diff --git a/Makefile b/Makefile
index 19c9068..57dc51e 100644
--- a/Makefile
+++ b/Makefile
@@ -9,6 +9,10 @@ DIRS += $(wildcard *App)
 DIRS += $(wildcard *Top)
 DIRS += $(wildcard iocBoot)
 
+ifeq ($(BUILD_IOCS), YES)
+DIRS += $(wildcard iocs)
+endif
+
 # The build order is controlled by these dependency rules:
 
 # All dirs except configure depend on configure
@@ -28,4 +32,13 @@ iocBoot_DEPEND_DIRS += $(filter %App,$(DIRS))
 
 # Add any additional dependency rules here:
 
-include $(TOP)/configure/RULES_TOP
+# iocs depend on all *Sup and *App dirs
+$(foreach dir, $(filter %iocs, $(DIRS)), \
+    $(eval $(dir)_DEPEND_DIRS += $(filter %Sup %App, $(DIRS))))
+
+# Only support top-level targets when submodule is built stand-alone
+ifeq ($(INSTALL_LOCATION),$(MOTOR))
+  include $(TOP)/configure/RULES_DIRS
+else
+  include $(TOP)/configure/RULES_TOP
+endif
diff --git a/configure/EXAMPLE_CONFIG_SITE.local b/configure/EXAMPLE_CONFIG_SITE.local
new file mode 100644
index 0000000..9b57b80
--- /dev/null
+++ b/configure/EXAMPLE_CONFIG_SITE.local
@@ -0,0 +1,7 @@
+# Use settings from motor's CONFIG_SITE unless they are overridden below
+-include $(MOTOR)/configure/CONFIG_SITE
+
+#
+CHECK_RELEASE = WARN
+#
+#BUILD_IOCS = YES
diff --git a/configure/EXAMPLE_RELEASE.local b/configure/EXAMPLE_RELEASE.local
new file mode 100644
index 0000000..d921d9a
--- /dev/null
+++ b/configure/EXAMPLE_RELEASE.local
@@ -0,0 +1,4 @@
+MOTOR=
+-include $(MOTOR)/configure/RELEASE
+# path to motorAcs is needed to build the IOC inside motorAcs, but outside motor
+MOTOR_ACS=
diff --git a/configure/Makefile b/configure/Makefile
index 9254309..69c791d 100644
--- a/configure/Makefile
+++ b/configure/Makefile
@@ -2,7 +2,11 @@ TOP=..
 
 include $(TOP)/configure/CONFIG
 
+ifeq ($(INSTALL_CONFIG),$(MOTOR)/configure)
+# Don't overwrite Motor's configure files
+INSTALL_CONFIG =
+endif
+
 TARGETS = $(CONFIG_TARGETS)
-CONFIGS += $(subst ../,,$(wildcard $(CONFIG_INSTALLS)))
 
 include $(TOP)/configure/RULES
diff --git a/configure/RELEASE b/configure/RELEASE
index f95c484..d036eeb 100644
--- a/configure/RELEASE
+++ b/configure/RELEASE
@@ -1,43 +1,7 @@
 # RELEASE - Location of external support modules
-#
-# IF YOU MAKE ANY CHANGES to this file you must subsequently
-# do a "gnumake rebuild" in this application's top level
-# directory.
-#
-# The build process does not check dependencies against files
-# that are outside this application, thus you should do a
-# "gnumake rebuild" in the top level directory after EPICS_BASE
-# or any other external module pointed to below is rebuilt.
-#
-# Host- or target-specific settings can be given in files named
-#  RELEASE.$(EPICS_HOST_ARCH).Common
-#  RELEASE.Common.$(T_A)
-#  RELEASE.$(EPICS_HOST_ARCH).$(T_A)
-#
-# This file is parsed by both GNUmake and an EPICS Perl script,
-# so it can ONLY contain definititions of paths to other support
-# modules, variable definitions that are used in module paths,
-# and include statements that pull in other RELEASE files.
-# Variables may be used before their values have been set.
-# Build variables that are NOT used in paths should be set in
-# the CONFIG_SITE file.
 
-# Variables and paths to dependent modules:
-#MODULES = /path/to/modules
-#MYMODULE = $(MODULES)/my-module
-
-# If using the sequencer, point SNCSEQ at its top directory:
-#SNCSEQ = $(MODULES)/seq-ver
-
-# EPICS_BASE should appear last so earlier modules can override stuff:
-EPICS_BASE = /APSshare/epics/base-3.15.6
-
-# Set RULES here if you want to use build rules from somewhere
-# other than EPICS_BASE:
-#RULES = $(MODULES)/build-rules
-
-# These allow developers to override the RELEASE variable settings
-# without having to modify the configure/RELEASE file itself.
--include $(TOP)/../RELEASE.local
+# Use motor/module's generated release file when buidling inside motor
+-include $(TOP)/../RELEASE.$(EPICS_HOST_ARCH).local
+# Use motorAcs's RELEASE.local when building outside motor
 -include $(TOP)/configure/RELEASE.local
 
diff --git a/iocs/Makefile b/iocs/Makefile
new file mode 100644
index 0000000..7f17bbb
--- /dev/null
+++ b/iocs/Makefile
@@ -0,0 +1,25 @@
+TOP = ..
+include $(TOP)/configure/CONFIG
+
+DIRS += acsIOC
+
+include $(TOP)/configure/RULES_TOP
+
+uninstallTargets = $(foreach dir, $(DIRS), $(dir)$(DIVIDER)uninstall)
+uninstall: $(uninstallTargets)
+define UNINSTALL_template
+$(1)$(DIVIDER)uninstall:
+	$(MAKE) -C $(1) uninstall
+endef
+$(foreach dir, $(DIRS), $(eval $(call UNINSTALL_template,$(dir))))
+.PHONY: uninstall $(uninstallTargets)
+
+realuninstallTargets = $(foreach dir, $(DIRS), $(dir)$(DIVIDER)realuninstall)
+realuninstall: $(realuninstallTargets)
+define REALUNINSTALL_template
+$(1)$(DIVIDER)realuninstall:
+	$(MAKE) -C $(1) realuninstall
+endef
+$(foreach dir, $(DIRS), $(eval $(call REALUNINSTALL_template,$(dir))))
+.PHONY: realuninstall $(realuninstallTargets)
+
diff --git a/iocs/acsIOC/acsApp/src/Makefile b/iocs/acsIOC/acsApp/src/Makefile
index e6b1b83..4feaf3c 100644
--- a/iocs/acsIOC/acsApp/src/Makefile
+++ b/iocs/acsIOC/acsApp/src/Makefile
@@ -5,6 +5,9 @@ include $(TOP)/configure/CONFIG
 #  ADD MACRO DEFINITIONS AFTER THIS LINE
 #=============================
 
+# The following are used for debugging messages.
+#!USR_CXXFLAGS += -DDEBUG
+
 #=============================
 # Build the IOC application
 
@@ -16,10 +19,21 @@ DBD += acs.dbd
 acs_DBD += base.dbd
 
 # Include dbd files from all support applications:
-#acs_DBD += xxx.dbd
+#ifdef ASYN
+acs_DBD += asyn.dbd
+#endif
+acs_DBD += motorSupport.dbd
+acs_DBD += devAcs.dbd
 
 # Add all the support libraries needed by this IOC
-#acs_LIBS += xxx
+acs_LIBS += acs
+acs_LIBS += motor
+#ifdef ASYN
+acs_LIBS += asyn
+#endif
+#ifdef SNCSEQ
+acs_LIBS += seq pv
+#endif
 
 # acs_registerRecordDeviceDriver.cpp derives from acs.dbd
 acs_SRCS += acs_registerRecordDeviceDriver.cpp
diff --git a/iocs/acsIOC/configure/CONFIG_SITE b/iocs/acsIOC/configure/CONFIG_SITE
index 212485e..99fdbfd 100644
--- a/iocs/acsIOC/configure/CONFIG_SITE
+++ b/iocs/acsIOC/configure/CONFIG_SITE
@@ -35,9 +35,10 @@ CHECK_RELEASE = YES
 #HOST_OPT = NO
 #CROSS_OPT = NO
 
-# These allow developers to override the CONFIG_SITE variable
-# settings without having to modify the configure/CONFIG_SITE
-# file itself.
--include $(TOP)/../CONFIG_SITE.local
+# Include motor's CONFIG_SITE.local when building inside motor
+-include $(TOP)/../../../../configure/CONFIG_SITE.local
+# Include motorAcs's CONFIG_SITE.local when building inside motorAcs
+-include $(TOP)/../../configure/CONFIG_SITE.local
+# Use acsIOC's CONFIG_SITE.local
 -include $(TOP)/configure/CONFIG_SITE.local
 
diff --git a/iocs/acsIOC/configure/EXAMPLE_CONFIG_SITE.local b/iocs/acsIOC/configure/EXAMPLE_CONFIG_SITE.local
new file mode 100644
index 0000000..e56b472
--- /dev/null
+++ b/iocs/acsIOC/configure/EXAMPLE_CONFIG_SITE.local
@@ -0,0 +1,6 @@
+# Use settings from motor's CONFIG_SITE unless they are overridden below
+-include $(MOTOR)/configure/CONFIG_SITE
+
+#
+CHECK_RELEASE = WARN
+
diff --git a/iocs/acsIOC/configure/EXAMPLE_RELEASE.local b/iocs/acsIOC/configure/EXAMPLE_RELEASE.local
new file mode 100644
index 0000000..7f2d8e9
--- /dev/null
+++ b/iocs/acsIOC/configure/EXAMPLE_RELEASE.local
@@ -0,0 +1,6 @@
+# Use the following lines if motorAcs was built inside motor
+MOTOR=
+-include $(MOTOR)/configure/RELEASE
+# Use the following lines if motorAcs was built outside motor
+#!MOTOR_ACS=
+#!-include $(MOTOR_ACS)/configure/RELEASE.local
diff --git a/iocs/acsIOC/configure/RELEASE b/iocs/acsIOC/configure/RELEASE
index f95c484..39ade88 100644
--- a/iocs/acsIOC/configure/RELEASE
+++ b/iocs/acsIOC/configure/RELEASE
@@ -1,43 +1,8 @@
 # RELEASE - Location of external support modules
-#
-# IF YOU MAKE ANY CHANGES to this file you must subsequently
-# do a "gnumake rebuild" in this application's top level
-# directory.
-#
-# The build process does not check dependencies against files
-# that are outside this application, thus you should do a
-# "gnumake rebuild" in the top level directory after EPICS_BASE
-# or any other external module pointed to below is rebuilt.
-#
-# Host- or target-specific settings can be given in files named
-#  RELEASE.$(EPICS_HOST_ARCH).Common
-#  RELEASE.Common.$(T_A)
-#  RELEASE.$(EPICS_HOST_ARCH).$(T_A)
-#
-# This file is parsed by both GNUmake and an EPICS Perl script,
-# so it can ONLY contain definititions of paths to other support
-# modules, variable definitions that are used in module paths,
-# and include statements that pull in other RELEASE files.
-# Variables may be used before their values have been set.
-# Build variables that are NOT used in paths should be set in
-# the CONFIG_SITE file.
 
-# Variables and paths to dependent modules:
-#MODULES = /path/to/modules
-#MYMODULE = $(MODULES)/my-module
-
-# If using the sequencer, point SNCSEQ at its top directory:
-#SNCSEQ = $(MODULES)/seq-ver
-
-# EPICS_BASE should appear last so earlier modules can override stuff:
-EPICS_BASE = /APSshare/epics/base-3.15.6
-
-# Set RULES here if you want to use build rules from somewhere
-# other than EPICS_BASE:
-#RULES = $(MODULES)/build-rules
-
-# These allow developers to override the RELEASE variable settings
-# without having to modify the configure/RELEASE file itself.
--include $(TOP)/../RELEASE.local
+# Use motor/module's generated release file when buidling inside motor
+-include $(TOP)/../../../RELEASE.$(EPICS_HOST_ARCH).local
+# Use motorAcs's release file when building inside motorAcs, but outside motor
+-include $(TOP)/../../configure/RELEASE.local
+# Use acsIOC's RELEASE.local when building outside motorAcs
 -include $(TOP)/configure/RELEASE.local
-