diff --git a/sinqEPICSApp/src/pmacAxis.h b/sinqEPICSApp/src/pmacAxis.h
index c9d684a..9beced1 100644
--- a/sinqEPICSApp/src/pmacAxis.h
+++ b/sinqEPICSApp/src/pmacAxis.h
@@ -143,8 +143,14 @@ class LiftAxis : public pmacAxis
 class pmacV3Axis : public pmacAxis {
 public:
 
-  using pmacAxis::pmacAxis;
+ pmacV3AxisAxis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo, false) {};
+
+ protected:
+
+  asynStatus getAxisStatus(bool *moving);
+
   friend class pmacController;
+  friend class pmacV3Controller;
  };
 
 #endif /* pmacAxis_H */
diff --git a/sinqEPICSApp/src/pmacController.cpp b/sinqEPICSApp/src/pmacController.cpp
index 1f5b497..da69ca9 100644
--- a/sinqEPICSApp/src/pmacController.cpp
+++ b/sinqEPICSApp/src/pmacController.cpp
@@ -549,17 +549,14 @@ asynStatus SeleneCreateController(const char *portName, const char *lowLevelPort
     return asynSuccess;
 }
 
-asynStatus pmacV3CreateController(const char *portName,
-                                const char *lowLevelPortName,
-                                int lowLevelPortAddress, int numAxes,
-                                int movingPollPeriod, int idlePollPeriod) {
+asynStatus pmacV3CreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+				  int numAxes, int movingPollPeriod, int idlePollPeriod)
+{
 
-  pmacV3Controller *ppmacController = new pmacV3Controller(
-      portName, lowLevelPortName, lowLevelPortAddress, numAxes,
-      movingPollPeriod / 1000., idlePollPeriod / 1000.);
-  ppmacController = NULL;
+    pmacController *ppmacController = new pmacV3Controller(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
+    ppmacController = NULL;
 
-  return asynSuccess;
+    return asynSuccess;
 }
 
   /*---------------------------------------------------------------------------------------------------------------------*/
@@ -573,16 +570,15 @@ SeleneController::SeleneController(const char *portName, const char *lowLevelPor
     static const char *functionName = "seleneController::seleneController";
     createParam(MotorSetPositionString,                asynParamFloat64,         &setMotorPosition_);
     callParamCallbacks();
-  }
+}
 
   pmacV3Controller::pmacV3Controller(const char *portName,
                                      const char *lowLevelPortName,
                                      int lowLevelPortAddress, int numAxes,
                                      double movingPollPeriod,
                                      double idlePollPeriod,
-                                     const int &extraParams){
-      pmacController(portName, lowLevelPortName, lowLevelPortAddress, numAxes,
-                     movingPollPeriod, idlePollPeriod, extraParams);
+                                     const int &extraParams) :
+    pmacController(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod, idlePollPeriod, extraParams) {
       static const char *functionName = "pmacV3Controller::pmacV3Controller";
       createParam(EnableAxisString, asynParamInt32, &enableAxis_);
       callParamCallbacks();
@@ -697,6 +693,34 @@ asynStatus LiftCreateAxis(const char *pmacName,         /* specify which control
   return asynSuccess;
 }
 
+  /**
+   * C wrapper for the pmacV3Axis constructor.
+   * See pmacAxis::pmacV3Axis.
+   *
+   */
+  asynStatus pmacV3CreateAxis(
+      const char *pmacName, /* specify which controller by port name */
+      int axis)             /* axis number (start from 1). */
+  {
+    pmacController *pC;
+    pmacAxis *pAxis;
+
+    static const char *functionName = "pmacV3CreateAxis";
+
+    pC = (pmacController *)findAsynPortDriver(pmacName);
+    if (!pC) {
+      printf("%s:%s: Error port %s not found\n", driverName, functionName,
+             pmacName);
+      return asynError;
+    }
+
+    pC->lock();
+    pAxis = new pmacV3Axis(pC, axis);
+    pAxis = NULL;
+    pC->unlock();
+    return asynSuccess;
+  }
+
 /**
  * C Wrapper function for pmacHRPTAxis constructor.
  * See pmacAxis::pmacAxis.
@@ -794,12 +818,14 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
 asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
   int function = pasynUser->reason;
   asynStatus status = asynError;
-  pmacAxis *pAxis = NULL;
+  pmacV3Axis *pAxis = NULL;
+  char command[64] = {0};
+  char response[64] = {0};
   static const char *functionName = "pmacV3Controller::writeInt32";
 
   debugFlow(functionName);
 
-  pAxis = this->getAxis(pasynUser);
+  pAxis = (pmacV3Axis*)this->getAxis(pasynUser);
   if (!pAxis) {
     return asynError;
   }
@@ -947,10 +973,12 @@ static void pmacControllerRegister(void)
 {
   iocshRegister(&configpmacCreateController,   configpmacCreateControllerCallFunc);
   iocshRegister(&configSeleneCreateController, configSeleneCreateControllerCallFunc);
+  iocshRegister(&configpmacV3CreateController, configpmacV3CreateControllerCallFunc);
   iocshRegister(&configpmacAxis,               configpmacAxisCallFunc);
   iocshRegister(&configpmacHRPTAxis,           configpmacHRPTAxisCallFunc);
   iocshRegister(&configSeleneCreateAxis,       configSeleneCreateAxisCallFunc);
   iocshRegister(&configLiftAxis,               configLiftAxisCallFunc);
+  iocshRegister(&configpmacV3Axis,             configpmacV3AxisCallFunc);
   iocshRegister(&configpmacAxes,               configpmacAxesCallFunc);
 }
 epicsExportRegistrar(pmacControllerRegister);