diff --git a/.github/workflows/included-images.yml b/.github/workflows/included-images.yml
index 9b292d6..798e419 100644
--- a/.github/workflows/included-images.yml
+++ b/.github/workflows/included-images.yml
@@ -29,5 +29,5 @@ jobs:
         uses: docker/bake-action@v4
         with:
           workdir: images/
-          files: docker-compose-opcua.yml
+          files: docker-compose-opcua.yml docker-compose-motorpigcs2.yml
           push: true
diff --git a/CHANGES.md b/CHANGES.md
index b36ffb7..6d1aa6e 100644
--- a/CHANGES.md
+++ b/CHANGES.md
@@ -2,7 +2,7 @@
 
 ## Unreleased
 
-* base: Pmac module version update. by @guirodrigueslima
+* base: Pmac module version update and Add motorPIGCS2 IOC. by @guirodrigueslima
 
 ## v0.8.0
 
diff --git a/base/.env b/base/.env
index 7def46e..edf26d2 100644
--- a/base/.env
+++ b/base/.env
@@ -22,6 +22,7 @@ NDSSCPIMEGA_VERSION=1.0.0
 LIBSSCPIMEGA_VERSION=fb8acf533a7c01b5266bf32d60d1a5f923e19523
 
 MOTOR_VERSION=R7-3-1
+PIGCS2_VERSION=60af8bdb17c1717e4545d8170f820e358ce31458
 PMAC_VERSION=2-6-4b3
 
 OPCUA_VERSION=0.9.4
diff --git a/base/Dockerfile b/base/Dockerfile
index 4a22930..823e297 100644
--- a/base/Dockerfile
+++ b/base/Dockerfile
@@ -66,6 +66,7 @@ COPY install_area_detector.sh .
 RUN ./install_area_detector.sh
 
 ARG MOTOR_VERSION
+ARG PIGCS2_VERSION
 ARG PMAC_VERSION
 
 COPY install_motor.sh .
diff --git a/base/install_motor.sh b/base/install_motor.sh
index 4db1f1e..82e267d 100755
--- a/base/install_motor.sh
+++ b/base/install_motor.sh
@@ -10,11 +10,15 @@ git clone --depth 1 --branch ${MOTOR_VERSION} \
 cd motor/modules
 
 git submodule update --init --depth 1 -j ${JOBS} \
-    motorMotorSim
+    motorMotorSim \
+    motorPIGCS2
+
+git -C motorPIGCS2 checkout ${PIGCS2_VERSION}
 
 module_releases="
 MOTOR=${EPICS_MODULES_PATH}/motor
 MOTOR_MOTORSIM=${EPICS_MODULES_PATH}/motor/modules/motorMotorSim
+MOTOR_PIGCS2=${EPICS_MODULES_PATH}/motor/modules/motorPIGCS2
 "
 echo "$module_releases" >> ${EPICS_RELEASE_FILE}
 
@@ -37,6 +41,13 @@ cd ..
 make -j${JOBS}
 make clean
 
+install_module -i modules/motorPIGCS2/iocs/pigcs2IOC PIGCS2 "
+EPICS_BASE
+ASYN
+MOTOR
+SNCSEQ
+"
+
 cd $EPICS_MODULES_PATH
 
 download_from_github dls-controls pmac $PMAC_VERSION
diff --git a/images/docker-compose-motorpigcs2.yml b/images/docker-compose-motorpigcs2.yml
new file mode 100644
index 0000000..9894060
--- /dev/null
+++ b/images/docker-compose-motorpigcs2.yml
@@ -0,0 +1,13 @@
+services:
+  ioc:
+    image: ghcr.io/cnpem/motorpigcs2-epics-ioc:$TAG
+    build:
+      context: ./
+      dockerfile: ../Dockerfile
+      target: no-build
+      labels:
+        org.opencontainers.image.source: https://github.com/cnpem/epics-in-docker
+      args:
+        REPONAME: motorpigcs2
+        RUNDIR: /opt/epics/modules/motor/modules/motorPIGCS2/iocs/pigcs2IOC/iocBoot/iocPIGCS2
+        RUNTIME_PACKAGES: