diff --git a/iocBoot/iocWithAsyn/st.cmd.xps b/iocBoot/iocWithAsyn/st.cmd.xps
index fab00a63..e0893ce0 100644
--- a/iocBoot/iocWithAsyn/st.cmd.xps
+++ b/iocBoot/iocWithAsyn/st.cmd.xps
@@ -14,7 +14,7 @@ dbLoadTemplate "XPSAux.substitutions"
 XPSSetup(1)
 
 # card, IP, PORT, number of axes, active poll period (ms), idle poll period (ms)
-XPSConfig(0, "newport-xps3", 5001, 2, 10, 500)
+XPSConfig(0, "newport-xps3", 5001, 3, 10, 5000)
 
 # asynPort, IP address, IP port, poll period (ms)
 XPSAuxConfig("XPS_AUX1", "newport-xps3", 5001, 50)
@@ -22,19 +22,30 @@ XPSAuxConfig("XPS_AUX1", "newport-xps3", 5001, 50)
 #asynSetTraceIOMask("XPS_AUX1", 0, 2)
 
 # asyn port, driver name, controller index, max. axes)
-drvAsynMotorConfigure("XPS1", "motorXPS", 0, 2)
+drvAsynMotorConfigure("XPS1", "motorXPS", 0, 3)
 XPSInterpose("XPS1")
 
 # card,  axis, groupName.positionerName
-XPSConfigAxis(0,0,"GROUP1.POSITIONER",1000)
-XPSConfigAxis(0,1,"GROUP2.POSITIONER",1000)
+XPSConfigAxis(0,0,"GROUP1.POSITIONER",20480)
+XPSConfigAxis(0,1,"GROUP2.POSITIONER1",6768)
+XPSConfigAxis(0,2,"GROUP2.POSITIONER2",20480)
 
 #asynSetTraceMask newport-xps3:5001:0   0 255
 #asynSetTraceIOMask newport-xps3:5001:0 0 2
+#asynSetTraceMask newport-xps3:5001:1   0 255
+#asynSetTraceIOMask newport-xps3:5001:1 0 2
 #asynSetTraceMask XPS1 0 255
 #asynSetTraceIOMask XPS1 0 2
+#asynSetTraceMask XPS1 1 255
+#asynSetTraceIOMask XPS1 1 2
+#asynSetTraceMask XPS1 2 255
+#asynSetTraceIOMask XPS1 2 2
 #asynSetTraceMask newport-xps3:5001:3   0 255
 #asynSetTraceIOMask newport-xps3:5001:3 0 2
 
+dbLoadRecords("$(MOTOR)/motorApp/Db/trajectoryScan.db", "P=IOC:,R=traj1,NAXES=2,NELM=2000,NPULSE=2000,DONPV=13LAB:str:EraseStart,DONV=1,DOFFPV=13LAB:str:StopAll,DOFFV=1")
+
 iocInit
 
+seq(XPS_trajectoryScan,"P=IOC:,R=traj1,M1=m2,M2=m3,IPADDR=164.54.160.34,PORT=5001,GROUP=GROUP2,P1=POSITIONER1,P2=POSITIONER2")
+
diff --git a/iocBoot/iocWithMPF/st.cmd.xps b/iocBoot/iocWithMPF/st.cmd.xps
index fab00a63..e0893ce0 100644
--- a/iocBoot/iocWithMPF/st.cmd.xps
+++ b/iocBoot/iocWithMPF/st.cmd.xps
@@ -14,7 +14,7 @@ dbLoadTemplate "XPSAux.substitutions"
 XPSSetup(1)
 
 # card, IP, PORT, number of axes, active poll period (ms), idle poll period (ms)
-XPSConfig(0, "newport-xps3", 5001, 2, 10, 500)
+XPSConfig(0, "newport-xps3", 5001, 3, 10, 5000)
 
 # asynPort, IP address, IP port, poll period (ms)
 XPSAuxConfig("XPS_AUX1", "newport-xps3", 5001, 50)
@@ -22,19 +22,30 @@ XPSAuxConfig("XPS_AUX1", "newport-xps3", 5001, 50)
 #asynSetTraceIOMask("XPS_AUX1", 0, 2)
 
 # asyn port, driver name, controller index, max. axes)
-drvAsynMotorConfigure("XPS1", "motorXPS", 0, 2)
+drvAsynMotorConfigure("XPS1", "motorXPS", 0, 3)
 XPSInterpose("XPS1")
 
 # card,  axis, groupName.positionerName
-XPSConfigAxis(0,0,"GROUP1.POSITIONER",1000)
-XPSConfigAxis(0,1,"GROUP2.POSITIONER",1000)
+XPSConfigAxis(0,0,"GROUP1.POSITIONER",20480)
+XPSConfigAxis(0,1,"GROUP2.POSITIONER1",6768)
+XPSConfigAxis(0,2,"GROUP2.POSITIONER2",20480)
 
 #asynSetTraceMask newport-xps3:5001:0   0 255
 #asynSetTraceIOMask newport-xps3:5001:0 0 2
+#asynSetTraceMask newport-xps3:5001:1   0 255
+#asynSetTraceIOMask newport-xps3:5001:1 0 2
 #asynSetTraceMask XPS1 0 255
 #asynSetTraceIOMask XPS1 0 2
+#asynSetTraceMask XPS1 1 255
+#asynSetTraceIOMask XPS1 1 2
+#asynSetTraceMask XPS1 2 255
+#asynSetTraceIOMask XPS1 2 2
 #asynSetTraceMask newport-xps3:5001:3   0 255
 #asynSetTraceIOMask newport-xps3:5001:3 0 2
 
+dbLoadRecords("$(MOTOR)/motorApp/Db/trajectoryScan.db", "P=IOC:,R=traj1,NAXES=2,NELM=2000,NPULSE=2000,DONPV=13LAB:str:EraseStart,DONV=1,DOFFPV=13LAB:str:StopAll,DOFFV=1")
+
 iocInit
 
+seq(XPS_trajectoryScan,"P=IOC:,R=traj1,M1=m2,M2=m3,IPADDR=164.54.160.34,PORT=5001,GROUP=GROUP2,P1=POSITIONER1,P2=POSITIONER2")
+