diff --git a/dll/iodllD.dll b/dll/iodllD.dll
index 0bed1ed..9de34c0 100644
Binary files a/dll/iodllD.dll and b/dll/iodllD.dll differ
diff --git a/dll/mcctrdllD.dll b/dll/mcctrdllD.dll
index 417f951..a2b36bb 100644
Binary files a/dll/mcctrdllD.dll and b/dll/mcctrdllD.dll differ
diff --git a/iodll/Include/InputControllerBase.h b/iodll/Include/InputControllerBase.h
index 19376bc..6d566c4 100644
--- a/iodll/Include/InputControllerBase.h
+++ b/iodll/Include/InputControllerBase.h
@@ -14,7 +14,7 @@ class CInputBase;
 class CInputControllerBase : public CCard
 {
 public:
-    CInputControllerBase(std::string csMutexName);
+    CInputControllerBase(const std::string& csMutexName);
     virtual ~CInputControllerBase();
 
     void RegisterInput(const CInputSetting& inputSetting, CInputBase* pInput);
diff --git a/iodll/Include/MotionControllerBase.h b/iodll/Include/MotionControllerBase.h
index 37fb30a..de4e156 100644
--- a/iodll/Include/MotionControllerBase.h
+++ b/iodll/Include/MotionControllerBase.h
@@ -17,15 +17,19 @@ protected:
     int         m_CardType{ -1 };
     int         m_nNoOfCard{ 0 };
     int         m_index{ 0 };
-    std::string m_szCardName{ "" };
+    std::string m_strCardName{ "" };
+
+    std::vector<int> m_vecInitializedCards; // keep track of initialized card ids handled by APS library
 
 public:
     CMotionControllerBase(int index, const std::string& pMutexName);
     virtual ~CMotionControllerBase();
 
-    void         SetCardInfo(int nCardType, const std::string& cardName);
-    int          GetCardType() const;
-    std::string  GetCardName() const;
+    void               SetCardInfo(int nCardType, const std::string& cardName);
+    int                GetCardType() const;
+    const std::string& GetCardName() const;
+
+    std::vector<int> GetInitializedCards() const;
 
     virtual BOOL Init(int& nNoOfMtr) = 0;
     virtual void Close();
diff --git a/iodll/Include/MotionControllerFactory.h b/iodll/Include/MotionControllerFactory.h
index cf9e4c3..2b2e238 100644
--- a/iodll/Include/MotionControllerFactory.h
+++ b/iodll/Include/MotionControllerFactory.h
@@ -2,23 +2,24 @@
 
 class CMotionControllerBase;
 class CMtrProfile;
-#ifdef  BUILD_IODLL
-#define     IODLLCLASS  __declspec(dllexport)
+#ifdef BUILD_IODLL
+#define IODLLCLASS __declspec(dllexport)
 #else
-#define     IODLLCLASS  __declspec(dllimport)
+#define IODLLCLASS __declspec(dllimport)
 #endif
 
 class IODLLCLASS CAbstractMotionControllerFactory
 {
 private:
-    int   m_cardType;
-    char *m_cardName;
+    int         m_cardType{ -1 };
+    std::string m_cardName;
+
 public:
-    CAbstractMotionControllerFactory(int cardType, char* m_cardName);
+    CAbstractMotionControllerFactory(int cardType, const std::string& m_cardName);
     virtual ~CAbstractMotionControllerFactory();
-    virtual CMotionControllerBase *CreateMotionController(int index) = 0;
-    int                            GetCardType();
-    char                         * GetCardName();
+    virtual CMotionControllerBase* CreateMotionController(int index) = 0;
+    int                            GetCardType() const;
+    const std::string&             GetCardName() const;
 };
 
 /**
@@ -32,14 +33,15 @@ class IODLLCLASS CMotionControllerFactory
 {
 private:
     CMotionControllerFactory(void);
+
 public:
     virtual ~CMotionControllerFactory(void);
-    static CMotionControllerFactory &Instance();
-    void                             AddFactory(CAbstractMotionControllerFactory *pFactory);
-    void                             RemoveFactory(CAbstractMotionControllerFactory *pFactory);
-    CMotionControllerBase           *CreateMotionController(int index, const char* cardName);
-    CMotionControllerBase           *CreateMotionController(int index, int cardType);
-    int                              GetCardType(const char* cardName);
+    static CMotionControllerFactory& Instance();
+    void                             AddFactory(CAbstractMotionControllerFactory* pFactory);
+    void                             RemoveFactory(CAbstractMotionControllerFactory* pFactory);
+    CMotionControllerBase*           CreateMotionController(int index, const std::string& cardName);
+    CMotionControllerBase*           CreateMotionController(int index, int cardType);
+    int                              GetCardType(const std::string& cardName);
 };
 
 /**
@@ -60,17 +62,17 @@ public:
  * @param   MotionController_class  The class of the MotionController that the factory creates.
  */
 
-#define REGISTER_MOTIONCONTROLLER_FACTORY(mType, name, MotionController_class) \
-    class Factory ## MotionController_class : public CAbstractMotionControllerFactory \
-    { \
-    public: \
-        Factory ## MotionController_class() : CAbstractMotionControllerFactory(mType, name){} \
-        CMotionControllerBase *CreateMotionController(int index) \
-        { \
-            CMotionControllerBase *ptr = new MotionController_class(index); \
-            ptr->SetCardInfo(mType, name); \
-            return ptr; \
-        } \
-    }; \
-    static                            Factory ## MotionController_class StaticFactory ## MotionController_class; \
-    CAbstractMotionControllerFactory* GetFactory ## MotionController_class() { return &StaticFactory ## MotionController_class; }
+#define REGISTER_MOTIONCONTROLLER_FACTORY(mType, name, MotionController_class)               \
+    class Factory##MotionController_class : public CAbstractMotionControllerFactory          \
+    {                                                                                        \
+    public:                                                                                  \
+        Factory##MotionController_class() : CAbstractMotionControllerFactory(mType, name) {} \
+        CMotionControllerBase* CreateMotionController(int index)                             \
+        {                                                                                    \
+            CMotionControllerBase* ptr = new MotionController_class(index);                  \
+            ptr->SetCardInfo(mType, name);                                                   \
+            return ptr;                                                                      \
+        }                                                                                    \
+    };                                                                                       \
+    static Factory##MotionController_class StaticFactory##MotionController_class;            \
+    CAbstractMotionControllerFactory*      GetFactory##MotionController_class() { return &StaticFactory##MotionController_class; }
diff --git a/iodll/Include/MotionController_ADLINK_APS.h b/iodll/Include/MotionController_ADLINK_APS.h
index 36effed..3904134 100644
--- a/iodll/Include/MotionController_ADLINK_APS.h
+++ b/iodll/Include/MotionController_ADLINK_APS.h
@@ -25,6 +25,9 @@ public:
     void Close() override;
 
 private:
+    std::vector<int> BitsToCardIds(int cardIDBits);
+
     BOOL Init_7856(int nCardID, CHardwareCfgFactory& cfgFty, int nCfgMotionNumber, int nCfgCardNumber, int& nNoOfMtr);
     BOOL Init_ECAT(int nCardID, CHardwareCfgFactory& cfgFty, int nCfgMotionNumber, int nCfgCardNumber, int& nNoOfMtr);
+
 };
diff --git a/iodll/Include/OutputControllerBase.h b/iodll/Include/OutputControllerBase.h
index ff2f3d2..675c6af 100644
--- a/iodll/Include/OutputControllerBase.h
+++ b/iodll/Include/OutputControllerBase.h
@@ -13,7 +13,7 @@ class COutputBase;
 class COutputControllerBase : public CCard
 {
 public:
-    COutputControllerBase(std::string csMutexName);
+    COutputControllerBase(const std::string& csMutexName);
     virtual ~COutputControllerBase();
 
     void RegisterOutput(const COutputSetting& outputSetting, COutputBase* pOutput);
diff --git a/iodll/lib/iodllD.lib b/iodll/lib/iodllD.lib
index ec3ed6c..aaaebef 100644
Binary files a/iodll/lib/iodllD.lib and b/iodll/lib/iodllD.lib differ