diff --git a/motorApp/NewportSrc/XPSGathering.c b/motorApp/NewportSrc/XPSGathering.c
new file mode 100644
index 00000000..a19cabe7
--- /dev/null
+++ b/motorApp/NewportSrc/XPSGathering.c
@@ -0,0 +1,276 @@
+/* Prog to test the XPS position gathering and trigger during a trajectory scan */
+/**/
+#include <stdio.h>
+#include <time.h>
+#include "XPS_C8_drivers.h"
+#include "Socket.h"
+#include "xps_ftp.h"
+
+#define XPS_ADDRESS "164.54.160.34"
+#define NUM_ELEMENTS 10
+#define NUM_AXES 2
+#define PULSE_TIME 1.0
+#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 "test_trajectory"
+#define GATHERING_DIRECTORY "/Admin/public/"
+#define GATHERING_FILE "Gathering.dat"
+
+void xps_gathering()
+{
+    int status,poll_socket,drive_socket,end=0;
+    int ftpSocket;
+    char *gatheringData = "GROUP2.POSITIONER1.CurrentPosition;GROUP2.POSITIONER2.CurrentPosition";
+            
+                        
+    char *positioner[NUM_AXES] = {"GROUP2.POSITIONER1", "GROUP2.POSITIONER2"};
+    char group[] = "GROUP2";
+    char outputfilename[500];
+    double maxp,minp,maxv,maxa;
+    char buffer[100];
+    double motorReadbacks[NUM_AXES][NUM_ELEMENTS+1];
+    double motorError[NUM_AXES][NUM_ELEMENTS+1];
+    double trajTime = 0,trajStep = 0;
+    int i,j;
+    int groupStatus;
+    double posTheory[NUM_AXES];
+    FILE *gatheringFile, *trajFile;
+    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;
+        }
+        printf("Calling GroupHomeSearch ...\n");
+        status = GroupHomeSearch(drive_socket, group);
+        if (status) {
+            printf("Error calling GroupHomeSearch error=%d\n", status);
+            return;
+        }
+    }
+
+    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 = ftpChangeDir(ftpSocket, TRAJECTORY_DIRECTORY);
+    if (status != 0) {
+        printf("Error calling ftpChangeDir, status=%d\n", status);
+        return;
+    }
+    status = ftpStoreFile(ftpSocket, TRAJECTORY_FILE);
+    if (status != 0) {
+        printf("Error calling ftpStoreFile, status=%d\n", status);
+        return;
+    }
+   
+    /* Define trajectory output pulses */
+     printf("Defining output pulses ...\n");
+    status = MultipleAxesPVTPulseOutputSet(poll_socket, group, 1, NUM_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 1%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;    
+ 
+   /***********************Configure Gathering and Timer******************/
+
+
+    printf("Reseting gathering ...\n");
+    status = GatheringReset(poll_socket);
+    if (status != 0) {
+        printf(" Error performing GatheringReset, status=%d\n",status);
+        return;
+    }
+
+    printf("Defining gathering ...\n");
+    status = GatheringConfigurationSet(poll_socket, 2, gatheringData);
+    if (status != 0) {
+        printf(" Error performing GatheringConfigurationSet, status=%d\n",status);
+        return;
+    }
+
+/*
+    printf("Gathering one data set manually ...\n");
+    status = GatheringDataAcquire(poll_socket);
+    if (status != 0) {
+        printf(" Error performing GatheringDataAcquire, status=%d\n",status);
+        return;
+    }
+*/
+    printf("Defining trigger ...\n");
+    status = EventExtendedConfigurationTriggerSet(poll_socket, 2, 
+                                                  "Always;GROUP2.PVT.TrajectoryPulse",
+                                                  "","","","");
+    if (status != 0) {
+        printf(" Error performing EventExtendedConfigurationTriggerSet, status=%d\n",status);
+        return;
+    }
+
+    printf("Defining action ...\n");
+    status = EventExtendedConfigurationActionSet(poll_socket, 1, "GatheringOneData","","","","");
+    if (status != 0) {
+        printf(" Error performing EventExtendedConfigurationActionSet, status=%d\n",status);
+        return;
+    }
+
+    printf("Starting gathering ...\n");
+    status= EventExtendedStart(poll_socket, &eventID);
+    if (status != 0) {
+        printf(" Error performing EventExtendedStart, status=%d\n",status);
+        return;
+    }
+
+
+    /********************* Run traj ****************************/
+    status = GroupStatusGet(poll_socket, group, &groupStatus);
+    if (status != 0) {
+        printf(" Error performing GroupStatusGet, status=%d\n",status);
+        return;
+    }
+    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 = GroupStatusGet(poll_socket, group, &groupStatus);
+    if (status != 0) {
+        printf(" Error performing GroupStatusGet, status=%d\n",status);
+        return;
+    }
+    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;
+    }
+
+    /***********************Save the gathered data ***************/
+    printf("Stopping gathering ...\n");
+    start_time = time(NULL);
+    status = GatheringStopAndSave(drive_socket);
+    end_time = time(NULL);
+    printf("Time to save gathering data=%f\n", difftime(end_time, start_time));
+    if (status != 0) {
+        printf(" Error performing GatheringExternalStopAndSave, status=%d\n",status);
+        return;
+    }
+    status = GroupStatusGet(poll_socket, group, &groupStatus);
+    if (status != 0) {
+        printf(" Error performing GroupStatusGet, status=%d\n",status);
+        return;
+    }
+    printf("Group status after stopping gathering=%d\n", groupStatus);
+
+    /* FTP the gathering file from the XPS to the local directory */
+    printf("FTPing gathering file from XPS ...\n");
+    status = ftpChangeDir(ftpSocket, GATHERING_DIRECTORY);
+    if (status != 0) {
+        printf("Error calling ftpChangeDir, status=%d\n", status);
+        return;
+    }
+    status = ftpRetrieveFile(ftpSocket, GATHERING_FILE);
+    if (status != 0) {
+        printf("Error calling ftpRetrieveFile, status=%d\n", status);
+        return;
+    }
+    status = ftpDisconnect(ftpSocket);
+    if (status != 0) {
+        printf("Error calling ftpDisconnect, status=%d\n", status);
+        return;
+    }
+   
+    printf("Returning before processing gathering file for now\n");
+    return;
+ 
+    printf("Opening gathering file ...\n");
+    gatheringFile = fopen("GATHERING_FILE", "r");
+    printf("Opening trajectory file ...\n");
+    trajFile = fopen("TRAJECTORY_FILE", "r");
+
+    for (i=0; i<NUM_ELEMENTS; ++i) {
+        for (j=0; j<NUM_AXES; ++j) {
+            motorReadbacks[j][i] = 0;
+            motorError[j][i] = 0;
+        }
+    }
+
+    /* Read 1st 2 lines */
+    for (i=0; i<2; i++) {
+        fgets (buffer, 1000, gatheringFile);
+        printf("Line %d of GatheringEx = %s\n",i,buffer);
+    }
+    for (i=0; i<NUM_ELEMENTS; i++) {
+        for (j=0; j<NUM_AXES; j++) {
+            fscanf(gatheringFile,"%lf",&motorReadbacks[j][i]);
+             
+            if( j == (NUM_AXES-1)) {
+                if (fscanf(trajFile," %lf,%*f", &trajStep) != 1) printf("trajerror\n");
+            }
+         
+            if (j == 0) {   
+                if (fscanf(trajFile,"%lf,%lf,%*f,", &trajTime, &trajStep) != 2) printf("trajerror\n");
+            }
+        
+            if (j > 0 && j < (NUM_AXES-1)) {
+                if (fscanf(trajFile," %lf,%*f,", &trajStep) != 1) printf("trajerror\n");
+            }
+        
+            if (i == 0) {
+                posTheory[j] = motorReadbacks[j][i];
+                printf("posTheory = %f ",posTheory[j]);
+            }
+            else {
+                posTheory[j]+= trajStep;
+            }
+             
+            motorError[j][i] = posTheory[j] - motorReadbacks[j][i];
+            printf("i=%d J=%d ReadBack=%f    motorError=%f trajStep%f\n",
+                    i,j,motorReadbacks[j][i],motorError[j][i],trajStep);
+        }
+    }
+    
+    fclose (trajFile);
+    fclose (gatheringFile);
+        
+    return;
+}
+
diff --git a/motorApp/NewportSrc/XPSGatheringMain.c b/motorApp/NewportSrc/XPSGatheringMain.c
new file mode 100644
index 00000000..3458ea55
--- /dev/null
+++ b/motorApp/NewportSrc/XPSGatheringMain.c
@@ -0,0 +1,7 @@
+void xps_gathering();
+
+int main(int arvgc, char **argv) {
+   xps_gathering();
+   return(0);
+}
+
diff --git a/motorApp/NewportSrc/XPSGatheringRegister.c b/motorApp/NewportSrc/XPSGatheringRegister.c
new file mode 100644
index 00000000..e5c204e4
--- /dev/null
+++ b/motorApp/NewportSrc/XPSGatheringRegister.c
@@ -0,0 +1,20 @@
+#include <iocsh.h>
+#include <epicsExport.h>
+
+void xps_gathering();
+
+static const iocshArg XPSGatheringArg0 = {"Interelement period", iocshArgInt};
+static const iocshArg * const XPSGatheringArgs[1] = {&XPSGatheringArg0};
+static const iocshFuncDef XPSGathering = {"XPSGathering", 1, XPSGatheringArgs};
+static void XPSGatheringCallFunc(const iocshArgBuf *args)
+{
+    xps_gathering(args[0].ival);
+}
+static void XPSGatheringRegister(void)
+{
+    iocshRegister(&XPSGathering, XPSGatheringCallFunc);
+}
+
+epicsExportRegistrar(XPSGatheringRegister);
+
+