diff --git a/plugins/ch/psi/pshell/swing/MotorPanel.java b/plugins/ch/psi/pshell/swing/MotorPanel.java
new file mode 100644
index 0000000..9a757df
--- /dev/null
+++ b/plugins/ch/psi/pshell/swing/MotorPanel.java
@@ -0,0 +1,409 @@
+/*
+ * Copyright (c) 2014 Paul Scherrer Institute. All rights reserved.
+ */
+package ch.psi.pshell.swing;
+
+import ch.psi.pshell.device.Device;
+import ch.psi.pshell.device.Motor;
+import ch.psi.utils.State;
+import ch.psi.utils.swing.SwingUtils;
+import java.awt.event.FocusAdapter;
+import java.awt.event.FocusEvent;
+import java.awt.event.FocusListener;
+import java.io.IOException;
+import javax.swing.JButton;
+import javax.swing.SpinnerNumberModel;
+
+/**
+ *
+ */
+public class MotorPanel extends DevicePanel {
+
+    public MotorPanel() {
+        initComponents();
+        FocusListener jogFocusListener = new FocusAdapter() {
+            @Override
+            public void focusLost(FocusEvent e) {
+                if ((e.isTemporary()) && (e.getSource() instanceof JButton)) {
+                    if (jogging) {
+                        stop();
+                    }
+                }
+            }
+        };
+        buttonJogPos.addFocusListener(jogFocusListener);
+        buttonJogNeg.addFocusListener(jogFocusListener);
+
+        textState.setBackground(TEXT_READONLY_BACKGROUND_COLOR);
+    }
+
+    @Override
+    public Motor getDevice() {
+        return (Motor) super.getDevice();
+    }
+
+    @Override
+    public void setDevice(Device device) {
+        super.setDevice(device);
+        readout.setDevice(device);
+        if (device != null) {
+            onDeviceStateChanged(device.getState(), null);
+            onDeviceStatusChanged(((Motor) device).takeStatus());
+            double min = getDevice().getMinSpeed();
+            double max = getDevice().getMaxSpeed();
+            double def = getDevice().getDefaultSpeed();
+            def = Math.max(min, def);
+            def = Math.min(max, def);
+            spinnerSpeed.setModel(new SpinnerNumberModel(def, min, max, 1.0));
+            //In a different thread because can be blocking
+            new Thread(() -> {
+                try {
+                    spinnerSpeed.setValue(getDevice().getSpeed());
+                } catch (Exception ex) {
+                }
+            }).start();
+
+        } else {
+            textState.setText("");
+        }
+    }
+
+    protected void setSpeed(double speed) throws IOException {
+        Double current = getDevice().getVelocity().take();
+        if ((current == null) || (current != speed)) {
+            getDevice().getVelocity().writeAsync(speed);
+        }
+    }
+
+    protected void moveRel(double offset) throws IOException {
+        Double destination = getDevice().take();
+        if (destination != null) {
+            destination += offset;
+            getDevice().writeAsync(destination).handle((ok, ex) -> {
+                if ((ex != null) && (ex instanceof IOException)) {
+                    SwingUtils.showException(this, (Exception) ex);
+                }
+                return ok;
+            });
+
+        }
+    }
+
+    boolean jogging;
+
+    protected void jog(boolean positive) throws IOException, InterruptedException {
+        getDevice().startJog(positive);
+        jogging = true;
+    }
+
+    protected void reference() {
+        new Thread(() -> {
+            try {
+                getDevice().reference();
+            } catch (Exception ex) {
+            }
+        }).start();
+    }
+
+    protected void stop() {
+        jogging = false;
+        new Thread(() -> {
+            try {
+                getDevice().stop();
+            } catch (Exception ex) {
+            }
+        }).start();
+    }
+
+    @Override
+    protected void onDeviceSpeedChanged(Double value) {
+        spinnerSpeed.setValue(value);
+    }
+
+    @Override
+    protected void onDeviceStateChanged(State state, State former) {
+        if ((state != State.Ready) || (state != State.Busy)) {
+            textState.setText(state.toString());
+        }
+    }
+
+    @Override
+    protected void onDeviceStatusChanged(Object value) {
+        textState.setText((value == null) ? "" : value.toString());
+    }
+
+    public void setDecimals(int decimals) {
+        readout.setDecimals(decimals);
+    }
+
+    public int getDecimals() {
+        return readout.getDecimals();
+    }
+
+    @Override
+    public void setEnabled(boolean value) {
+        buttonJogNeg.setEnabled(value);
+        buttonJogPos.setEnabled(value);
+        buttonBack.setEnabled(value);
+        buttonFor.setEnabled(value);
+        buttonReset.setEnabled(value);
+        buttonStop.setEnabled(value);
+        spinnerStep.setEnabled(value);
+        spinnerSpeed.setEnabled(value);
+        readout.setEnabled(value);
+        if (!value) {
+            textState.setText("");
+        }
+    }
+
+    /**
+     * This method is called from within the constructor to initialize the form. WARNING: Do NOT
+     * modify this code. The content of this method is always regenerated by the Form Editor.
+     */
+    @SuppressWarnings("unchecked")
+    // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
+    private void initComponents() {
+
+        buttonStop = new javax.swing.JButton();
+        buttonReset = new javax.swing.JButton();
+        buttonFor = new javax.swing.JButton();
+        buttonBack = new javax.swing.JButton();
+        readout = new ch.psi.pshell.swing.MotorReadoutPanel();
+        buttonJogNeg = new javax.swing.JButton();
+        buttonJogPos = new javax.swing.JButton();
+        jLabel1 = new javax.swing.JLabel();
+        spinnerStep = new javax.swing.JSpinner();
+        spinnerSpeed = new javax.swing.JSpinner();
+        jLabel2 = new javax.swing.JLabel();
+        textState = new javax.swing.JTextField();
+
+        setBorder(javax.swing.BorderFactory.createTitledBorder(""));
+
+        buttonStop.setText("Stop");
+        buttonStop.setToolTipText("Stop Movement");
+        buttonStop.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonStopActionPerformed(evt);
+            }
+        });
+
+        buttonReset.setText("Home");
+        buttonReset.setToolTipText("Start Homing");
+        buttonReset.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonResetActionPerformed(evt);
+            }
+        });
+
+        buttonFor.setText(">|");
+        buttonFor.setToolTipText("Step Forward");
+        buttonFor.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonForActionPerformed(evt);
+            }
+        });
+
+        buttonBack.setText("|<");
+        buttonBack.setToolTipText("Step Backwad");
+        buttonBack.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonBackActionPerformed(evt);
+            }
+        });
+
+        buttonJogNeg.setText("<<");
+        buttonJogNeg.setToolTipText("Jog Backward");
+        buttonJogNeg.addMouseListener(new java.awt.event.MouseAdapter() {
+            public void mousePressed(java.awt.event.MouseEvent evt) {
+                buttonJogNegMousePressed(evt);
+            }
+            public void mouseReleased(java.awt.event.MouseEvent evt) {
+                buttonJogNegMouseReleased(evt);
+            }
+        });
+
+        buttonJogPos.setText(">>");
+        buttonJogPos.setToolTipText("Jog Forward");
+        buttonJogPos.addMouseListener(new java.awt.event.MouseAdapter() {
+            public void mousePressed(java.awt.event.MouseEvent evt) {
+                buttonJogPosMousePressed(evt);
+            }
+            public void mouseReleased(java.awt.event.MouseEvent evt) {
+                buttonJogPosMouseReleased(evt);
+            }
+        });
+
+        jLabel1.setText("Step size:");
+
+        spinnerStep.setModel(new javax.swing.SpinnerNumberModel(1.0d, 0.001d, 10000.0d, 1.0d));
+
+        spinnerSpeed.setModel(new javax.swing.SpinnerNumberModel(1.0d, 0.001d, 10000.0d, 1.0d));
+        spinnerSpeed.addChangeListener(new javax.swing.event.ChangeListener() {
+            public void stateChanged(javax.swing.event.ChangeEvent evt) {
+                spinnerSpeedStateChanged(evt);
+            }
+        });
+
+        jLabel2.setText("Speed:");
+
+        textState.setEditable(false);
+        textState.setHorizontalAlignment(javax.swing.JTextField.CENTER);
+
+        javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
+        this.setLayout(layout);
+        layout.setHorizontalGroup(
+            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(layout.createSequentialGroup()
+                .addContainerGap()
+                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, layout.createSequentialGroup()
+                        .addComponent(buttonJogNeg)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                        .addComponent(buttonBack)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                        .addComponent(readout, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                        .addComponent(buttonFor)
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                        .addComponent(buttonJogPos)
+                        .addGap(8, 8, 8))
+                    .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, layout.createSequentialGroup()
+                        .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
+                            .addGroup(layout.createSequentialGroup()
+                                .addComponent(buttonReset)
+                                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                                .addComponent(buttonStop))
+                            .addComponent(textState))
+                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                        .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                            .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, layout.createSequentialGroup()
+                                .addComponent(jLabel2)
+                                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                                .addComponent(spinnerSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
+                            .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, layout.createSequentialGroup()
+                                .addComponent(jLabel1)
+                                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                                .addComponent(spinnerStep, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
+                        .addContainerGap())))
+        );
+
+        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonReset, buttonStop});
+
+        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonBack, buttonFor, buttonJogNeg, buttonJogPos});
+
+        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerSpeed, spinnerStep});
+
+        layout.setVerticalGroup(
+            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, layout.createSequentialGroup()
+                .addContainerGap()
+                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                        .addComponent(buttonBack)
+                        .addComponent(buttonJogNeg))
+                    .addComponent(readout, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                        .addComponent(buttonFor)
+                        .addComponent(buttonJogPos)))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
+                    .addComponent(buttonReset)
+                    .addComponent(buttonStop)
+                    .addComponent(spinnerStep, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jLabel1))
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
+                    .addComponent(textState, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                    .addComponent(jLabel2)
+                    .addComponent(spinnerSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
+                .addContainerGap())
+        );
+
+        layout.linkSize(javax.swing.SwingConstants.VERTICAL, new java.awt.Component[] {buttonBack, buttonFor, buttonJogNeg, buttonJogPos, readout});
+
+    }// </editor-fold>//GEN-END:initComponents
+
+    private void buttonBackActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonBackActionPerformed
+        try {
+            double step = (Double) spinnerStep.getValue();
+            moveRel(-step);
+        } catch (Exception ex) {
+            showException(ex);
+        }
+    }//GEN-LAST:event_buttonBackActionPerformed
+
+    private void buttonForActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonForActionPerformed
+        try {
+            double step = (Double) spinnerStep.getValue();
+            moveRel(step);
+        } catch (Exception ex) {
+            showException(ex);
+        }
+
+    }//GEN-LAST:event_buttonForActionPerformed
+
+    private void buttonResetActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonResetActionPerformed
+        try {
+            reference();
+        } catch (Exception ex) {
+            showException(ex);
+        }
+
+    }//GEN-LAST:event_buttonResetActionPerformed
+
+    private void buttonStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonStopActionPerformed
+        try {
+            stop();
+        } catch (Exception ex) {
+            showException(ex);
+        }
+
+    }//GEN-LAST:event_buttonStopActionPerformed
+
+    private void buttonJogPosMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_buttonJogPosMousePressed
+        try {
+            jog(true);
+        } catch (Exception ex) {
+            showException(ex);
+        }
+    }//GEN-LAST:event_buttonJogPosMousePressed
+
+    private void buttonJogPosMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_buttonJogPosMouseReleased
+        stop();
+    }//GEN-LAST:event_buttonJogPosMouseReleased
+
+    private void buttonJogNegMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_buttonJogNegMousePressed
+        try {
+            jog(false);
+        } catch (Exception ex) {
+            showException(ex);
+        }
+    }//GEN-LAST:event_buttonJogNegMousePressed
+
+    private void buttonJogNegMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_buttonJogNegMouseReleased
+        stop();
+    }//GEN-LAST:event_buttonJogNegMouseReleased
+
+    private void spinnerSpeedStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_spinnerSpeedStateChanged
+        try {
+            setSpeed((Double) spinnerSpeed.getValue());
+        } catch (Exception ex) {
+            showException(ex);
+        }
+    }//GEN-LAST:event_spinnerSpeedStateChanged
+
+    // Variables declaration - do not modify//GEN-BEGIN:variables
+    private javax.swing.JButton buttonBack;
+    private javax.swing.JButton buttonFor;
+    private javax.swing.JButton buttonJogNeg;
+    private javax.swing.JButton buttonJogPos;
+    private javax.swing.JButton buttonReset;
+    private javax.swing.JButton buttonStop;
+    private javax.swing.JLabel jLabel1;
+    private javax.swing.JLabel jLabel2;
+    private ch.psi.pshell.swing.MotorReadoutPanel readout;
+    private javax.swing.JSpinner spinnerSpeed;
+    private javax.swing.JSpinner spinnerStep;
+    private javax.swing.JTextField textState;
+    // End of variables declaration//GEN-END:variables
+}