diff --git a/iocBoot/iocWithAsyn/motor.substitutions.phytron b/iocBoot/iocWithAsyn/motor.substitutions.phytron
new file mode 100644
index 00000000..dc3443f5
--- /dev/null
+++ b/iocBoot/iocWithAsyn/motor.substitutions.phytron
@@ -0,0 +1,50 @@
+################################################################################
+# PORT - asynPort created for the Phytron controller
+# ADDR - Address of the axis - right digit represents the index of the axis
+#       of a I1AM01 module, the remaining digit(s) on the lef represent the 
+#       index of the I1AM01 module
+################################################################################
+
+file "../../db/Phytron_motor.db"
+{
+pattern
+{P,       N,      M,     DTYP,         PORT,           ADDR, DESC,          EGU,   DIR,  VELO,  VBAS, VMAX,  ACCL,  BDST,  BVEL,  BACC,  MRES,  ERES,   PREC,  DHLM,  DLLM,   INIT}
+{PHYIOC:,  1,  "m$(N)",  "asynMotor",  phyMotionPort,  11,   "motor $(N)",  Deg,   Pos,  360,   180,  720,   .5,    0,     180,   .2,    1.8,   0.18,   5,     1440,  -1440,  ""}
+{PHYIOC:,  2,  "m$(N)",  "asynMotor",  phyMotionPort,  21,   "motor $(N)",  Deg,   Pos,  360,   180,  720,   .5,    0,     180,   .2,    1.8,   0.18,   5,     1440,  -1440,  ""}
+
+}
+
+################################################################################
+# P - MUST MATCH Controller specific name in Phytron_MCM01.db substitution 
+#     pattern (below)
+# PORT - asynPort created for the Phytron controller
+# ADDR - Address of the axis - right digit represents the index of the axis
+#       of a I1AM01 module, the remaining digit(s) on the lef represent the 
+#       index of the I1AM01 module
+# TIMEOUT - asyn timeout
+# SCAN - Periodic scan rate of Power stage temperature and Motor temperature
+#        records
+# INIT - If set to YES, ao records will be initialized with the values defined
+#       in the macros that follow INIT. If set to NO, records will not be 
+#       initialized - this option is useful if auto save/restore is used
+################################################################################
+file "../../db/Phytron_I1AM01.db"
+{
+pattern
+{P,       N, M,       PORT,           ADDR, SCAN,        TIMEOUT, INIT, HOMING, MODE, POS_OFFSET, NEG_OFFSET, INIT_TIME, POS_TIME, BOOST, SWITCH_TYP, PWR_STAGE, ENC_TYP, ENC_SFI, ENC_DIR, STOP_CURR, RUN_CURR, BOOST_CURR, CURRENT_DELAY, STEP_RES, PS_MON }
+{PHYIOC,  1, ":m$(N)", phyMotionPort, 11,   "1 second",  3,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         1,       0,       1        20,        400,      500,        20,            0,        1}    
+{PHYIOC,  2, ":m$(N)", phyMotionPort, 21,   "1 second",  3,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         1,       0,       1        20,        400,      500,        20,            0,        1}    
+}
+
+################################################################################
+# P - Controller specific name
+# PORT - asynPort created for the Phytron controller
+# ADDR - Arbitrary value between 0 and 255
+# TIMEOUT - asyn timeout
+################################################################################
+file "../../db/Phytron_MCM01.db"
+{
+pattern
+{P,      DTYP,         PORT,             ADDR, TIMEOUT}
+{PHYIOC, "asynMotor",  phyMotionPort,    0,    10    }
+}
diff --git a/iocBoot/iocWithAsyn/st.cmd.phytron b/iocBoot/iocWithAsyn/st.cmd.phytron
new file mode 100644
index 00000000..9e7079d4
--- /dev/null
+++ b/iocBoot/iocWithAsyn/st.cmd.phytron
@@ -0,0 +1,24 @@
+#!../../bin/linux-x86_64/phytronAxis
+
+## You may have to change phytronAxis to something else
+## everywhere it appears in this file
+
+< envPaths
+
+## Register all support components
+dbLoadDatabase("../../dbd/WithAsyn.dbd",0,0)
+WithAsyn_registerRecordDeviceDriver(pdbbase) 
+
+#drvAsynIPPortConfigure("testPort","localhost:8000",0,0,1)
+drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
+
+#phytronCreateController (phytronPort, asynPort, movingPollPeriod, idlePollPeriod, timeout)
+phytronCreateController ("phyMotionPort", "testRemote", 100, 100, 1000)
+
+#phytronCreateAxis(phytronPort, module, axis)
+phytronCreateAxis("phyMotionPort", 1, 1)
+phytronCreateAxis("phyMotionPort", 2, 1)
+
+dbLoadTemplate "motor.substitutions.phytron"
+
+iocInit()
diff --git a/motorApp/Db/Makefile b/motorApp/Db/Makefile
index d2d06c0f..f872ed32 100644
--- a/motorApp/Db/Makefile
+++ b/motorApp/Db/Makefile
@@ -43,6 +43,7 @@ DB += profileMoveAxis.template
 DB += profileMoveControllerXPS.template
 DB += profileMoveAxisXPS.template
 DB += PI_Support.db PI_SupportCtrl.db
+DB += Phytron_motor.db Phytron_I1AM01.db Phytron_MCM01.db
 
 #----------------------------------------------------
 # Declare template files which do not show up in DB
diff --git a/motorApp/Db/Phytron_I1AM01.db b/motorApp/Db/Phytron_I1AM01.db
new file mode 100644
index 00000000..01e1f166
--- /dev/null
+++ b/motorApp/Db/Phytron_I1AM01.db
@@ -0,0 +1,1092 @@
+################################################################################
+# This database contains records corresponding to additional parameters (not 
+# handled by the motor record) of the I1AM01 motion controller.
+#
+# Output records, used to set the parameter values have a suffix _SET, readback
+# records, used to read the parameters have a suffix _GET.
+#
+# Initialization, status and reset records have no suffixes.
+################################################################################
+
+################################################################################
+# Reset Axis
+################################################################################
+record(bo, "$(P)$(M)-RESET")
+{
+    field(DESC, "Reset axis")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))AXIS_RESET")
+}
+
+################################################################################
+# Reset Axis Status
+################################################################################
+record(bo, "$(P)$(M)-RESET-STATUS")
+{
+    field(DESC, "Reset axis status")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))AXIS_STATUS_RESET")
+}
+
+
+################################################################################
+# Initialization of _SET records
+# REINIT_ is triggered every time MCM01 module is reset
+################################################################################
+record(seq, "$(P)$(M)-INIT-AXIS-1")
+{
+    field(DESC, "Axis initialization")
+    field(LNK1, "$(P)$(M)-HOMING_SET PP")
+    field(DOL1, "$(HOMING)")
+    field(LNK2, "$(P)$(M)-MOVE-TYP_SET PP")
+    field(DOL2, "$(MODE)")
+    field(LNK3, "$(P)$(M)-POS-OFFSET_SET PP")
+    field(DOL3, "$(POS_OFFSET)")
+    field(LNK4, "$(P)$(M)-NEG-OFFSET_SET PP")
+    field(DOL4, "$(NEG_OFFSET)")
+    field(LNK5, "$(P)$(M)-INIT-TIMEOUT_SET PP")
+    field(DOL5, "$(INIT_TIME)")
+    field(LNK6, "$(P)$(M)-POS-TIMEOUT_SET PP")
+    field(DOL6, "$(POS_TIME)")
+    field(LNK7, "$(P)$(M)-BOOST_SET PP")
+    field(DOL7, "$(BOOST)")
+    field(LNK8, "$(P)$(M)-SWITCH-TYP_SET PP")
+    field(DOL8, "$(SWITCH_TYP)")
+    field(LNK9, "$(P)$(M)-PWR-STAGE-MODE_SET PP")
+    field(DOL9, "$(PWR_STAGE)")
+    field(SELM, "All")
+    field(PINI, "$(INIT)")
+    field(FLNK, "$(P)$(M)-INIT-AXIS-2")
+}
+
+record(seq, "$(P)$(M)-INIT-AXIS-2")
+{
+    field(DESC, "Axis initialization")
+    field(LNK1, "$(P)$(M)-ENC-TYP_SET PP")
+    field(DOL1, "$(ENC_TYP)")
+    field(LNK2, "$(P)$(M)-ENC-SFI_SET PP")
+    field(DOL2, "$(ENC_SFI)")
+    field(LNK3, "$(P)$(M)-STOP-CURRENT_SET PP")
+    field(DOL3, "$(STOP_CURR)")
+    field(LNK4, "$(P)$(M)-RUN-CURRENT_SET PP")
+    field(DOL4, "$(RUN_CURR)")
+    field(LNK5, "$(P)$(M)-BOOST-CURRENT_SET PP")
+    field(DOL5, "$(BOOST_CURR)")
+    field(LNK6, "$(P)$(M)-CURRENT-DELAY_SET PP")
+    field(DOL6, "$(CURRENT_DELAY)")
+    field(LNK7, "$(P)$(M)-STEP-RES_SET PP")
+    field(DOL7, "$(STEP_RES)")
+    field(LNK8, "$(P)$(M)-PS-MONITOR_SET PP")
+    field(DOL8, "$(PS_MON)")
+    field(LNK9, "$(P)$(M)-ENC-DIR_SET PP")
+    field(DOL9, "$(ENC_DIR)")  
+    field(SELM, "All")
+}
+
+record(seq, "$(P)$(M)-REINIT_")
+{
+    field(DESC, "Reinit after reset")
+    field(SCAN, "Passive")
+    field(DOL1, "$(P)-RESET_ CPP")
+    field(LNK1, "$(P)$(M)-INIT-AXIS-1.PROC")
+    field(SELM, "All")
+}
+
+################################################################################
+# STATUS_ record reads axis status from the device, the two mbbiDirect records 
+# are used to parse the status bits. STATUS_ uses I/O Intr SCAN, because the 
+# status value is read in phytronAxis::poll
+# SHFT field is used, therefore DTYP of mbbiDirect must be set to Raw Soft Channel.
+################################################################################
+record(ai, "$(P)$(M)-STATUS_")
+{
+    field(DESC, "Axis status")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))AXIS_STATUS")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(P)$(M)-STATUS-1")
+}
+
+record(mbbiDirect, "$(P)$(M)-STATUS-1")
+{
+    field(DESC, "Axis status bits")
+    field(DTYP, "Raw Soft Channel")
+    field(INP, "$(P)$(M)-STATUS_")
+    field(FLNK, "$(P)$(M)-STATUS-2")
+}
+
+record(mbbiDirect, "$(P)$(M)-STATUS-2")
+{
+    field(DESC, "Axis status bits")
+    field(DTYP, "Raw Soft Channel")
+    field(INP, "$(P)$(M)-STATUS_")
+    field(SHFT, "16")
+    field(FLNK, "$(P)$(M)-AXIS-BUSY")
+}
+
+################################################################################
+# Axis status records. See DESC field
+################################################################################
+record(bi, "$(P)$(M)-AXIS-BUSY")
+{
+    field(DESC, "Axis busy")
+    field(INP, "$(P)$(M)-STATUS-1.B0")
+    field(ZNAM, "NOT BUSY")
+    field(ONAM, "BUSY")
+    field(FLNK, "$(P)$(M)-COMMAND")
+}
+
+record(bi, "$(P)$(M)-COMMAND")
+{
+    field(DESC, "Command invalid")
+    field(INP, "$(P)$(M)-STATUS-1.B1")
+    field(ZNAM, "VALID")
+    field(ONAM, "INVALID")
+    field(FLNK, "$(P)$(M)-WAIT-SYNC")
+}
+
+record(bi, "$(P)$(M)-WAIT-SYNC")
+{
+    field(DESC, "Waiting for synchronization")
+    field(INP, "$(P)$(M)-STATUS-1.B2")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-INITIALIZED")
+}
+
+record(bi, "$(P)$(M)-INITIALIZED")
+{
+    field(DESC, "Axis initialized")
+    field(INP, "$(P)$(M)-STATUS-1.B3")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-LS-POS")
+}
+
+record(bi, "$(P)$(M)-LS-POS")
+{
+    field(DESC, "Positive limit switch")
+    field(INP, "$(P)$(M)-STATUS-1.B4")
+    field(ZNAM, "NOT ACTIVE")
+    field(ONAM, "ACTIVE")
+    field(FLNK, "$(P)$(M)-LS-NEG")
+}
+
+record(bi, "$(P)$(M)-LS-NEG")
+{
+    field(DESC, "Negative limit switch")
+    field(INP, "$(P)$(M)-STATUS-1.B5")
+    field(ZNAM, "NOT ACTIVE")
+    field(ONAM, "ACTIVE")
+    field(FLNK, "$(P)$(M)-LS-CNT")
+}
+
+record(bi, "$(P)$(M)-LS-CNT")
+{
+    field(DESC, "Center switch")
+    field(INP, "$(P)$(M)-STATUS-1.B6")
+    field(ZNAM, "NOT ACTIVE")
+    field(ONAM, "ACTIVE")
+    field(FLNK, "$(P)$(M)-SWL-POS")
+}
+
+record(bi, "$(P)$(M)-SWL-POS")
+{
+    field(DESC, "Positive software limit")
+    field(INP, "$(P)$(M)-STATUS-1.B7")
+    field(ZNAM, "NOT ACTIVE")
+    field(ONAM, "ACTIVE")
+    field(FLNK, "$(P)$(M)-SWL-NEG")
+}
+
+record(bi, "$(P)$(M)-SWL-NEG")
+{
+    field(DESC, "Negative software limit")
+    field(INP, "$(P)$(M)-STATUS-1.B8")
+    field(ZNAM, "NOT ACTIVE")
+    field(ONAM, "ACTIVE")
+    field(FLNK, "$(P)$(M)-INT-ERR")
+}
+
+record(bi, "$(P)$(M)-INT-ERR")
+{
+    field(DESC, "Axis internal error")
+    field(INP, "$(P)$(M)-STATUS-1.BB")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-LS-ERR")
+}
+
+record(bi, "$(P)$(M)-LS-ERR")
+{
+    field(DESC, "Axis Limit switch error")
+    field(INP, "$(P)$(M)-STATUS-1.BC")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-PS-ERR")
+}
+
+record(bi, "$(P)$(M)-PS-ERR")
+{
+    field(DESC, "Power stage error")
+    field(INP, "$(P)$(M)-STATUS-1.BD")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-SFI-ERR")
+}
+
+record(bi, "$(P)$(M)-SFI-ERR")
+{
+    field(DESC, "Axis SFI error")
+    field(INP, "$(P)$(M)-STATUS-1.BE")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-ENDAT-ERR")
+}
+
+record(bi, "$(P)$(M)-ENDAT-ERR")
+{
+    field(DESC, "Axis ENDAT error")
+    field(INP, "$(P)$(M)-STATUS-1.BF")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-RUNNING")
+}
+
+record(bi, "$(P)$(M)-RUNNING")
+{
+    field(DESC, "Axis is running")
+    field(INP, "$(P)$(M)-STATUS-2.B0")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-RECOVERY")
+}
+
+record(bi, "$(P)$(M)-RECOVERY")
+{
+    field(DESC, "Axis is in recovery")
+    field(INP, "$(P)$(M)-STATUS-2.B1")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-STP-DLY")
+}
+
+record(bi, "$(P)$(M)-STP-DLY")
+{
+    field(DESC, "Axis in stop current delay")
+    field(INP, "$(P)$(M)-STATUS-2.B2")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-POSITIONED")
+}
+
+record(bi, "$(P)$(M)-POSITIONED")
+{
+    field(DESC, "Axis in position")
+    field(INP, "$(P)$(M)-STATUS-2.B3")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-APS-READY")
+}
+
+record(bi, "$(P)$(M)-APS-READY")
+{
+    field(DESC, "Axis aps ready")
+    field(INP, "$(P)$(M)-STATUS-2.B4")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-POSITIONING")
+}
+
+record(bi, "$(P)$(M)-POSITIONING")
+{
+    field(DESC, "Axis in positioning mode")
+    field(INP, "$(P)$(M)-STATUS-2.B5")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-FREE-RUN")
+}
+
+record(bi, "$(P)$(M)-FREE-RUN")
+{
+    field(DESC, "Axis in free running")
+    field(INP, "$(P)$(M)-STATUS-2.B6")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-MULTI-F")
+}
+
+record(bi, "$(P)$(M)-MULTI-F")
+{
+    field(DESC, "Axis multi F run")
+    field(INP, "$(P)$(M)-STATUS-2.B7")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-SYNC-ALLOWED")
+}
+
+record(bi, "$(P)$(M)-SYNC-ALLOWED")
+{
+    field(DESC, "Axis multi F run")
+    field(INP, "$(P)$(M)-STATUS-2.B8")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)$(M)-AXIS-ERR")
+}
+
+record(calc, "$(P)$(M)-AXIS-ERR")
+{
+    field(DESC, "Any axis err")
+    field(INPA, "$(P)$(M)-COMMAND")
+    field(INPB, "$(P)$(M)-LS-POS")
+    field(INPC, "$(P)$(M)-LS-NEG")
+    field(INPD, "$(P)$(M)-LS-CNT")
+    field(INPE, "$(P)$(M)-SWL-POS")
+    field(INPF, "$(P)$(M)-SWL-NEG")
+    field(INPG, "$(P)$(M)-INT-ERR")
+    field(INPH, "$(P)$(M)-LS-ERR")
+    field(INPI, "$(P)$(M)-PS-ERR")
+    field(INPJ, "$(P)$(M)-SFI-ERR")
+    field(INPK, "$(P)$(M)-ENDAT-ERR")
+    field(CALC, "A||B||C||D||E||F||G||H||I||J||K")
+
+}
+
+################################################################################
+# Homing procedure type
+# KEEP IN MIND PARAMETERS THAT HOMING FINISHES BY MOVING FOR AND ADDITIONAL 
+# OFFSET, DEFINED IN PARAMETERS P11 AND P12
+################################################################################
+record(mbbo, "$(P)$(M)-HOMING_SET")
+{
+    field(DESC, "Homing Type")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))HOMING_PROCEDURE")
+    field(ZRST, "Limit")                    #HOMF (R+), HOMR (R-)
+    field(ZRVL, "0")
+    field(ONST, "Center")                   #HOMF (R+C)-Offset P11, HOMR (R-C)+Offset P12
+    field(ONVL, "1")
+    field(TWST, "Encoder")                  #HOMF (R+I), HOMR (R+I), Offsets
+    field(TWVL, "2")
+    field(THST, "Limit-Encoder")            #HOMF (R+^I), HOMR (R-^I), Offsets
+    field(THVL, "3")
+    field(FRST, "Center-Encoder")           #HOMF (R+C^I), HOMR (R-C^I), Offsets
+    field(FRVL, "4")
+    field(FVST, "Reference-Center")         #HOMF RC+, HOMR RC-, Offsets
+    field(FVVL, "5")
+    field(SXST, "Ref-Center-Encoder")       #HOMF RC+^I, HOMR RC-^I, Offsets
+    field(SXVL, "6")
+    field(FLNK, "$(P)$(M)-HOMING_GET")
+}
+
+record(mbbi, "$(P)$(M)-HOMING_GET")
+{
+    field(DESC, "Homing Type")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))HOMING_PROCEDURE")
+    field(ZRST, "Limit")                    #HOMF (R+), HOMR (R-)
+    field(ZRVL, "0")
+    field(ONST, "Center")                   #HOMF (R+C)-Offset P11, HOMR (R-C)+Offset P12
+    field(ONVL, "1")
+    field(TWST, "Encoder")                  #HOMF (R+I), HOMR (R+I), Offsets
+    field(TWVL, "2")
+    field(THST, "Limit-Encoder")            #HOMF (R+^I), HOMR (R-^I), Offsets
+    field(THVL, "3")
+    field(FRST, "Center-Encoder")           #HOMF (R+C^I), HOMR (R-C^I), Offsets
+    field(FRVL, "4")
+    field(FVST, "Reference-Center")         #HOMF RC+, HOMR RC-, Offsets
+    field(FVVL, "5")
+    field(SXST, "Ref-Center-Encoder")       #HOMF RC+^I, HOMR RC-^I, Offsets
+    field(SXVL, "6")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P01: Controller provides the following modes of movement, however software 
+# limits are always monitored by the motor record, so only modes 0 and 1 are 
+# exposed to the user
+# 0: Rotational movement
+# 1: Hardware limit switches are monitored
+# 2: Software limit switch are monitored
+# 3: Hardware and software limit switches are monitored
+################################################################################
+record(mbbo, "$(P)$(M)-MOVE-TYP_SET")
+{
+    field(DESC, "Move type")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))AXIS_MODE")
+    field(ZRST, "Rotational")
+    field(ZRVL, "0")        
+    field(ONST, "HW switch") 
+    field(ONVL, "1")            
+    field(FLNK, "$(P)$(M)-MOVE-TYP_GET")   
+}
+
+record(mbbi, "$(P)$(M)-MOVE-TYP_GET")
+{
+    field(DESC, "Move type")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))AXIS_MODE")
+    field(ZRST, "Rotational")
+    field(ZRVL, "0")    
+    field(ONST, "HW switch")
+    field(ONVL, "1")          
+    field(PINI, "YES")
+}
+
+###############################################################################
+# P11: Mechanical zero point offset for limit switch direction + (away from 
+# LIMIT+ switch, towards LIMIT- switch)
+################################################################################
+record(ao, "$(P)$(M)-POS-OFFSET_SET")
+{
+    field(DESC, "Positive offset")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))MOP_POS")
+    field(FLNK, "$(P)$(M)-POS-OFFSET_GET")
+}
+
+record(ai, "$(P)$(M)-POS-OFFSET_GET")
+{
+    field(DESC, "Positive offset")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))MOP_POS")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P12: Mechanical zero point offset for limit switch direction - (away from 
+# LIMIT- switch, towards LIMIT+ switch)
+################################################################################
+record(ao, "$(P)$(M)-NEG-OFFSET_SET")
+{
+    field(DESC, "P12:Negative offset")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))MOP_NEG")
+    field(FLNK, "$(P)$(M)-NEG-OFFSET_GET")
+}
+
+record(ai, "$(P)$(M)-NEG-OFFSET_GET")
+{
+    field(DESC, "Negative offset")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))MOP_NEG")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P13: Time lapse during initialization in miliseconds
+################################################################################
+record(ao, "$(P)$(M)-INIT-TIMEOUT_SET")
+{
+    field(DESC, "Init time lapse")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))INIT_TIME")
+    field(EGU, "ms")
+    field(FLNK, "$(P)$(M)-INIT-TIMEOUT_GET")
+}
+
+record(ai, "$(P)$(M)-INIT-TIMEOUT_GET")
+{
+    field(DESC, "Init time lapse")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))INIT_TIME")
+    field(EGU, "ms")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P16: Time lapse after positioning
+################################################################################
+record(ao, "$(P)$(M)-POS-TIMEOUT_SET")
+{
+    field(DESC, "Position time lapse")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))POSITION_TIME")
+    field(EGU, "ms")
+    field(FLNK, "$(P)$(M)-POS-TIMEOUT_GET")
+}
+
+record(ai, "$(P)$(M)-POS-TIMEOUT_GET")
+{
+    field(DESC, "Position time lapse")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))POSITION_TIME")
+    field(EGU, "ms")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P17: Defines when to use boost current (P42) 
+################################################################################
+record(mbbo, "$(P)$(M)-BOOST_SET")
+{
+    field(DESC, "Boost")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))BOOST")
+    field(ZRVL, "0")
+    field(ZRST, "OFF")
+    field(ONVL, "1")
+    field(ONST, "ON MOTOR RUN")
+    field(TWVL, "2")
+    field(TWST, "ON ACCELERATION")
+    field(FLNK, "$(P)$(M)-BOOST_GET")
+}
+
+record(mbbi, "$(P)$(M)-BOOST_GET")
+{
+    field(DESC, "Boost")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))BOOST")
+    field(ZRVL, "0")
+    field(ZRST, "OFF")
+    field(ONVL, "1")
+    field(ONST, "ON MOTOR RUN")
+    field(TWVL, "2")
+    field(TWST, "ON ACCELERATION")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P26: Encoder data transfer rate (ONLY FOR SSI)
+################################################################################
+record(mbbo, "$(P)$(M)-ENC-RATE_SET")
+{
+    field(DESC, "Encoder rate")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_RATE")
+    field(ZRVL, "1")
+    field(ZRST, "100 kHz")
+    field(ONVL, "2")
+    field(ONST, "200 kHz")
+    field(TWVL, "3")
+    field(TWST, "300 kHz")
+    field(THVL, "4")
+    field(THST, "400 kHz")
+    field(FRVL, "5")
+    field(FRST, "500 kHz")
+    field(FVVL, "6")
+    field(FVST, "600 kHz")
+    field(SXVL, "7")
+    field(SXST, "700 kHz")
+    field(SVVL, "8")
+    field(SVST, "800 kHz")
+    field(EIVL, "9")
+    field(EIST, "900 kHz")
+    field(NIVL, "10")
+    field(NIST, "1000 kHz")
+    field(FLNK, "$(P)$(M)-ENC-RATE_GET")
+}
+
+record(mbbi, "$(P)$(M)-ENC-RATE_GET")
+{
+    field(DESC, "Encoder rate")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_RATE")
+    field(ZRVL, "1")
+    field(ZRST, "100 kHz")
+    field(ONVL, "2")
+    field(ONST, "200 kHz")
+    field(TWVL, "3")
+    field(TWST, "300 kHz")
+    field(THVL, "4")
+    field(THST, "400 kHz")
+    field(FRVL, "5")
+    field(FRST, "500 kHz")
+    field(FVVL, "6")
+    field(FVST, "600 kHz")
+    field(SXVL, "7")
+    field(SXST, "700 kHz")
+    field(SVVL, "8")
+    field(SVST, "800 kHz")
+    field(EIVL, "9")
+    field(EIST, "900 kHz")
+    field(NIVL, "10")
+    field(NIST, "1000 kHz")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P27: Limit switch type
+# NCC: Normally closed contact
+# NOC: Normally open contact
+# STRING FIELDS ARE OF THE FORM: LIMIT-/CENTER/LIMIT+
+################################################################################
+record(mbbo, "$(P)$(M)-SWITCH-TYP_SET")
+{
+    field(DESC, "Switch type")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))SWITCH_TYP")
+    field(ZRVL, "0")
+    field(ZRST, "NCC/NCC/NCC")
+    field(ONVL, "0")
+    field(ONST, "NCC/NCC/NOC")
+    field(TWVL, "2")
+    field(TWST, "NOC/NCC/NCC")
+    field(THVL, "3")
+    field(THST, "NOC/NCC/NOC")
+    field(FRVL, "4")
+    field(FRST, "NCC/NOC/NCC")
+    field(FVVL, "5")
+    field(FVST, "NCC/NOC/NOC")
+    field(SXVL, "6")
+    field(SXST, "NOC/NOC/NCC")
+    field(SVVL, "7")
+    field(SVST, "NOC/NOC/NOC")
+    field(FLNK, "$(P)$(M)-SWITCH-TYP_GET")
+}
+
+record(mbbi, "$(P)$(M)-SWITCH-TYP_GET")
+{
+    field(DESC, "Switch type")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))SWITCH_TYP")
+    field(ZRVL, "0")
+    field(ZRST, "NCC/NCC/NCC")
+    field(ONVL, "0")
+    field(ONST, "NCC/NCC/NOC")
+    field(TWVL, "2")
+    field(TWST, "NOC/NCC/NCC")
+    field(THVL, "3")
+    field(THST, "NOC/NCC/NOC")
+    field(FRVL, "4")
+    field(FRST, "NCC/NOC/NCC")
+    field(FVVL, "5")
+    field(FVST, "NCC/NOC/NOC")
+    field(SXVL, "6")
+    field(SXST, "NOC/NOC/NCC")
+    field(SVVL, "7")
+    field(SVST, "NOC/NOC/NOC")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P28: AXIS Options
+# 0 - Power stage is deactivated
+# 1 - Power stage is activated
+################################################################################
+record(bo, "$(P)$(M)-PWR-STAGE-MODE_SET")
+{
+    field(DESC, "Power stage ON/OFF")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))PWR_STAGE_MODE")
+    field(ZNAM, "Deactivate")
+    field(ONAM, "Activate")
+    field(FLNK, "$(P)$(M)-PWR-STAGE-MODE_GET")
+}
+
+record(bi, "$(P)$(M)-PWR-STAGE-MODE_GET")
+{
+    field(DESC, "Power stage ON/OFF")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))PWR_STAGE_MODE")
+    field(ZNAM, "Deactivate")
+    field(ONAM, "Activate")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P34: Encoder type:
+# 0: No encoder
+# 1: Incremental 5.0V
+# 2: Incremental 5.5V
+# 3: SSI Binary code 5.0V
+# 4: SSI Binary code 5.5V
+# 5: SSI Gray code 5.0V
+# 6: SSI Gray code 5.5V
+# 7: EnDat 5.0V
+# 8: EnDat 5.5V
+################################################################################
+record(mbbo, "$(P)$(M)-ENC-TYP_SET")
+{
+    field(DESC, "Encoder type")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENCODER_TYP")
+    field(ZRST, "No encoder")
+    field(ZRVL, "0")
+    field(ONST, "Incremental 5.0V")
+    field(ONVL, "1")
+    field(TWST, "Incremental 5.5V")
+    field(TWVL, "2")
+    field(THST, "SSI Binary 5.0V")
+    field(THVL, "3")
+    field(FRST, "SSI Binary 5.5V")
+    field(FRVL, "4")
+    field(FVST, "SSI Gray 5.0V")
+    field(FVVL, "5")
+    field(SXST, "SSI Gray 5.5V")
+    field(SXVL, "6")
+    field(SVST, "EnDat 5.0V")
+    field(SVVL, "7")
+    field(EIST, "EnDat 5.5V")
+    field(EIVL, "8")
+    field(FLNK, "$(P)$(M)-ENC-TYP_GET")
+}
+
+record(mbbi, "$(P)$(M)-ENC-TYP_GET")
+{
+    field(DESC, "Encoder type")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENCODER_TYP")
+    field(ZRST, "No encoder")
+    field(ZRVL, "0")
+    field(ONST, "Incremental 5.0V")
+    field(ONVL, "1")
+    field(TWST, "Incremental 5.5V")
+    field(TWVL, "2")
+    field(THST, "SSI Binary 5.0V")
+    field(THVL, "3")
+    field(FRST, "SSI Binary 5.5V")
+    field(FRVL, "4")
+    field(FVST, "SSI Gray 5.0V")
+    field(FVVL, "5")
+    field(SXST, "SSI Gray 5.5V")
+    field(SXVL, "6")
+    field(SVST, "EnDat 5.0V")
+    field(SVVL, "7")
+    field(EIST, "EnDat 5.5V")
+    field(EIVL, "8")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P35: SSI and EnDat encoder resolution in bits. From 0b to 48b.
+# 0b - the controller uses the resolution which is read from the connected instrument
+################################################################################
+record(ao, "$(P)$(M)-ENC-RES_SET")
+{
+    field(DESC, "Encoder resolution")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_RESOLUTION")
+    field(EGU, "b")
+    field(HOPR, "48")
+    field(LOPR, "0")
+    field(FLNK, "$(P)$(M)-ENC-RES_GET")
+}
+
+record(ai, "$(P)$(M)-ENC-RES_GET")
+{
+    field(DESC, "Encoder resolution")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_RESOLUTION")
+    field(EGU, "b")
+    field(HOPR, "48")
+    field(LOPR, "0")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P36: Encoder function
+# 0: counter
+# 1: counter + SFI
+# If P37 > 0, P36 is 1 else 0
+################################################################################
+record(bo, "$(P)$(M)-ENC-FUNC_SET")
+{
+    field(DESC, "SFI ON/OFF")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_FUNCTION")
+    field(ZNAM, "Counter")
+    field(ONAM, "Counter+SFI")
+    field(OMSL, "closed_loop")
+    field(DOL, "$(P)$(M)-ENC-SFI_GET")
+    field(FLNK, "$(P)$(M)-ENC-FUNC_GET")
+}
+
+record(bi, "$(P)$(M)-ENC-FUNC_GET")
+{
+    field(DESC, "SFI ON/OFF")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_FUNCTION")
+    field(ZNAM, "Counter")
+    field(ONAM, "Counter+SFI")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P37: Encoder tolerance for SFI
+################################################################################
+record(ao, "$(P)$(M)-ENC-SFI_SET")
+{
+    field(DESC, "SFI tolerrance")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_SFI_WIDTH")
+    field(FLNK, "$(P)$(M)-ENC-SFI_GET")
+}
+
+record(ai, "$(P)$(M)-ENC-SFI_GET")
+{
+    field(DESC, "SFI tolerrance")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_SFI_WIDTH")
+    field(PINI, "YES")
+    field(FLNK, "$(P)$(M)-ENC-FUNC_SET")
+}
+
+################################################################################
+# P38: Encoder direction of rotation
+################################################################################
+record(bo, "$(P)$(M)-ENC-DIR_SET")
+{
+    field(DESC, "Encoder direction")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_DIRECTION")
+    field(ZNAM, "Positive")
+    field(ONAM, "Negative")
+    field(FLNK, "$(P)$(M)-ENC-DIR_GET")
+}
+
+record(bi, "$(P)$(M)-ENC-DIR_GET")
+{
+    field(DESC, "Encoder direction")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))ENC_DIRECTION")
+    field(ZNAM, "Positive")
+    field(ONAM, "Negative")
+}
+
+################################################################################
+# P40: Stop current in mA. Can be set in 10 mA increments
+################################################################################
+record(ao, "$(P)$(M)-STOP-CURRENT_SET")
+{
+    field(DESC, "Stop current")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))STOP_CURRENT")
+    field(EGU, "mA")
+    field(HOPR, "2500")
+    field(LOPR, "0")
+    field(HIGH, "2200")
+    field(HIHI, "2400")
+    field(HSV, "MINOR")
+    field(HHSV, "MAJOR")
+    field(FLNK, "$(P)$(M)-STOP-CURRENT_GET")
+
+}
+
+record(ai, "$(P)$(M)-STOP-CURRENT_GET")
+{
+    field(DESC, "Stop current")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))STOP_CURRENT")
+    field(EGU, "mA")
+    field(HOPR, "2500")
+    field(LOPR, "0")
+    field(HIGH, "2200")
+    field(HIHI, "2400")
+    field(HSV, "MINOR")
+    field(HHSV, "MAJOR")
+    field(PINI, "YES")
+
+}
+
+################################################################################
+# P41: Run current in mA. Can be set in 10 mA increments
+################################################################################
+record(ao, "$(P)$(M)-RUN-CURRENT_SET")
+{
+    field(DESC, "Run current")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))RUN_CURRENT")
+    field(EGU, "mA")
+    field(HOPR, "2500")
+    field(LOPR, "0")
+    field(HIGH, "2200")
+    field(HIHI, "2400")
+    field(HSV, "MINOR")
+    field(HHSV, "MAJOR")
+    field(FLNK, "$(P)$(M)-RUN-CURRENT_GET")
+
+}
+
+record(ai, "$(P)$(M)-RUN-CURRENT_GET")
+{
+    field(DESC, "Run current")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))RUN_CURRENT")
+    field(EGU, "mA")
+    field(HOPR, "2500")
+    field(LOPR, "0")
+    field(HIGH, "2200")
+    field(HIHI, "2400")
+    field(HSV, "MINOR")
+    field(HHSV, "MAJOR")
+    field(PINI, "YES")
+
+}
+
+################################################################################
+# P42: Boost current in mA. Can be set in 10 mA increments
+################################################################################
+record(ao, "$(P)$(M)-BOOST-CURRENT_SET")
+{
+    field(DESC, "Boost current")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))BOOST_CURRENT")
+    field(EGU, "mA")
+    field(HOPR, "2500")
+    field(LOPR, "0")
+    field(HIGH, "2200")
+    field(HIHI, "2400")
+    field(HSV, "MINOR")
+    field(HHSV, "MAJOR")
+    field(FLNK, "$(P)$(M)-BOOST-CURRENT_GET")
+
+}
+
+record(ai, "$(P)$(M)-BOOST-CURRENT_GET")
+{
+    field(DESC, "Boost current")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))BOOST_CURRENT")
+    field(EGU, "mA")
+    field(HOPR, "2500")
+    field(LOPR, "0")
+    field(HIGH, "2200")
+    field(HIHI, "2400")
+    field(HSV, "MINOR")
+    field(HHSV, "MAJOR")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P43: Current hold time in msec
+################################################################################
+record(ao, "$(P)$(M)-CURRENT-DELAY_SET")
+{
+    field(DESC, "Current hold time")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))CURRENT_DELAY_TIME")
+    field(EGU, "msec")
+    field(FLNK, "$(P)$(M)-CURRENT-DELAY_GET")
+
+}
+
+record(ai, "$(P)$(M)-CURRENT-DELAY_GET")
+{
+    field(DESC, "Current hold time")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))CURRENT_DELAY_TIME")
+    field(EGU, "mA")
+    field(PINI, "YES")
+}
+
+
+################################################################################
+# P45: Step resolution
+################################################################################
+record(mbbo, "$(P)$(M)-STEP-RES_SET")
+{
+    field(DESC, "Step resolution")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))STEP_RES")
+    field(ZRST, "1")
+    field(ZRVL, "0")
+    field(ONST, "1/2")
+    field(ONVL, "1")
+    field(TWST, "1/2.5")
+    field(TWVL, "2")
+    field(THST, "1/4")
+    field(THVL, "3")
+    field(FRST, "1/5")
+    field(FRVL, "4")
+    field(FVST, "1/8")
+    field(FVVL, "5")
+    field(SXST, "1/10")
+    field(SXVL, "6")
+    field(SVST, "1/16")
+    field(SVVL, "7")
+    field(EIST, "1/20")
+    field(EIVL, "8")
+    field(NIST, "1/32")
+    field(NIVL, "9")
+    field(TEST, "1/64")
+    field(TEVL, "10")
+    field(ELST, "1/128")
+    field(ELVL, "11")
+    field(FLNK, "$(P)$(M)-STEP-RES_GET")
+}
+
+record(mbbi, "$(P)$(M)-STEP-RES_GET")
+{
+    field(DESC, "Step resolution")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))STEP_RES")
+    field(ZRST, "1")
+    field(ZRVL, "0")
+    field(ONST, "1/2")
+    field(ONVL, "1")
+    field(TWST, "1/2.5")
+    field(TWVL, "2")
+    field(THST, "1/4")
+    field(THVL, "3")
+    field(FRST, "1/5")
+    field(FRVL, "4")
+    field(FVST, "1/8")
+    field(FVVL, "5")
+    field(SXST, "1/10")
+    field(SXVL, "6")
+    field(SVST, "1/16")
+    field(SVVL, "7")
+    field(EIST, "1/20")
+    field(EIVL, "8")
+    field(NIST, "1/32")
+    field(NIVL, "9")
+    field(TEST, "1/64")
+    field(TEVL, "10")
+    field(ELST, "1/128")
+    field(ELVL, "11")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P49: Power stage temperature
+################################################################################
+record(ai, "$(P)$(M)-PS-TEMPERATURE")
+{
+    field(DESC, "Power stage temp")
+    field(DTYP, "asynFloat64")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))PS_TEMPERATURE")
+    field(EGU, "°C")
+    field(SCAN, "$(SCAN)")
+    field(PREC, 1)
+    field(PINI, "YES")
+}
+
+################################################################################
+# P53: Power stage monitoring
+################################################################################
+record(bo, "$(P)$(M)-PS-MONITOR_SET")
+{
+    field(DESC, "Power stage monitor")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))PS_MONITOR")
+    field(ZNAM, "OFF")
+    field(ONAM, "ON")
+    field(FLNK, "$(P)$(M)-PS-MONITOR_GET")
+}
+
+record(bi, "$(P)$(M)-PS-MONITOR_GET")
+{
+    field(DESC, "Power stage monitor")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))PS_MONITOR")
+    field(ZNAM, "OFF")
+    field(ONAM, "ON")
+    field(PINI, "YES")
+}
+
+################################################################################
+# P54: Motor temperature in 0.1 °C
+################################################################################
+record(ai, "$(P)$(M)-MOTOR-TEMP")
+{
+    field(DESC, "Motor temperature")
+    field(DTYP, "asynFloat64")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))MOTOR_TEMP")
+    field(SCAN, "$(SCAN)")
+    field(EGU, "°C")
+    field(PREC, 1)
+    field(FLNK, "$(P)$(M)-MOTOR-TEMP")
+}
+
diff --git a/motorApp/Db/Phytron_MCM01.db b/motorApp/Db/Phytron_MCM01.db
new file mode 100644
index 00000000..d53ad2ec
--- /dev/null
+++ b/motorApp/Db/Phytron_MCM01.db
@@ -0,0 +1,223 @@
+################################################################################
+# This database contains records used to monitor status and reset the MCM01
+# controller.
+################################################################################
+
+################################################################################
+#ai record reads controller status from the device, mbbiDirect is used to parse
+# the status bits
+################################################################################
+record(ai, "$(P)-STATUS_")
+{
+    field(DESC, "Status")
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT), $(ADDR), $(TIMEOUT))CONTROLLER_STATUS")
+    field(SCAN, "1 second")
+    field(FLNK, "$(P)-STATUS-BITS_")
+}
+
+record(mbbiDirect, "$(P)-STATUS-BITS_")
+{
+    field(DESC, "Status bits")
+    field(DTYP, "Raw Soft Channel")
+    field(INP, "$(P)-STATUS_")
+    field(FLNK, "$(P)-PROGRAM")
+}
+
+################################################################################
+#Controller status records. See DESC fields
+################################################################################
+record(bi, "$(P)-PROGRAM")
+{
+    field(DESC, "Program in local mode")
+    field(INP, "$(P)-STATUS-BITS_.B0")
+    field(ZNAM, "DONE")
+    field(ONAM, "RUNNING")
+    field(FLNK, "$(P)-SW-REMOTE")
+}
+
+record(bi, "$(P)-SW-REMOTE")
+{
+    field(DESC, "Software remote")
+    field(INP, "$(P)-STATUS-BITS_.B1")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-LIMIT-SWITCH")
+}
+
+record(bi, "$(P)-LIMIT-SWITCH")
+{
+    field(DESC, "Axis limit switch")
+    field(INP, "$(P)-STATUS-BITS_.B2")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-PS-AXIS-ERR")
+}
+
+record(bi, "$(P)-PS-AXIS-ERR")
+{
+    field(DESC, "Power stage axis error")
+    field(INP, "$(P)-STATUS-BITS_.B3")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-PROG-ERR")
+}
+
+record(bi, "$(P)-PROG-ERR")
+{
+    field(DESC, "Programming error")
+    field(INP, "$(P)-STATUS-BITS_.B4")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-TERM-ACT")
+}
+
+record(bi, "$(P)-TERM-ACT")
+{
+    field(DESC, "Terminal activated")
+    field(INP, "$(P)-STATUS-BITS_.B5")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-INP-SCAN")
+}
+
+record(bi, "$(P)-INP-SCAN")
+{
+    field(DESC, "Input scan running")
+    field(INP, "$(P)-STATUS-BITS_.B6")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-REMOTE")
+}
+
+record(bi, "$(P)-REMOTE")
+{
+    field(DESC, "Remote")
+    field(INP, "$(P)-STATUS-BITS_.B7")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-AXIS-MODULE")
+}
+
+record(bi, "$(P)-AXIS-MODULE")
+{
+    field(DESC, "Axis module availability")
+    field(INP, "$(P)-STATUS-BITS_.B8")
+    field(ZNAM, "AVAILABLE")
+    field(ONAM, "NOT AVAILABLE")
+    field(FLNK, "$(P)-AXIS")
+}
+
+record(bi, "$(P)-AXIS")
+{
+    field(DESC, "Axis availability")
+    field(INP, "$(P)-STATUS-BITS_.B9")
+    field(ZNAM, "AVAILABLE")
+    field(ONAM, "NOT AVAILABLE")
+    field(FLNK, "$(P)-IO-MODULE")
+}
+
+record(bi, "$(P)-IO-MODULE")
+{
+    field(DESC, "I/O module availability")
+    field(INP, "$(P)-STATUS-BITS_.BA")
+    field(ZNAM, "AVAILABLE")
+    field(ONAM, "NOT AVAILABLE")
+    field(FLNK, "$(P)-IO")
+}
+
+record(bi, "$(P)-IO")
+{
+    field(DESC, "I/O availability")
+    field(INP, "$(P)-STATUS-BITS_.BB")
+    field(ZNAM, "AVAILABLE")
+    field(ONAM, "NOT AVAILABLE")
+    field(FLNK, "$(P)-INT-BUS-ERR")
+}
+
+record(bi, "$(P)-INT-BUS-ERR")
+{
+    field(DESC, "Internal data transf. err.")
+    field(INP, "$(P)-STATUS-BITS_.BC")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-INT-MOD-ERR")
+}
+
+record(bi, "$(P)-INT-MOD-ERR")
+{
+    field(DESC, "Internal bus module err.")
+    field(INP, "$(P)-STATUS-BITS_.BD")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-AIOM-MODULE")
+}
+
+record(bi, "$(P)-AIOM-MODULE")
+{
+    field(DESC, "AIOM module availability")
+    field(INP, "$(P)-STATUS-BITS_.BE")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-AIOM-CHANNEL")
+}
+
+record(bi, "$(P)-AIOM-CHANNEL")
+{
+    field(DESC, "AIOM channel availability")
+    field(INP, "$(P)-STATUS-BITS_.BF")
+    field(ZNAM, "NO")
+    field(ONAM, "YES")
+    field(FLNK, "$(P)-CON-ERR")
+}
+
+record(calc, "$(P)-CON-ERR")
+{
+    field(INPA, "$(P)-LIMIT-SWITCH")
+    field(INPB, "$(P)-PS-AXIS-ERR")
+    field(INPC, "$(P)-PROG-ERR")
+    field(INPD, "$(P)-INT-BUS-ERR")
+    field(INPE, "$(P)-INT-MOD-ERR")
+    field(INPF, "$(P)-AXIS-MODULE")
+    field(INPG, "$(P)-AXIS")
+    field(INPH, "$(P)-IO-MODULE")
+    field(INPI, "$(P)-IO")
+    field(INPJ, "$(P)-AIOM-MODULE")
+    field(INPK, "$(P)-AIOM-CHANNEL")
+    field(CALC, "A||B||C||D||E||F||G||H||I||J")
+}
+
+################################################################################
+# Reset controller
+# RESET_ changes value between 0 and 1, so the monitor is posted and the 
+# REINIT_ record in Phytron_I1AM01.db is processed
+################################################################################
+record(bo, "$(P)-RESET")
+{
+    field(DESC, "Reset controller")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))CONTROLLER_RESET")
+    field(ONAM, "RESET")
+    field(ZNAM, "RESET")
+    field(FLNK, "$(P)-RESET_")
+}
+
+record(calc, "$(P)-RESET_")
+{
+    field(DESC, "Reset monitor")
+    field(INPA, "$(P)-RESET_")
+    field(CALC, "(A=0)?1:0")
+}
+
+################################################################################
+#Reset controller status
+################################################################################
+record(bo, "$(P)-RESET-STATUS")
+{
+    field(DESC, "Reset cont. status")
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT), $(ADDR), $(TIMEOUT))CONTROLLER_STATUS_RESET")
+    field(ONAM, "RESET")
+    field(ZNAM, "RESET")
+}
+
diff --git a/motorApp/Db/Phytron_motor.db b/motorApp/Db/Phytron_motor.db
new file mode 100644
index 00000000..83f85aa6
--- /dev/null
+++ b/motorApp/Db/Phytron_motor.db
@@ -0,0 +1,23 @@
+record(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"$(DTYP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VBAS,"$(VBAS)")
+    field(VMAX,"$(VMAX)")
+	field(ACCL,"$(ACCL)")
+	field(BDST,"$(BDST)")
+	field(BVEL,"$(BVEL)")
+	field(BACC,"$(BACC)")
+	field(OUT,"@asyn($(PORT),$(ADDR))")
+	field(MRES,"$(MRES)")
+	field(ERES,"$(ERES)")
+	field(PREC,"$(PREC)")
+	field(EGU,"$(EGU)")
+	field(DHLM,"$(DHLM)")
+	field(DLLM,"$(DLLM)")
+	field(INIT,"$(INIT)")
+	field(TWV,"1")
+}
+
diff --git a/motorApp/Makefile b/motorApp/Makefile
index da36a256..9f89a653 100644
--- a/motorApp/Makefile
+++ b/motorApp/Makefile
@@ -99,6 +99,9 @@ NPointSrc_DEPEND_DIRS = MotorSrc
 DIRS += MicronixSrc
 MicronixSrc_DEPEND_DIRS = MotorSrc
 
+DIRS += PhytronSrc
+PhytronSrc_DEPEND_DIRS = MotorSrc
+
 endif
 
 # Install the edl files
diff --git a/motorExApp/WithAsyn/Makefile b/motorExApp/WithAsyn/Makefile
index 1b999a9c..70ebb7d6 100644
--- a/motorExApp/WithAsyn/Makefile
+++ b/motorExApp/WithAsyn/Makefile
@@ -37,8 +37,12 @@ COMMONDBDS += ACRMotorSupport.dbd
 COMMONDBDS += asyn.dbd
 COMMONDBDS += drvAsynSerialPort.dbd
 COMMONDBDS += drvAsynIPPort.dbd
-COMMONDBDS += busySupport.dbd
+ifdef BUSY
+	COMMONDBDS += busySupport.dbd
+	COMMONLIBS := busy $(COMMONLIBS)
+endif
 COMMONDBDS += PI_GCS2Support.dbd
+COMMONDBDS += phytron.dbd
 
 DBD += WithAsyn.dbd
 WithAsyn_DBD += $(COMMONDBDS)
@@ -75,10 +79,9 @@ COMMONLIBS += SmartMotor
 COMMONLIBS += KohzuMotor
 COMMONLIBS += ACRMotor
 COMMONLIBS += PI_GCS2Support
+COMMONLIBS += phytronAxisMotor
 COMMONLIBS += motor
 
-WithAsyn_LIBS += busy
-
 # Needed for Newport SNL programs
 WithAsyn_LIBS += $(COMMONLIBS)
 WithAsyn_LIBS += asyn