diff --git a/ECMC/ED7062_CSV/cfg/axis.yaml b/ECMC/ED7062_CSV/cfg/axis.yaml
index 9834a17..13b7192 100644
--- a/ECMC/ED7062_CSV/cfg/axis.yaml
+++ b/ECMC/ED7062_CSV/cfg/axis.yaml
@@ -30,11 +30,7 @@ drive:
   setpoint:  ec0.s$(DRV_SID).velocitySetpoint01       # ED7062 CSV velocity setpoint
   control:   ec0.s$(DRV_SID).driveControl01           # Control word EtherCAT entry
   status:    ec0.s$(DRV_SID).driveStatus01            # Status word EtherCAT entry
-  warning: 2                                          # Warning bit in status word (if no drive warning bit then leave empty)
-  error:                                              # max 3 error bits in status word
-    - 3                                               # Error 0 (if no drive error bit then leave empty)
-    - 7                                               # Error 1 (if no drive error bit then leave empty)
-    - 14                                              # Error 2 (if no drive error bit then leave empty)
+
 
 encoder:                                                     # Primary encoder configuration
   primary: true                                              # Use this encoder as the primary feedback encoder
@@ -57,18 +53,18 @@ encoder:                                                     # Primary encoder c
     enable: true                                             # Enable encoder delay compensation
 
 controller:                                                  # Centralized ecmc position controller driving CSV velocity
-  Kp: 14                                                      # Proportional gain
-  Ki: 1.6                                                    # Integral gain
-  Kd: 0.5                                                    # Derivative gain
+  Kp: 4                                                      # Proportional gain
+  Ki: 0.4                                                    # Integral gain
+  Kd: 0                                                    # Derivative gain
   Kff: 1
 
 trajectory:                                                  # Trajectory-generator configuration
-  type: 0                                                    # Velocity profile: 0=trapezoidal; 1=S-curve (Ruckig)
+  type: 1                                                    # Velocity profile: 0=trapezoidal; 1=S-curve (Ruckig)
   source: 0                                                  # Position source: 0=axis trajectory generator; 1=PLC
   axis:                                                      # Normal-motion initialization values
-    velocity: 3                                              # Default axis velocity [mm/s]
-    acceleration: 2                                         # Default axis acceleration [mm/s^2]
-    deceleration: 2                                         # Default axis deceleration [mm/s^2]
+    velocity: 5                                              # Default axis velocity [mm/s]
+    acceleration: 3                                         # Default axis acceleration [mm/s^2]
+    deceleration: 3                                         # Default axis deceleration [mm/s^2]
     emergencyDeceleration: 10                               # Emergency deceleration [mm/s^2]
     jerk: 10                                                 # S-curve jerk [mm/s^3]
   jog:                                                       # Jog-motion initialization values
@@ -91,7 +87,7 @@ softlimits:                                                  # ecmc software tra
 monitoring:                                                  # Axis following-error, velocity, and in-position monitoring
   lag:                                                       # Position-lag/following-error monitoring
     enable: true                                             # Enable position-lag monitoring
-    tolerance: 0.5                                             # Maximum permitted position lag [mm]
+    tolerance: 0.05                                             # Maximum permitted position lag [mm]
     time: 10                                                 # Allowed time outside lag tolerance [EtherCAT cycles]
   velocity:                                                  # Axis velocity monitoring
     enable: true                                             # Enable velocity monitoring
diff --git a/ECMC/ED7062_CSV/cfg/enc_open_loop.yaml b/ECMC/ED7062_CSV/cfg/enc_open_loop.yaml
index 39b6a33..d2d17e5 100644
--- a/ECMC/ED7062_CSV/cfg/enc_open_loop.yaml
+++ b/ECMC/ED7062_CSV/cfg/enc_open_loop.yaml
@@ -2,8 +2,8 @@ encoder:                                                     # ED7062 open-loop
   desc: 'Open loop'                                          # Encoder description
   primary: false                                             # Do not use this encoder as primary position feedback
   unit: mm                                                   # Encoder engineering unit
-  numerator: 1                                               # Encoder scaling numerator: stage travel per motor revolution [mm/rev]
-  denominator: 1048576                                       # Encoder scaling denominator: ED7062 counts per revolution
+  numerator: 500 #1                                          # Encoder scaling numerator: stage travel per motor revolution [mm/rev]
+  denominator: 2147483648 #1048576                                       # Encoder scaling denominator: ED7062 counts per revolution
   type: 0                                                    # Encoder type: 0=incremental; 1=absolute
   bits: 32                                                   # Total raw encoder counter width [bits]
   absBits: 0                                                 # Absolute-data width [bits]; zero for an incremental encoder
diff --git a/ECMC/ED7062_CSV/startup.cmd b/ECMC/ED7062_CSV/startup.cmd
index 8933748..2b42fa9 100644
--- a/ECMC/ED7062_CSV/startup.cmd
+++ b/ECMC/ED7062_CSV/startup.cmd
@@ -45,9 +45,7 @@ epicsEnvSet(BO_SID,${ECMC_EC_SLAVE_NUM})
 # ED7062 two-channel stepper drive in CSV mode (EtherCAT slave position 10)
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=10,HW_DESC=ED7062"
 ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper,CH_ID=1,MACROS='I_MAX_MA=800,I_STDBY_MA=500,U_NOM_MV=48000,L_COIL_UH=3080,R_COIL_MOHM=7500,STEPS=400'"
-${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Drive-Generic-Ctrl-Params,CH_ID=1,MACROS='L_COIL_UH=3080,R_COIL_MOHM=2471,I_TI=12,I_KP=58,V_TI=150,V_KP=176,P_KP=10'"
-#${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper,CH_ID=2,MACROS='I_MAX_MA=800,I_STDBY_MA=500,U_NOM_MV=48000,L_COIL_UH=3080,R_COIL_MOHM=7500,STEPS=400'"
-#${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Drive-Generic-Ctrl-Params,CH_ID=2,MACROS='L_COIL_UH=3080,R_COIL_MOHM=2471,I_TI=12,I_KP=58,V_TI=150,V_KP=176,P_KP=10'"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Drive-Generic-Ctrl-Params,CH_ID=1,MACROS='L_COIL_UH=45530,R_COIL_MOHM=15894,I_TI=29,I_KP=654,V_TI=150,V_KP=176,P_KP=10'"
 #- Must tell ecmc that channel is not used
 ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Generic-Ch-Not-Used,          CH_ID=2"
 epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})