diff --git a/sinqEPICSApp/src/MasterMACSDriver.cpp b/sinqEPICSApp/src/MasterMACSDriver.cpp
index 7add320..b1d1db6 100644
--- a/sinqEPICSApp/src/MasterMACSDriver.cpp
+++ b/sinqEPICSApp/src/MasterMACSDriver.cpp
@@ -141,6 +141,12 @@ asynStatus
     SINQAxis *axis = getAxis(axisNo);
 
     pasynOctetSyncIO->flush(pasynUserController_);
+
+    /* read with a short timeout in order to remove duplicate messages 
+     * from the line. This also serves to slow down communication
+     */
+    pasynOctetSyncIO->read(pasynUserController_, mmacsResponse, 35, .4, &in, &reason); 
+
     /* pack data for MasterMACS */
     len = strlen(command) + 6;
     mmacsData = (char *) malloc(len * sizeof(char));
@@ -158,7 +164,7 @@ asynStatus
     /* 0x03 is appended by asyn */
 
     /* send the stuff away ... */
-    //errlogSevPrintf(errlogMajor,"Sending command: %s\n", command);
+    errlogSevPrintf(errlogMajor,"Sending command: %s\n", command);
 
     status =
 	pasynOctetSyncIO->writeRead(pasynUserController_, mmacsData,
@@ -180,13 +186,14 @@ asynStatus
     }
     free(mmacsData);
 
-    /* format and print the response in hex for debugging purposes
+    /* format and print the response in hex for debugging purposes */
+    /*
        for(i = 0, idx = 0; i < in; i++){
        sprintf(hexResponse + idx, "%02x ", (unsigned int)mmacsResponse[i]);
        idx = strlen(hexResponse);
        }        
        errlogSevPrintf(errlogMajor,"Reply in hex: %s\n", hexResponse);
-     */
+    */
 
     /* Here we have read the data from the MasterMACS. We proceed to extract
      * the payload and the state of the ACK byte and place that reply into data
@@ -227,7 +234,7 @@ asynStatus
     lenPayload = idx - 4;
     memcpy(reply + 4, mmacsResponse + 4, lenPayload);
     reply[4 + lenPayload] = (char) 0;
-    //errlogSevPrintf(errlogMajor, "Completed reply at end of transactController: %s ", reply);
+    errlogSevPrintf(errlogMajor, "Completed reply at end of transactController: %s ", reply);
 
     return status;
 }
@@ -241,6 +248,7 @@ asynStatus
     MasterMACSAxis *pAxis = NULL;
     char command[64] = { 0 };
     char response[64] = { 0 };
+    int devStatus;
 
     pAxis = (MasterMACSAxis *) this->getAxis(pasynUser);
     if (!pAxis) {
@@ -252,19 +260,29 @@ asynStatus
     pAxis->setIntegerParam(function, value);
 
     if (function == enableAxis_) {
-	if (value == 1) {
-	    /* download parameters, does not work as of now */
-	    /*
-	       sprintf(command, "%dS85=1.", pAxis->axisNo_);
-	       status = transactController(pAxis->axisNo_, command, response);
-	     */
+        /*
+        * Read the status in order to prevent execssiove commands
+        */
+        devStatus = pAxis->readStatus();
+        if(devStatus < 900){
+            return asynError;
+        }
+	    if (value == 1 && !pAxis->isOn(devStatus) ) {
+	        /* download parameters, does not work as of now */
+	        /*
+	        sprintf(command, "%dS85=1.", pAxis->axisNo_);
+	        status = transactController(pAxis->axisNo_, command, response);
+	        */
 
-	    /*  actually enable */
-	    sprintf(command, "%dS04=1.0", pAxis->axisNo_);
-	    status = transactController(pAxis->axisNo_, command, response);
-	} else {
-	    sprintf(command, "%dS04=0.0", pAxis->axisNo_);
-	    status = transactController(pAxis->axisNo_, command, response);
+	        /*  actually enable */
+	        sprintf(command, "%dS04=1", pAxis->axisNo_);
+	        status = transactController(pAxis->axisNo_, command, response);
+	    } else {
+           if(pAxis->isOn(devStatus)) {
+                // only send command when necessary
+	            sprintf(command, "%dS04=0", pAxis->axisNo_);
+	            status = transactController(pAxis->axisNo_, command, response);
+            }
 	}
 	if (status == asynSuccess) {
 	    pAxis->updateMsgTxtFromDriver("");
@@ -300,8 +318,13 @@ asynStatus
 	    return asynError;
 	}
 	pPtr = strstr(reply, "=");
-	sscanf(pPtr + 1, "%f", &fval);
-	devStatus = (int) fval;
+    if(pPtr) {
+	   sscanf(pPtr + 1, "%f", &fval);
+       devStatus = (int) fval;
+    } else {
+      devStatus = 0;
+      errlogPrintf(" Bad reply %s when trying to read motor status %d\n", reply, pAxis->axisNo_);      
+    }
 	isOn = pAxis->isOn(devStatus);
 	/* errlogPrintf("isOn in readInt32: %d, devStatus = %d\n", isOn, devStatus); */
 	setIntegerParam(axisEnabled_, isOn);
@@ -343,6 +366,24 @@ void MasterMACSAxis::report(FILE * fp, int level)
     }
 }
 
+int MasterMACSAxis::readStatus()
+{ 
+    char command[COMLEN], reply[COMLEN], *pPtr;
+    float fval;
+    int devStatus, status;
+
+    sprintf(command, "%dR10", axisNo_);
+    status = pC_->transactController(axisNo_, command, reply);
+    if (status == asynError) {
+	    return -1000;
+    }
+    pPtr = strstr(reply, "=");
+    sscanf(pPtr + 1, "%f", &fval);
+    devStatus = (int) fval;
+    return devStatus;
+}
+
+
 int MasterMACSAxis::isOn(int axisStatus)
 {
     if (CHECK_BIT(axisStatus, 0) && CHECK_BIT(axisStatus, 1)) {
@@ -356,9 +397,8 @@ asynStatus
 			 double maxVelocity, double acceleration)
 {
     asynStatus status;
-    char command[COMLEN], reply[COMLEN], *pPtr;
+    char command[COMLEN], reply[COMLEN];
     int devStatus;
-    float fval;
 
     errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity,
 		 maxVelocity);
@@ -370,33 +410,33 @@ asynStatus
     /*
      * reset error code
      */
-    sprintf(command, "%dS17=0", axisNo_);
-    status = pC_->transactController(axisNo_, command, reply);
+    if(errorCodeFound){
+        sprintf(command, "%dS17=0", axisNo_);
+        status = pC_->transactController(axisNo_, command, reply);
+        errorCodeFound = 0;
+    }
 
     /*
      * test if the thing is On
      */
-    sprintf(command, "%dR10", axisNo_);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status == asynError) {
-	return asynError;
+    devStatus = readStatus();
+    if(devStatus < 900) {
+       return asynError;
     }
-    pPtr = strstr(reply, "=");
-    sscanf(pPtr + 1, "%f", &fval);
-    devStatus = (int) fval;
     if (!isOn(devStatus)) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("Motor disabled");
-	errlogPrintf("ERROR: trying to start disabled axis %d\n", axisNo_);
-	return asynError;
+	    setIntegerParam(pC_->motorStatusProblem_, true);
+	    updateMsgTxtFromDriver("Motor disabled");
+	    errlogPrintf("ERROR: trying to start disabled axis %d\n", axisNo_);
+	    return asynError;
     }
 
-
     /*
      * set speed
      */
+    /* temporarily disabled in order to get the basic logic right
     sprintf(command, "%dS05=%f", axisNo_, maxVelocity / 1000);
     status = pC_->transactController(axisNo_, command, reply);
+    */
 
     if (relative) {
 	position += this->position;
@@ -432,28 +472,23 @@ asynStatus
 			 double acceleration, int forwards)
 {
     asynStatus status;
-    char command[COMLEN], reply[COMLEN], *pPtr;
+    char command[COMLEN], reply[COMLEN];
     int devStatus;
-    float fval;
 
     memset(command, 0, COMLEN * sizeof(char));
 
     /*
      * test if the thing is On
      */
-    sprintf(command, "%dR10", axisNo_);
-    status = pC_->transactController(axisNo_, command, reply);
-    if (status == asynError) {
-	return asynError;
+    devStatus = readStatus();
+    if(devStatus < 900) {
+       return asynError;
     }
-    pPtr = strstr(reply, "=");
-    sscanf(pPtr + 1, "%f", &fval);
-    devStatus = (int) fval;
     if (!isOn(devStatus)) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("Motor disabled");
-	errlogPrintf("ERROR: trying to home disabled axis %d\n", axisNo_);
-	return asynError;
+        setIntegerParam(pC_->motorStatusProblem_, true);
+	    updateMsgTxtFromDriver("Motor disabled");
+	    errlogPrintf("ERROR: trying to home disabled axis %d\n", axisNo_);
+	    return asynError;
     }
 
     setIntegerParam(pC_->motorStatusProblem_, false);
@@ -483,15 +518,20 @@ asynStatus MasterMACSAxis::stop(double acceleration)
 {
     asynStatus status = asynSuccess;
     char command[COMLEN], reply[COMLEN];
+    int devStatus;
 
     memset(command, 0, COMLEN * sizeof(char));
 
     if (errorReported == 0) {
-	sprintf(command, "%dS00=8", axisNo_);
-	status = pC_->transactController(axisNo_, command, reply);
-	errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
-	updateMsgTxtFromDriver("Axis interrupted");
-	errorReported = 1;
+        devStatus = readStatus();
+        if(!CHECK_BIT(devStatus, 10)) {
+            // only try to stop when running ...    
+	        sprintf(command, "%dS00=8", axisNo_);
+	        status = pC_->transactController(axisNo_, command, reply);
+	        errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
+	        updateMsgTxtFromDriver("Axis interrupted");
+	        errorReported = 1;
+       }
     }
     return status;
 }
@@ -525,7 +565,7 @@ asynStatus MasterMACSAxis::poll(bool * moving)
 {
     asynStatus comStatus = asynSuccess;
     char command[COMLEN], reply[COMLEN], *pPtr;
-    float errStatus, fval;
+    float errStatus;
     unsigned int errCode, derCode, devStatus;
 
     // protect against excessive polling
@@ -560,25 +600,21 @@ asynStatus MasterMACSAxis::poll(bool * moving)
 
 
     // Read the overall  status of this motor */
-    sprintf(command, "%dR10", axisNo_);
-    comStatus = pC_->transactController(axisNo_, command, reply);
-    if (comStatus == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	goto skip;
+    devStatus = readStatus();
+    if(devStatus < 900) {
+        setIntegerParam(pC_->motorStatusProblem_, true);
+        goto skip;
     }
-    pPtr = strstr(reply, "=");
-    sscanf(pPtr + 1, "%f", &fval);
-    devStatus = (int) fval;
 
     errlogPrintf("Axis %d, position %lf, devStatus %d\n", axisNo_,
 		 position, devStatus);
 
     if (!isOn(devStatus)) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	updateMsgTxtFromDriver("Motor disabled");
-	*moving = false;
-	setIntegerParam(pC_->motorStatusDone_, true);
-	goto skip;
+	    setIntegerParam(pC_->motorStatusProblem_, true);
+	    updateMsgTxtFromDriver("Motor disabled");
+	    *moving = false;
+	    setIntegerParam(pC_->motorStatusDone_, true);
+	    goto skip;
     }
 
     /*
@@ -613,48 +649,13 @@ asynStatus MasterMACSAxis::poll(bool * moving)
 	setIntegerParam(pC_->motorStatusAtHome_, true);
     }
 
-    /* read error codes */
-    sprintf(command, "%dR11", axisNo_);
-    comStatus = pC_->transactController(axisNo_, command, reply);
-    if (comStatus == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	goto skip;
-    }
-    pPtr = strstr(reply, "=");
-    sscanf(pPtr + 1, "%f", &errStatus);
-    errCode = (unsigned int) errStatus;
-
-    sprintf(command, "%dR18", axisNo_);
-    comStatus = pC_->transactController(axisNo_, command, reply);
-    if (comStatus == asynError) {
-	setIntegerParam(pC_->motorStatusProblem_, true);
-	goto skip;
-    }
-    pPtr = strstr(reply, "=");
-    sscanf(pPtr + 1, "%f", &errStatus);
-    derCode = (unsigned int) errStatus;
-
-    errlogPrintf("Axis %d, errCode(R11) %d, derCode(R18) %d\n", axisNo_,
-		 errCode, derCode);
-
-
-    setIntegerParam(pC_->motorStatusLowLimit_, false);
+    /* check for limit switches*/
+	setIntegerParam(pC_->motorStatusLowLimit_, false);
     setIntegerParam(pC_->motorStatusHighLimit_, false);
-
-    if (errCode == 0) {
-	/* There still may be errors in the status code */
-	if (CHECK_BIT(devStatus, 3)) {
+    if (CHECK_BIT(devStatus, 11)) {
 	    setIntegerParam(pC_->motorStatusProblem_, true);
 	    errlogSevPrintf(errlogMajor,
-			    "Fault bit in status code, but no error code on %d",
-			    axisNo_);
-	    updateMsgTxtFromDriver
-		("Fault bit in status code without error code");
-	}
-	if (CHECK_BIT(devStatus, 11)) {
-	    setIntegerParam(pC_->motorStatusProblem_, true);
-	    errlogSevPrintf(errlogMajor,
-			    "Limit bit in status code, but no error code on %d",
+			    "Limit bit in status code %d",
 			    axisNo_);
 	    /* guessing which limit has been hit ... */
 	    if (position > 0) {
@@ -666,69 +667,99 @@ asynStatus MasterMACSAxis::poll(bool * moving)
 		setIntegerParam(pC_->motorStatusLowLimit_, true);
 		setIntegerParam(pC_->motorStatusProblem_, false);
 	    }
+	    goto skip;
 	}
-	goto skip;
-    }
+    
+    /* check for error conditions */
+	if (CHECK_BIT(devStatus, 3)) {
+        /* read error codes */
+        sprintf(command, "%dR11", axisNo_);
+        comStatus = pC_->transactController(axisNo_, command, reply);
+        if (comStatus == asynError) {
+	        setIntegerParam(pC_->motorStatusProblem_, true);
+	        goto skip;
+        }
+        pPtr = strstr(reply, "=");
+        sscanf(pPtr + 1, "%f", &errStatus);
+        errCode = (unsigned int) errStatus;
 
-    /*
-     * from here on we are processing errors
-     */
+        sprintf(command, "%dR18", axisNo_);
+        comStatus = pC_->transactController(axisNo_, command, reply);
+        if (comStatus == asynError) {
+	        setIntegerParam(pC_->motorStatusProblem_, true);
+	        goto skip;
+        }
+        pPtr = strstr(reply, "=");
+        sscanf(pPtr + 1, "%f", &errStatus);
+        derCode = (unsigned int) errStatus;
 
-    setIntegerParam(pC_->motorStatusProblem_, true);
+        errlogPrintf("Axis %d, errCode(R11) %d, derCode(R18) %d\n", axisNo_,
+		             errCode, derCode);
 
-    if (CHECK_BIT(errCode, 0)) {
-	errlogSevPrintf(errlogMajor, "CAN error on %d", axisNo_);
-	updateMsgTxtFromDriver("CAN error");
-    } else if (CHECK_BIT(errCode, 1)) {
-	errlogSevPrintf(errlogMajor, "Short circuit on %d", axisNo_);
-	updateMsgTxtFromDriver("Short circuit");
-    } else if (CHECK_BIT(errCode, 2)) {
-	errlogSevPrintf(errlogMajor, "Invalide Setup on %d", axisNo_);
-	updateMsgTxtFromDriver("Invalid Setup");
-    } else if (CHECK_BIT(errCode, 3)) {
-	errlogSevPrintf(errlogMajor, "Control error on %d", axisNo_);
-	updateMsgTxtFromDriver("Control error");
-    } else if (CHECK_BIT(errCode, 4)) {
-	errlogSevPrintf(errlogMajor, "CAN communication error on %d",
+        setIntegerParam(pC_->motorStatusProblem_, true);
+        if (errCode == 0) {
+	        setIntegerParam(pC_->motorStatusProblem_, true);
+	        errlogSevPrintf(errlogMajor,
+			    "Fault bit in status code, but no error code on %d\n", axisNo_);
+	        updateMsgTxtFromDriver ("Fault bit in status code without error code");
+            goto skip;
+	    }
+        errorCodeFound = 1;
+
+        if (CHECK_BIT(errCode, 0)) {
+	        errlogSevPrintf(errlogMajor, "CAN error on %d", axisNo_);
+	        updateMsgTxtFromDriver("CAN error");
+        } else if (CHECK_BIT(errCode, 1)) {
+	        errlogSevPrintf(errlogMajor, "Short circuit on %d", axisNo_);
+	        updateMsgTxtFromDriver("Short circuit");
+        } else if (CHECK_BIT(errCode, 2)) {
+	        errlogSevPrintf(errlogMajor, "Invalide Setup on %d", axisNo_);
+	        updateMsgTxtFromDriver("Invalid Setup");
+        } else if (CHECK_BIT(errCode, 3)) {
+	        errlogSevPrintf(errlogMajor, "Control error on %d", axisNo_);
+	        updateMsgTxtFromDriver("Control error");
+        } else if (CHECK_BIT(errCode, 4)) {
+	        errlogSevPrintf(errlogMajor, "CAN communication error on %d",
+			                axisNo_);
+	        updateMsgTxtFromDriver("CAN communication error");
+        } else if (CHECK_BIT(errCode, 5)) {
+	        errlogSevPrintf(errlogMajor, "Feedback error on %d", axisNo_);
+	        updateMsgTxtFromDriver("Feedback error");
+        } else if (CHECK_BIT(errCode, 6)) {
+	        updateMsgTxtFromDriver("Hit positive limit switch");
+	        setIntegerParam(pC_->motorStatusHighLimit_, true);
+	        setIntegerParam(pC_->motorStatusProblem_, false);
+        } else if (CHECK_BIT(errCode, 7)) {
+	        updateMsgTxtFromDriver("Hit negative limit switch");
+	        setIntegerParam(pC_->motorStatusLowLimit_, true);
+	        setIntegerParam(pC_->motorStatusProblem_, false);
+        } else if (CHECK_BIT(errCode, 8)) {
+	        errlogSevPrintf(errlogMajor, "Over current %d", axisNo_);
+	        updateMsgTxtFromDriver("Over current");
+        } else if (CHECK_BIT(errCode, 9)) {
+	        errlogSevPrintf(errlogMajor, "I2T protection on %d", axisNo_);
+	        updateMsgTxtFromDriver("I2t protection");
+        } else if (CHECK_BIT(errCode, 10)) {
+	        errlogSevPrintf(errlogMajor, "Over heated motor on  %d", axisNo_);
+	        updateMsgTxtFromDriver("Motor overheated");
+        } else if (CHECK_BIT(errCode, 11)) {
+	        errlogSevPrintf(errlogMajor, "Over temperature drive on %d",
 			axisNo_);
-	updateMsgTxtFromDriver("CAN communication error");
-    } else if (CHECK_BIT(errCode, 5)) {
-	errlogSevPrintf(errlogMajor, "Feedback error on %d", axisNo_);
-	updateMsgTxtFromDriver("Feedback error");
-    } else if (CHECK_BIT(errCode, 6)) {
-	updateMsgTxtFromDriver("Hit positive limit switch");
-	setIntegerParam(pC_->motorStatusHighLimit_, true);
-	setIntegerParam(pC_->motorStatusProblem_, false);
-    } else if (CHECK_BIT(errCode, 7)) {
-	updateMsgTxtFromDriver("Hit negative limit switch");
-	setIntegerParam(pC_->motorStatusLowLimit_, true);
-	setIntegerParam(pC_->motorStatusProblem_, false);
-    } else if (CHECK_BIT(errCode, 8)) {
-	errlogSevPrintf(errlogMajor, "Over current %d", axisNo_);
-	updateMsgTxtFromDriver("Over current");
-    } else if (CHECK_BIT(errCode, 9)) {
-	errlogSevPrintf(errlogMajor, "I2T protection on %d", axisNo_);
-	updateMsgTxtFromDriver("I2t protection");
-    } else if (CHECK_BIT(errCode, 10)) {
-	errlogSevPrintf(errlogMajor, "Over heated motor on  %d", axisNo_);
-	updateMsgTxtFromDriver("Motor overheated");
-    } else if (CHECK_BIT(errCode, 11)) {
-	errlogSevPrintf(errlogMajor, "Over temperature drive on %d",
-			axisNo_);
-	updateMsgTxtFromDriver("Over temperature drive");
-    } else if (CHECK_BIT(errCode, 12)) {
-	errlogSevPrintf(errlogMajor, "Over voltage on %d", axisNo_);
-	updateMsgTxtFromDriver("Over voltage");
-    } else if (CHECK_BIT(errCode, 13)) {
-	errlogSevPrintf(errlogMajor, "Under voltage on %d", axisNo_);
-	updateMsgTxtFromDriver("Under voltage");
-    } else if (CHECK_BIT(errCode, 14)) {
-	errlogSevPrintf(errlogMajor, "Command error on %d", axisNo_);
-	updateMsgTxtFromDriver("Command error");
-    } else if (CHECK_BIT(errCode, 15)) {
-	errlogSevPrintf(errlogMajor, "Motor disabled on %d", axisNo_);
-	updateMsgTxtFromDriver("Motor disabled");
-    }
+	        updateMsgTxtFromDriver("Over temperature drive");
+        } else if (CHECK_BIT(errCode, 12)) {
+	        errlogSevPrintf(errlogMajor, "Over voltage on %d", axisNo_);
+	        updateMsgTxtFromDriver("Over voltage");
+        } else if (CHECK_BIT(errCode, 13)) {
+	        errlogSevPrintf(errlogMajor, "Under voltage on %d", axisNo_);
+	        updateMsgTxtFromDriver("Under voltage");
+        } else if (CHECK_BIT(errCode, 14)) {
+	        errlogSevPrintf(errlogMajor, "Command error on %d", axisNo_);
+	        updateMsgTxtFromDriver("Command error");
+        } else if (CHECK_BIT(errCode, 15)) {
+	        errlogSevPrintf(errlogMajor, "Motor disabled on %d", axisNo_);
+	        updateMsgTxtFromDriver("Motor disabled");
+        }
+  }
 
   skip:
     callParamCallbacks();
diff --git a/sinqEPICSApp/src/MasterMACSDriver.h b/sinqEPICSApp/src/MasterMACSDriver.h
index 1a89477..e51430a 100644
--- a/sinqEPICSApp/src/MasterMACSDriver.h
+++ b/sinqEPICSApp/src/MasterMACSDriver.h
@@ -38,6 +38,8 @@ private:
   int errorReported;
   int hasStarted; /* The motor status is invalid if the thing has not run once */
   int isOn(int axisStatus); 
+  int readStatus();
+  int errorCodeFound;
 friend class MasterMACSController;
 };
 
diff --git a/sinqEPICSApp/src/PhytronDriver.cpp b/sinqEPICSApp/src/PhytronDriver.cpp
index 17645b1..ae6a617 100644
--- a/sinqEPICSApp/src/PhytronDriver.cpp
+++ b/sinqEPICSApp/src/PhytronDriver.cpp
@@ -77,12 +77,27 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
   pasynOctetSyncIO->setOutputEos(pasynUserController_,etx,strlen(etx));
   pasynOctetSyncIO->setInputEos(pasynUserController_,etx,strlen(etx));
 
-  new PhytronAxis(this, 1, encX);
-  new PhytronAxis(this, 2, encY);
+  /* The special selector D selects the dose controlled axis version */
+  if(strcmp(sel, (const char *)"D") == 0) {
+      new PhytronDoseAxis(this, 1, encX);
+      new PhytronDoseAxis(this, 2, encY);
+  } else {
+     new PhytronAxis(this, 1, encX);
+     new PhytronAxis(this, 2, encY);
+ }
+
 
   startPoller(1000./1000., IDLEPOLL, 2);
 }
 
+PhytronDoseController::PhytronDoseController(const char *portName, const char *PhytronPortName, const char *sel ,
+				     int encX, int encY)
+  :  PhytronController(portName, PhytronPortName, sel, encX, encY) 
+{
+  new PhytronDoseAxis(this, 1, encX);
+  new PhytronDoseAxis(this, 2, encY);
+}
+
 
 /** Creates a new PhytronController object.
   * Configuration command, called directly or from iocsh
@@ -97,6 +112,14 @@ extern "C" int PhytronCreateController(const char *portName, const char *Phytron
   return(asynSuccess);
 }
 
+extern "C" int PhytronDoseCreateController(const char *portName, const char *PhytronPortName, const char *selector,
+				       int encX, int encY)
+{
+  new PhytronDoseController(portName, PhytronPortName,selector, encX, encY);
+  return(asynSuccess);
+}
+
+
 /** Reports on status of the driver
   * \param[in] fp The file pointer on which report information will be written
   * \param[in] level The level of report detail desired
@@ -129,6 +152,23 @@ PhytronAxis* PhytronController::getAxis(int axisNo)
   return static_cast<PhytronAxis*>(asynMotorController::getAxis(axisNo));
 }
 
+/** Returns a pointer to an PhytronDoseAxis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+PhytronDoseAxis* PhytronDoseController::getAxis(asynUser *pasynUser)
+{
+  return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(pasynUser));
+}
+
+/** Returns a pointer to an PhytronDoseAxis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] axisNo Axis index number. */
+PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
+{
+  return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(axisNo));
+}
+
+
 /**
  * send a command to the Phytron and read the reply. Do some error and controller 
  * issue fixing on the way
@@ -569,6 +609,79 @@ asynStatus PhytronAxis::poll(bool *moving)
   return comStatus;
 }
 
+/* The special PhytronDoseAxis code used when the speed is controlled through the neutron flux
+ */
+
+PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
+  : PhytronAxis(pC, axisNo, enc)
+{  
+  if(axisNo == 1){
+    doseChar = '3';
+  } else {
+    doseChar = '4';
+  }
+}
+
+
+asynStatus PhytronDoseAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
+{
+  asynStatus status;
+  //static const char *functionName = "PhytronDoseAxis::move";
+  char command[COMLEN], reply[COMLEN];
+  float realTarget;
+
+  updateMsgTxtFromDriver("");
+
+  /*
+    set conversion factor from neutron rate to speed
+  */
+  sprintf(command, "R%c3S%f", doseChar, maxVelocity);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(strstr(reply,"NACK") != NULL){
+    errlogSevPrintf(errlogMajor, "Speed not accepted on  %d", axisNo_);
+    updateMsgTxtFromDriver("Invalid speed");
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    return asynError;
+  }
+
+  /*
+    actually send a move command
+  */
+  if (relative) {
+    position += this->position;
+  }
+  homing = 0;
+
+  /* set target */
+  realTarget = position/1000.;
+  if(realTarget > this->position) {
+      sprintf(command, "R%c1S%f", doseChar,realTarget);
+  } else {
+      sprintf(command, "R%c2S%f", doseChar,realTarget);
+  }
+  status = pC_->transactController(axisNo_,command,reply);
+  if(strstr(reply,"NACK") != NULL){
+    errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_);
+    updateMsgTxtFromDriver("Drive command not acknowledged");
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    return asynError;
+  }
+
+  /* really start the move */
+  sprintf(command, "R%c01S", doseChar);
+  status = pC_->transactController(axisNo_,command,reply);
+  if(strstr(reply,"NACK") != NULL){
+    errlogSevPrintf(errlogMajor, "Drive start command not acknowledged on %d", axisNo_);
+    updateMsgTxtFromDriver("Drive command not acknowledged");
+    setIntegerParam(pC_->motorStatusProblem_, true);
+    return asynError;
+  }
+
+  next_poll = -1;
+  return status;
+}
+
+
 extern "C" asynStatus PhytronConfBrake(const char *port,         /* specify which controller by port name */
 				       int axis,                 /* axis: 0, 1 */
 				       int brakeNO)              /* brakeIO No, 1-8 */      
@@ -615,6 +728,21 @@ static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
   PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
 }
 
+static const iocshArg PhytronDoseCreateControllerArg0 = {"Port name", iocshArgString};
+static const iocshArg PhytronDoseCreateControllerArg1 = {"Phytron port name", iocshArgString};
+static const iocshArg PhytronDoseCreateControllerArg2 = {"Phytron Selector", iocshArgString};
+static const iocshArg PhytronDoseCreateControllerArg3 = {"EncoderX", iocshArgInt};
+static const iocshArg PhytronDoseCreateControllerArg4 = {"EncoderY", iocshArgInt};
+static const iocshArg * const PhytronDoseCreateControllerArgs[] = {&PhytronDoseCreateControllerArg0,
+                                                             &PhytronDoseCreateControllerArg1,
+							       &PhytronDoseCreateControllerArg2,
+							       &PhytronDoseCreateControllerArg3,
+                                                             &PhytronDoseCreateControllerArg4};
+static const iocshFuncDef PhytronDoseCreateControllerDef = {"PhytronDoseCreateController", 5, PhytronDoseCreateControllerArgs};
+static void PhytronDoseCreateContollerCallFunc(const iocshArgBuf *args)
+{
+  PhytronDoseCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
+}
 
 /* PhytronConfigureBrake */
 static const iocshArg phytronBrakeArg0 = {"Controller port name", iocshArgString};
@@ -634,6 +762,7 @@ static void phytronBrakeCallFunc(const iocshArgBuf *args)
 static void PhytronRegister(void)
 {
   iocshRegister(&PhytronCreateControllerDef, PhytronCreateContollerCallFunc);
+  iocshRegister(&PhytronDoseCreateControllerDef, PhytronDoseCreateContollerCallFunc);
   iocshRegister(&phytronBrakeDef, phytronBrakeCallFunc);
 }
 
diff --git a/sinqEPICSApp/src/PhytronDriver.h b/sinqEPICSApp/src/PhytronDriver.h
index dc6bb4a..421a7a0 100644
--- a/sinqEPICSApp/src/PhytronDriver.h
+++ b/sinqEPICSApp/src/PhytronDriver.h
@@ -10,6 +10,11 @@ Updated to go through SINQAxis for -MsgTxt support
 Added a selector to support multiple phytrons on a connection
 
 Mark Koennecke, January 2019
+
+Added PhytronDoseAxis. The speed of this axis is controlled by the
+neutron dose rate fed in as analog signal
+
+Mark Koennecke, April 2023
 */
 
 #include "SINQController.h"
@@ -17,6 +22,10 @@ Mark Koennecke, January 2019
 
 #define COMLEN 80
 
+
+class PhytronController;
+class PhytronDoseController;
+
 class PhytronAxis : public SINQAxis
 {
 public:
@@ -32,7 +41,7 @@ public:
   asynStatus setClosedLoop(bool closedLoop);
   int setBrake(int brakeIO);
 
-private:
+protected:
   char phytronChar;
   PhytronController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                    *   Abbreviated because it is used very frequently */
@@ -47,6 +56,21 @@ private:
 friend class PhytronController;
 };
 
+class PhytronDoseAxis : public PhytronAxis
+{
+// A special version of PhytronAxis where the speed is controlled by the neutron flux.
+public:
+  PhytronDoseAxis(class PhytronController *pC, int axis, int enc);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+
+friend class PhytronDoseController; 
+
+protected:
+char doseChar; 
+PhytronDoseController *pC_;
+};
+
+
 class PhytronController : public SINQController {
 public:
   PhytronController(const char *portName, const char *PhytronPortName, const char *selector, 
@@ -57,7 +81,8 @@ public:
   PhytronAxis* getAxis(int axisNo);
 
 friend class PhytronAxis;
- private:
+
+ protected:
  asynUser *pasynUserController_;
 
  asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
@@ -65,3 +90,20 @@ friend class PhytronAxis;
  const char *selector;
 
 };
+
+class PhytronDoseController : public PhytronController {
+public:
+  PhytronDoseController(const char *portName, const char *PhytronPortName, const char *selector, 
+		    int encX, int encY);
+
+  PhytronDoseAxis* getAxis(asynUser *pasynUser);
+  PhytronDoseAxis* getAxis(int axisNo);
+
+friend class PhytronDoseAxis;
+
+ protected:
+ asynUser *pasynUserController_;
+ const char *selector;
+
+};
+
diff --git a/sinqEPICSApp/src/devScalerEL737.c b/sinqEPICSApp/src/devScalerEL737.c
index 4724db2..73612fd 100644
--- a/sinqEPICSApp/src/devScalerEL737.c
+++ b/sinqEPICSApp/src/devScalerEL737.c
@@ -389,7 +389,7 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
     if(errno == EAGAIN){
         errlogPrintf("Lost response to %s with EAGAIN\n", command); 
     } else {
-        strncpy(message,"Lost communication",sizeof(message));
+        snprintf(message,sizeof(message), "Lost communication with errno %d", errno);
     }
   }
   if(priv->dbInit){
@@ -455,9 +455,7 @@ static void runEvents(EL737priv *priv)
 
   if(priv->sendThreshold == 1) {
     // fallback when we do not have the DB fields or threshCounter is invalid
-    if(priv->presets[THRESHMON] <= 0) {
-      errlogPrintf("Invalid threshold preset monitor %ld, no threshold sent\n", priv->presets[THRESHMON]); 
-    } else {
+    if(priv->presets[THRESHMON] > 0) {
       sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
 	      (int)priv->presets[THRESHVAL]);
       errlogPrintf("Sending threshold from presets, command %s\n", command);
@@ -465,7 +463,7 @@ static void runEvents(EL737priv *priv)
       sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
       status = el737_transactCommand(priv, command,reply);
       if(status == asynSuccess) {
-	priv->sendThreshold  = 0;
+	    priv->sendThreshold  = 0;
       }
     }
   }
diff --git a/sinqEPICSApp/src/pmacController.cpp b/sinqEPICSApp/src/pmacController.cpp
index 7ad60c0..af752df 100644
--- a/sinqEPICSApp/src/pmacController.cpp
+++ b/sinqEPICSApp/src/pmacController.cpp
@@ -842,15 +842,9 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
               "%s: Enable axis on controller %s, axis %d enable=%d\n",
               functionName, portName, pAxis->axisNo_, value);
-    if(value){
-      pAxis->updateMsgTxtFromDriver("");
-    }
-  } 
-
-  // Execute the command.
-  if (command[0] != 0 && status == asynSuccess) {
+    pAxis->updateMsgTxtFromDriver("");
     lowLevelWriteRead(pAxis->axisNo_, command, response);
-  }
+  } 
 
   return pmacController::writeInt32(pasynUser, value);
 }
diff --git a/testmmac/testmmacs.cmd b/testmmac/testmmacs.cmd
index 19c0833..08b5c4d 100755
--- a/testmmac/testmmacs.cmd
+++ b/testmmac/testmmacs.cmd
@@ -1,19 +1,33 @@
 #!/usr/local/bin/iocsh 
 
 require sinq,koennecke
+require autosave,koennecke
 
 epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testmmac")
 
+set_requestfile_path("$(TOP)", "")
+set_savefile_path("$(TOP)/autosave") 
+save_restoreSet_Debug(0)
+#--------------------------------- restore autosave
+set_pass0_restoreFile("$(TOP)/autosave/test.sav","")
+set_pass1_restoreFile("$(TOP)/autosave/test.sav","")
+
+
 #drvAsynMMACSPortConfigure("macs1", "localhost:8080",0,0,0)
 #asynInterposeEosConfig("macs1", 0, 0, 0) 
 #dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=macs1,PORT=macs1,ADDR=0,OMAX=80,IMAX=80")
 #asynSetTraceMask("macs1", 0, 255)
 
-drvAsynIPPortConfigure("macs1", "localhost:8080",0,0,0)
 #asynSetTraceMask("macs1", 0, 255)
+#drvAsynIPPortConfigure("macs1", "localhost:8080",0,0,0)
+drvAsynIPPortConfigure("macs1", "Marcel1--MACS:1917")
 MasterMACSCreateController("mota","macs1",7)
 MasterMACSCreateAxis("mota",5)
 MasterMACSCreateAxis("mota",6)
 
 dbLoadTemplate "mmacs2.sub"
 
+iocInit()
+
+create_monitor_set("test.req", 10, "")
+
diff --git a/utils/syncMasterMAC.py b/utils/syncMasterMAC.py
index f15eb65..eda6dda 100755
--- a/utils/syncMasterMAC.py
+++ b/utils/syncMasterMAC.py
@@ -59,6 +59,7 @@ def scan_substitution_file(filename):
     # import pdb; pdb.set_trace()
     with open(filename, 'r') as fin:
         rawline = fin.readline()
+        import pdb; pdb.set_trace()
         while rawline:
             line = rawline.replace(' ','')
             line = line.strip('{}')
diff --git a/utils/syncPmacSub.py b/utils/syncPmacSub.py
index 4185e9a..c57c943 100755
--- a/utils/syncPmacSub.py
+++ b/utils/syncPmacSub.py
@@ -63,8 +63,8 @@ def fix_line(par_list, index_list):
     highidx = index_list.index('DHLM')
     par_list[highidx] = highlim.strip()
     speed = transact('Q%d03' % motNo)
-    speedidx = index_list['VELO']
-    par_list[speedidx] = speed.trim()
+    speedidx = index_list.index('VELO')
+    par_list[speedidx] = speed.strip()
     return par_list
 
 def scan_substitution_file(filename):