diff --git a/site_ansto/beamstopaction.c b/site_ansto/beamstopaction.c
new file mode 100644
index 00000000..9901a19b
--- /dev/null
+++ b/site_ansto/beamstopaction.c
@@ -0,0 +1,362 @@
+/*
+@file beamstopaction.c
+@brief Proof of concept action object for Quokka beamstops.  
+*/
+#include <stdlib.h>
+#include <stdio.h>
+#include <sics.h>
+#include <asyncqueue.h>
+#include <nwatch.h>
+#include "beamstopaction.h"
+
+#define NOACTION -1
+#define DEFAULTACTION 0
+#define LASTACTION 1
+#define AO_CMDLEN 256
+#define SEQLEN 16
+#define ACTIONS 32
+
+typedef enum {
+  ActID,
+  Args,
+  DevStatus,
+  DEBUG
+} submcd;
+
+char *subcmdName[] = {"act", "args", "status", "debug"};
+char *validActions[LASTACTION+1] = {"up", "down"};
+/* Each action takes two arguments, an axis label and the jogspeed */
+char *dfltActionSequence[ACTIONS][SEQLEN] = { {"SH%c","JG%c=%d", "BG%c", NULL}, {"SH%c","JG%c=(-1.0)*(%d)", "BG%c", NULL} };
+int dfltactArgs[ACTIONS][SEQLEN] = { {1,2,1}, {1,2,1} };
+char *dfltStatusCheck[ACTIONS][SEQLEN] = {{"TS%c", NULL}, {"TS%c", NULL}};
+char *dfltDevStatusMsg[] = {"up", "down", "inbetween", "FAULT: Are the limit switches connected?"};
+int numactions = 2;
+#define NUM_DEVSTATES 4
+// Mask TS reply to get limswitch status
+#define LIMSWI_MASK 12
+int dfltDevStatMask[NUM_DEVSTATES];
+enum devicestatus {DEVUP, DEVDOWN, DEVBETWEEN, DEVFLT};
+
+typedef struct __Action {
+  pObjectDescriptor pDes;
+  pIDrivable pDrivInt;
+  pAsyncUnit asyncUnit;
+  char objname[64];
+  int actionID;
+  char *(*actionSequence)[ACTIONS][SEQLEN];
+  int (*actionArgs)[ACTIONS][SEQLEN];
+  char *(*statusCheck)[ACTIONS][SEQLEN];
+  int devStatusID;
+  char **devStatusMsg;
+  char args[256];
+  char cf_axis;
+  int cf_jogspeed;
+  int cf_mask[NUM_DEVSTATES];
+  int status;
+  float fTarget;
+  int debug;
+} Action, *pAction;
+
+void debugmsg(SConnection *pCon, pAction self, char *msg) {
+    if (self->debug)
+      SCWrite(pCon, msg, eValue);
+}
+
+/**
+ * @brief Get the action ID corresponding to the given action name
+ *
+ * @par actnm action name
+ * @par actlist array of actions ordered by action ID
+ * @par numact number of available actions
+ * @return action ID or -1 (not found)
+ */
+int ActNm2ID(char *actnm, char *actlist[], int numact) {
+  int id;
+  for (id=0; id < numact; id++) {
+    if (strcasecmp(actlist[id], actnm) == 0) {
+      return id;
+    }
+  }
+  return -1;
+}
+
+static void *AO_GetInterface(void *pData, int iID) {
+  pAction self = NULL;
+       
+  self = (pAction)pData;
+  assert(self);
+
+  if(iID == DRIVEID){
+         return self->pDrivInt;
+  }
+  return NULL;  
+} 
+
+int AO_Wrapper(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]) {
+  char msg[128]="No message", output[256];
+  int actID, status;
+  OutCode msgType;
+  pAction self = (pAction) pData;
+
+  if (argc == 1) {
+    sprintf(msg, "%d", self->status);
+    msgType = eValue;
+  } else if (argc == 2) { /* GET */
+    if (strcasecmp(argv[1], subcmdName[ActID]) == 0) {
+      sprintf(msg, "%s", validActions[self->actionID]);
+      msgType = eValue;
+    } else if (strcasecmp(argv[1], subcmdName[Args]) == 0) {
+      sprintf(msg, "%s", self->args);
+      msgType = eValue;
+    } else if (strcasecmp(argv[1], subcmdName[DevStatus]) == 0) {
+      if ((status = AO_CheckStatus(pData, pCon)) == HWFault) {
+        return 0;
+      }
+      sprintf(msg, "%s", self->devStatusMsg[self->devStatusID]);
+      msgType = eValue;
+    } else if (strcasecmp(argv[1], subcmdName[DEBUG]) == 0) {
+      sprintf(msg, "%d", self->debug);
+    }
+  } else if (argc == 3) { /* SET */
+    if (strcasecmp(argv[1], subcmdName[ActID]) == 0) {
+      if ( (actID = ActNm2ID(argv[2], validActions, numactions)) != -1) {
+        sprintf(msg, "%s setting %s = %s", argv[0], argv[1], argv[2]);
+        msgType = -1;
+        self->actionID = actID;
+      }
+    } else if (strcasecmp(argv[1], subcmdName[Args]) == 0) {
+    // TODO Check that args is a comma separated list a1,a2,a3 and type-check
+      strcpy(self->args, argv[2]);
+      sprintf(msg, "%s setting %s = %s", argv[0], argv[1], argv[2]);
+      msgType = -1;
+    } else if (strcasecmp(argv[1], subcmdName[DEBUG]) == 0) {
+      self->debug = atoi(argv[2]);
+    }
+  }
+  /* TODO allow plain output */
+  switch (msgType) {
+    case eValue: 
+      sprintf(output, "%s = %s", argv[0], msg);
+      SCWrite(pCon, output, eValue);
+      break;
+    default:
+      strcpy(output, msg);
+      debugmsg(pCon, self, output);
+  }
+  return OKOK;
+
+}
+
+
+static int AO_Halt(void *pData) {
+  pAction self = (pAction) pData;
+  char cmd[AO_CMDLEN], reply[AO_CMDLEN];
+  int comStatus, cmd_len;
+
+  sprintf(cmd, "ST%c", self->cf_axis);
+  cmd_len = AO_CMDLEN;
+  comStatus = AsyncUnitTransact(self->asyncUnit, cmd, strlen(cmd), reply, &cmd_len);
+  sprintf(cmd, "MO%c", self->cf_axis);
+  cmd_len = AO_CMDLEN;
+  comStatus = AsyncUnitTransact(self->asyncUnit, cmd, strlen(cmd), reply, &cmd_len);
+  return 1;
+}
+
+static int AO_CheckLimits(void *pData, float fVal, char *pError, int iErrLen) {
+  return 1;
+}
+static long AO_StartAction(void *pData, SConnection *pCon, float fVal) {
+/*
+if fVal == start then
+  get actionsequence which matches the actionID
+  send sequence
+  set currentAction = actionID, used by status 
+*/
+  char msg[128];
+  char cmd[AO_CMDLEN], reply[AO_CMDLEN];
+  int i, cmd_len, comStatus;
+
+  pAction self = (pAction) pData;
+  if (self->actionID < NOACTION || self->actionID > LASTACTION) {
+    sprintf(msg, "ERROR: Programmer error, invalid action ID %d for %s. Alert a SICS programmer", self->actionID, self->objname);
+    SCWrite(pCon, msg, eError);
+    return 0;
+  }
+  if (self->actionID == NOACTION) {
+    sprintf(msg, "ERROR: You must select an action before driving %s", self->objname);
+    SCWrite(pCon, msg, eError);
+    return 0;
+  }
+  for (i = 0; (*self->actionSequence)[self->actionID][i]; i++) {
+    switch ( (*self->actionArgs)[self->actionID][i]) {
+      case 1:
+        sprintf(cmd, (*self->actionSequence)[self->actionID][i], self->cf_axis);
+        break;
+      case 2:
+        sprintf(cmd, (*self->actionSequence)[self->actionID][i], self->cf_axis, self->cf_jogspeed);
+        break;
+    }
+    debugmsg(pCon, self, cmd);
+    cmd_len = AO_CMDLEN;
+    comStatus = AsyncUnitTransact(self->asyncUnit, cmd, strlen(cmd), reply, &cmd_len);
+  }
+  debugmsg(pCon, self, "Start action");
+  self->fTarget = fVal;
+  return OKOK;
+} 
+static int AO_CheckStatus(void *pData, SConnection *pCon) {
+  pAction self =(pAction) pData;
+  char cmd[AO_CMDLEN], reply[AO_CMDLEN]= " 0000000113 0007831721 0000000047 0000000000 0000000001\n:";
+  int devStatus, sicsStatus, comStatus, limswi, cmd_len;
+  int iSteps, iCounts, iFlags, iBG, iStopCode;
+  char msg[128];
+  
+  sprintf(cmd, "MG {F10.0} _TD%c,_TP%c,_TS%c,_BG%c,_SC%c", self->cf_axis,self->cf_axis,self->cf_axis,self->cf_axis,self->cf_axis);
+  debugmsg(pCon, self, cmd);
+//  comStatus = 1;
+cmd_len = AO_CMDLEN;
+  comStatus = AsyncUnitTransact(self->asyncUnit, cmd, strlen(cmd), reply, &cmd_len);
+  if (comStatus != 1) {
+      SCWrite(pCon, "Command failed", eError);
+    sicsStatus = HWFault;
+  } else {
+  debugmsg(pCon, self, reply);
+    if ((reply[0] != ' ') & (reply[0] != '-')) {
+      SCWrite(pCon, "ERROR: Invalid status reply from device", eError);
+      sicsStatus = HWFault;
+    } else {
+      if ( 5 != sscanf(reply, "%d %d %d %d %d", &iSteps, &iCounts, &iFlags, &iBG, &iStopCode) ) {
+      SCWrite(pCon, "Failed to scan reply", eError);
+      sicsStatus = HWFault;
+      } else {
+        limswi = LIMSWI_MASK & iFlags;
+        for (devStatus = 0; devStatus < NUM_DEVSTATES; devStatus++) {
+          if (self->cf_mask[devStatus] == limswi) {
+            self->devStatusID = devStatus;
+            break;
+          }
+        }
+        if (iBG == 1) {
+          debugmsg(pCon, self, "BUSY");
+          sicsStatus = HWBusy;
+        } else {
+          debugmsg(pCon, self, "IDLE");
+          if (self->status == HWBusy) {
+            AO_Halt(pData);
+          }
+          sicsStatus = HWIdle;
+        }
+      }
+    }
+  }
+  self->status = sicsStatus;
+  return sicsStatus;
+}
+
+/* @brief Check the device status and return the SICS status code 
+*/
+static float AO_GetValue(void *pData, SConnection *pCon) {
+  pAction self = (pAction) pData;
+  int status;
+  status = AO_CheckStatus(pData, pCon);
+  return status;
+}
+
+static void AO_Notify(void *context, int event) {
+  return;
+}
+pAction AO_Create(SConnection *pCon, const char *asyncName) {
+  pAction self = NULL;
+  char msg[128];
+
+  self = (pAction) malloc(sizeof(Action));
+  if (self == NULL)
+    return NULL;
+
+  if (!AsyncUnitCreate(asyncName, &self->asyncUnit)) {
+    sprintf(msg, "ERROR: Failed to find asyncqueue %s", asyncName);
+    SCWrite(pCon, msg, eError);
+    free(self);
+    return NULL;
+  }
+  AsyncUnitSetNotify(self->asyncUnit, self, AO_Notify);
+
+  self->pDrivInt = CreateDrivableInterface();
+  if(!self->pDrivInt) {
+    SCWrite(pCon, "ERROR: Failed to create drivable interface", eError);
+    free(self);
+    return NULL;
+  }
+  self->pDrivInt->Halt = AO_Halt;
+  self->pDrivInt->CheckLimits = AO_CheckLimits;
+  self->pDrivInt->SetValue = AO_StartAction;
+  self->pDrivInt->CheckStatus = AO_CheckStatus;
+  self->pDrivInt->GetValue = AO_GetValue;
+  self->pDes = CreateDescriptor("ActionObject");
+  self->pDes->GetInterface = AO_GetInterface;
+  return self;
+}
+
+void AO_Kill(void *pData) {
+  pAction self = (pAction) pData;
+  if (self) {
+    if (self->pDes) {
+      free(self->pDes);
+    }
+    if (self->pDrivInt) {
+      free(self->pDrivInt);
+    }
+    free(self);
+  }
+}
+
+/* MakeActionObject objname asyncName jogspeed upmask downmask axis */
+int ActionObjectFactory(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[])
+{
+  char msg[128], pError[128];
+  int i, iRet;
+  pAction pNew;
+
+  if (argc < 7) {
+    SCWrite(pCon, "You must provide the following four arguments, objname asyncName jogspeed upmask axis", eError);
+    return 0;
+  }
+  printf("Create the %s action object on asyncqueue %s\n", argv[1], argv[2]);
+  
+
+  pNew = AO_Create(pCon, argv[2]);
+  if (pNew == NULL) {
+    sprintf(pError, "ERROR: Failed to create %s", argv[1]);
+    SCWrite(pCon,pError,eError);
+    return 0;
+  }
+  strcpy(pNew->objname,argv[1]);
+  pNew->actionID = DEFAULTACTION;
+  pNew->debug = 0;
+  (pNew->args)[0] = '\0';
+  pNew->actionSequence = dfltActionSequence;
+  pNew->actionArgs = dfltactArgs;
+  pNew->statusCheck = dfltStatusCheck;
+  pNew->devStatusMsg = dfltDevStatusMsg;
+  pNew->cf_jogspeed = atoi(argv[3]);
+  pNew->cf_mask[DEVUP] = atoi(argv[4]);
+  pNew->cf_mask[DEVDOWN] = atoi(argv[5]);
+  pNew->cf_mask[DEVBETWEEN] = 12; // REVSWI | FWDSWI
+  pNew->cf_mask[DEVFLT] = 0; // REV & FWD low
+  pNew->cf_axis = argv[6][0];
+  printf("axis = %c\n", pNew->cf_axis);
+  printf("jogspeed = %d\n", pNew->cf_jogspeed);
+  for (i=0; i< NUM_DEVSTATES; i++)
+    printf("mask[%d] = %d\n",i, pNew->cf_mask[i]);
+  iRet = AddCommand(pSics, argv[1], AO_Wrapper, AO_Kill, pNew);
+  if(!iRet) {
+        sprintf(pError,"ERROR: duplicate command %s not created [%d]", argv[1], iRet);
+        SCWrite(pCon,pError,eError);
+        AO_Kill(pNew);
+        return 0;
+  }
+  SCSendOK(pCon);
+  printf("Created action object %s\n", pNew->objname);
+  AO_CheckStatus(pNew, pCon);
+  return 1;
+}
diff --git a/site_ansto/beamstopaction.h b/site_ansto/beamstopaction.h
new file mode 100644
index 00000000..c74bffa4
--- /dev/null
+++ b/site_ansto/beamstopaction.h
@@ -0,0 +1,5 @@
+#ifndef BEAMSTOPACTION
+#define BEAMSTOPACTION
+int ActionObjectFactory(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]);
+static int AO_CheckStatus(void *pData, SConnection *pCon);
+#endif