The integration of the Alio Hexapod Robotic stage and the ACS Tech80 SPiiPlus motion controller with the EPICS motorRecord provides a template for providing complex multi-axis motion to the EPICS Control System. The Alio hexapod is a six axis robotic system that provides nanometer resolution. The motion control of this stage requires complex kinematic calculations executed in microseconds. This poster describes the integration of a high performance motion controller required for this task with standard EPICS motor support software included in the EPICS synApps software package.