diff --git a/sinqEPICSApp/src/EL734Driver.cpp b/sinqEPICSApp/src/EL734Driver.cpp
index 3515930..890e1c3 100644
--- a/sinqEPICSApp/src/EL734Driver.cpp
+++ b/sinqEPICSApp/src/EL734Driver.cpp
@@ -5,6 +5,10 @@ USAGE...    Motor driver support for the PSI EL734 controller.
 Mark Koennecke
 February 2013
 
+Updated to have an MsgTxt field through SINQAxis, error handling
+
+Mark Koennecke, May, August 2017
+
 */
 
 
@@ -134,18 +138,22 @@ void EL734Controller::switchRemote()
  * \param[out] reply The controllers reply
  */
 
-asynStatus EL734Controller::transactController(char command[COMLEN], char reply[COMLEN])
+asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
 {
   asynStatus status;
   size_t in, out, i;
   int reason;
-  char myReply[COMLEN];
+  char myReply[COMLEN], errTxt[256];
+  SINQAxis *axis = getAxis(axisNo);
 
   pasynOctetSyncIO->flush(pasynUserController_);
   
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,COMLEN, 1.,&out,&in,&reason); 
   if(status != asynSuccess){
+    if(axis!= NULL){
+      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
+    }
     return status;
   }
 
@@ -174,13 +182,25 @@ asynStatus EL734Controller::transactController(char command[COMLEN], char reply[
     myReply[i] = (char)tolower((int)reply[i]);
   }
   if(strstr(myReply,"?cmd") != NULL){
-    errlogSevPrintf(errlogMajor, "Bad command %s", command);
+    snprintf(errTxt,sizeof(errTxt), "Bad command %s at axis %d", command, axisNo);
+    errlogSevPrintf(errlogMajor, errTxt);
+    if(axis!= NULL){
+      axis->updateMsgTxtFromDriver(errTxt);
+    }
     return asynError;
   } else if(strstr(myReply,"?par") != NULL){
-    errlogSevPrintf(errlogMajor, "Bad parameter in command %s", command);
+    snprintf(errTxt,sizeof(errTxt), "Bad parameter in command %s", command);
+    errlogSevPrintf(errlogMajor, errTxt);
+    if(axis!= NULL){
+      axis->updateMsgTxtFromDriver(errTxt);
+    }
     return asynError;
   } else if(strstr(myReply,"?rng") != NULL){
-    errlogSevPrintf(errlogMajor, "Parameter out of range in command %s", command);
+    snprintf(errTxt,sizeof(errTxt), "Parameter out of range in command %s", command);
+    errlogSevPrintf(errlogMajor, errTxt);
+    if(axis!= NULL){
+      axis->updateMsgTxtFromDriver(errTxt);
+    }
     return asynError;
   }
 
@@ -234,10 +254,7 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
   oredMSR = 0;
   homing = 0;
   sprintf(command, "p %d %.3f", axisNo_, position/1000.);
-  status = pC_->transactController(command,reply);
-  if(status == asynError){
-    updateMsgTxtFromDriver(reply);
-  }
+  status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
   return status;
 }
@@ -253,11 +270,8 @@ asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double accele
   sprintf(command, "R %d", axisNo_);
   homing = 1;
   next_poll= -1;
-  status = pC_->transactController(command,reply);
-  if(status == asynError){
-    updateMsgTxtFromDriver(reply);
-  } 
- return status;
+  status = pC_->transactController(axisNo_,command,reply);
+  return status;
 }
 
 asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
@@ -278,10 +292,7 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
       /* This is a negative move  */
       sprintf(command, "FB %d", axisNo_);
   }
-  status = pC_->transactController(command,reply);
-  if(status == asynError){
-    updateMsgTxtFromDriver(reply);
-  }
+  status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
   return status;
 }
@@ -293,7 +304,7 @@ asynStatus EL734Axis::stop(double acceleration )
   char command[COMLEN], reply[COMLEN];
 
   sprintf(command, "S %d", axisNo_);
-  status = pC_->transactController(command,reply);
+  status = pC_->transactController(axisNo_,command,reply);
   errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
   updateMsgTxtFromDriver("Axis interrupted");
 
@@ -307,10 +318,7 @@ asynStatus EL734Axis::setPosition(double position)
   char command[COMLEN], reply[COMLEN];
 
   sprintf(command, "P %d %f", axisNo_, position/1000.);
-  status = pC_->transactController(command,reply);
-  if(status == asynError){
-    updateMsgTxtFromDriver(reply);
-  }
+  status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
 
   return status;
@@ -336,9 +344,9 @@ asynStatus EL734Axis::setClosedLoop(bool closedLoop)
   * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
 asynStatus EL734Axis::poll(bool *moving)
 { 
-  int msr;
+  int msr, count;
   asynStatus comStatus;
-  char command[COMLEN], reply[COMLEN];
+  char command[COMLEN], reply[COMLEN], errTxt[256];
   int driverError = 0;
 
 
@@ -350,10 +358,9 @@ asynStatus EL734Axis::poll(bool *moving)
 
   // Read the current motor position
   sprintf(command,"u %d", axisNo_);
-  comStatus = pC_->transactController(command,reply);
+  comStatus = pC_->transactController(axisNo_,command,reply);
   if(comStatus == asynError){
-    updateMsgTxtFromDriver(reply);
-    driverError = 1;
+     driverError = 1;
   }
   if(comStatus) goto skip;
   if(strstr(reply,"*ES") != NULL){
@@ -369,7 +376,14 @@ asynStatus EL734Axis::poll(bool *moving)
     updateMsgTxtFromDriver(NULL);
     goto skip;
   }
-  sscanf(reply,"%lf", &position);
+  count = sscanf(reply,"%lf", &position);
+  if(count != 1) {
+    snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
+    updateMsgTxtFromDriver(errTxt);
+    comStatus = asynError;
+    driverError =1;
+    goto skip;
+  }
   //errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
   setDoubleParam(pC_->motorPosition_, position*1000);
   //setDoubleParam(pC_->motorEncoderPosition_, position);
@@ -377,7 +391,7 @@ asynStatus EL734Axis::poll(bool *moving)
 
   // Read the moving status of this motor
   sprintf(command,"msr %d",axisNo_);
-  comStatus = pC_->transactController(command,reply);
+  comStatus = pC_->transactController(axisNo_,command,reply);
   if(comStatus) goto skip;
   sscanf(reply,"%x",&msr);
   // errlogPrintf("Axis %d, reply %s, msr %d, position = %lf\n", 
diff --git a/sinqEPICSApp/src/EL734Driver.h b/sinqEPICSApp/src/EL734Driver.h
index 4074ecb..79bcccd 100644
--- a/sinqEPICSApp/src/EL734Driver.h
+++ b/sinqEPICSApp/src/EL734Driver.h
@@ -53,7 +53,7 @@ friend class EL734Axis;
  private:
  asynUser *pasynUserController_;
 
- asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
+ asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
 
  void switchRemote();
 
diff --git a/sinqEPICSApp/src/SINQAxis.h b/sinqEPICSApp/src/SINQAxis.h
index 9c065ab..fc57e45 100644
--- a/sinqEPICSApp/src/SINQAxis.h
+++ b/sinqEPICSApp/src/SINQAxis.h
@@ -16,8 +16,9 @@ class epicsShareClass SINQAxis : public asynMotorAxis
   asynStatus setStringParam(int function, const char *value);
 
   friend class SINQController;
- protected:
   void updateMsgTxtFromDriver(const char *value);
+
+ protected:
  private:
   SINQController *pC_;