diff --git a/motorApp/NewportSrc/drvESP300.cc b/motorApp/NewportSrc/drvESP300.cc
index 7e2c774d..ae2ea4af 100644
--- a/motorApp/NewportSrc/drvESP300.cc
+++ b/motorApp/NewportSrc/drvESP300.cc
@@ -674,6 +674,9 @@ errexit:
             for (motor_index = 0; motor_index < total_axis; motor_index++)
             {
                 struct mess_info *motor_info = &brdptr->motor_info[motor_index];
+                int feedback;
+                double fullStep;
+                int microStep;
 
                 /* Get controller's EGU for the user (see README). */
                 sprintf(buff, "%.2dSN?", motor_index + 1);
@@ -681,11 +684,28 @@ errexit:
                 recv_mess(card_index, buff, 1);
 
                 /* Set axis resolution. */
-                sprintf(buff, "%.2dSU?", motor_index + 1);
+                /* If encoder feedback is being used then use SU command */
+                /* If not then assume open-loop stepper and use full-step resolution (FR) and microstepping (QS) */
+                sprintf(buff, "%.2dZB?", motor_index + 1);
                 send_mess(card_index, buff, 0);
                 recv_mess(card_index, buff, 1);
-                cntrl->drive_resolution[motor_index] = atof(&buff[0]);
-
+                feedback = strtol(buff,0,16);
+                if ((feedback & 0x100) == 0) {
+                    sprintf(buff, "%.2dFR?", motor_index + 1);
+                    send_mess(card_index, buff, 0);
+                    recv_mess(card_index, buff, 1);
+                    fullStep = atof(buff);
+                    sprintf(buff, "%.2dQS?", motor_index + 1);
+                    send_mess(card_index, buff, 0);
+                    recv_mess(card_index, buff, 1);
+                    microStep = strtol(buff, 0, 10);
+                    cntrl->drive_resolution[motor_index] = fullStep/microStep;
+                } else {
+                    sprintf(buff, "%.2dSU?", motor_index + 1);
+                    send_mess(card_index, buff, 0);
+                    recv_mess(card_index, buff, 1);
+                    cntrl->drive_resolution[motor_index] = atof(&buff[0]);
+                }
                 motor_info->status.All = 0;
                 motor_info->no_motion_count = 0;
                 motor_info->encoder_position = 0;