diff --git a/docs/RELEASE.md b/docs/RELEASE.md
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@@ -1,5 +1,36 @@
 # motorAcsMotion Releases
 
+## __R2-0 (2022-01-21)__
+R2-0 is a release based on the master branch.
+
+### Changes since R1-0
+
+#### New features
+
+* Commit [3b25e12](https://github.com/epics-motor/motorAcsMotion/commit/3b25e1210ef5584d4cab74eee7650e97b9c932b4): Axes can be enabled/disabled from EPICS.
+* Pull request [#6](https://github.com/epics-motor/motorAcsMotion/pull/6) Implemented profile moves and data recording.
+* Pull request [#7](https://github.com/epics-motor/motorAcsMotion/pull/7) Implemented homing using predefined homing methods.
+* Pull request [#8](https://github.com/epics-motor/motorAcsMotion/pull/8) Allow any SPiiPlus user units to be used; the axis resolution (STEPF) is queried during initialization.
+* Pull request [#9](https://github.com/epics-motor/motorAcsMotion/pull/9) Allow the max velocity and acceleration to be read and set from EPICS.
+* Pull request [#10](https://github.com/epics-motor/motorAcsMotion/pull/10) Allow reading/writing global variables from EPICS.
+* Pull request [#11](https://github.com/epics-motor/motorAcsMotion/pull/11) Allow programs to be started and stopped in buffers on the controller.
+* Pull request [#12](https://github.com/epics-motor/motorAcsMotion/pull/12) Make Safe Torque Off (STO) status available.
+* Pull request [#13](https://github.com/epics-motor/motorAcsMotion/pull/13) Use binary queries for polling.
+
+#### Modifications to existing features
+
+* Commit [42c580b](https://github.com/epics-motor/motorAcsMotion/commit/42c580b9d3d1376e3756e2821e1097c1d394b93e): Pass IOC prefix to dbLoadTemplate in example IOC
+* Commit [664e4e4](https://github.com/epics-motor/motorAcsMotion/commit/664e4e43876fe576c4ce1cca0fefdd143ca8ecae): Added a tcp/ip example to acsMotionIOC.
+* Commit [7099c0d](https://github.com/epics-motor/motorAcsMotion/commit/7099c0d7264a53d8f8f5abbbbd07ec297e98e9e0): Install iocsh files.
+
+#### Bug fixes
+
+* Commit [e9615c7](https://github.com/epics-motor/motorAcsMotion/commit/e9615c7a59f0683761b57c112780f47c925e7229): Initialized variables to prevent random memory from being freed when SPiiPlusCreate is called.
+* Commit [e537b51](https://github.com/epics-motor/motorAcsMotion/commit/e537b51baa182cc7ad3046b897c7e53f888d64f0): Added locks around writeReadController to prevent conficts between the poller thread and the profile move thread.
+* Commit [187f609](https://github.com/epics-motor/motorAcsMotion/commit/187f6095f70ed0b459980c690dc70f88ed10d8c7): Initialized status in the axis poll method to avoid errors when toggling the CNEN field or changing a limit.
+* Commit [d442ffa](https://github.com/epics-motor/motorAcsMotion/commit/d442ffa3f711377495de9390102b6d8eee6293ba): Initialized status in the getMaxParams.
+* Commit [9e48329](https://github.com/epics-motor/motorAcsMotion/commit/9e48329927849ca802c89d17c900ca7985e9a219): Corrected the name of a dbd file in the example IOC.
+
 ## __R1-0 (2020-08-06)__
 Initial release