diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
index 3db5739..f7e7324 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
@@ -71,6 +71,7 @@ ecmcCANOpenPDO::ecmcCANOpenPDO(ecmcSocketCANWriteBuffer* writeBuffer,
   errorCode_          = 0;
   dataBuffer_         = new uint8_t(ODSize_);
   dbgMode_            = dbgMode;
+  refreshNeeded_      = 0;
 
   writeFrame_.can_id  = cobId_;
   writeFrame_.can_dlc = ODSize;  // data length
@@ -99,9 +100,10 @@ void ecmcCANOpenPDO::execute() {
   if(rw_ == DIR_READ) {
     if(exeCounter_* exeSampleTimeMs_ >= readTimeoutMs_) {
       errorCode_ = ECMC_CAN_ERROR_PDO_TIMEOUT;
-      if(dbgMode_) {
-        printf("ECMC_CAN_ERROR_PDO_TIMEOUT (0x%x)\n",errorCode_);
+      if(dbgMode_) {        
+        printf("ECMC_CAN_ERROR_PDO_TIMEOUT (0x%x)\n",errorCode_);        
       }
+      refreshNeeded_ = 1;
       exeCounter_ = 0;
     }
   }
@@ -115,7 +117,8 @@ void ecmcCANOpenPDO::execute() {
       exeCounter_ = 0;
     }
   }
-  return;
+  // Refresh in sync with ecmc
+  refreshAsynParams();
 }
 
 // new rx frame recived!
@@ -127,7 +130,9 @@ void ecmcCANOpenPDO::newRxFrame(can_frame *frame) {
       memset(dataBuffer_,0,ODSize_);
       memcpy(dataBuffer_, &(frame->data[0]),frame->can_dlc);
       epicsMutexUnlock(dataMutex_);
+      refreshNeeded_ = 1;
       errorCode_ = 0;
+      refreshNeeded_ = 1;
       if(dbgMode_) {
         printBuffer();
       }
@@ -170,7 +175,9 @@ int ecmcCANOpenPDO::writeValue() {
     memcpy(&(writeFrame_.data[0]), dataBuffer_ ,writeFrame_.can_dlc);
     epicsMutexUnlock(dataMutex_);
   }
-  return writeBuffer_->addWriteCAN(&writeFrame_);
+  int errorCode = writeBuffer_->addWriteCAN(&writeFrame_);
+  refreshNeeded_ = 1;
+  return errorCode;
 }
 
 void ecmcCANOpenPDO::initAsyn() {
@@ -244,6 +251,14 @@ void ecmcCANOpenPDO::initAsyn() {
   ecmcAsynPort->callParamCallbacks(ECMC_ASYN_DEFAULT_LIST, ECMC_ASYN_DEFAULT_ADDR);
 }
 
+void ecmcCANOpenPDO::refreshAsynParams() {
+  if(refreshNeeded_) {
+    dataParam_->refreshParamRT(1); // read once into asyn param lib
+    errorParam_->refreshParamRT(1); // read once into asyn param lib
+  }
+  refreshNeeded_ = 0;
+}
+
 // Avoid issues with std:to_string()
 std::string ecmcCANOpenPDO::to_string(int value) {
   std::ostringstream os;
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h
index 86d5895..de6f0d9 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h
@@ -68,7 +68,9 @@ class ecmcCANOpenPDO {
   static std::string    to_string(int value);
 
   //ASYN
-  void initAsyn();  
+  void initAsyn();
+  void refreshAsynParams();
+  int refreshNeeded_;
   ecmcAsynDataItem *dataParam_;
   ecmcAsynDataItem *errorParam_;
 };
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
index 7d27c41..9e9a8d1 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
@@ -63,6 +63,7 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
   dbgMode_            = dbgMode;
   name_               = strdup(name);
   errorCode_          = 0;
+  refreshNeeded_      = 0;
   ptrSdo1Lock_        = ptrSdo1Lock;
   dataMutex_          = epicsMutexCreate();
   getLockMutex_       = epicsMutexCreate();
@@ -256,7 +257,9 @@ void ecmcCANOpenSDO::execute() {
         printf("STATE = READ_WAIT_FOR_CONF %s\n",name_);
       }
     }
-  }  
+  }
+  // Refresh in sync with ecmc
+  refreshAsynParams();
 }
 
 // new rx frame recived!
@@ -282,7 +285,7 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
   }
   if(errorCode && errorCode_ != errorCode) {
     errorCode_ = errorCode;
-    errorParam_->refreshParamRT(1);
+    refreshNeeded_ = 1;    
   }
 }
 
@@ -337,7 +340,7 @@ int ecmcCANOpenSDO::readDataStateMachine(can_frame *frame) {
           printf("All data read from slave SDO.\n");
           //copy complete data to dataBuffer_
           printBuffer();
-          dataParam_->refreshParamRT(1);
+          refreshNeeded_ = 1;          
         }
         unlockSdo1();
         return 0;
@@ -650,6 +653,14 @@ void ecmcCANOpenSDO::initAsyn() {
 
 }
 
+void ecmcCANOpenSDO::refreshAsynParams() {
+  if(refreshNeeded_) {
+    dataParam_->refreshParamRT(1); // read once into asyn param lib
+    errorParam_->refreshParamRT(1); // read once into asyn param lib
+  }
+  refreshNeeded_ = 0;
+}
+
 // Avoid issues with std:to_string()
 std::string ecmcCANOpenSDO::to_string(int value) {
   std::ostringstream os;
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
index ae3934c..a3400b0 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
@@ -105,10 +105,12 @@ class ecmcCANOpenSDO {
   bool busy_;
   bool writePending_;
 
+  static std::string    to_string(int value);
+  
   //ASYN
   void initAsyn();
-  static std::string    to_string(int value);
-
+  void refreshAsynParams();
+  int refreshNeeded_;
   ecmcAsynDataItem *dataParam_;
   ecmcAsynDataItem *errorParam_;
 
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
index c4a48c6..2b9dbc5 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
@@ -61,6 +61,8 @@ ecmcSocketCAN::ecmcSocketCAN(char* configStr,
   connected_      = 0;
   writeBuffer_    = NULL;
   deviceCounter_  = 0;
+  refreshNeeded_  = 0;
+  errorCode_      = 0;
   masterDev_      = NULL;
   for(int i = 0; i<ECMC_CAN_MAX_DEVICES;i++) {
     devices_[i] = NULL;
@@ -94,7 +96,7 @@ ecmcSocketCAN::ecmcSocketCAN(char* configStr,
     connectPrivate();
   }
   writeBuffer_ = new ecmcSocketCANWriteBuffer(socketId_, cfgDbgMode_);
-
+  initAsyn();
 }
 
 ecmcSocketCAN::~ecmcSocketCAN() {
@@ -194,9 +196,15 @@ void ecmcSocketCAN::doReadWorker() {
     }
 
     // Wait for new CAN frame 
-    read(socketId_, &rxmsg_, sizeof(rxmsg_));
+    int bytes = read(socketId_, &rxmsg_, sizeof(rxmsg_));
+    if(bytes == -1) {
+      errorCode_ = errno;      
+      printf("ecmcSocketCAN: read() fail with error %s.\n", strerror(errno));      
+      refreshNeeded_ = 1;
+      continue;
+    }
 
-    // forward all data to devices (also master)
+    // forward all data to devices (including master)
     for(int i = 0; i < deviceCounter_; i++){
       devices_[i]->newRxFrame(&rxmsg_);
     }
@@ -269,7 +277,7 @@ void  ecmcSocketCAN::execute() {
   for(int i = 0; i < deviceCounter_; i++){
     devices_[i]->execute();
   }
-
+  refreshAsynParams();
   return;
 }
 
@@ -395,3 +403,59 @@ void ecmcSocketCAN::addSDO(uint32_t nodeId,
     throw std::runtime_error("AddSDO() failed.");
   }
 }
+
+void ecmcSocketCAN::initAsyn() {
+
+  ecmcAsynPortDriver *ecmcAsynPort = (ecmcAsynPortDriver *)getEcmcAsynPortDriver();
+  if(!ecmcAsynPort) {
+    printf("ERROR: ecmcAsynPort NULL.");
+    throw std::runtime_error( "ERROR: ecmcAsynPort NULL." );
+  }
+ 
+  // Add resultdata "plugin.can.read.error"
+  std::string paramName = ECMC_PLUGIN_ASYN_PREFIX + std::string(".read.error");
+
+  errorParam_ = ecmcAsynPort->addNewAvailParam(
+                                          paramName.c_str(),     // name
+                                          asynParamInt32,        // asyn type 
+                                          (uint8_t*)&errorCode_, // pointer to data
+                                          sizeof(errorCode_),    // size of data
+                                          ECMC_EC_U32,           // ecmc data type
+                                          0);                    // die if fail
+
+  if(!errorParam_) {
+    printf("ERROR: Failed create asyn param for data.");
+    throw std::runtime_error( "ERROR: Failed create asyn param for: " + paramName);
+  }
+  errorParam_->setAllowWriteToEcmc(false);  // need to callback here
+  errorParam_->refreshParam(1); // read once into asyn param lib
+  ecmcAsynPort->callParamCallbacks(ECMC_ASYN_DEFAULT_LIST, ECMC_ASYN_DEFAULT_ADDR);
+
+  // Add resultdata "plugin.can.read.connected"
+  paramName = ECMC_PLUGIN_ASYN_PREFIX + std::string(".read.connected");
+
+  connectedParam_ = ecmcAsynPort->addNewAvailParam(
+                                          paramName.c_str(),     // name
+                                          asynParamInt32,        // asyn type 
+                                          (uint8_t*)&connected_, // pointer to data
+                                          sizeof(connected_),    // size of data
+                                          ECMC_EC_U32,           // ecmc data type
+                                          0);                    // die if fail
+
+  if(!connectedParam_) {
+    printf("ERROR: Failed create asyn param for connected.");
+    throw std::runtime_error( "ERROR: Failed create asyn param for: " + paramName);
+  }
+  connectedParam_->setAllowWriteToEcmc(false);  // need to callback here
+  connectedParam_->refreshParam(1); // read once into asyn param lib
+  ecmcAsynPort->callParamCallbacks(ECMC_ASYN_DEFAULT_LIST, ECMC_ASYN_DEFAULT_ADDR); 
+}
+
+// only refresh from "execute" thread
+void ecmcSocketCAN::refreshAsynParams() {
+  if(refreshNeeded_) {
+    connectedParam_->refreshParamRT(1); // read once into asyn param lib
+    errorParam_->refreshParamRT(1); // read once into asyn param lib
+  }
+  refreshNeeded_ = 0;
+}
\ No newline at end of file
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.h b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.h
index de5293e..28bd14b 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.h
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.h
@@ -128,26 +128,20 @@ class ecmcSocketCAN {
   int                   socketId_;
   struct sockaddr_can   addr_;
   struct can_frame      txmsgBuffer_[ECMC_CAN_MAX_WRITE_CMDS];
-  //int                   writeCmdCounter_;
-  //int                   writeBusy_;
-  //int                   lastWriteSumError_;
   int                   exeSampleTimeMs_;
   ecmcSocketCANWriteBuffer *writeBuffer_;
 
-  //ecmcCANOpenSDO *testSdo_;
-  //ecmcCANOpenPDO *testPdo_;
-  //ecmcCANOpenPDO *lssPdo_;
-  //ecmcCANOpenPDO *syncPdo_;
-  //ecmcCANOpenPDO *heartPdo_;
-  //ecmcCANOpenSDO *basicConfSdo_;
-
-  //ecmcCANOpenDevice *testDevice_;
-  //ecmcCANOpenMaster *testMaster_;
-
   int                deviceCounter_; 
   ecmcCANOpenDevice *devices_[ECMC_CAN_MAX_DEVICES];
   ecmcCANOpenMaster *masterDev_;
-  //int cycleCounter_;
+
+  int                errorCode_;
+  int                refreshNeeded_;
+  //ASYN
+  void initAsyn();
+  void refreshAsynParams();
+  ecmcAsynDataItem *errorParam_;
+  ecmcAsynDataItem *connectedParam_;
 };
 
 #endif  /* ECMC_SOCKETCAN_H_ */
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
index 6154b2b..fed1b9b 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
@@ -42,7 +42,6 @@ ecmcSocketCANWriteBuffer::ecmcSocketCANWriteBuffer(int socketId, int cfgDbgMode)
   destructs_         = 0;
   bufferSwitchMutex_ = epicsMutexCreate();
   lastWriteSumError_ = 0;
-  
   writePauseTime_.tv_sec  = 0;
   writePauseTime_.tv_nsec = 2e6;  // 1ms
   buffer1_.frameCounter = 0;
@@ -144,23 +143,6 @@ int ecmcSocketCANWriteBuffer::addToBuffer(can_frame *frame) {
   return 0;
 }
 
-//void ecmcSocketCANWriteBuffer::addToBuffer1(can_frame *frame) {
-//  printf("addToBuffer1\n");
-//  epicsMutexLock(bufferMutex1_);
-//  buffer1_.frame[buffer1_.frameCounter] = *frame;
-//  buffer1_.frameCounter++; 
-//  epicsMutexUnlock(bufferMutex1_);
-//}
-//
-//void ecmcSocketCANWriteBuffer::addToBuffer2(can_frame *frame) {
-//  printf("addToBuffer2\n");
-//  epicsMutexLock(bufferMutex2_);
-//  buffer2_.frame[buffer2_.frameCounter] = *frame;
-//  buffer2_.frameCounter++; 
-//  epicsMutexUnlock(bufferMutex2_);
-//}
-//
-
 int ecmcSocketCANWriteBuffer::writeBuffer() {
 
   int errorCode = 0;
@@ -178,43 +160,6 @@ int ecmcSocketCANWriteBuffer::writeBuffer() {
   return lastWriteSumError_;
 }
 
-//void ecmcSocketCANWriteBuffer::writeBuffer1() {
-//  //printf("writeBuffer1\n");
-//  int errorCode = 0;
-//  epicsMutexLock(bufferMutex1_);
-//  if(buffer1_.frameCounter==0) {
-//    return;
-//  }
-//  printf("writeBuffer1\n");
-//  for(int i=0; i<buffer1_.frameCounter;i++) {
-//    errorCode = writeCAN(&buffer1_.frame[i]);
-//    if(errorCode) {
-//      lastWriteSumError_ = errorCode;
-//    }
-//  }
-//  buffer1_.frameCounter = 0;
-//  epicsMutexUnlock(bufferMutex1_);  
-//}
-//
-//void ecmcSocketCANWriteBuffer::writeBuffer2() {
-//  
-//  int errorCode = 0;
-//  epicsMutexLock(bufferMutex2_);
-//  if(buffer2_.frameCounter==0) {
-//    return;
-//  }
-//  printf("writeBuffer2\n");
-//
-//  for(int i=0; i<buffer2_.frameCounter;i++) {
-//    errorCode = writeCAN(&buffer2_.frame[i]);
-//    if(errorCode) {
-//      lastWriteSumError_ = errorCode;
-//    }
-//  }
-//  buffer2_.frameCounter = 0;
-//  epicsMutexUnlock(bufferMutex2_);
-//}
-
 int ecmcSocketCANWriteBuffer::switchBuffer() {
 
   // ensure safe buffer switch
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
index 3188e03..5ba5170 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
@@ -90,7 +90,7 @@ class ecmcSocketCANWriteBuffer {
   int                   writeBusy_;
   int                   lastWriteSumError_;
   int                   bufferIdAddFrames_;
-  timespec              writePauseTime_; 
+  timespec              writePauseTime_;
 };
 
 #endif  /* ECMC_SOCKETCAN_BUFFER_WRITE_H_ */
diff --git a/iocsh/pvs.log b/iocsh/pvs.log
index 90b93bc..ff488b5 100644
--- a/iocsh/pvs.log
+++ b/iocsh/pvs.log
@@ -1,12 +1,12 @@
-REQMOD:mcag-trgt-muts--7821:MODULES
-REQMOD:mcag-trgt-muts--7821:VERSIONS
-REQMOD:mcag-trgt-muts--7821:MOD_VER
-REQMOD:mcag-trgt-muts--7821:exit
-REQMOD:mcag-trgt-muts--7821:BaseVersion
-REQMOD:mcag-trgt-muts--7821:require_VER
-REQMOD:mcag-trgt-muts--7821:ecmccfg_VER
-REQMOD:mcag-trgt-muts--7821:asyn_VER
-REQMOD:mcag-trgt-muts--7821:exprtk_VER
-REQMOD:mcag-trgt-muts--7821:motor_VER
-REQMOD:mcag-trgt-muts--7821:ecmc_VER
-REQMOD:mcag-trgt-muts--7821:ecmc_plugin_socketcan_VER
+REQMOD:mcag-trgt-muts--12400:MODULES
+REQMOD:mcag-trgt-muts--12400:VERSIONS
+REQMOD:mcag-trgt-muts--12400:MOD_VER
+REQMOD:mcag-trgt-muts--12400:exit
+REQMOD:mcag-trgt-muts--12400:BaseVersion
+REQMOD:mcag-trgt-muts--12400:require_VER
+REQMOD:mcag-trgt-muts--12400:ecmccfg_VER
+REQMOD:mcag-trgt-muts--12400:asyn_VER
+REQMOD:mcag-trgt-muts--12400:exprtk_VER
+REQMOD:mcag-trgt-muts--12400:motor_VER
+REQMOD:mcag-trgt-muts--12400:ecmc_VER
+REQMOD:mcag-trgt-muts--12400:ecmc_plugin_socketcan_VER