diff --git a/site_ansto/safetyplc.c b/site_ansto/safetyplc.c
new file mode 100644
index 00000000..a6da0cae
--- /dev/null
+++ b/site_ansto/safetyplc.c
@@ -0,0 +1,299 @@
+/*
+ * S A F E T Y P L C
+ *
+ * Douglas Clowes, February 2007
+ *
+ */
+
+#include <netinet/tcp.h>
+#include <sics.h>
+#include "network.h"
+#include "multichan.h"
+#include "nwatch.h"
+#include "safetyplc.h"
+
+extern int DMC2280MotionControl;
+
+typedef struct __SafetyPLCController SafetyPLCController, *pSafetyPLCController;
+
+struct __SafetyPLCController {
+  pObjectDescriptor pDes;
+  pMultiChan mcc;         /* associated MultiChan object */
+  int       iGetOut;
+  int       iValue;
+  pNWTimer  nw_tmr;       /* NetWait timer handle */
+};
+
+typedef struct __command Command, *pCommand;
+typedef int (*CommandCallback)(void* ctx, const char* resp, int resp_len);
+
+struct __command {
+  pMultiChan unit;
+  int cstate;
+  int lstate;
+  char* out_buf;
+  int out_len;
+  int out_idx;
+  char* inp_buf;
+  int inp_len;
+  int inp_idx;
+  CommandCallback func;
+  void* cntx;
+};
+
+static int PLC_Tx(void* ctx)
+{
+  int iRet = 1;
+  pCommand myCmd = (pCommand) ctx;
+
+  if (myCmd) {
+    iRet = MultiChanWrite(myCmd->unit, myCmd->out_buf, myCmd->out_len);
+    /* TODO handle errors */
+    if (iRet < 0) { /* TODO: EOF */
+      iRet = MultiChanReconnect(myCmd->unit);
+      if (iRet == 0)
+        return 0;
+    }
+  }
+  return 1;
+}
+
+static int PLC_Rx(void* ctx, int rxchar)
+{
+  int iRet = 1;
+  pCommand myCmd = (pCommand) ctx;
+
+  switch (myCmd->cstate) {
+    case 0: /* first character */
+      /* normal data */
+      myCmd->cstate = 1;
+      /* note fallthrough */
+    case 1: /* receiving reply */
+      if (myCmd->inp_idx < myCmd->inp_len)
+        myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
+      if (rxchar == 0x0D)
+        myCmd->cstate = 2;
+      break;
+    case 2: /* received CR and looking for LF */
+      if (myCmd->inp_idx < myCmd->inp_len)
+        myCmd->inp_buf[myCmd->inp_idx++] = rxchar;
+      if (rxchar == 0x0A) {
+        myCmd->cstate = 99;
+        /* end of line */
+      }
+      else
+        myCmd->cstate = 1;
+      break;
+  }
+  if (myCmd->cstate == 99) {
+    myCmd->inp_buf[myCmd->inp_idx] = '\0';
+    if (myCmd->func)
+      iRet = myCmd->func(myCmd->cntx, myCmd->inp_buf, myCmd->inp_idx);
+    else
+      iRet = 0;
+    myCmd->cstate = 0;
+    myCmd->inp_idx = 0;
+  }
+  if (iRet == 0) { /* end of command */
+    free(myCmd->out_buf);
+    free(myCmd->inp_buf);
+    free(myCmd);
+  }
+  return iRet;
+}
+
+int PLC_SendCmd(pMultiChan unit,
+    char* command, int cmd_len,
+    CommandCallback callback, void* context, int rsp_len)
+{
+  pCommand myCmd = NULL;
+
+  assert(unit);
+  myCmd = (pCommand) malloc(sizeof(Command));
+  assert(myCmd);
+  memset(myCmd, 0, sizeof(Command));
+  myCmd->out_buf = (char*) malloc(cmd_len + 5);
+  memcpy(myCmd->out_buf, command, cmd_len);
+  myCmd->out_len = cmd_len;
+  if (myCmd->out_len < 2 ||
+      myCmd->out_buf[myCmd->out_len - 1] != 0x0A ||
+      myCmd->out_buf[myCmd->out_len - 2] != 0x0D) {
+    myCmd->out_buf[myCmd->out_len++] = 0x0D;
+    myCmd->out_buf[myCmd->out_len++] = 0x0A;
+  }
+  myCmd->out_buf[myCmd->out_len] = '\0';
+  myCmd->func = callback;
+  myCmd->cntx = context;
+  if (rsp_len == 0)
+    myCmd->inp_buf = NULL;
+  else {
+    myCmd->inp_buf = malloc(rsp_len + 1);
+    memset(myCmd->inp_buf, 0, rsp_len + 1);
+  }
+  myCmd->inp_len = rsp_len;
+  myCmd->unit = unit;
+  return MultiChanEnque(unit, myCmd, PLC_Tx, PLC_Rx);
+}
+
+static void PLC_Notify(void* context, int event)
+{
+  pSafetyPLCController self = (pSafetyPLCController) context;
+
+  switch (event) {
+    case MCC_RECONNECT:
+      do {
+        mkChannel* sock = MultiChanGetSocket(self->mcc);
+        int flag = 1;
+        setsockopt(sock->sockid, /* socket affected */
+            IPPROTO_TCP,     /* set option at TCP level */
+            TCP_NODELAY,     /* name of option */
+            (char *) &flag,  /* the cast is historical cruft */
+            sizeof(int));    /* length of option value */
+        return;
+      } while (0);
+  }
+  return;
+}
+
+/*
+ * \brief GetCallback is the callback for the read command.
+ */
+static int GetCallback(void* ctx, const char* resp, int resp_len)
+{
+  int iRet;
+  int iRead;
+  pSafetyPLCController self = (pSafetyPLCController) ctx;
+  iRet = sscanf(resp,"READ %0xd",&iRead);
+  if(iRet != 1) { // Not a number, probably an error response
+    self->iValue = 0;
+  }
+  else {
+    if (iRead < 0)
+      iRead = -iRead;
+    self->iValue = iRead;
+  }
+  if ((self->iValue & (1 << 6))) 
+    DMC2280MotionControl = 1;
+  else
+    DMC2280MotionControl = 0;
+
+  self->iGetOut = 0;
+  return 0;
+}
+
+static int MyTimerCallback(void* context, int mode)
+{
+  pSafetyPLCController self = (pSafetyPLCController) context;
+  if (self->iGetOut) {
+    /* TODO error handling */
+    DMC2280MotionControl = 0;
+  }
+  PLC_SendCmd(self->mcc, "READ", 4,
+      GetCallback, self, 132);
+  return 1;
+}
+
+static int PLC_Action(SConnection *pCon, SicsInterp *pSics,
+                        void *pData, int argc, char *argv[])
+{
+  char line[132];
+  pSafetyPLCController self = (pSafetyPLCController) pData;
+  if (argc == 1) {
+    snprintf(line, 132, "%s.iValue = %006x", argv[0], self->iValue & 0xffffff);
+    SCWrite(pCon, line, eStatus);
+    return OKOK;
+  } else if (argc == 2) {
+    if (strcmp(argv[1], "motioncontrol") == 0) {
+        snprintf(line, 132, "%s.MotionControl = %d", argv[0], DMC2280MotionControl);
+        SCWrite(pCon, line, eStatus);
+        return OKOK;
+        }
+  }
+  /* TODO: handle private stuff */
+  return MultiChanAction(pCon, pSics, self->mcc, argc, argv);
+}
+
+static pSafetyPLCController PLC_Create(const char* pName, int port)
+{
+  int i;
+  pSafetyPLCController self = NULL;
+  pMultiChan ctlr = NULL;
+
+  self = (pSafetyPLCController) malloc(sizeof(SafetyPLCController));
+  if (self == NULL)
+    return NULL;
+  memset(self, 0, sizeof(SafetyPLCController));
+  if (MultiChanCreate(pName, &self->mcc) == 0) {
+    free(self);
+    return NULL;
+  }
+  MultiChanSetNotify(self->mcc, self, PLC_Notify);
+
+  self->pDes = CreateDescriptor("SafetyPLC");
+  return self;
+}
+
+static int PLC_Init(pSafetyPLCController self)
+{
+  /* TODO: Init the controller */
+  if (self->nw_tmr == NULL)
+    NetWatchRegisterTimerPeriodic(&self->nw_tmr,
+        1000, 1000,
+        MyTimerCallback,
+        self);
+  return 1;
+}
+
+static void PLC_Kill(pSafetyPLCController self)
+{
+  if (self->nw_tmr)
+    NetWatchRemoveTimer(self->nw_tmr);
+  free(self);
+  return;
+}
+
+int SafetyPLCFactory(SConnection *pCon, SicsInterp *pSics,
+    void *pData, int argc, char *argv[])
+{
+  pSafetyPLCController pNew = NULL;
+  int iRet, status;
+  char pError[256];
+
+  if(argc < 4)
+  {
+    SCWrite(pCon,"ERROR: insufficient no of arguments to SafetyPLCFactory",
+            eError);
+    return 0;
+  }
+
+  /*
+   create data structure and open port 
+  */
+  pNew = PLC_Create(argv[2], atoi(argv[3]));
+  
+  if(!pNew)
+  {
+    SCWrite(pCon,"ERROR: failed to create SafetyPLC in SafetyPLCFactory",eError);
+    return 0;
+  }
+
+  status = PLC_Init(pNew);
+  if(status != 1)
+  {
+     sprintf(pError,"ERROR: failed to connect to %s",argv[2]);
+     SCWrite(pCon,pError,eError);
+  }
+  
+  /*
+    create the command
+  */
+  iRet = AddCommand(pSics, argv[1], PLC_Action, PLC_Kill, pNew);
+  if(!iRet)
+  {
+        sprintf(pError,"ERROR: duplicate command %s not created", argv[1]);
+        SCWrite(pCon,pError,eError);
+        PLC_Kill(pNew);
+        return 0;
+ }
+ return 1;
+}
diff --git a/site_ansto/safetyplc.h b/site_ansto/safetyplc.h
new file mode 100644
index 00000000..fd3c028b
--- /dev/null
+++ b/site_ansto/safetyplc.h
@@ -0,0 +1,13 @@
+/*
+ * S A F E T Y P L C
+ *
+ * Douglas Clowes, February 2007
+ *
+ */
+#ifndef SICSSAFETYPLC
+#define SICSSAFETYPLC
+
+int SafetyPLCFactory(SConnection *pCon, SicsInterp *pSics,
+    void *pData, int argc, char *argv[]);
+
+#endif /* SICSSAFETYPLC */