diff --git a/motorApp/AerotechSrc/devSoloist.cc b/motorApp/AerotechSrc/devSoloist.cc
new file mode 100755
index 00000000..f497a8c0
--- /dev/null
+++ b/motorApp/AerotechSrc/devSoloist.cc
@@ -0,0 +1,380 @@
+/*
+*	FILENAME... devSoloist.cc
+*	USAGE... Motor record device level support for Aerotech Soloist.
+*
+* Version:			1.1
+* Modified By:		cbonnell
+* Last Modified:	2009/07/07 01:46:08 PM
+*/
+
+/*
+*	Original Author: Hong Fung
+*	Date: 04/29/09
+*	Current Author: Aerotech, Inc.
+*
+*	Experimental Physics and Industrial Control System (EPICS)
+*
+*	Copyright 1991, the Regents of the University of California,
+*	and the University of Chicago Board of Governors.
+*
+*	This software was produced under  U.S. Government contracts:
+*	(W-7405-ENG-36) at the Los Alamos National Laboratory,
+*	and (W-31-109-ENG-38) at Argonne National Laboratory.
+*
+*	Initial development by:
+*		The Controls and Automation Group (AT-8)
+*		Ground Test Accelerator
+*		Accelerator Technology Division
+*		Los Alamos National Laboratory
+*
+*	Co-developed with
+*		The Controls and Computing Group
+*		Accelerator Systems Division
+*		Advanced Photon Source
+*		Argonne National Laboratory
+*
+* Modification Log:
+* -----------------
+* .01	04-29-09 hcf - initialized from devEnsemble.cc (Aerotech)
+* .02	07-07-09 cjb - merged fixes from Ensemble code (devEnsemble.cc) in R6-4-4; removed support for setting gains
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include "motorRecord.h"
+#include "motor.h"
+#include "motordevCom.h"
+#include "drvSoloist.h"
+#include "epicsExport.h"
+
+extern struct driver_table Soloist_access;
+
+/* ----------------Create the dsets for devSoloist----------------- */
+static struct driver_table *drvtabptr;
+static long Soloist_init (void *);
+static long Soloist_init_record (void *);
+static long Soloist_start_trans (struct motorRecord *);
+static RTN_STATUS Soloist_build_trans (motor_cmnd, double *,
+struct motorRecord *);
+static RTN_STATUS Soloist_end_trans (struct motorRecord *);
+
+struct motor_dset devSoloist =
+{
+	{8, NULL, (DEVSUPFUN) Soloist_init, (DEVSUPFUN) Soloist_init_record, NULL},
+	motor_update_values,
+	Soloist_start_trans,
+	Soloist_build_trans,
+	Soloist_end_trans
+};
+
+extern "C" {epicsExportAddress (dset, devSoloist);}
+/* --------------------------- program data --------------------- */
+
+/*
+* This table is used to define the command types
+* WARNING! this must match "motor_cmnd" in motor.h
+*/
+
+static msg_types Soloist_table[] = {
+	MOTION,		/* MOVE_ABS */
+	MOTION,		/* MOVE_REL */
+	MOTION,		/* HOME_FOR */
+	MOTION,		/* HOME_REV */
+	IMMEDIATE,	/* LOAD_POS */
+	IMMEDIATE,	/* SET_VEL_BASE */
+	IMMEDIATE,	/* SET_VELOCITY */
+	IMMEDIATE,	/* SET_ACCEL */
+	IMMEDIATE,	/* GO */
+	IMMEDIATE,	/* SET_ENC_RATIO */
+	INFO,		/* GET_INFO */
+	MOVE_TERM,	/* STOP_AXIS */
+	VELOCITY,	/* JOG */
+	IMMEDIATE,	/* SET_PGAIN */
+	IMMEDIATE,	/* SET_IGAIN */
+	IMMEDIATE,	/* SET_DGAIN */
+	IMMEDIATE,	/* ENABLE_TORQUE */
+	IMMEDIATE,	/* DISABL_TORQUE */
+	IMMEDIATE,	/* PRIMITIVE */
+	IMMEDIATE,	/* SET_HIGH_LIMIT */
+	IMMEDIATE,	/* SET_LOW_LIMIT */
+	VELOCITY,	/* JOG_VELOCITY */
+	IMMEDIATE	/* SET_RESOLUTION */
+};
+
+
+static struct board_stat **Soloist_cards;
+
+/* --------------------------- program data --------------------- */
+
+
+// initialize device support for Soloist
+static long Soloist_init (void *arg)
+{
+	long rtnval;
+	int after = (arg == 0) ? 0 : 1;
+
+	if (after == 0)
+	{
+		drvtabptr = &Soloist_access;
+		(drvtabptr->init)();
+	}
+
+	rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr,
+		drvtabptr, &Soloist_cards);
+	return (rtnval);
+}
+
+
+// initialize a record instance 
+static long Soloist_init_record (void *arg)
+{
+	struct motorRecord *mr = (struct motorRecord *) arg;
+	return (motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, Soloist_cards));
+}
+
+
+// start building a transaction 
+static long Soloist_start_trans (struct motorRecord *mr)
+{
+	return (OK);
+	//return (motor_start_trans_com(mr, Soloist_cards));
+}
+
+
+// end building a transaction 
+static RTN_STATUS Soloist_end_trans (struct motorRecord * mr)
+{
+	return (OK);
+	//return (motor_end_trans_com(mr, drvtabptr));
+}
+
+
+// add a part to the transaction
+static RTN_STATUS Soloist_build_trans (motor_cmnd command, double *parms, struct motorRecord * mr)
+{
+	struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
+	struct mess_node *motor_call;
+	struct controller *brdptr;
+	struct mess_info *motor_info;
+	struct Soloistcontroller *cntrl;
+	char buff[BUFF_SIZE], temp[BUFF_SIZE];
+	int axis, card, maxdigits;
+	unsigned int size;
+	double dval, cntrl_units;
+	RTN_STATUS rtnval;
+	bool send = true;
+
+	rtnval = OK;
+	buff[0] = '\0';
+
+	// Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL).
+	dval = (parms == NULL) ? 0.0 : *parms;
+
+	motor_start_trans_com(mr, Soloist_cards);
+
+	motor_call = &(trans->motor_call);
+	card = motor_call->card;
+	axis = motor_call->signal;
+	brdptr = (*trans->tabptr->card_array)[card];
+	if (brdptr == NULL)
+	{
+		return (rtnval = ERROR);
+	}
+
+	cntrl = (struct Soloistcontroller *) brdptr->DevicePrivate;
+	cntrl_units = dval * cntrl->drive_resolution[axis];
+	maxdigits = cntrl->res_decpts[axis];
+
+	if (Soloist_table[command] > motor_call->type)
+	{
+		motor_call->type = Soloist_table[command];
+	}
+
+	if (trans->state != BUILD_STATE)
+	{
+		return (rtnval = ERROR);
+	}
+
+	switch(command)
+	{
+	case MOVE_ABS:
+	case MOVE_REL:
+	case HOME_FOR:
+	case HOME_REV:
+	case JOG:
+		if (strlen(mr->prem) != 0)
+		{
+			sprintf(temp, "%s%c", mr->prem, ASCII_EOS_CHAR);
+			strcat(motor_call->message, temp);
+		}
+		if (strlen(mr->post) != 0)
+		{
+			motor_call->postmsgptr = (char *) &mr->post;
+		}
+		break;
+
+	default:
+		break;
+	}
+
+	switch(command)
+	{
+	case MOVE_ABS:
+		sprintf(buff, "MOVEABS D%.*f",
+			maxdigits, cntrl_units);
+		break;
+	case MOVE_REL:
+		sprintf(buff, "MOVEINC D%.*f",
+			maxdigits, cntrl_units);
+		break;
+
+	case HOME_FOR:
+	case HOME_REV:
+		{
+			epicsUInt32 hparam = cntrl->home_dparam[axis];
+			if (command == HOME_FOR)
+				hparam |= 0x00000001;
+			else
+				hparam &= 0xFFFFFFFE;
+			cntrl->home_dparam[axis] = hparam;
+
+			sprintf(buff, "SETPARM 106, %d", hparam);
+			strcpy(motor_call->message, buff);
+			rtnval = motor_end_trans_com(mr, drvtabptr);
+
+			rtnval = (RTN_STATUS) motor_start_trans_com(mr, Soloist_cards);
+			sprintf(buff, "HOME");
+			motor_call->type = Soloist_table[command];
+			break;
+		}
+	case LOAD_POS:
+		sprintf(buff, "SETPOSCMD %.*f", maxdigits, cntrl_units);
+		break;
+
+	case SET_VEL_BASE:
+		send = false;
+		break;					// Soloist does not use base velocity
+
+	case SET_VELOCITY:
+		sprintf(buff, "SETPARM 102, %.*f", //DefaultSpeed
+			maxdigits, cntrl_units);
+		strcpy(motor_call->message, buff);
+		rtnval = motor_end_trans_com(mr, drvtabptr);
+
+		rtnval = (RTN_STATUS) motor_start_trans_com(mr, Soloist_cards);
+		sprintf(buff, "SETPARM 107, %.*f", //HomeFeedRate
+			maxdigits, cntrl_units);
+		motor_call->type = Soloist_table[command];
+		break;
+
+	case SET_ACCEL:
+		sprintf(buff, "SETPARM 103, %.*f", //DefaultRampRate
+			maxdigits, cntrl_units);
+		break;
+
+	case GO:
+		/*
+		* The Soloist starts moving immediately on move commands, GO command
+		* does nothing
+		*/
+		send = false;
+		break;
+
+	case SET_ENC_RATIO:
+		//sprintf(buff, "SETPARM 3, %.*f", //PosScaleFactor
+		//	maxdigits, cntrl_units);
+		send = false;
+		break;
+
+	case GET_INFO:
+		/*
+		* These commands are not actually done by sending a message, but
+		* rather they will indirectly cause the driver to read the status
+		* of all motors 
+		*/
+		break;
+
+	case STOP_AXIS:
+		sprintf(buff, "ABORT");
+		break;
+
+	case JOG_VELOCITY:
+	case JOG:
+		sprintf(buff, "FREERUN F %.*f", maxdigits, cntrl_units);
+		break;
+
+	case SET_PGAIN:
+	case SET_IGAIN:
+	case SET_DGAIN:
+		send = false;
+		break;
+
+	case ENABLE_TORQUE:
+		sprintf(buff, "ENABLE");
+		break;
+
+	case DISABL_TORQUE:
+		sprintf(buff, "DISABLE");
+		break;
+
+	case PRIMITIVE:
+		if (mr->init != NULL && strlen(mr->init) != 0)
+		{
+			strcat(motor_call->message, mr->init);
+		}
+		break;
+
+	case SET_HIGH_LIMIT:
+		sprintf(buff, "SETPARM 48, %.*f", maxdigits, cntrl_units); //ThresholdSoftCW
+		//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
+		//trans->state = IDLE_STATE;	// No command sent to the controller.
+
+		//if (cntrl_units > motor_info->high_limit)
+		//{
+		//	mr->dhlm = motor_info->high_limit;
+		//	rtnval = ERROR;
+		//}
+		//send = false;
+		break;
+
+	case SET_LOW_LIMIT:
+		sprintf(buff, "SETPARM 47, %.*f", maxdigits, cntrl_units); //ThresholdSoftCCW
+		//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
+		//trans->state = IDLE_STATE;	// No command sent to the controller.
+
+		//if (cntrl_units < motor_info->low_limit)
+		//{
+		//	mr->dllm = motor_info->low_limit;
+		//	rtnval = ERROR;
+		//}
+		//send = false;
+		break;
+
+	case SET_RESOLUTION:
+		sprintf(buff, "SETPARM 3, %.*f", //PosScaleFactor
+			maxdigits, 1 / cntrl_units);
+		break;
+
+	default:
+		send = false;
+		rtnval = ERROR;
+	}
+
+	// printf("debug: case %d cmd=%s\n", command, buff);
+	if (send == true)
+	{
+		size = strlen (buff);
+		if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
+		{
+			errlogMessage("Soloist_build_trans(): buffer overflow.\n");
+		}
+		else
+		{
+			strcat(motor_call->message, buff);
+			motor_end_trans_com(mr, drvtabptr);
+		}
+	}
+
+	return (rtnval);
+}