diff --git a/secop_psi/attocube.py b/secop_psi/attocube.py
new file mode 100644
index 0000000..2959827
--- /dev/null
+++ b/secop_psi/attocube.py
@@ -0,0 +1,243 @@
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+# *****************************************************************************
+
+import sys
+import time
+from secop.core import Drivable, Parameter, Command, Property, ERROR, BUSY, IDLE, Done, nopoll
+from secop.features import HasLimits
+from secop.datatypes import IntRange, FloatRange, StringType, BoolType
+from secop.errors import ConfigError, BadValueError
+sys.path.append('/home/l_samenv/Documents/anc350/Linux64/userlib/lib')
+from PyANC350v4 import Positioner
+
+
+DIRECTION_NAME = {1: 'forward', -1: 'backward'}
+
+
+class FreezeStatus:
+    """freeze status for some time
+
+    hardware quite often does not treat status correctly: on a target change it
+    may take some time to return the 'busy' status correctly.
+
+    in classes with this mixin, within :meth:`write_target` call
+
+    self.freeze_status(0.5, BUSY, 'changed target')
+
+    a wrapper around read_status will take care that the status will be the given value,
+    for at least the given delay. This does NOT cover the case when self.status is set
+    directly from an other method.
+    """
+    __freeze_status_until = 0
+
+    def __init_subclass__(cls):
+        def wrapped(self, inner=cls.read_status):
+            if time.time() < self.__freeze_status_until:
+                return Done
+            return inner(self)
+
+        cls.read_status = wrapped
+        super().__init_subclass__()
+
+    def freeze_status(self, delay, code=BUSY, text='changed target'):
+        """freezze status to the given value for the given delay"""
+        self.__freeze_status_until = time.time() + delay
+        self.status = code, text
+
+
+class Axis(HasLimits, FreezeStatus, Drivable):
+    axis = Property('axis number', IntRange(0, 2), 0)
+    value = Parameter('axis position', FloatRange(unit='deg'))
+    frequency = Parameter('frequency', FloatRange(1, unit='Hz'), readonly=False)
+    amplitude = Parameter('amplitude', FloatRange(0, unit='V'), readonly=False)
+    gear = Parameter('gear factor', FloatRange(), readonly=False, default=1, initwrite=True)
+    tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'), readonly=False, default=0.01)
+    output = Parameter('enable output', BoolType(), readonly=False)
+    info = Parameter('axis info', StringType())
+    statusbits = Parameter('status bits', StringType())
+
+    _hw = Positioner()
+    _scale = 1  # scale for custom units
+    _move_steps = 0  # number of steps to move (used by move command)
+    SCALES = {'deg': 1, 'm': 1, 'mm': 1000, 'um': 1000000, 'µm': 1000000}
+    _direction = 1  # move direction
+    _idle_status = IDLE, ''
+    _error_state = ''  # empty string: no error
+    _history = None
+    _check_sensor = False
+    _try_count = 0
+
+    def __init__(self, name, logger, opts, srv):
+        unit = opts.pop('unit', 'deg')
+        opts['value.unit'] = unit
+        try:
+            self._scale = self.SCALES[unit] * opts.get('gear', 1)
+        except KeyError as e:
+            print(repr(e))
+            raise ConfigError('unsupported unit: %s' % unit)
+        super().__init__(name, logger, opts, srv)
+
+    def write_gear(self, value):
+        self._scale = self.SCALES[self.parameters['value'].datatype.unit] * self.gear
+        return value
+
+    def startModule(self, start_events):
+        super().startModule(start_events)
+        start_events.queue(self.read_info)
+
+    def check_value(self, value):
+        """check if value allows moving in current driection"""
+        if self._direction > 0:
+            if value > self.target_limits[1]:
+                raise BadValueError('above upper limit')
+        elif value < self.target_limits[0]:
+            raise BadValueError('below lower limit')
+
+    def read_value(self):
+        pos = self._hw.getPosition(self.axis) * self._scale
+        if self.isBusy():
+            try:
+                self.check_value(pos)
+            except BadValueError as e:
+                self._stop()
+                self._idle_status = ERROR, str(e)
+        return pos
+
+    def read_frequency(self):
+        return self._hw.getFrequency(self.axis)
+
+    def write_frequency(self, value):
+        self._hw.setFrequency(self.axis, value)
+        return self._hw.getFrequency(self.axis)
+
+    def read_amplitude(self):
+        return self._hw.getAmplitude(self.axis)
+
+    def write_amplitude(self, value):
+        self._hw.setAmplitude(self.axis, value)
+        return self._hw.getAmplitude(self.axis)
+
+    def write_tolerance(self, value):
+        self._hw.setTargetRange(self.axis, value / self._scale)
+        return value
+
+    def write_output(self, value):
+        self._hw.setAxisOutput(self.axis, enable=value, autoDisable=0)
+
+    def read_status(self):
+        statusbits = self._hw.getAxisStatus(self.axis)
+        sensor, self.output, moving, attarget, eot_fwd, eot_bwd, sensor_error = statusbits
+        self.statusbits = ''.join((k for k, v in zip('SOMTFBE', statusbits) if v))
+        if self._move_steps:
+            if not (eot_fwd or eot_bwd):
+                return BUSY, 'moving by steps'
+        if not sensor:
+            self._error_state = 'no sensor connected'
+        elif sensor_error:
+            self._error_state = 'sensor error'
+        elif eot_fwd:
+            self._error_state = 'end of travel forward'
+        elif eot_bwd:
+            self._error_state = 'end of travel backward'
+        else:
+            if self._error_state and not DIRECTION_NAME[self._direction] in self._error_state:
+                self._error_state = ''
+            status_text = 'moving' if self._try_count == 0 else 'moving (retry %d)' % self._try_count
+            if moving and self._history is not None:  # history None: moving by steps
+                self._history.append(self.value)
+                if len(self._history) < 5:
+                    return BUSY, status_text
+                beg = self._history.pop(0)
+                if abs(beg - self.target) < self.tolerance:
+                    # reset normal tolerance
+                    self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
+                if (self.value - beg) * self._direction > 0:
+                    return BUSY, status_text
+                self._idle_status = ERROR, 'no progress'
+        if self._error_state:
+            self._try_count += 1
+            if self._try_count < 10 and self._history is not None:
+                self.write_target(self.target)
+                return Done
+            self._idle_status = ERROR, self._error_state
+        if self.status[0] != IDLE:
+            self._stop()
+        return self._idle_status
+
+    def write_target(self, value):
+        if value == self.read_value():
+            return value
+        self.check_limits(value)
+        self._try_count = 0
+        self._direction = 1 if value > self.value else -1
+        # if self._error_state and DIRECTION_NAME[-self._direction] not in self._error_state:
+        #    raise BadValueError('can not move (%s)' % self._error_state)
+        self._move_steps = 0
+        self.write_output(1)
+        # try first with 50 % of tolerance
+        self._hw.setTargetRange(self.axis, self.tolerance * 0.5 / self._scale)
+        self._hw.setTargetPosition(self.axis, value / self._scale)
+        self._hw.startAutoMove(self.axis, enable=1, relative=0)
+        self._history = [self.value]
+        self._idle_status = IDLE, ''
+        self.freeze_status(1, BUSY, 'changed target')
+        self.setFastPoll(True, 1)
+        return value
+
+    def doPoll(self):
+        if self._move_steps == 0:
+            super().doPoll()
+            return
+        self._hw.startSingleStep(self.axis, self._direction < 0)
+        self._move_steps -= self._direction
+        if self._move_steps % int(self.frequency) == 0:  # poll value and status every second
+            super().doPoll()
+
+    @nopoll
+    def read_info(self):
+        """read info from controller"""
+        cap = self._hw.measureCapacitance(self.axis) * 1e9
+        axistype = ['linear', 'gonio', 'rotator'][self._hw.getActuatorType(self.axis)]
+        return '%s %s %.3gnF' % (self._hw.getActuatorName(self.axis), axistype, cap)
+
+    def _stop(self):
+        self._move_steps = 0
+        self._history = None
+        self._hw.startAutoMove(self.axis, enable=0, relative=0)
+        self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
+        self.setFastPoll(False)
+
+    @Command()
+    def stop(self):
+        self._idle_status = IDLE, 'stopped' if self.isBusy() else ''
+        self._stop()
+        self.status = self._idle_status
+
+    @Command(IntRange())
+    def move(self, value):
+        """relative move by number of steps"""
+        self._direction = 1 if value > 0 else -1
+        self.check_value(self.value)
+        self._history = None
+        if DIRECTION_NAME[self._direction] in self._error_state:
+            raise BadValueError('can not move (%s)' % self._error_state)
+        self._move_steps = value
+        self._idle_status = IDLE, ''
+        self.read_status()
+        self.setFastPoll(True, 1/self.frequency)