diff --git a/script/devices/RobotBernina.py b/script/devices/RobotBernina.py
index 1a4c71d..11c63a4 100644
--- a/script/devices/RobotBernina.py
+++ b/script/devices/RobotBernina.py
@@ -19,11 +19,11 @@ DESC_DEFAULT = DESCS[0]
 FLANGE = "flange"
 
 TOOLS = ["t_JF01T03", "t_JF07T32", ]
-TOOLS = ["t_Detector",]
+#TOOLS = ["t_Detector",]
 TOOL_DEFAULT = TOOL_DET =  TOOLS[0]
 
 FRAMES = ["f_actualFrame", "f_direct", "f_2mRad", "f_4mRad", "f_6mRad", "f_8mRad"]
-FRAMES = ["f_actualFrame", "f_Experiment1", "f_Experiment2", "f_Experiment3"]
+#FRAMES = ["f_actualFrame", "f_Experiment1", "f_Experiment2", "f_Experiment3"]
 FRAME_DEFAULT = FRAMES[1]
 
 DEFAULT_ROBOT_POLLING = 200
@@ -220,7 +220,23 @@ class RobotBernina(RobotTCP):
             if (any(idx1)) & (any(idx2)):
                 return True
         return False
-            
+
+    def general_motion(self, **kwargs):
+        ## check motion type
+        self.reset_motion()
+        if (sum([m in kwargs.keys() for m in ROBOT_JOINT_MOTORS])>0) & (sum([m in kwargs.keys() for m in ROBOT_SPHERICAL_MOTORS])==0) & (sum([m in kwargs.keys() for m in ROBOT_CARTESIAN_MOTORS])==0):
+            move = self.move_joint
+        elif (sum([m in kwargs.keys() for m in ROBOT_CARTESIAN_MOTORS])>0) & (sum([m in kwargs.keys() for m in ROBOT_SPHERICAL_MOTORS])==0) & (sum([m in kwargs.keys() for m in ROBOT_JOINT_MOTORS])==0):
+            move = self.move_cartesian
+        elif (sum([m in kwargs.keys() for m in ROBOT_SPHERICAL_MOTORS])>0) & (sum([m in kwargs.keys() for m in ROBOT_CARTESIAN_MOTORS])==0) & (sum([m in kwargs.keys() for m in ROBOT_JOINT_MOTORS])==0):
+            move = self.move_spherical
+        else:
+            get_context().sendEvent("motion", "\nNo unique coordinate system found for these motions use only unique keywords out of:\n {}\n {}\n {}.".format(ROBOT_JOINT_MOTORS, ROBOT_CARTESIAN_MOTORS, ROBOT_SPHERICAL_MOTORS))
+            return
+        self.last_remote_motion = "recording"
+        move(sync = True, **kwargs)
+        return True
+
     def record_motion(self, **kwargs):
         ## check motion type
         self.reset_motion(msg = "RECORDING TRAJECTORY TO LIST OF ALLOWED REMOTE MOTIONS - USE HANDHELD TO FINISH MOTION")
@@ -347,6 +363,7 @@ class RobotBernina(RobotTCP):
         reachable = self.eval_bool("pointToJoint(" + tool + ",tcp_j," + point + ",j)")
         if verbose:
             if not reachable:
+                get_context().sendEvent("motion", "Point is not in range")
                 print("Point is not in range")
         return reachable
 
@@ -355,10 +372,10 @@ class RobotBernina(RobotTCP):
             ret = None
         elif self.last_remote_motion == "cartesian":
             target = self.cartesian_motors["x"].target_pos
-            ret = move_cartesian(simulate = True, **target)
+            ret = self.move_cartesian(simulate = True, **target)
         elif self.last_remote_motion == "spherical":
             target = self.spherical_motors["r"].target_pos
-            ret = move_spherical(simulate = True, **target)
+            ret = self.move_spherical(simulate = True, **target)
         elif self.last_remote_motion == "joint":
             target = self.joint_motors["j1"].target_pos
             ret = self.move_joint(simulate = True, **target)
@@ -408,8 +425,12 @@ class RobotBernina(RobotTCP):
             else:
                 self.set_motion_queue_empty(False)
                 ret = self.movel("tcp_p_spherical[1]", tool=tool, desc=None, sync=sync)
+        else:
+            return False
         if simulate:
             return sim
+        else:
+            return ret
             
     def move_spherical(self, r=None, gamma=None, delta=None, tool=None, frame=None, desc=None, sync=False, simulate=False, coordinates="joint"):
         """
@@ -655,8 +676,21 @@ def make_archivable(Motor):
         ".RBV": [Motor.readback, "double"],
         ".EGU": [MotorConfigPV(Motor, "unit"), "string"],
         ".ADEL": [DummySTP(0.002), "double"],
+        ".SCAN": [DummySTP("passive"), "string"],
+        ".PINI": [DummySTP("No"), "string"],
+        ".PHAS": [DummySTP(0), "short"],
+        ".EVNT": [DummySTP(""), "string"],
+        ".PRIO": [DummySTP(0), "short"],#should be ENUM with 0,1,3 being LOW, MEDIUM, HIGH
+        ".DISV": [DummySTP(1), "short"],
+        ".DISA": [DummySTP(0), "short"],
+        ".SDIS": [DummySTP(""), "string"],
+        ".PROC": [DummySTP(0), "short"],#should be uchar
+        ".DISS": [DummySTP(0), "short"],#should be ENUM with 0,1,2,3 being NO?ALARM, MINOR, MAJOR, INVALID
+        ".LCNT": [DummySTP(0), "short"],#should be uchar
+        ".PACT": [DummySTP(0), "short"],#should be uchar
         }
-    epics_pvs = {base + field+"_": CAS((base+field).upper(), device, dtype) for field, [device, dtype] in pv_def.items()}
+    epics_pvs = {base + field: CAS((base+field).upper(), device, dtype) for field, [device, dtype] in pv_def.items()}
+    epics_pvs.update({base + ".FLNK": CAS((base+".FLNK").upper(), DummySTP((base+".RBV").upper()), "string")})
     Motor.epics_pvs = epics_pvs
 
 #robot.latency = 0.005   
diff --git a/script/devices/RobotMotors.py b/script/devices/RobotMotors.py
index 92d4514..2f582c2 100644
--- a/script/devices/RobotMotors.py
+++ b/script/devices/RobotMotors.py
@@ -75,7 +75,7 @@ class RobotCartesianMotor(PositionerBase):
         self.setCache(self.doRead(), None)
                   
     def doRead(self):
-        return float("nan") if self.robot.cartesian_destination is None else float(self.robot.cartesian_destination[self.name])
+        return self.doReadReadback()
 
     def doWrite(self, value):        
         if self.robot.cartesian_destination is not None:
@@ -128,7 +128,7 @@ class RobotSphericalMotor (PositionerBase):
         self.setCache(self.doRead(), None)
                   
     def doRead(self):
-        return float("nan") if len(self.robot.spherical_pos)==0 else robot.spherical_pos[self.name]
+        return self.doReadReadback()
 
     def doWrite(self, value):
         if self.robot.spherical_destination is not None:
@@ -179,7 +179,7 @@ class RobotJointMotor (PositionerBase):
         self.setCache(self.doRead(), None)        
                   
     def doRead(self):        
-        return self.setpoint
+        return self.doReadReadback()
 
     def doWrite(self, value):
         self.setpoint = value