diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index c5fdd9d4..a3d780ad 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -478,26 +478,6 @@ static int DMC_SendCmd(pDMC2280Driv self,
       callback, self, CMDLEN);
 }
 
-static void DMC_Notify(void* context, int event)
-{
-  pDMC2280Driv self = (pDMC2280Driv) context;
-  char line[132];
-
-  switch (event) {
-    case AQU_DISCONNECT:
-      snprintf(line, 132, "Disconnect on Motor '%s'", self->name);
-      SICSLogWrite(line, eStatus);
-      /* TODO: disconnect */
-      break;
-    case AQU_RECONNECT:
-      snprintf(line, 132, "Reconnect on Motor '%s'", self->name);
-      SICSLogWrite(line, eStatus);
-      /* TODO: reconnect */
-      break;
-  }
-  return;
-}
-
 /**
  * \brief SendCallback is the callback for the general command.
  */
@@ -1319,9 +1299,13 @@ static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event) {
             change_state(self, DMCState_Idle);
             return;
           }
+#if 0
           value = ((self->currCounts  - self->absEncHome) / self->cntsPerX) * self->stepsPerX;
           self->currSteps = value;
           snprintf(cmd, CMDLEN, "DP%c=%d", self->axisLabel, value);
+#else
+          snprintf(cmd, CMDLEN, "LV");
+#endif
           DMC_SendCmd(self, cmd, state_msg_callback);
           return;
         }
@@ -1329,6 +1313,18 @@ static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event) {
           change_state(self, DMCState_Idle);
           return;
         }
+        if (pCmd->out_buf[0] == 'L') { /* LV */
+          char req[12];
+          char rdy[12];
+          snprintf(req, 12, "REQ%c=", self->axisLabel);
+          snprintf(rdy, 12, "RSP%c=", self->axisLabel);
+          if (strstr(pCmd->inp_buf, req) &&
+              strstr(pCmd->inp_buf, rdy)) {
+            self->has_airpads = 2;
+          }
+          change_state(self, DMCState_Idle);
+          return;
+        }
       }
       while (0);
       break;
@@ -1369,7 +1365,6 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
           if (fwd_limit_active && rvrs_limit_active) {
             self->errorCode = IMPOSSIBLE_LIM_SW;
             self->driver_status = HWFault;
-;
           } else if (errorlimit) {
             self->errorCode = ERRORLIM;
             self->driver_status = HWFault;
@@ -1377,11 +1372,16 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
           if (self->driver_status == HWFault) {
             return;
           }
-          if (self->has_airpads) {
+          if (self->has_airpads == 1) {
             snprintf(cmd, CMDLEN, "FTUBE=1");
             DMC_SendCmd(self, cmd, state_msg_callback);
             change_state(self, DMCState_AirOn);
           }
+          else if (self->has_airpads == 2) {
+            snprintf(cmd, CMDLEN, "REQ%c=1", self->axisLabel);
+            DMC_SendCmd(self, cmd, state_msg_callback);
+            change_state(self, DMCState_AirOn);
+          }
           else {
             snprintf(cmd, CMDLEN, "SH%c", self->axisLabel);
             DMC_SendCmd(self, cmd, state_msg_callback);
@@ -1420,20 +1420,26 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
 }
 
 static void DMCState_AirOn(pDMC2280Driv self, pEvtEvent event) {
+  char cmd[CMDLEN];
   switch (event->event_type) {
     case eTimerEvent:
-      DMC_SendCmd(self, "MG APDONE", state_msg_callback);
+      if (self->has_airpads == 2)
+        snprintf(cmd, CMDLEN, "MG RSP%c", self->axisLabel);
+      else
+        snprintf(cmd, CMDLEN, "MG APDONE");
+      DMC_SendCmd(self, cmd, state_msg_callback);
       return;
     case eMessageEvent:
       do {
         pAsyncTxn pCmd = event->event.msg.cmd;
-        if (pCmd->out_buf[0] == 'F') { /* FTUBE */
+        if (pCmd->out_buf[0] == 'F' || /* FTUBE */
+            pCmd->out_buf[0] == 'R') { /* REQx= */
           NetWatchRegisterTimer(&self->state_timer,
               AIR_POLL_TIMER,
               state_tmr_callback, self);
           return;
         }
-        else if (pCmd->out_buf[0] == 'M') { /* MG APDONE */
+        else if (pCmd->out_buf[0] == 'M') { /* MG APDONE/RSPx */
           float fReply;
           fReply = (float) atof(pCmd->inp_buf);
           if (fReply > 0) {
@@ -1772,12 +1778,18 @@ static void DMCState_MotorHalt(pDMC2280Driv self, pEvtEvent event)
                 state_tmr_callback, self);
             return;
           }
-          if (self->has_airpads) {
+          if (self->has_airpads == 1) {
             snprintf(cmd, CMDLEN, "FTUBE=0");
             DMC_SendCmd(self, cmd, state_msg_callback);
             change_state(self, DMCState_AirOff);
             return;
           }
+          else if (self->has_airpads == 2) {
+            snprintf(cmd, CMDLEN, "REQ%c=0", self->axisLabel);
+            DMC_SendCmd(self, cmd, state_msg_callback);
+            change_state(self, DMCState_AirOff);
+            return;
+          }
           else {
             snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
             DMC_SendCmd(self, cmd, state_msg_callback);
@@ -1799,11 +1811,17 @@ static void DMCState_OffTimer(pDMC2280Driv self, pEvtEvent event) {
   char cmd[CMDLEN];
   switch (event->event_type) {
     case eTimerEvent:
-      if (self->has_airpads) {
+      if (self->has_airpads == 1) {
         snprintf(cmd, CMDLEN, "FTUBE=0");
         DMC_SendCmd(self, cmd, state_msg_callback);
         change_state(self, DMCState_AirOff);
       }
+      else if (self->has_airpads == 2) {
+        snprintf(cmd, CMDLEN, "REQ%c=0", self->axisLabel);
+        DMC_SendCmd(self, cmd, state_msg_callback);
+        change_state(self, DMCState_AirOff);
+        return;
+      }
       else {
         snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
         DMC_SendCmd(self, cmd, state_msg_callback);
@@ -1836,16 +1854,22 @@ static void DMCState_OffTimer(pDMC2280Driv self, pEvtEvent event) {
 }
 
 static void DMCState_AirOff(pDMC2280Driv self, pEvtEvent event) {
+  char cmd[CMDLEN];
   switch (event->event_type) {
     case eTimerEvent:
-      DMC_SendCmd(self, "MG APDONE", state_msg_callback);
+      if (self->has_airpads == 2)
+        snprintf(cmd, CMDLEN, "MG RSP%c", self->axisLabel);
+      else
+        snprintf(cmd, CMDLEN, "MG APDONE");
+      DMC_SendCmd(self, cmd, state_msg_callback);
       return;
     case eMessageEvent:
       do {
         pAsyncTxn pCmd = event->event.msg.cmd;
-        if (pCmd->out_buf[0] == 'F') { /* FTUBE */
+        if (pCmd->out_buf[0] == 'F' || /* FTUBE */
+            pCmd->out_buf[0] == 'R') { /* REQx= */
         }
-        else if (pCmd->out_buf[0] == 'M') { /* MG APDONE */
+        else if (pCmd->out_buf[0] == 'M') { /* MG APDONE/RSPx */
           float fReply;
           fReply = (float) atof(pCmd->inp_buf);
           if (fReply == 0) {
@@ -2851,6 +2875,38 @@ static void DMC2280List(void *pData, char *name, SConnection *pCon){
   SCWrite(pCon, buffer, eStatus);
   return;
 }
+
+static void DMC_Notify(void* context, int event)
+{
+  pDMC2280Driv self = (pDMC2280Driv) context;
+  char line[132];
+
+  switch (event) {
+    case AQU_DISCONNECT:
+      snprintf(line, 132, "Disconnect on Motor '%s'", self->name);
+      SICSLogWrite(line, eStatus);
+      /* TODO: disconnect */
+      break;
+    case AQU_RECONNECT:
+      snprintf(line, 132, "Reconnect on Motor '%s'", self->name);
+      SICSLogWrite(line, eStatus);
+      /* TODO: reconnect */
+      if (self->has_fsm) {
+        /* Reset the state machine */
+        if (self->state_timer)
+          NetWatchRemoveTimer(self->state_timer);
+        self->state_timer = 0;
+        change_state(self, DMCState_Unknown);
+        /* Schedule a timer event as soon as possible */
+        NetWatchRegisterTimer(&self->state_timer,
+            0,
+            state_tmr_callback, self);
+      }
+      break;
+  }
+  return;
+}
+
 /** \brief Free memory if motor is removed
  * \param *pData (rw) provides access to the motor's data structure
  */
@@ -3270,6 +3326,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
     }
     else if(strcasecmp("reset", argv[1]) == 0) {
       if (self->has_fsm) {
+        /* Reset the state machine */
         if (self->state_timer)
           NetWatchRemoveTimer(self->state_timer);
         self->state_timer = 0;