printf( "Found driver for motorSim card %d, axis %d", pAxis->card, pAxis->axis );
+    printf( "Found driver for motorSim card %d, axis %d\n", pAxis->card, pAxis->axis );
 
     if (level > 0)
     {
         double lowSoftLimit=0.0;
         double hiSoftLimit=0.0;
 
-        printf( "Current position = %f, velocity = %f at current time: %f", 
+        printf( "Current position = %f, velocity = %f at current time: %f\n", 
                pAxis->nextpoint.axis[0].p, 
                pAxis->nextpoint.axis[0].v,
                pAxis->nextpoint.T );
-        printf( "Destination posn = %f, velocity = %f at desination time:  %f",
+        printf( "Destination posn = %f, velocity = %f at desination time:  %f\n",
                pAxis->endpoint.axis[0].p, 
                pAxis->endpoint.axis[0].v,
                pAxis->endpoint.T );
 
-        printf( "Hard limits: %f, %f", pAxis->lowHardLimit, pAxis->hiHardLimit );
+        printf( "Hard limits: %f, %f\n", pAxis->lowHardLimit, pAxis->hiHardLimit );
         motorParam->getDouble( pAxis->params, motorAxisHighLimit, &hiSoftLimit );
         motorParam->getDouble( pAxis->params, motorAxisLowLimit, &lowSoftLimit );
-        printf( "Soft limits: %f, %f", lowSoftLimit, hiSoftLimit );
+        printf( "Soft limits: %f, %f\n", lowSoftLimit, hiSoftLimit );
 
-        if (pAxis->homing) printf( "Currently homing axis" );
+        if (pAxis->homing) printf( "Currently homing axis\n" );
 
         motorParam->dump( pAxis->params );
     }
@@ -543,6 +543,7 @@ static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double low
 {
   AXIS_HDL pAxis;
   AXIS_HDL * ppLast = &(pDrv->pFirst);
+  start=0;
 
   for ( pAxis = pDrv->pFirst;
 	pAxis != NULL &&
@@ -569,6 +570,7 @@ static int motorSimCreateAxis( motorSim_t * pDrv, int card, int axis, double low
 	  pAxis->endpoint.T = 0;
 	  pAxis->endpoint.axis[0].p = start;
 	  pAxis->endpoint.axis[0].v = 0;
+	  pAxis->nextpoint.axis[0].p = start;
 
 	  if ((pAxis->route = routeNew( &(pAxis->endpoint), &pars )) != NULL &&
 	      (pAxis->params = motorParam->create( 0, MOTOR_AXIS_NUM_PARAMS )) != NULL &&
diff --git a/motorApp/MotorSrc/devMotorAsyn.c b/motorApp/MotorSrc/devMotorAsyn.c
index b6de510b..bb014253 100644
--- a/motorApp/MotorSrc/devMotorAsyn.c
+++ b/motorApp/MotorSrc/devMotorAsyn.c
@@ -11,9 +11,9 @@
  * Notwithstanding the above, explicit permission is granted for APS to 
  * redistribute this software.
  *
- * Version: $Revision: 1.15 $
+ * Version: $Revision: 1.16 $
  * Modified by: $Author: peterd $
- * Last Modified: $Date: 2007-02-02 13:50:46 $
+ * Last Modified: $Date: 2007-02-03 12:07:17 $
  *
  * Original Author: Peter Denison
  * Current Author: Peter Denison
@@ -30,6 +30,7 @@
 #include <recSup.h>
 #include <devSup.h>
 #include <alarm.h>
+#include <epicsEvent.h>
 #include <cantProceed.h> /* !! for callocMustSucceed() */
 
 #include <asynDriver.h>
@@ -94,6 +95,7 @@ typedef struct
     asynMotorStatus *pasynMotorStatus;
     void *asynMotorStatusPvt;
     void *registrarPvt;
+    epicsEventId initEvent;
 } motorAsynPvt;
 
 
@@ -106,6 +108,34 @@ static long init( int after )
     return 0;
 }
 
+static void init_controller(struct motorRecord *pmr )
+{
+    /* This routine is copied out of the old motordevCom and initialises the controller
+       based on the record values. I think most of it should be transferred to init_record
+       which is one reason why I have separated it into another routine */
+    motorAsynPvt *pPvt = (motorAsynPvt *)pmr->dpvt;
+    double position = pPvt->status.position;
+
+    if ((fabs(pmr->dval) > pmr->rdbd && pmr->mres != 0) &&
+        ((position * pmr->mres) < pmr->rdbd))
+    {
+        double setPos = pmr->dval / pmr->mres;
+        epicsEventId initEvent = epicsEventCreate( epicsEventEmpty );
+
+        pPvt->initEvent = initEvent;
+
+        start_trans(pmr);
+        build_trans(LOAD_POS, &setPos, pmr);
+        end_trans(pmr);
+
+        if ( initEvent )
+        {
+            epicsEventMustWait(initEvent);
+            epicsEventDestroy(initEvent);
+        }
+    }
+}
+
 static long init_record(struct motorRecord * pmr )
 {
     asynUser *pasynUser;
@@ -221,6 +251,8 @@ static long init_record(struct motorRecord * pmr )
     pasynManager->freeAsynUser(pasynUser);
     pPvt->needUpdate = 1;
 
+    init_controller(pmr);
+
     return(0);
 bad:
     pmr->pact=1;
@@ -470,6 +502,8 @@ static void asynCallback(asynUser *pasynUser)
                   "devMotorAsyn::asynCallback: %s error in freeAsynUser, %s\n",
                   pmr->name, pasynUser->errorMessage);
     }
+
+    if ( pPvt->initEvent ) epicsEventSignal(  pPvt->initEvent );
 }
 
 /**