diff --git a/motorApp/NewportSrc/XPSGathering2.c b/motorApp/NewportSrc/XPSGathering2.c
new file mode 100644
index 00000000..e704be63
--- /dev/null
+++ b/motorApp/NewportSrc/XPSGathering2.c
@@ -0,0 +1,221 @@
+/* Program to test the XPS position gathering and trigger during a trajectory scan */
+/**/
+#include <stdio.h>
+#include <time.h>
+#define epicsExportSharedSymbols
+#include <shareLib.h>
+#include "XPS_C8_drivers.h"
+#include "Socket.h"
+#include "xps_ftp.h"
+
+#define XPS_ADDRESS "164.54.160.124"
+#define NUM_TRAJECTORY_ELEMENTS 6
+#define NUM_GATHERING_POINTS 100
+#define NUM_GATHERING_ITEMS 2
+#define NUM_AXES 6
+#define PULSE_TIME 0.01
+#define POLL_TIMEOUT 1.0
+#define DRIVE_TIMEOUT 100.0
+#define USERNAME "Administrator"
+#define PASSWORD "Administrator"
+#define TRAJECTORY_DIRECTORY "/Admin/public/Trajectories"
+#define TRAJECTORY_FILE "TrajectoryScan.trj"
+#define BUFFER_SIZE 32767
+
+int main(int argc, char *argv[])
+{
+    int status,poll_socket,drive_socket,end=0;
+    int ftpSocket;
+    char *gatheringData = "GROUP1.PHI.SetpointPosition;"
+                          "GROUP1.PHI.CurrentPosition;"
+                          "GROUP1.KAPPA.SetpointPosition;"
+                          "GROUP1.KAPPA.CurrentPosition;"
+                          "GROUP1.OMEGA.SetpointPosition;"
+                          "GROUP1.OMEGA.CurrentPosition;"
+                          "GROUP1.PSI.SetpointPosition;"
+                          "GROUP1.PSI.CurrentPosition;"
+                          "GROUP1.2THETA.SetpointPosition;"
+                          "GROUP1.2THETA.CurrentPosition;"
+                          "GROUP1.NU.SetpointPosition;"
+                          "GROUP1.NU.CurrentPosition";
+    char *positioner[NUM_AXES] = {"GROUP1.PHI", "GROUP1.KAPPA", "GROUP1.OMEGA", "GROUP1.PSI", "GROUP1.2THETA", "GROUP1.NU"};
+    char group[] = "GROUP1";
+    char outputfilename[500];
+    double maxp, minp, maxv, maxa;
+    char buffer[BUFFER_SIZE];
+    int currentSamples, maxSamples;
+    int i;
+    int groupStatus;
+    int eventID;
+    time_t start_time, end_time;
+
+    poll_socket  = TCP_ConnectToServer(XPS_ADDRESS, 5001, POLL_TIMEOUT);
+    drive_socket = TCP_ConnectToServer(XPS_ADDRESS, 5001, DRIVE_TIMEOUT);
+
+    status = GroupStatusGet(poll_socket, group, &groupStatus);
+    printf("Initial group status=%d\n", groupStatus);
+    /* If group not initialized, then initialize it */
+    if (groupStatus >= 0 && groupStatus <= 9) {
+        printf("Calling GroupInitialize ...\n");
+        status = GroupInitialize(drive_socket, group);
+        if (status) {
+            printf("Error calling GroupInitialize error=%d\n", status);
+            return status;
+        }
+        printf("Calling GroupHomeSearch ...\n");
+        status = GroupHomeSearch(drive_socket, group);
+        if (status) {
+            printf("Error calling GroupHomeSearch error=%d\n", status);
+            return status;
+        }
+    }
+
+    printf("FTPing trajectory file to XPS ...\n");
+    /* FTP the trajectory file from the local directory to the XPS */
+    status = ftpConnect(XPS_ADDRESS, USERNAME, PASSWORD, &ftpSocket);
+    if (status != 0) {
+        printf("Error calling ftpConnect, status=%d\n", status);
+        return status;
+    }
+    status = ftpChangeDir(ftpSocket, TRAJECTORY_DIRECTORY);
+    if (status != 0) {
+        printf("Error calling ftpChangeDir, status=%d\n", status);
+        return status;
+    }
+    status = ftpStoreFile(ftpSocket, TRAJECTORY_FILE);
+    if (status != 0) {
+        printf("Error calling ftpStoreFile, status=%d\n", status);
+        return status;
+    }
+   
+    /* Define trajectory output pulses */
+     printf("Defining output pulses ...\n");
+    status = MultipleAxesPVTPulseOutputSet(poll_socket, group, 2, 
+                                           NUM_TRAJECTORY_ELEMENTS-1, PULSE_TIME);
+ 
+    /*************************** Verify trajectory **********************/
+    printf("Verifying trajectory ...\n");
+    status = MultipleAxesPVTVerification(drive_socket, group, TRAJECTORY_FILE);
+    if (status != 0) {
+        printf("Error performing MultipleAxesPVTVerification, status=%d\n",status);
+        end = 1;
+    }    
+
+    printf("Reading verify results ...\n");
+    printf(" MultipleAxesPVTVerificationResultGet\n");                
+    for (i=0; i<NUM_AXES; i++) {
+        status = MultipleAxesPVTVerificationResultGet(poll_socket,positioner[i], 
+                                                      outputfilename,
+                                                      &minp, &maxp, &maxv, &maxa);
+        printf(" positioner %d, status %d, Max. pos. %g, Min. pos. %g, Max. vel. %g, Max. accel. %g\n",
+                i, status, maxp, minp, maxv, maxa);
+    }
+
+    if (end == 1) return -1;    
+ 
+   /***********************Configure Gathering and Timer******************/
+    printf("Reseting gathering ...\n");
+    status = GatheringReset(poll_socket);
+    if (status != 0) {
+        printf("Error performing GatheringReset, status=%d\n",status);
+        return status;
+    }
+
+    printf("Defining gathering ...\n");
+    status = GatheringConfigurationSet(poll_socket, NUM_AXES*NUM_GATHERING_ITEMS, gatheringData);
+    if (status != 0) {
+        printf("Error performing GatheringConfigurationSet, status=%d\n",status);
+        return status;
+    }
+
+    printf("Defining trigger ...\n");
+    status = EventExtendedConfigurationTriggerSet(poll_socket, 2, 
+                                                  "Always;GROUP1.PVT.TrajectoryPulse",
+                                                  "","","","");
+    if (status != 0) {
+        printf("Error performing EventExtendedConfigurationTriggerSet, status=%d\n",
+               status);
+        return status;
+    }
+
+    printf("Defining action ...\n");
+    status = EventExtendedConfigurationActionSet(poll_socket, 1, "GatheringOneData",
+                                                 "", "", "", "");
+    if (status != 0) {
+        printf("Error performing EventExtendedConfigurationActionSet, status=%d\n",
+               status);
+        return status;
+    }
+
+    printf("Starting gathering ...\n");
+    status= EventExtendedStart(poll_socket, &eventID);
+    if (status != 0) {
+        printf("Error performing EventExtendedStart, status=%d\n", status);
+        return status;
+    }
+
+
+    /********************* Run trajectory ****************************/
+    status = GroupStatusGet(poll_socket, group, &groupStatus);
+    if (status != 0) {
+        printf("Error performing GroupStatusGet, status=%d\n", status);
+        return status;
+    }
+    printf("Group status before executing trajectory=%d\n", groupStatus);
+    printf("Executing trajectory ...\n");
+    start_time = time(NULL);
+    status = MultipleAxesPVTExecution(drive_socket, group, TRAJECTORY_FILE, 1);
+    end_time = time(NULL);
+    printf("Time to execute trajectory=%f\n", difftime(end_time, start_time));
+    if (status != 0) {
+        printf("Error performing MultipleAxesPVTExecution, status=%d\n", status);    
+        return status;
+    }
+    status = GroupStatusGet(poll_socket, group, &groupStatus);
+    if (status != 0) {
+        printf("Error performing GroupStatusGet, status=%d\n", status);
+        return status;
+    }
+    printf("Group status after executing trajectory=%d\n", groupStatus);
+
+    /* Remove the event */
+    printf("Removing event ...\n");
+    status = EventExtendedRemove(poll_socket, eventID);
+    if (status != 0) {
+        printf("Error performing ExtendedEventRemove, status=%d\n", status);
+        return status;
+    }
+
+    /***********************Save the gathered data ***************/
+    printf("Stopping gathering ...\n");
+    start_time = time(NULL);
+    status = GatheringStop(drive_socket);
+    end_time = time(NULL);
+    printf("Time to stop gathering=%f\n", difftime(end_time, start_time));
+    if (status != 0) {
+        printf("Error performing GatheringExternalStop, status=%d\n", status);
+        return status;
+    }
+    status = GroupStatusGet(poll_socket, group, &groupStatus);
+    if (status != 0) {
+        printf("Error performing GroupStatusGet, status=%d\n", status);
+        return status;
+    }
+    printf("Group status after stopping gathering=%d\n", groupStatus);
+
+    /* Read the number of lines of gathering */
+    status = GatheringCurrentNumberGet(drive_socket, &currentSamples, &maxSamples);
+    if (status != 0) {
+        printf("Error calling GatherCurrentNumberGet, status=%d\n", status);
+        return status;
+    }
+    if (currentSamples != NUM_GATHERING_POINTS) {
+        printf("readGathering: warning, NUM_GATHERING_POINTS=%d, currentSamples=%d\n", 
+            NUM_GATHERING_POINTS, currentSamples);
+    }
+    status = GatheringDataMultipleLinesGet(drive_socket, 0, currentSamples, buffer);
+    printf("GatheringDataMultipleLinesGet, status=%d, currentSamples=%d\n", status, currentSamples);
+    printf("Buffer length=%d, buffer=\n%s\n", strlen(buffer), buffer);    
+    return 0;
+}
+