diff --git a/cfg/addons.ini b/cfg/addons.ini
new file mode 100644
index 0000000..846981a
--- /dev/null
+++ b/cfg/addons.ini
@@ -0,0 +1,4 @@
+[FRAPPY]
+confdir = ~/frappy/cfg/addons:~/frappy/cfg/develop
+logdir = ~/frappylog
+piddir = ~/frappylog/pid
diff --git a/cfg/addons/ah2700sea.cfg b/cfg/addons/ah2700sea.cfg
index 2d2545f..89f4815 100644
--- a/cfg/addons/ah2700sea.cfg
+++ b/cfg/addons/ah2700sea.cfg
@@ -11,10 +11,10 @@ service = addons
 
 [cap]
 class = secop_psi.sea.SeaReadable
-iodev = sea_addons
+io = sea_addons
 sea_object = cap
 
 [capslope]
 class = secop_psi.sea.SeaReadable
-iodev = sea_addons
+io = sea_addons
 sea_object = capslope
diff --git a/cfg/addons/focus-be-filter.cfg b/cfg/addons/focus-be-filter.cfg
index 0815f77..2bdbadd 100644
--- a/cfg/addons/focus-be-filter.cfg
+++ b/cfg/addons/focus-be-filter.cfg
@@ -10,5 +10,5 @@ service = addons
 
 [befilter]
 class = secop_psi.sea.SeaReadable
-iodev = sea_addons
+io = sea_addons
 sea_object = cryo
diff --git a/cfg/develop/seadesc.cfg b/cfg/develop/seadesc.cfg
index 096170e..c1b9c65 100644
--- a/cfg/develop/seadesc.cfg
+++ b/cfg/develop/seadesc.cfg
@@ -1,5 +1,5 @@
 [NODE]
-description = sea client (communication only)
+description = sea client (tool for creating cfg)
 id = comm.sea.psi.ch
 
 [seaconn]
diff --git a/cfg/ls240.cfg b/cfg/ls240.cfg
index c61fb85..199691f 100644
--- a/cfg/ls240.cfg
+++ b/cfg/ls240.cfg
@@ -8,9 +8,9 @@ uri = tcp://5000
 [T]
 description = temperature on uniax stick
 class = secop_psi.ls240.Ls240
-iodev = T_iodev
+io = T_io
 
-[T_iodev]
+[T_io]
 class = secop.bytesio.BytesIO
 description = IO device for LS240
 uri = serial:///dev/ttyUSB0?baudrate=9600+parity=EVEN
diff --git a/cfg/ls370res.cfg b/cfg/ls370res.cfg
index 8f412f5..c27b644 100644
--- a/cfg/ls370res.cfg
+++ b/cfg/ls370res.cfg
@@ -5,7 +5,7 @@ description = Lsc370 Test
 [INTERFACE]
 uri = tcp://5000
 
-[lsmain_iodev]
+[lsmain_io]
 description = the communication device
 class = secop_psi.ls370res.StringIO
 uri = lollypop-ts:3001
@@ -22,4 +22,4 @@ channel = 5
 description = resistivity
 main = lsmain
 # the auto created iodev from lsmain:
-iodev = lsmain_iodev
+io = lsmain_io
diff --git a/cfg/ls370test.cfg b/cfg/ls370test.cfg
index 6ade7f7..4bbd375 100644
--- a/cfg/ls370test.cfg
+++ b/cfg/ls370test.cfg
@@ -18,4 +18,4 @@ channel = 3
 description = resistivity
 main = lsmain
 # the auto created iodev from lsmain:
-iodev = lsmain_iodev
+io = lsmain_io
diff --git a/cfg/main.ini b/cfg/main.ini
new file mode 100644
index 0000000..004d4a4
--- /dev/null
+++ b/cfg/main.ini
@@ -0,0 +1,4 @@
+[FRAPPY]
+confdir = ~/frappy/cfg/main:~/frappy/cfg/develop
+logdir = ~/frappylog
+piddir = ~/frappylog/pid
diff --git a/cfg/main/ccr2.cfg b/cfg/main/ccr2.cfg
index 8c0a90c..07f274a 100644
--- a/cfg/main/ccr2.cfg
+++ b/cfg/main/ccr2.cfg
@@ -10,11 +10,11 @@ service = main
 
 [tt]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 
 #[tscreen]
 #class = secop_psi.sea.SeaReadable
-#iodev = sea_main
+#io = sea_main
 #sea_object = tt
 #rel_paths = te
diff --git a/cfg/main/ccr2ht.cfg b/cfg/main/ccr2ht.cfg
index 1b76887..03891d0 100644
--- a/cfg/main/ccr2ht.cfg
+++ b/cfg/main/ccr2ht.cfg
@@ -10,18 +10,18 @@ service = main
 
 [tt]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 
 #[tscreen]
 #class = secop_psi.sea.SeaReadable
-#iodev = sea_main
+#io = sea_main
 #sea_object = tt
 #rel_paths = te
 
 [tcoldfinger]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 rel_paths = tk
 
diff --git a/cfg/main/ccr3.cfg b/cfg/main/ccr3.cfg
new file mode 100644
index 0000000..5bca77e
--- /dev/null
+++ b/cfg/main/ccr3.cfg
@@ -0,0 +1,14 @@
+[NODE]
+description = 4 K closed cycle cryostat (ZEBRA)
+id = ccr3.config.sea.psi.ch
+
+[sea_main]
+class = secop_psi.sea.SeaClient
+description = main sea connection for ccr3.config
+config = ccr3.config
+service = main
+
+[tt]
+class = secop_psi.sea.SeaDrivable
+io = sea_main
+sea_object = tt
diff --git a/cfg/main/cryosim.cfg b/cfg/main/cryosim.cfg
new file mode 100644
index 0000000..e19aa76
--- /dev/null
+++ b/cfg/main/cryosim.cfg
@@ -0,0 +1,43 @@
+[NODE]
+id = cyrosim.psi.ch
+description = cryo simulation (similar ppms simulation)
+
+[INTERFACE]
+uri = tcp://5000
+
+[tt]
+class = secop_psi.ppms.Temp
+description = main temperature
+meaning = ['temperature_regulation', 10]
+ramp = 20
+io = ppms
+
+[lev]
+class = secop_psi.ppms.Level
+description = helium level
+io = ppms
+
+[ts]
+class = secop_psi.ppms.UserChannel
+description = sample temperature
+enabled = 1
+linkenable = tv
+value.unit = K
+meaning = ['temperature', 10]
+io = ppms
+
+[tv]
+class = secop_psi.ppms.UserChannel
+description = exchanger temperature
+enabled = 1
+linkenable = ts
+value.unit = K
+io = ppms
+
+[ppms]
+class = secop_psi.ppms.Main
+description = the main and poller module
+class_id = QD.MULTIVU.PPMS.1
+visibility = 3
+pollinterval = 2
+export = False
diff --git a/cfg/main/fftf.cfg b/cfg/main/fftf.cfg
index b9c2b74..75a511d 100644
--- a/cfg/main/fftf.cfg
+++ b/cfg/main/fftf.cfg
@@ -10,27 +10,27 @@ service = main
 
 [tt]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 
 [p]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = p
 extra_modules = vacuumpump gasflow tlimit tlimit_without_vacuum
 
 [gasflow]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 single_module = p.gasflow
 
 [vacuumpump]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = p
 rel_paths = vacuumpump tlimit tlimit_without_vacuum
 
 [table]
 class = secop_psi.sea.SeaModule
-iodev = sea_main
+io = sea_main
 sea_object = table
diff --git a/cfg/main/ill4.cfg b/cfg/main/ill4.cfg
new file mode 100644
index 0000000..39950d6
--- /dev/null
+++ b/cfg/main/ill4.cfg
@@ -0,0 +1,57 @@
+[NODE]
+description = orange cryostat with 70 mm sample space (FOCUS)
+id = ill4.config.sea.psi.ch
+
+[sea_main]
+class = secop_psi.sea.SeaClient
+description = main sea connection for ill4.config
+config = ill4.config
+service = main
+
+[tt]
+class = secop_psi.sea.SeaDrivable
+iodev = sea_main
+sea_object = tt
+
+[cc]
+class = secop_psi.sea.SeaReadable
+iodev = sea_main
+sea_object = cc
+extra_modules = h
+visibility = 3
+
+[lev]
+class = secop_psi.sea.SeaReadable
+iodev = sea_main
+single_module = cc.h
+
+[nv]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = nv
+
+[ln2fill]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = ln2fill
+
+[hefill]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = hefill
+
+[hepump]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = hepump
+
+[hemot]
+class = secop_psi.sea.SeaDrivable
+iodev = sea_main
+sea_object = hemot
+visibility = 3
+
+[table]
+class = secop_psi.sea.SeaModule
+iodev = sea_main
+sea_object = table
diff --git a/cfg/main/ill5.cfg b/cfg/main/ill5.cfg
index bd5e378..badc85f 100644
--- a/cfg/main/ill5.cfg
+++ b/cfg/main/ill5.cfg
@@ -10,46 +10,46 @@ service = main
 
 [t]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 
 [tm]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 rel_paths = tm
 
 [cc]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = cc
 
 [nv]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = nv
 
 [ln2fill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = ln2fill
 
 [hefill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hefill
 
 [hepump]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hepump
 
 [hemot]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = hemot
 
 [table]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = table
diff --git a/cfg/main/ma11.cfg b/cfg/main/ma11.cfg
index 86527f8..ab7cfd6 100644
--- a/cfg/main/ma11.cfg
+++ b/cfg/main/ma11.cfg
@@ -10,76 +10,76 @@ service = main
 
 [tt]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 rel_paths = . tm
 
 [cc]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = cc
 
 [nv]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = nv
 
 [hepump]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hepump
 
 [hemot]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = hemot
 
 [ln2fill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = ln2fill
 
 [hefill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hefill
 
 [lev]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = lev
 
 [mf]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = mf
 
 [tcoil]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = tcoil
 
 [table]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = table
 
 [ccu2]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = ccu2
 
 [lnv]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = lnv
 
 [lpr]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = lpr
 
 [lambdawatch]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = lambdawatch
diff --git a/cfg/main/ma6.cfg b/cfg/main/ma6.cfg
new file mode 100644
index 0000000..68c24b3
--- /dev/null
+++ b/cfg/main/ma6.cfg
@@ -0,0 +1,55 @@
+[NODE]
+description = compact 6 Tesla vertical cryomagnet
+id = ma6.config.sea.psi.ch
+
+[sea_main]
+class = secop_psi.sea.SeaClient
+description = main sea connection for ma6.config
+config = ma6.config
+service = main
+
+[tt]
+class = secop_psi.sea.SeaDrivable
+io = sea_main
+sea_object = tt
+rel_paths = . tm
+
+[cc]
+class = secop_psi.sea.SeaReadable
+io = sea_main
+sea_object = cc
+
+[nv]
+class = secop_psi.sea.SeaWritable
+io = sea_main
+sea_object = nv
+
+[hepump]
+class = secop_psi.sea.SeaWritable
+io = sea_main
+sea_object = hepump
+
+[hemot]
+class = secop_psi.sea.SeaDrivable
+io = sea_main
+sea_object = hemot
+
+[ln2fill]
+class = secop_psi.sea.SeaWritable
+io = sea_main
+sea_object = ln2fill
+
+[hefill]
+class = secop_psi.sea.SeaWritable
+io = sea_main
+sea_object = hefill
+
+[mf]
+class = secop_psi.sea.SeaReadable
+io = sea_main
+sea_object = mf
+
+[lev]
+class = secop_psi.sea.SeaReadable
+io = sea_main
+sea_object = lev
diff --git a/cfg/main/ma7.cfg b/cfg/main/ma7.cfg
index 0160dd7..20a24a7 100644
--- a/cfg/main/ma7.cfg
+++ b/cfg/main/ma7.cfg
@@ -10,64 +10,75 @@ service = main
 
 [tt]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 rel_paths = . tm
 
 [cc]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = cc
 
 [nv]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = nv
 
 [hefill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hefill
 
 [hepump]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hepump
 
 [hemot]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = hemot
 
 [ln2fill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = ln2fill
 
 [mf]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = mf
 
 [lev]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = lev
 
 [tcoil1]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = tcoil
 rel_paths = ta
 
 [tcoil2]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = tcoil
 rel_paths = tb
 
 [table]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = table
 
+[dom_io]
+description = dom motor IO
+class = secop_psi.phytron.PhytronIO
+uri = ma7-ts.psi.ch:3007
+
+[dom]
+description = a phytron motor
+class = secop_psi.phytron.Motor
+io = dom_io
+encoder_mode = CHECK
+
diff --git a/cfg/main/magsim.cfg b/cfg/main/magsim.cfg
new file mode 100644
index 0000000..512e178
--- /dev/null
+++ b/cfg/main/magsim.cfg
@@ -0,0 +1,51 @@
+[NODE]
+id = magsim.psi.ch
+description = cryo magnet simulation (similar to ppms simulation)
+
+[INTERFACE]
+uri = tcp://5000
+
+[tt]
+class = secop_psi.ppms.Temp
+description = main temperature
+meaning = ['temperature_regulation', 10]
+ramp = 20
+io = ppms
+
+[mf]
+class = secop_psi.ppms.Field
+target.min = -9
+target.max = 9
+description = magnetic field
+io = ppms
+meaning = ['magneticfield', 10]
+
+[lev]
+class = secop_psi.ppms.Level
+description = helium level
+io = ppms
+
+[ts]
+class = secop_psi.ppms.UserChannel
+description = sample temperature
+enabled = 1
+linkenable = tv
+value.unit = K
+meaning = ['temperature', 10]
+io = ppms
+
+[tv]
+class = secop_psi.ppms.UserChannel
+description = exchanger temperature
+enabled = 1
+linkenable = ts
+value.unit = K
+io = ppms
+
+[ppms]
+class = secop_psi.ppms.Main
+description = the main and poller module
+class_id = QD.MULTIVU.PPMS.1
+visibility = 3
+pollinterval = 2
+export = False
diff --git a/cfg/main/ori4.cfg b/cfg/main/ori4.cfg
index 40f1101..5145d10 100644
--- a/cfg/main/ori4.cfg
+++ b/cfg/main/ori4.cfg
@@ -10,51 +10,51 @@ service = main
 
 [t]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 
 [tm]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 rel_paths = tm
 
 [cc]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = cc
 
 [nv]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = nv
 
 [nvmot]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = nvmot
 
 [ln2fill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = ln2fill
 
 [hefill]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hefill
 
 [hepump]
 class = secop_psi.sea.SeaWritable
-iodev = sea_main
+io = sea_main
 sea_object = hepump
 
 [hemot]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = hemot
 
 [table]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = table
diff --git a/cfg/main/smamor.cfg b/cfg/main/smamor.cfg
index 781410a..c7e708b 100644
--- a/cfg/main/smamor.cfg
+++ b/cfg/main/smamor.cfg
@@ -10,15 +10,15 @@ service = main
 
 [smi]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = smi
 
 [smv]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = smv
 
 [r]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = r
diff --git a/cfg/mb11.cfg b/cfg/mb11.cfg
index 41a1c25..7de74e9 100644
--- a/cfg/mb11.cfg
+++ b/cfg/mb11.cfg
@@ -5,66 +5,66 @@ description = a SEA connection
 
 [ts]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = ts.mb11.config
 remote_paths = .
 
 [tvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvs.mb11.config
 remote_paths = .
 
 [tvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvd.mb11.config
 remote_paths = .
 
 [pstat]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pstat.mb11.config
 remote_paths = .
 
 [pdyn]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pdyn.mb11.config
 remote_paths = .
 
 [tneck1]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck1.mb11.config
 remote_paths = .
 
 [tneck2]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck2.mb11.config
 remote_paths = .
 
 [tnvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvs.mb11.config
 remote_paths = .
 
 [tnvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvd.mb11.config
 remote_paths = .
 
 [mf]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = mf.mb11.config
 remote_paths = .
 
 [tcoil]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tcoil.mb11.config
 remote_paths = .
diff --git a/cfg/phytron.cfg b/cfg/phytron.cfg
index 45ae300..ee75c8a 100644
--- a/cfg/phytron.cfg
+++ b/cfg/phytron.cfg
@@ -5,15 +5,15 @@ description = phytron motor test
 [INTERFACE]
 uri = tcp://5000
 
-[drv_iodev]
+[drv_io]
 description = 
 class = secop_psi.phytron.PhytronIO
-uri = ma15-ts.psi.ch:3005
+uri = ma10-ts.psi.ch:3004
 # uri = serial:///dev/tty.usbserial?baudrate=57600
 # uri = serial:///dev/ttyUSB0?baudrate=9600
 
 [drv]
 description = a phytron motor
 class = secop_psi.phytron.Motor
-iodev = drv_iodev
+io = drv_io
 encoder_mode = CHECK
diff --git a/cfg/ppms2.cfg b/cfg/ppms2.cfg
index 98bf491..e93f6d7 100644
--- a/cfg/ppms2.cfg
+++ b/cfg/ppms2.cfg
@@ -8,113 +8,113 @@ uri = 5000
 [tt]
 class = secop_psi.ppms.Temp
 description = main temperature
-iodev = ppms
+io = ppms
 
 [mf]
 class = secop_psi.ppms.Field
 target.min = -9
 target.max = 9
 .description = magnetic field
-.iodev = ppms
+.io = ppms
 
 [pos]
 class = secop_psi.ppms.Position
 .description = sample rotator
-.iodev = ppms
+.io = ppms
 
 [lev]
 class = secop_psi.ppms.Level
 .description = helium level
-.iodev = ppms
+.io = ppms
 
 [chamber]
 class = secop_psi.ppms.Chamber
 .description = chamber state
-.iodev = ppms
+.io = ppms
 
 [r1]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 1
 .no = 1
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r2]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 2
 .no = 2
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r3]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 3
 .no = 3
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r4]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 4
 .no = 4
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [i1]
 class = secop_psi.ppms.Channel
 .description = current channel 1
 .no = 1
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i2]
 class = secop_psi.ppms.Channel
 .description = current channel 2
 .no = 2
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i3]
 class = secop_psi.ppms.Channel
 .description = current channel 3
 .no = 3
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i4]
 class = secop_psi.ppms.Channel
 .description = current channel 4
 .no = 4
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [v1]
 class = secop_psi.ppms.DriverChannel
 .description = voltage channel 1
 .no = 1
 value.unit = V
-.iodev = ppms
+.io = ppms
 
 [v2]
 class = secop_psi.ppms.DriverChannel
 .description = voltage channel 2
 .no = 2
 value.unit = V
-.iodev = ppms
+.io = ppms
 
 [tv]
 class = secop_psi.ppms.UserChannel
 .description = VTI temperature
 enabled = 1
 value.unit = K
-.iodev = ppms
+.io = ppms
 
 [ts]
 class = secop_psi.ppms.UserChannel
 .description = sample temperature
 enabled = 1
 value.unit = K
-.iodev = ppms
+.io = ppms
 
 [ppms]
 class = secop_psi.ppms.Main
diff --git a/cfg/ppms_proxy_test.cfg b/cfg/ppms_proxy_test.cfg
index bbaeea0..014e8a8 100644
--- a/cfg/ppms_proxy_test.cfg
+++ b/cfg/ppms_proxy_test.cfg
@@ -15,7 +15,7 @@ uri = tcp://localhost:5000
 class = secop.Proxy
 remote_class = secop_psi.ppms.Field
 description = magnetic field
-iodev = secnode
+io = secnode
 value.min = -0.1
 value.max = 0.1
 target.min = -8
diff --git a/cfg/ppmssim.cfg b/cfg/ppmssim.cfg
index 8f8a927..1bc9f6b 100644
--- a/cfg/ppmssim.cfg
+++ b/cfg/ppmssim.cfg
@@ -8,113 +8,113 @@ uri = tcp://5000
 [tt]
 class = secop_psi.ppms.Temp
 description = main temperature
-iodev = ppms
+io = ppms
 
 [mf]
 class = secop_psi.ppms.Field
 target.min = -9
 target.max = 9
 .description = magnetic field
-.iodev = ppms
+.io = ppms
 
 [pos]
 class = secop_psi.ppms.Position
 .description = sample rotator
-.iodev = ppms
+.io = ppms
 
 [lev]
 class = secop_psi.ppms.Level
 .description = helium level
-.iodev = ppms
+.io = ppms
 
 [chamber]
 class = secop_psi.ppms.Chamber
 .description = chamber state
-.iodev = ppms
+.io = ppms
 
 [r1]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 1
 .no = 1
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r2]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 2
 .no = 2
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r3]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 3
 .no = 3
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r4]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 4
 .no = 4
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [i1]
 class = secop_psi.ppms.Channel
 .description = current channel 1
 .no = 1
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i2]
 class = secop_psi.ppms.Channel
 .description = current channel 2
 .no = 2
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i3]
 class = secop_psi.ppms.Channel
 .description = current channel 3
 .no = 3
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i4]
 class = secop_psi.ppms.Channel
 .description = current channel 4
 .no = 4
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [v1]
 class = secop_psi.ppms.DriverChannel
 .description = voltage channel 1
 .no = 1
 value.unit = V
-.iodev = ppms
+.io = ppms
 
 [v2]
 class = secop_psi.ppms.DriverChannel
 .description = voltage channel 2
 .no = 2
 value.unit = V
-.iodev = ppms
+.io = ppms
 
 [tv]
 class = secop_psi.ppms.UserChannel
 .description = VTI temperature
 enabled = 1
 value.unit = K
-.iodev = ppms
+.io = ppms
 
 [ts]
 class = secop_psi.ppms.UserChannel
 .description = sample temperature
 enabled = 1
 value.unit = K
-.iodev = ppms
+.io = ppms
 
 [ppms]
 class = secop_psi.ppms.Main
diff --git a/cfg/ppmswin.cfg b/cfg/ppmswin.cfg
index 6825890..491315b 100644
--- a/cfg/ppmswin.cfg
+++ b/cfg/ppmswin.cfg
@@ -8,99 +8,99 @@ uri = tcp://5000
 [tt]
 class = secop_psi.ppms.Temp
 description = main temperature
-iodev = ppms
+io = ppms
 
 [mf]
 class = secop_psi.ppms.Field
 target.min = -9
 target.max = 9
 .description = magnetic field
-.iodev = ppms
+.io = ppms
 
 [pos]
 class = secop_psi.ppms.Position
 .description = sample rotator
-.iodev = ppms
+.io = ppms
 
 [lev]
 class = secop_psi.ppms.Level
 .description = helium level
-.iodev = ppms
+.io = ppms
 
 [chamber]
 class = secop_psi.ppms.Chamber
 .description = chamber state
-.iodev = ppms
+.io = ppms
 
 [r1]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 1
 .no = 1
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r2]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 2
 .no = 2
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r3]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 3
 .no = 3
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [r4]
 class = secop_psi.ppms.BridgeChannel
 .description = resistivity channel 4
 .no = 4
 value.unit = Ohm
-.iodev = ppms
+.io = ppms
 
 [i1]
 class = secop_psi.ppms.Channel
 .description = current channel 1
 .no = 1
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i2]
 class = secop_psi.ppms.Channel
 .description = current channel 2
 .no = 2
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i3]
 class = secop_psi.ppms.Channel
 .description = current channel 3
 .no = 3
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [i4]
 class = secop_psi.ppms.Channel
 .description = current channel 4
 .no = 4
 value.unit = uA
-.iodev = ppms
+.io = ppms
 
 [v1]
 class = secop_psi.ppms.DriverChannel
 .description = voltage channel 1
 .no = 1
 value.unit = V
-.iodev = ppms
+.io = ppms
 
 [v2]
 class = secop_psi.ppms.DriverChannel
 .description = voltage channel 2
 .no = 2
 value.unit = V
-.iodev = ppms
+.io = ppms
 
 [tv]
 class = secop_psi.ppms.UserChannel
@@ -108,7 +108,7 @@ class = secop_psi.ppms.UserChannel
 enabled = 0
 linkenable = ts
 value.unit = K
-.iodev = ppms
+.io = ppms
 
 [ts]
 class = secop_psi.ppms.UserChannel
@@ -116,7 +116,7 @@ class = secop_psi.ppms.UserChannel
 enabled = 0
 linkenable = tv
 value.unit = K
-.iodev = ppms
+.io = ppms
 
 [ppms]
 class = secop_psi.ppms.Main
diff --git a/cfg/prep2.cfg b/cfg/prep2.cfg
index 3b012d8..d8e91b1 100644
--- a/cfg/prep2.cfg
+++ b/cfg/prep2.cfg
@@ -12,12 +12,12 @@ uri = tcp://samenv.psi.ch:8642
 
 [module tt]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = tt.ori1.config
 remote_paths = .
 
 [module nv]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = nv.ori1.config
 remote_paths = .
diff --git a/cfg/prep5.cfg b/cfg/prep5.cfg
index 260cf20..7fb66b3 100644
--- a/cfg/prep5.cfg
+++ b/cfg/prep5.cfg
@@ -12,108 +12,108 @@ uri = tcp://samenv.psi.ch:8645
 
 [module tt]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = tt.ma11.config
 remote_paths = .
 
 [module nv]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = nv.ma11.config
 remote_paths = .
 
 [module ln2fill]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = ln2fill.ma11.config
 remote_paths = .
 
 [module hefill]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = hefill.ma11.config
 remote_paths = .
 
 [module tcoil]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tcoil.ma11.config
 remote_paths = .
 
 [module table]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = table.ma11.config
 remote_paths = .
 
 [module lnv]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = lnv.ma11.config
 remote_paths = .
 
 [module lpr]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = lpr.ma11.config
 remote_paths = .
 
 [module lambdawatch]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = lambdawatch.ma11.config
 remote_paths = .
 
 [module ts]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = ts.dil4.stick
 remote_paths = .
 
 [module treg]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = treg.dil4.stick
 remote_paths = .
 
 [module tmon]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tmon.dil4.stick
 remote_paths = .
 
 [module sorb]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = sorb.dil4.stick
 remote_paths = .
 
 [module ultrasound]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = ultrasound.ultrasound.addon
 remote_paths = .
 
 [module fn]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = fn.ultrasound.addon
 remote_paths = .
 
 [module mirror]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = mirror.ultrasound.addon
 remote_paths = .
 
 [module f]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = f.ultrasound.addon
 remote_paths = .
 
 [module pars]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pars.ultrasound.addon
 remote_paths = .
diff --git a/cfg/prep6.cfg b/cfg/prep6.cfg
index 7350d68..a3509c7 100644
--- a/cfg/prep6.cfg
+++ b/cfg/prep6.cfg
@@ -12,54 +12,54 @@ uri = tcp://samenv.psi.ch:8646
 
 [module tvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvs.varioxB.config
 remote_paths = .
 
 [module tvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvd.varioxB.config
 remote_paths = .
 
 [module pstat]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pstat.varioxB.config
 remote_paths = .
 
 [module pdyn]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pdyn.varioxB.config
 remote_paths = .
 
 [module tneck1]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck1.varioxB.config
 remote_paths = .
 
 [module tneck2]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck2.varioxB.config
 remote_paths = .
 
 [module tnvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvs.varioxB.config
 remote_paths = .
 
 [module tnvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvd.varioxB.config
 remote_paths = .
 
 [module ts]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = ts.vb.stick
 remote_paths = .
diff --git a/cfg/sea/ccr2ht.cfg b/cfg/sea/ccr2ht.cfg
index 9dc6304..5b54a47 100644
--- a/cfg/sea/ccr2ht.cfg
+++ b/cfg/sea/ccr2ht.cfg
@@ -6,15 +6,15 @@ service = main
 
 [tt]
 class = secop_psi.sea.SeaDrivable
-iodev = sea_main
+io = sea_main
 sea_object = tt
 
 [cc]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = cc
 
 [table]
 class = secop_psi.sea.SeaReadable
-iodev = sea_main
+io = sea_main
 sea_object = table
diff --git a/cfg/sea/ccr3.config.json b/cfg/sea/ccr3.config.json
new file mode 100644
index 0000000..371e3fc
--- /dev/null
+++ b/cfg/sea/ccr3.config.json
@@ -0,0 +1,160 @@
+{"tt": {"base": "/tt", "params": [
+{"path": "", "type": "float", "readonly": false, "cmd": "run tt", "description": "tt", "kids": 18},
+{"path": "send", "type": "text", "readonly": false, "cmd": "tt send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "tt is_running", "visibility": 3},
+{"path": "mainloop", "type": "text", "readonly": false, "cmd": "tt mainloop", "visibility": 3},
+{"path": "target", "type": "float"},
+{"path": "running", "type": "int"},
+{"path": "tolerance", "type": "float", "readonly": false, "cmd": "tt tolerance"},
+{"path": "maxwait", "type": "float", "readonly": false, "cmd": "tt maxwait"},
+{"path": "settle", "type": "float", "readonly": false, "cmd": "tt settle"},
+{"path": "log", "type": "text", "readonly": false, "cmd": "tt log", "visibility": 3, "kids": 4},
+{"path": "log/mean", "type": "float", "visibility": 3},
+{"path": "log/m2", "type": "float", "visibility": 3},
+{"path": "log/stddev", "type": "float", "visibility": 3},
+{"path": "log/n", "type": "float", "visibility": 3},
+{"path": "dblctrl", "type": "bool", "readonly": false, "cmd": "tt dblctrl", "visibility": 3, "kids": 9},
+{"path": "dblctrl/tshift", "type": "float", "readonly": false, "cmd": "tt dblctrl/tshift", "visibility": 3},
+{"path": "dblctrl/mode", "type": "enum", "enum": {"disabled": -1, "inactive": 0, "stable": 1, "up": 2, "down": 3}, "readonly": false, "cmd": "tt dblctrl/mode", "visibility": 3},
+{"path": "dblctrl/shift_up", "type": "float", "visibility": 3},
+{"path": "dblctrl/shift_lo", "type": "float", "visibility": 3},
+{"path": "dblctrl/t_min", "type": "float", "visibility": 3},
+{"path": "dblctrl/t_max", "type": "float", "visibility": 3},
+{"path": "dblctrl/int2", "type": "float", "readonly": false, "cmd": "tt dblctrl/int2", "visibility": 3},
+{"path": "dblctrl/prop_up", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_up", "visibility": 3},
+{"path": "dblctrl/prop_lo", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_lo", "visibility": 3},
+{"path": "tm", "type": "float", "kids": 4},
+{"path": "tm/curve", "type": "text", "readonly": false, "cmd": "tt tm/curve", "kids": 1},
+{"path": "tm/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt tm/curve/points", "visibility": 3},
+{"path": "tm/alarm", "type": "float", "readonly": false, "cmd": "tt tm/alarm"},
+{"path": "tm/stddev", "type": "float"},
+{"path": "tm/raw", "type": "float"},
+{"path": "te", "type": "float", "kids": 4},
+{"path": "te/curve", "type": "text", "readonly": false, "cmd": "tt te/curve", "kids": 1},
+{"path": "te/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt te/curve/points", "visibility": 3},
+{"path": "te/alarm", "type": "float", "readonly": false, "cmd": "tt te/alarm"},
+{"path": "te/stddev", "type": "float"},
+{"path": "te/raw", "type": "float"},
+{"path": "set", "type": "float", "readonly": false, "cmd": "tt set", "kids": 18},
+{"path": "set/mode", "type": "enum", "enum": {"disabled": -1, "off": 0, "controlling": 1, "manual": 2}, "readonly": false, "cmd": "tt set/mode"},
+{"path": "set/reg", "type": "float"},
+{"path": "set/ramp", "type": "float", "readonly": false, "cmd": "tt set/ramp", "description": "maximum ramp in K/min (0: ramp off)"},
+{"path": "set/wramp", "type": "float", "readonly": false, "cmd": "tt set/wramp"},
+{"path": "set/smooth", "type": "float", "readonly": false, "cmd": "tt set/smooth", "description": "smooth time (minutes)"},
+{"path": "set/channel", "type": "text", "readonly": false, "cmd": "tt set/channel"},
+{"path": "set/limit", "type": "float", "readonly": false, "cmd": "tt set/limit"},
+{"path": "set/resist", "type": "float", "readonly": false, "cmd": "tt set/resist"},
+{"path": "set/maxheater", "type": "text", "readonly": false, "cmd": "tt set/maxheater", "description": "maximum heater limit, units should be given without space: W, mW, A, mA"},
+{"path": "set/linearpower", "type": "float", "readonly": false, "cmd": "tt set/linearpower", "description": "when not 0, it is the maximum effective power, and the power is linear to the heater output"},
+{"path": "set/maxpowerlim", "type": "float", "description": "the maximum power limit (before any booster or converter)"},
+{"path": "set/maxpower", "type": "float", "readonly": false, "cmd": "tt set/maxpower", "description": "maximum power [W]"},
+{"path": "set/maxcurrent", "type": "float", "description": "the maximum current before any booster or converter"},
+{"path": "set/manualpower", "type": "float", "readonly": false, "cmd": "tt set/manualpower"},
+{"path": "set/power", "type": "float"},
+{"path": "set/prop", "type": "float", "readonly": false, "cmd": "tt set/prop", "description": "bigger means more gain"},
+{"path": "set/integ", "type": "float", "readonly": false, "cmd": "tt set/integ", "description": "bigger means faster"},
+{"path": "set/deriv", "type": "float", "readonly": false, "cmd": "tt set/deriv"},
+{"path": "display", "type": "text", "readonly": false, "cmd": "tt display"},
+{"path": "dout", "type": "int", "readonly": false, "cmd": "tt dout"},
+{"path": "dinp", "type": "int"},
+{"path": "remote", "type": "bool"}]},
+
+"cc": {"base": "/cc", "params": [
+{"path": "", "type": "bool", "kids": 96},
+{"path": "send", "type": "text", "readonly": false, "cmd": "cc send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "autodevice", "type": "bool", "readonly": false, "cmd": "cc autodevice"},
+{"path": "fav", "type": "bool", "readonly": false, "cmd": "cc fav"},
+{"path": "f", "type": "float"},
+{"path": "fs", "type": "enum", "enum": {"ok": 0, "no_sens": 1}, "readonly": false, "cmd": "cc fs"},
+{"path": "mav", "type": "bool", "readonly": false, "cmd": "cc mav"},
+{"path": "fm", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}},
+{"path": "fa", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "offline": 3}, "readonly": false, "cmd": "cc fa"},
+{"path": "mp", "type": "float", "readonly": false, "cmd": "cc mp"},
+{"path": "msp", "type": "float"},
+{"path": "mmp", "type": "float"},
+{"path": "mc", "type": "float", "readonly": false, "cmd": "cc mc"},
+{"path": "mfc", "type": "float", "readonly": false, "cmd": "cc mfc"},
+{"path": "moc", "type": "float", "readonly": false, "cmd": "cc moc"},
+{"path": "mtc", "type": "float", "readonly": false, "cmd": "cc mtc"},
+{"path": "mtl", "type": "float"},
+{"path": "mft", "type": "float", "readonly": false, "cmd": "cc mft"},
+{"path": "mt", "type": "float"},
+{"path": "mo", "type": "float"},
+{"path": "mcr", "type": "float"},
+{"path": "mot", "type": "float"},
+{"path": "mw", "type": "float", "readonly": false, "cmd": "cc mw", "description": "correction pulse after automatic open"},
+{"path": "hav", "type": "bool", "readonly": false, "cmd": "cc hav"},
+{"path": "h", "type": "float"},
+{"path": "hr", "type": "float"},
+{"path": "hc", "type": "float"},
+{"path": "hu", "type": "float"},
+{"path": "hh", "type": "float", "readonly": false, "cmd": "cc hh"},
+{"path": "hl", "type": "float", "readonly": false, "cmd": "cc hl"},
+{"path": "htf", "type": "float", "readonly": false, "cmd": "cc htf", "description": "meas. period in fast mode"},
+{"path": "hts", "type": "float", "readonly": false, "cmd": "cc hts", "description": "meas. period in slow mode"},
+{"path": "hd", "type": "float", "readonly": false, "cmd": "cc hd"},
+{"path": "hwr", "type": "float", "readonly": false, "cmd": "cc hwr"},
+{"path": "hem", "type": "float", "readonly": false, "cmd": "cc hem", "description": "sensor length in mm from top to empty pos."},
+{"path": "hfu", "type": "float", "readonly": false, "cmd": "cc hfu", "description": "sensor length in mm from top to full pos."},
+{"path": "hcd", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3, "manual": 7}, "readonly": false, "cmd": "cc hcd"},
+{"path": "hv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4}},
+{"path": "hsf", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "ha", "type": "bool", "readonly": false, "cmd": "cc ha"},
+{"path": "hm", "type": "bool"},
+{"path": "hf", "type": "enum", "enum": {"slow": 0, "fast": 1}, "readonly": false, "cmd": "cc hf"},
+{"path": "hbe", "type": "bool", "readonly": false, "cmd": "cc hbe"},
+{"path": "hmf", "type": "float"},
+{"path": "hms", "type": "float"},
+{"path": "hit", "type": "float", "readonly": false, "cmd": "cc hit"},
+{"path": "hft", "type": "int", "readonly": false, "cmd": "cc hft"},
+{"path": "hea", "type": "enum", "enum": {"0": 0, "1": 1, "6": 2}, "readonly": false, "cmd": "cc hea"},
+{"path": "hch", "type": "int", "readonly": false, "cmd": "cc hch"},
+{"path": "hwr0", "type": "float", "readonly": false, "cmd": "cc hwr0"},
+{"path": "hem0", "type": "float", "readonly": false, "cmd": "cc hem0", "description": "sensor length in mm from top to empty pos."},
+{"path": "hfu0", "type": "float", "readonly": false, "cmd": "cc hfu0", "description": "sensor length in mm from top to full pos."},
+{"path": "hd0", "type": "float", "readonly": false, "cmd": "cc hd0", "description": "external sensor drive current (mA)"},
+{"path": "h0", "type": "float"},
+{"path": "hs0", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h1", "type": "float"},
+{"path": "hs1", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h2", "type": "float"},
+{"path": "hs2", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h3", "type": "float"},
+{"path": "hs3", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h4", "type": "float"},
+{"path": "hs4", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h5", "type": "float"},
+{"path": "hs5", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "hfb", "type": "float"},
+{"path": "nav", "type": "bool", "readonly": false, "cmd": "cc nav"},
+{"path": "nu", "type": "float"},
+{"path": "nl", "type": "float"},
+{"path": "nth", "type": "float", "readonly": false, "cmd": "cc nth"},
+{"path": "ntc", "type": "float", "readonly": false, "cmd": "cc ntc"},
+{"path": "ntm", "type": "float", "readonly": false, "cmd": "cc ntm"},
+{"path": "ns", "type": "enum", "enum": {"sens_ok": 0, "no_sens": 1, "short_circuit": 2, "upside_down": 3, "sens_warm": 4, "empty": 5}},
+{"path": "na", "type": "bool", "readonly": false, "cmd": "cc na"},
+{"path": "nv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4, "boost": 5}},
+{"path": "nc", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3}, "readonly": false, "cmd": "cc nc"},
+{"path": "nfb", "type": "float"},
+{"path": "cda", "type": "float"},
+{"path": "cdb", "type": "float"},
+{"path": "cba", "type": "float"},
+{"path": "cbb", "type": "float"},
+{"path": "cvs", "type": "int"},
+{"path": "csp", "type": "int"},
+{"path": "cdv", "type": "text", "readonly": false, "cmd": "cc cdv"},
+{"path": "cic", "type": "text", "readonly": false, "cmd": "cc cic"},
+{"path": "cin", "type": "text"},
+{"path": "cds", "type": "enum", "enum": {"local": 0, "remote": 1, "loading": 2, "by_code": 3, "by_touch": 4}, "readonly": false, "cmd": "cc cds"},
+{"path": "timing", "type": "bool", "readonly": false, "cmd": "cc timing"},
+{"path": "tc", "type": "float"},
+{"path": "tn", "type": "float"},
+{"path": "th", "type": "float"},
+{"path": "tf", "type": "float"},
+{"path": "tm", "type": "float"},
+{"path": "tv", "type": "float"},
+{"path": "tq", "type": "float"},
+{"path": "bdl", "type": "float", "readonly": false, "cmd": "cc bdl"}]}}
diff --git a/cfg/sea/focus-be-filter.addon.json b/cfg/sea/focus-be-filter.addon.json
index 571dd30..2ece402 100644
--- a/cfg/sea/focus-be-filter.addon.json
+++ b/cfg/sea/focus-be-filter.addon.json
@@ -1,4 +1,5 @@
-{"cryo": {"base": "/cryo", "params": [{"path": "", "type": "float", "kids": 14},
+{"cryo": {"base": "/cryo", "params": [
+{"path": "", "type": "float", "kids": 14},
 {"path": "send", "type": "text", "readonly": false, "cmd": "cryo send", "visibility": 3},
 {"path": "status", "type": "text", "visibility": 3},
 {"path": "cool", "type": "enum", "enum": {"on": 0, "off": 1}, "readonly": false, "cmd": "cryo cool"},
@@ -17,4 +18,7 @@
 {"path": "filter/amplitude", "type": "float", "readonly": false, "cmd": "cryo filter/amplitude", "description": "oszillation amplitude / K (+/-)"},
 {"path": "filter/precision", "type": "float", "readonly": false, "cmd": "cryo filter/precision"},
 {"path": "filter/raw", "type": "float"},
-{"path": "filter/intdif", "type": "float"}]}, "addonlock_focus-be-filter": {"base": "/addonlock_focus-be-filter", "params": [{"path": "", "type": "text", "readonly": false, "cmd": "addonlock_focus-be-filter = "}]}}
+{"path": "filter/intdif", "type": "float"}]},
+
+"addonlock_focus-be-filter": {"base": "/addonlock_focus-be-filter", "params": [
+{"path": "", "type": "text", "readonly": false, "cmd": "addonlock_focus-be-filter = "}]}}
diff --git a/cfg/sea/focus-be-filter.cfg b/cfg/sea/focus-be-filter.cfg
index ef60eb5..9fdd2f4 100644
--- a/cfg/sea/focus-be-filter.cfg
+++ b/cfg/sea/focus-be-filter.cfg
@@ -1,15 +1,19 @@
+[NODE]
+description = FOCUS CryoTel Be-filter
+id = focus-be-filter.addon.sea.psi.ch
+
 [sea_addons]
 class = secop_psi.sea.SeaClient
-description = SEA connection to ccr2ht_focus-be-filter
+description = addons sea connection for focus-be-filter.addon
 config = focus-be-filter.addon
 service = addons
 
 [cryo]
 class = secop_psi.sea.SeaReadable
-iodev = sea_addons
+io = sea_addons
 sea_object = cryo
 
 [addonlock_focus-be-filter]
 class = secop_psi.sea.SeaWritable
-iodev = sea_addons
+io = sea_addons
 sea_object = addonlock_focus-be-filter
diff --git a/cfg/sea/ill4.cfg b/cfg/sea/ill4.cfg
new file mode 100644
index 0000000..6cf129c
--- /dev/null
+++ b/cfg/sea/ill4.cfg
@@ -0,0 +1,49 @@
+[NODE]
+description = orange cryostat with 70 mm sample space (FOCUS)
+id = ill4.config.sea.psi.ch
+
+[sea_main]
+class = secop_psi.sea.SeaClient
+description = main sea connection for ill4.config
+config = ill4.config
+service = main
+
+[tt]
+class = secop_psi.sea.SeaDrivable
+iodev = sea_main
+sea_object = tt
+
+[cc]
+class = secop_psi.sea.SeaReadable
+iodev = sea_main
+sea_object = cc
+
+[nv]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = nv
+
+[ln2fill]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = ln2fill
+
+[hefill]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = hefill
+
+[hepump]
+class = secop_psi.sea.SeaWritable
+iodev = sea_main
+sea_object = hepump
+
+[hemot]
+class = secop_psi.sea.SeaDrivable
+iodev = sea_main
+sea_object = hemot
+
+[table]
+class = secop_psi.sea.SeaReadable
+iodev = sea_main
+sea_object = table
diff --git a/cfg/sea/ill4.config.json b/cfg/sea/ill4.config.json
new file mode 100644
index 0000000..76cdb57
--- /dev/null
+++ b/cfg/sea/ill4.config.json
@@ -0,0 +1,299 @@
+{"tt": {"base": "/tt", "params": [
+{"path": "", "type": "float", "readonly": false, "cmd": "run tt", "description": "tt", "kids": 18},
+{"path": "send", "type": "text", "readonly": false, "cmd": "tt send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "tt is_running", "visibility": 3},
+{"path": "target", "type": "float"},
+{"path": "running", "type": "int"},
+{"path": "tolerance", "type": "float", "readonly": false, "cmd": "tt tolerance"},
+{"path": "maxwait", "type": "float", "readonly": false, "cmd": "tt maxwait"},
+{"path": "settle", "type": "float", "readonly": false, "cmd": "tt settle"},
+{"path": "log", "type": "text", "readonly": false, "cmd": "tt log", "visibility": 3, "kids": 4},
+{"path": "log/mean", "type": "float", "visibility": 3},
+{"path": "log/m2", "type": "float", "visibility": 3},
+{"path": "log/stddev", "type": "float", "visibility": 3},
+{"path": "log/n", "type": "float", "visibility": 3},
+{"path": "dblctrl", "type": "bool", "readonly": false, "cmd": "tt dblctrl", "kids": 9},
+{"path": "dblctrl/tshift", "type": "float", "readonly": false, "cmd": "tt dblctrl/tshift"},
+{"path": "dblctrl/mode", "type": "enum", "enum": {"disabled": -1, "inactive": 0, "stable": 1, "up": 2, "down": 3}, "readonly": false, "cmd": "tt dblctrl/mode"},
+{"path": "dblctrl/shift_up", "type": "float"},
+{"path": "dblctrl/shift_lo", "type": "float"},
+{"path": "dblctrl/t_min", "type": "float"},
+{"path": "dblctrl/t_max", "type": "float"},
+{"path": "dblctrl/int2", "type": "float", "readonly": false, "cmd": "tt dblctrl/int2"},
+{"path": "dblctrl/prop_up", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_up"},
+{"path": "dblctrl/prop_lo", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_lo"},
+{"path": "tm", "type": "float", "kids": 4},
+{"path": "tm/curve", "type": "text", "readonly": false, "cmd": "tt tm/curve", "kids": 1},
+{"path": "tm/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt tm/curve/points", "visibility": 3},
+{"path": "tm/alarm", "type": "float", "readonly": false, "cmd": "tt tm/alarm"},
+{"path": "tm/stddev", "type": "float"},
+{"path": "tm/raw", "type": "float"},
+{"path": "ts", "type": "float", "kids": 4},
+{"path": "ts/curve", "type": "text", "readonly": false, "cmd": "tt ts/curve", "kids": 1},
+{"path": "ts/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts/curve/points", "visibility": 3},
+{"path": "ts/alarm", "type": "float", "readonly": false, "cmd": "tt ts/alarm"},
+{"path": "ts/stddev", "type": "float"},
+{"path": "ts/raw", "type": "float"},
+{"path": "ts_2", "type": "float", "visibility": 3, "kids": 4},
+{"path": "ts_2/curve", "type": "text", "readonly": false, "cmd": "tt ts_2/curve", "visibility": 3, "kids": 1},
+{"path": "ts_2/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts_2/curve/points", "visibility": 3},
+{"path": "ts_2/alarm", "type": "float", "readonly": false, "cmd": "tt ts_2/alarm", "visibility": 3},
+{"path": "ts_2/stddev", "type": "float", "visibility": 3},
+{"path": "ts_2/raw", "type": "float", "visibility": 3},
+{"path": "set", "type": "float", "readonly": false, "cmd": "tt set", "kids": 18},
+{"path": "set/mode", "type": "enum", "enum": {"disabled": -1, "off": 0, "controlling": 1, "manual": 2}, "readonly": false, "cmd": "tt set/mode"},
+{"path": "set/reg", "type": "float"},
+{"path": "set/ramp", "type": "float", "readonly": false, "cmd": "tt set/ramp", "description": "maximum ramp in K/min (0: ramp off)"},
+{"path": "set/wramp", "type": "float", "readonly": false, "cmd": "tt set/wramp"},
+{"path": "set/smooth", "type": "float", "readonly": false, "cmd": "tt set/smooth", "description": "smooth time (minutes)"},
+{"path": "set/channel", "type": "text", "readonly": false, "cmd": "tt set/channel"},
+{"path": "set/limit", "type": "float", "readonly": false, "cmd": "tt set/limit"},
+{"path": "set/resist", "type": "float", "readonly": false, "cmd": "tt set/resist"},
+{"path": "set/maxheater", "type": "text", "readonly": false, "cmd": "tt set/maxheater", "description": "maximum heater limit, units should be given without space: W, mW, A, mA"},
+{"path": "set/linearpower", "type": "float", "readonly": false, "cmd": "tt set/linearpower", "description": "when not 0, it is the maximum effective power, and the power is linear to the heater output"},
+{"path": "set/maxpowerlim", "type": "float", "description": "the maximum power limit (before any booster or converter)"},
+{"path": "set/maxpower", "type": "float", "readonly": false, "cmd": "tt set/maxpower", "description": "maximum power [W]"},
+{"path": "set/maxcurrent", "type": "float", "description": "the maximum current before any booster or converter"},
+{"path": "set/manualpower", "type": "float", "readonly": false, "cmd": "tt set/manualpower"},
+{"path": "set/power", "type": "float"},
+{"path": "set/prop", "type": "float", "readonly": false, "cmd": "tt set/prop", "description": "bigger means more gain"},
+{"path": "set/integ", "type": "float", "readonly": false, "cmd": "tt set/integ", "description": "bigger means faster"},
+{"path": "set/deriv", "type": "float", "readonly": false, "cmd": "tt set/deriv"},
+{"path": "display", "type": "text", "readonly": false, "cmd": "tt display"},
+{"path": "dout", "type": "int", "readonly": false, "cmd": "tt dout"},
+{"path": "dinp", "type": "int"},
+{"path": "remote", "type": "bool"}]},
+
+"cc": {"base": "/cc", "params": [
+{"path": "", "type": "bool", "kids": 96},
+{"path": "send", "type": "text", "readonly": false, "cmd": "cc send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "autodevice", "type": "bool", "readonly": false, "cmd": "cc autodevice"},
+{"path": "fav", "type": "bool", "readonly": false, "cmd": "cc fav"},
+{"path": "f", "type": "float"},
+{"path": "fs", "type": "enum", "enum": {"ok": 0, "no_sens": 1}, "readonly": false, "cmd": "cc fs"},
+{"path": "mav", "type": "bool", "readonly": false, "cmd": "cc mav"},
+{"path": "fm", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}},
+{"path": "fa", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "offline": 3}, "readonly": false, "cmd": "cc fa"},
+{"path": "mp", "type": "float", "readonly": false, "cmd": "cc mp"},
+{"path": "msp", "type": "float"},
+{"path": "mmp", "type": "float"},
+{"path": "mc", "type": "float", "readonly": false, "cmd": "cc mc"},
+{"path": "mfc", "type": "float", "readonly": false, "cmd": "cc mfc"},
+{"path": "moc", "type": "float", "readonly": false, "cmd": "cc moc"},
+{"path": "mtc", "type": "float", "readonly": false, "cmd": "cc mtc"},
+{"path": "mtl", "type": "float"},
+{"path": "mft", "type": "float", "readonly": false, "cmd": "cc mft"},
+{"path": "mt", "type": "float"},
+{"path": "mo", "type": "float"},
+{"path": "mcr", "type": "float"},
+{"path": "mot", "type": "float"},
+{"path": "mw", "type": "float", "readonly": false, "cmd": "cc mw", "description": "correction pulse after automatic open"},
+{"path": "hav", "type": "bool", "readonly": false, "cmd": "cc hav"},
+{"path": "h", "type": "float"},
+{"path": "hr", "type": "float"},
+{"path": "hc", "type": "float"},
+{"path": "hu", "type": "float"},
+{"path": "hh", "type": "float", "readonly": false, "cmd": "cc hh"},
+{"path": "hl", "type": "float", "readonly": false, "cmd": "cc hl"},
+{"path": "htf", "type": "float", "readonly": false, "cmd": "cc htf", "description": "meas. period in fast mode"},
+{"path": "hts", "type": "float", "readonly": false, "cmd": "cc hts", "description": "meas. period in slow mode"},
+{"path": "hd", "type": "float", "readonly": false, "cmd": "cc hd"},
+{"path": "hwr", "type": "float", "readonly": false, "cmd": "cc hwr"},
+{"path": "hem", "type": "float", "readonly": false, "cmd": "cc hem", "description": "sensor length in mm from top to empty pos."},
+{"path": "hfu", "type": "float", "readonly": false, "cmd": "cc hfu", "description": "sensor length in mm from top to full pos."},
+{"path": "hcd", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3, "manual": 7}, "readonly": false, "cmd": "cc hcd"},
+{"path": "hv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4}},
+{"path": "hsf", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "ha", "type": "bool", "readonly": false, "cmd": "cc ha"},
+{"path": "hm", "type": "bool"},
+{"path": "hf", "type": "enum", "enum": {"slow": 0, "fast": 1}, "readonly": false, "cmd": "cc hf"},
+{"path": "hbe", "type": "bool", "readonly": false, "cmd": "cc hbe"},
+{"path": "hmf", "type": "float"},
+{"path": "hms", "type": "float"},
+{"path": "hit", "type": "float", "readonly": false, "cmd": "cc hit"},
+{"path": "hft", "type": "int", "readonly": false, "cmd": "cc hft"},
+{"path": "hea", "type": "enum", "enum": {"0": 0, "1": 1, "6": 2}, "readonly": false, "cmd": "cc hea"},
+{"path": "hch", "type": "int", "readonly": false, "cmd": "cc hch"},
+{"path": "hwr0", "type": "float", "readonly": false, "cmd": "cc hwr0"},
+{"path": "hem0", "type": "float", "readonly": false, "cmd": "cc hem0", "description": "sensor length in mm from top to empty pos."},
+{"path": "hfu0", "type": "float", "readonly": false, "cmd": "cc hfu0", "description": "sensor length in mm from top to full pos."},
+{"path": "hd0", "type": "float", "readonly": false, "cmd": "cc hd0", "description": "external sensor drive current (mA)"},
+{"path": "h0", "type": "float"},
+{"path": "hs0", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h1", "type": "float"},
+{"path": "hs1", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h2", "type": "float"},
+{"path": "hs2", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h3", "type": "float"},
+{"path": "hs3", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h4", "type": "float"},
+{"path": "hs4", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "h5", "type": "float"},
+{"path": "hs5", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "hfb", "type": "float"},
+{"path": "nav", "type": "bool", "readonly": false, "cmd": "cc nav"},
+{"path": "nu", "type": "float"},
+{"path": "nl", "type": "float"},
+{"path": "nth", "type": "float", "readonly": false, "cmd": "cc nth"},
+{"path": "ntc", "type": "float", "readonly": false, "cmd": "cc ntc"},
+{"path": "ntm", "type": "float", "readonly": false, "cmd": "cc ntm"},
+{"path": "ns", "type": "enum", "enum": {"sens_ok": 0, "no_sens": 1, "short_circuit": 2, "upside_down": 3, "sens_warm": 4, "empty": 5}},
+{"path": "na", "type": "bool", "readonly": false, "cmd": "cc na"},
+{"path": "nv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4, "boost": 5}},
+{"path": "nc", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3}, "readonly": false, "cmd": "cc nc"},
+{"path": "nfb", "type": "float"},
+{"path": "cda", "type": "float"},
+{"path": "cdb", "type": "float"},
+{"path": "cba", "type": "float"},
+{"path": "cbb", "type": "float"},
+{"path": "cvs", "type": "int"},
+{"path": "csp", "type": "int"},
+{"path": "cdv", "type": "text", "readonly": false, "cmd": "cc cdv"},
+{"path": "cic", "type": "text", "readonly": false, "cmd": "cc cic"},
+{"path": "cin", "type": "text"},
+{"path": "cds", "type": "enum", "enum": {"local": 0, "remote": 1, "loading": 2, "by_code": 3, "by_touch": 4}, "readonly": false, "cmd": "cc cds"},
+{"path": "timing", "type": "bool", "readonly": false, "cmd": "cc timing"},
+{"path": "tc", "type": "float", "visibility": 3},
+{"path": "tn", "type": "float", "visibility": 3},
+{"path": "th", "type": "float", "visibility": 3},
+{"path": "tf", "type": "float", "visibility": 3},
+{"path": "tm", "type": "float", "visibility": 3},
+{"path": "tv", "type": "float", "visibility": 3},
+{"path": "tq", "type": "float", "visibility": 3},
+{"path": "bdl", "type": "float", "readonly": false, "cmd": "cc bdl"}]},
+
+"nv": {"base": "/nv", "params": [
+{"path": "", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "close": 3, "open": 4}, "readonly": false, "cmd": "nv", "kids": 11},
+{"path": "send", "type": "text", "readonly": false, "cmd": "nv send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "motstat", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}},
+{"path": "flow", "type": "float"},
+{"path": "set", "type": "float", "readonly": false, "cmd": "nv set"},
+{"path": "flowmax", "type": "float", "readonly": false, "cmd": "nv flowmax"},
+{"path": "flowp", "type": "float"},
+{"path": "span", "type": "float"},
+{"path": "ctrl", "type": "none", "kids": 13},
+{"path": "ctrl/regtext", "type": "text"},
+{"path": "ctrl/prop_o", "type": "float", "readonly": false, "cmd": "nv ctrl/prop_o", "description": "prop [sec/mbar] when opening. above 4 mbar a 10 times lower value is used"},
+{"path": "ctrl/prop_c", "type": "float", "readonly": false, "cmd": "nv ctrl/prop_c", "description": "prop [sec/mbar] when closing. above 4 mbar a 10 times lower value is used"},
+{"path": "ctrl/deriv_o", "type": "float", "readonly": false, "cmd": "nv ctrl/deriv_o", "description": "convergence target time [sec] when opening"},
+{"path": "ctrl/deriv_c", "type": "float", "readonly": false, "cmd": "nv ctrl/deriv_c", "description": "convergence target time [sec] when closing"},
+{"path": "ctrl/minpulse_o", "type": "float", "readonly": false, "cmd": "nv ctrl/minpulse_o", "description": "minimum close pulse [sec]"},
+{"path": "ctrl/minpulse_c", "type": "float", "readonly": false, "cmd": "nv ctrl/minpulse_c", "description": "standard close pulse [sec]"},
+{"path": "ctrl/hystpulse_o", "type": "float", "readonly": false, "cmd": "nv ctrl/hystpulse_o", "description": "motor pulse to overcome hysteresis when opening"},
+{"path": "ctrl/hystpulse_c", "type": "float", "readonly": false, "cmd": "nv ctrl/hystpulse_c", "description": "motor pulse to overcome hysteresis when closing"},
+{"path": "ctrl/tol", "type": "float", "readonly": false, "cmd": "nv ctrl/tol", "description": "valid below 3 mbar"},
+{"path": "ctrl/tolhigh", "type": "float", "readonly": false, "cmd": "nv ctrl/tolhigh", "description": "valid above 4 mbar"},
+{"path": "ctrl/openpulse", "type": "float", "readonly": false, "cmd": "nv ctrl/openpulse", "description": "time to open from completely closed to a significant opening"},
+{"path": "ctrl/adjust_minpulse", "type": "bool", "readonly": false, "cmd": "nv ctrl/adjust_minpulse", "description": "adjust minpulse automatically"},
+{"path": "autoflow", "type": "none", "kids": 24},
+{"path": "autoflow/suspended", "type": "bool", "readonly": false, "cmd": "nv autoflow/suspended"},
+{"path": "autoflow/prop", "type": "float", "readonly": false, "cmd": "nv autoflow/prop"},
+{"path": "autoflow/flowstd", "type": "float", "readonly": false, "cmd": "nv autoflow/flowstd"},
+{"path": "autoflow/flowlim", "type": "float", "readonly": false, "cmd": "nv autoflow/flowlim"},
+{"path": "autoflow/smooth", "type": "float", "readonly": false, "cmd": "nv autoflow/smooth"},
+{"path": "autoflow/difSize", "type": "float", "readonly": false, "cmd": "nv autoflow/difSize"},
+{"path": "autoflow/difRange", "type": "float", "readonly": false, "cmd": "nv autoflow/difRange"},
+{"path": "autoflow/flowSize", "type": "float", "readonly": false, "cmd": "nv autoflow/flowSize"},
+{"path": "autoflow/convTime", "type": "float", "readonly": false, "cmd": "nv autoflow/convTime"},
+{"path": "autoflow/Tmin", "type": "float", "readonly": false, "cmd": "nv autoflow/Tmin"},
+{"path": "autoflow/script", "type": "text", "readonly": false, "cmd": "nv autoflow/script"},
+{"path": "autoflow/getTemp", "type": "text", "readonly": false, "cmd": "nv autoflow/getTemp"},
+{"path": "autoflow/getTset", "type": "text", "readonly": false, "cmd": "nv autoflow/getTset"},
+{"path": "autoflow/getFlow", "type": "text", "readonly": false, "cmd": "nv autoflow/getFlow"},
+{"path": "autoflow/difBuf", "type": "text"},
+{"path": "autoflow/flowBuf", "type": "text"},
+{"path": "autoflow/flowset", "type": "float"},
+{"path": "autoflow/flowmin", "type": "float"},
+{"path": "autoflow/flowmax", "type": "float"},
+{"path": "autoflow/difmin", "type": "float"},
+{"path": "autoflow/difmax", "type": "float"},
+{"path": "autoflow/setmin", "type": "float"},
+{"path": "autoflow/setmax", "type": "float"},
+{"path": "autoflow/flowtarget", "type": "float"},
+{"path": "calib", "type": "none", "kids": 2},
+{"path": "calib/ln_per_min_per_mbar", "type": "float", "readonly": false, "cmd": "nv calib/ln_per_min_per_mbar"},
+{"path": "calib/mbar_offset", "type": "float", "readonly": false, "cmd": "nv calib/mbar_offset"}]},
+
+"ln2fill": {"base": "/ln2fill", "params": [
+{"path": "", "type": "enum", "enum": {"watching": 0, "fill": 1, "inactive": 2}, "readonly": false, "cmd": "ln2fill", "kids": 3},
+{"path": "send", "type": "text", "readonly": false, "cmd": "ln2fill send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "state", "type": "text"}]},
+
+"hefill": {"base": "/hefill", "params": [
+{"path": "", "type": "enum", "enum": {"watching": 0, "fill": 1, "timeout": 2}, "readonly": false, "cmd": "hefill", "kids": 6},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hefill send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "fast", "type": "enum", "enum": {"slow": 0, "fast": 1}, "readonly": false, "cmd": "cc hf"},
+{"path": "state", "type": "text"},
+{"path": "hefull", "type": "float", "readonly": false, "cmd": "cc hh"},
+{"path": "helow", "type": "float", "readonly": false, "cmd": "cc hl"}]},
+
+"hepump": {"base": "/hepump", "params": [
+{"path": "", "type": "enum", "enum": {"xds35_auto": 0, "xds35_manual": 1, "sv65": 2, "other": 3, "no": -1}, "readonly": false, "cmd": "hepump", "description": "xds35: scroll pump, sv65: leybold", "kids": 9},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hepump send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "running", "type": "bool", "readonly": false, "cmd": "hepump running"},
+{"path": "eco", "type": "bool", "readonly": false, "cmd": "hepump eco"},
+{"path": "auto", "type": "bool", "readonly": false, "cmd": "hepump auto"},
+{"path": "valve", "type": "enum", "enum": {"closed": 0, "closing": 1, "opening": 2, "opened": 3, "undefined": 4}, "readonly": false, "cmd": "hepump valve"},
+{"path": "eco_t_lim", "type": "float", "readonly": false, "cmd": "hepump eco_t_lim", "description": "switch off eco mode when T_set < eco_t_lim and T < eco_t_lim * 2"},
+{"path": "calib", "type": "float", "readonly": false, "cmd": "hepump calib", "visibility": 3}]},
+
+"hemot": {"base": "/hepump/hemot", "params": [
+{"path": "", "type": "float", "readonly": false, "cmd": "run hemot", "kids": 32},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hemot send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "hemot is_running", "visibility": 3},
+{"path": "pos", "type": "float"},
+{"path": "encoder", "type": "float"},
+{"path": "zero", "type": "float", "readonly": false, "cmd": "hemot zero"},
+{"path": "lowerlimit", "type": "float", "readonly": false, "cmd": "hemot lowerlimit"},
+{"path": "upperlimit", "type": "float", "readonly": false, "cmd": "hemot upperlimit"},
+{"path": "disablelimits", "type": "bool", "readonly": false, "cmd": "hemot disablelimits"},
+{"path": "verbose", "type": "bool", "readonly": false, "cmd": "hemot verbose"},
+{"path": "target", "type": "float"},
+{"path": "runstate", "type": "enum", "enum": {"idle": 0, "running": 1, "finished": 2, "error": 3}},
+{"path": "precision", "type": "float", "readonly": false, "cmd": "hemot precision"},
+{"path": "maxencdif", "type": "float", "readonly": false, "cmd": "hemot maxencdif"},
+{"path": "id", "type": "float", "readonly": false, "cmd": "hemot id"},
+{"path": "pump_number", "type": "float", "readonly": false, "cmd": "hemot pump_number"},
+{"path": "init", "type": "float", "readonly": false, "cmd": "hemot init"},
+{"path": "maxspeed", "type": "float", "readonly": false, "cmd": "hemot maxspeed"},
+{"path": "acceleration", "type": "float", "readonly": false, "cmd": "hemot acceleration"},
+{"path": "maxcurrent", "type": "float", "readonly": false, "cmd": "hemot maxcurrent"},
+{"path": "standbycurrent", "type": "float", "readonly": false, "cmd": "hemot standbycurrent"},
+{"path": "freewheeling", "type": "bool", "readonly": false, "cmd": "hemot freewheeling"},
+{"path": "output0", "type": "bool", "readonly": false, "cmd": "hemot output0"},
+{"path": "output1", "type": "bool", "readonly": false, "cmd": "hemot output1"},
+{"path": "input3", "type": "bool"},
+{"path": "input0", "type": "float"},
+{"path": "input0raw", "type": "float"},
+{"path": "pullup", "type": "float", "readonly": false, "cmd": "hemot pullup"},
+{"path": "nopumpfeedback", "type": "bool", "readonly": false, "cmd": "hemot nopumpfeedback"},
+{"path": "eeprom", "type": "enum", "enum": {"ok": 0, "dirty": 1, "save": 2, "load": 3}, "readonly": false, "cmd": "hemot eeprom"},
+{"path": "customadr", "type": "text", "readonly": false, "cmd": "hemot customadr"},
+{"path": "custompar", "type": "float", "readonly": false, "cmd": "hemot custompar"}]},
+
+"table": {"base": "/table", "params": [
+{"path": "", "type": "none", "kids": 17},
+{"path": "send", "type": "text", "readonly": false, "cmd": "table send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "fix_tt_set_prop", "type": "bool", "readonly": false, "cmd": "table fix_tt_set_prop"},
+{"path": "val_tt_set_prop", "type": "float"},
+{"path": "tbl_tt_set_prop", "type": "text", "readonly": false, "cmd": "table tbl_tt_set_prop", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_set_integ", "type": "bool", "readonly": false, "cmd": "table fix_tt_set_integ"},
+{"path": "val_tt_set_integ", "type": "float"},
+{"path": "tbl_tt_set_integ", "type": "text", "readonly": false, "cmd": "table tbl_tt_set_integ", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_dblctrl_int2", "type": "bool", "readonly": false, "cmd": "table fix_tt_dblctrl_int2"},
+{"path": "val_tt_dblctrl_int2", "type": "float"},
+{"path": "tbl_tt_dblctrl_int2", "type": "text", "readonly": false, "cmd": "table tbl_tt_dblctrl_int2", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_dblctrl_prop_up", "type": "bool", "readonly": false, "cmd": "table fix_tt_dblctrl_prop_up"},
+{"path": "val_tt_dblctrl_prop_up", "type": "float"},
+{"path": "tbl_tt_dblctrl_prop_up", "type": "text", "readonly": false, "cmd": "table tbl_tt_dblctrl_prop_up", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_dblctrl_prop_lo", "type": "bool", "readonly": false, "cmd": "table fix_tt_dblctrl_prop_lo"},
+{"path": "val_tt_dblctrl_prop_lo", "type": "float"},
+{"path": "tbl_tt_dblctrl_prop_lo", "type": "text", "readonly": false, "cmd": "table tbl_tt_dblctrl_prop_lo", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."}]}}
diff --git a/cfg/sea/ma11_dil4_ultrasound_sr.cfg b/cfg/sea/ma11_dil4_ultrasound_sr.cfg
index 260cf20..7fb66b3 100644
--- a/cfg/sea/ma11_dil4_ultrasound_sr.cfg
+++ b/cfg/sea/ma11_dil4_ultrasound_sr.cfg
@@ -12,108 +12,108 @@ uri = tcp://samenv.psi.ch:8645
 
 [module tt]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = tt.ma11.config
 remote_paths = .
 
 [module nv]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = nv.ma11.config
 remote_paths = .
 
 [module ln2fill]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = ln2fill.ma11.config
 remote_paths = .
 
 [module hefill]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = hefill.ma11.config
 remote_paths = .
 
 [module tcoil]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tcoil.ma11.config
 remote_paths = .
 
 [module table]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = table.ma11.config
 remote_paths = .
 
 [module lnv]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = lnv.ma11.config
 remote_paths = .
 
 [module lpr]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = lpr.ma11.config
 remote_paths = .
 
 [module lambdawatch]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = lambdawatch.ma11.config
 remote_paths = .
 
 [module ts]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = ts.dil4.stick
 remote_paths = .
 
 [module treg]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = treg.dil4.stick
 remote_paths = .
 
 [module tmon]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tmon.dil4.stick
 remote_paths = .
 
 [module sorb]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = sorb.dil4.stick
 remote_paths = .
 
 [module ultrasound]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = ultrasound.ultrasound.addon
 remote_paths = .
 
 [module fn]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = fn.ultrasound.addon
 remote_paths = .
 
 [module mirror]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = mirror.ultrasound.addon
 remote_paths = .
 
 [module f]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = f.ultrasound.addon
 remote_paths = .
 
 [module pars]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pars.ultrasound.addon
 remote_paths = .
diff --git a/cfg/sea/ma6.config.json b/cfg/sea/ma6.config.json
new file mode 100644
index 0000000..b16c12c
--- /dev/null
+++ b/cfg/sea/ma6.config.json
@@ -0,0 +1,353 @@
+{"tt": {"base": "/tt", "params": [
+{"path": "", "type": "float", "readonly": false, "cmd": "run tt", "description": "tt", "kids": 18},
+{"path": "send", "type": "text", "readonly": false, "cmd": "tt send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "tt is_running", "visibility": 3},
+{"path": "mainloop", "type": "text", "readonly": false, "cmd": "tt mainloop", "visibility": 3},
+{"path": "target", "type": "float"},
+{"path": "running", "type": "int"},
+{"path": "tolerance", "type": "float", "readonly": false, "cmd": "tt tolerance"},
+{"path": "maxwait", "type": "float", "readonly": false, "cmd": "tt maxwait"},
+{"path": "settle", "type": "float", "readonly": false, "cmd": "tt settle"},
+{"path": "log", "type": "text", "readonly": false, "cmd": "tt log", "visibility": 3, "kids": 4},
+{"path": "log/mean", "type": "float", "visibility": 3},
+{"path": "log/m2", "type": "float", "visibility": 3},
+{"path": "log/stddev", "type": "float", "visibility": 3},
+{"path": "log/n", "type": "float", "visibility": 3},
+{"path": "dblctrl", "type": "bool", "readonly": false, "cmd": "tt dblctrl", "kids": 9},
+{"path": "dblctrl/tshift", "type": "float", "readonly": false, "cmd": "tt dblctrl/tshift"},
+{"path": "dblctrl/mode", "type": "enum", "enum": {"disabled": -1, "inactive": 0, "stable": 1, "up": 2, "down": 3}, "readonly": false, "cmd": "tt dblctrl/mode"},
+{"path": "dblctrl/shift_up", "type": "float"},
+{"path": "dblctrl/shift_lo", "type": "float"},
+{"path": "dblctrl/t_min", "type": "float"},
+{"path": "dblctrl/t_max", "type": "float"},
+{"path": "dblctrl/int2", "type": "float", "readonly": false, "cmd": "tt dblctrl/int2"},
+{"path": "dblctrl/prop_up", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_up"},
+{"path": "dblctrl/prop_lo", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_lo"},
+{"path": "tm", "type": "float", "kids": 4},
+{"path": "tm/curve", "type": "text", "readonly": false, "cmd": "tt tm/curve", "kids": 1},
+{"path": "tm/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt tm/curve/points", "visibility": 3},
+{"path": "tm/alarm", "type": "float", "readonly": false, "cmd": "tt tm/alarm"},
+{"path": "tm/stddev", "type": "float"},
+{"path": "tm/raw", "type": "float"},
+{"path": "ts", "type": "float", "kids": 4},
+{"path": "ts/curve", "type": "text", "readonly": false, "cmd": "tt ts/curve", "kids": 1},
+{"path": "ts/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts/curve/points", "visibility": 3},
+{"path": "ts/alarm", "type": "float", "readonly": false, "cmd": "tt ts/alarm"},
+{"path": "ts/stddev", "type": "float"},
+{"path": "ts/raw", "type": "float"},
+{"path": "ts_2", "type": "float", "kids": 4},
+{"path": "ts_2/curve", "type": "text", "readonly": false, "cmd": "tt ts_2/curve", "kids": 1},
+{"path": "ts_2/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts_2/curve/points", "visibility": 3},
+{"path": "ts_2/alarm", "type": "float", "readonly": false, "cmd": "tt ts_2/alarm"},
+{"path": "ts_2/stddev", "type": "float"},
+{"path": "ts_2/raw", "type": "float"},
+{"path": "set", "type": "float", "readonly": false, "cmd": "tt set", "kids": 18},
+{"path": "set/mode", "type": "enum", "enum": {"disabled": -1, "off": 0, "controlling": 1, "manual": 2}, "readonly": false, "cmd": "tt set/mode"},
+{"path": "set/reg", "type": "float"},
+{"path": "set/ramp", "type": "float", "readonly": false, "cmd": "tt set/ramp", "description": "maximum ramp in K/min (0: ramp off)"},
+{"path": "set/wramp", "type": "float", "readonly": false, "cmd": "tt set/wramp"},
+{"path": "set/smooth", "type": "float", "readonly": false, "cmd": "tt set/smooth", "description": "smooth time (minutes)"},
+{"path": "set/channel", "type": "text", "readonly": false, "cmd": "tt set/channel"},
+{"path": "set/limit", "type": "float", "readonly": false, "cmd": "tt set/limit"},
+{"path": "set/resist", "type": "float", "readonly": false, "cmd": "tt set/resist"},
+{"path": "set/maxheater", "type": "text", "readonly": false, "cmd": "tt set/maxheater", "description": "maximum heater limit, units should be given without space: W, mW, A, mA"},
+{"path": "set/linearpower", "type": "float", "readonly": false, "cmd": "tt set/linearpower", "description": "when not 0, it is the maximum effective power, and the power is linear to the heater output"},
+{"path": "set/maxpowerlim", "type": "float", "description": "the maximum power limit (before any booster or converter)"},
+{"path": "set/maxpower", "type": "float", "readonly": false, "cmd": "tt set/maxpower", "description": "maximum power [W]"},
+{"path": "set/maxcurrent", "type": "float", "description": "the maximum current before any booster or converter"},
+{"path": "set/manualpower", "type": "float", "readonly": false, "cmd": "tt set/manualpower"},
+{"path": "set/power", "type": "float"},
+{"path": "set/prop", "type": "float", "readonly": false, "cmd": "tt set/prop", "description": "bigger means more gain"},
+{"path": "set/integ", "type": "float", "readonly": false, "cmd": "tt set/integ", "description": "bigger means faster"},
+{"path": "set/deriv", "type": "float", "readonly": false, "cmd": "tt set/deriv"},
+{"path": "setsamp", "type": "float", "readonly": false, "cmd": "tt setsamp", "kids": 18},
+{"path": "setsamp/mode", "type": "enum", "enum": {"disabled": -1, "off": 0, "controlling": 1, "manual": 2}, "readonly": false, "cmd": "tt setsamp/mode"},
+{"path": "setsamp/reg", "type": "float"},
+{"path": "setsamp/ramp", "type": "float", "readonly": false, "cmd": "tt setsamp/ramp", "description": "maximum ramp in K/min (0: ramp off)"},
+{"path": "setsamp/wramp", "type": "float", "readonly": false, "cmd": "tt setsamp/wramp"},
+{"path": "setsamp/smooth", "type": "float", "readonly": false, "cmd": "tt setsamp/smooth", "description": "smooth time (minutes)"},
+{"path": "setsamp/channel", "type": "text", "readonly": false, "cmd": "tt setsamp/channel"},
+{"path": "setsamp/limit", "type": "float", "readonly": false, "cmd": "tt setsamp/limit"},
+{"path": "setsamp/resist", "type": "float", "readonly": false, "cmd": "tt setsamp/resist"},
+{"path": "setsamp/maxheater", "type": "text", "readonly": false, "cmd": "tt setsamp/maxheater", "description": "maximum heater limit, units should be given without space: W, mW, A, mA"},
+{"path": "setsamp/linearpower", "type": "float", "readonly": false, "cmd": "tt setsamp/linearpower", "description": "when not 0, it is the maximum effective power, and the power is linear to the heater output"},
+{"path": "setsamp/maxpowerlim", "type": "float", "description": "the maximum power limit (before any booster or converter)"},
+{"path": "setsamp/maxpower", "type": "float", "readonly": false, "cmd": "tt setsamp/maxpower", "description": "maximum power [W]"},
+{"path": "setsamp/maxcurrent", "type": "float", "description": "the maximum current before any booster or converter"},
+{"path": "setsamp/manualpower", "type": "float", "readonly": false, "cmd": "tt setsamp/manualpower"},
+{"path": "setsamp/power", "type": "float"},
+{"path": "setsamp/prop", "type": "float", "readonly": false, "cmd": "tt setsamp/prop", "description": "bigger means more gain"},
+{"path": "setsamp/integ", "type": "float", "readonly": false, "cmd": "tt setsamp/integ", "description": "bigger means faster"},
+{"path": "setsamp/deriv", "type": "float", "readonly": false, "cmd": "tt setsamp/deriv"},
+{"path": "display", "type": "text", "readonly": false, "cmd": "tt display"},
+{"path": "remote", "type": "bool"}]},
+
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+{"path": "", "type": "bool", "kids": 96},
+{"path": "send", "type": "text", "readonly": false, "cmd": "cc send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "autodevice", "type": "bool", "readonly": false, "cmd": "cc autodevice"},
+{"path": "fav", "type": "bool", "readonly": false, "cmd": "cc fav"},
+{"path": "f", "type": "float"},
+{"path": "fs", "type": "enum", "enum": {"ok": 0, "no_sens": 1}, "readonly": false, "cmd": "cc fs"},
+{"path": "mav", "type": "bool", "readonly": false, "cmd": "cc mav"},
+{"path": "fm", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}},
+{"path": "fa", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "offline": 3}, "readonly": false, "cmd": "cc fa"},
+{"path": "mp", "type": "float", "readonly": false, "cmd": "cc mp"},
+{"path": "msp", "type": "float"},
+{"path": "mmp", "type": "float"},
+{"path": "mc", "type": "float", "readonly": false, "cmd": "cc mc"},
+{"path": "mfc", "type": "float", "readonly": false, "cmd": "cc mfc"},
+{"path": "moc", "type": "float", "readonly": false, "cmd": "cc moc"},
+{"path": "mtc", "type": "float", "readonly": false, "cmd": "cc mtc"},
+{"path": "mtl", "type": "float"},
+{"path": "mft", "type": "float", "readonly": false, "cmd": "cc mft"},
+{"path": "mt", "type": "float"},
+{"path": "mo", "type": "float"},
+{"path": "mcr", "type": "float"},
+{"path": "mot", "type": "float"},
+{"path": "mw", "type": "float", "readonly": false, "cmd": "cc mw", "description": "correction pulse after automatic open"},
+{"path": "hav", "type": "bool", "readonly": false, "cmd": "cc hav"},
+{"path": "h", "type": "float"},
+{"path": "hr", "type": "float"},
+{"path": "hc", "type": "float"},
+{"path": "hu", "type": "float"},
+{"path": "hh", "type": "float", "readonly": false, "cmd": "cc hh"},
+{"path": "hl", "type": "float", "readonly": false, "cmd": "cc hl"},
+{"path": "htf", "type": "float", "readonly": false, "cmd": "cc htf", "description": "meas. period in fast mode"},
+{"path": "hts", "type": "float", "readonly": false, "cmd": "cc hts", "description": "meas. period in slow mode"},
+{"path": "hd", "type": "float", "readonly": false, "cmd": "cc hd"},
+{"path": "hwr", "type": "float", "readonly": false, "cmd": "cc hwr"},
+{"path": "hem", "type": "float", "readonly": false, "cmd": "cc hem", "description": "sensor length in mm from top to empty pos."},
+{"path": "hfu", "type": "float", "readonly": false, "cmd": "cc hfu", "description": "sensor length in mm from top to full pos."},
+{"path": "hcd", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3, "manual": 7}, "readonly": false, "cmd": "cc hcd"},
+{"path": "hv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4}},
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+{"path": "ha", "type": "bool", "readonly": false, "cmd": "cc ha"},
+{"path": "hm", "type": "bool"},
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+{"path": "hbe", "type": "bool", "readonly": false, "cmd": "cc hbe"},
+{"path": "hmf", "type": "float"},
+{"path": "hms", "type": "float"},
+{"path": "hit", "type": "float", "readonly": false, "cmd": "cc hit"},
+{"path": "hft", "type": "int", "readonly": false, "cmd": "cc hft"},
+{"path": "hea", "type": "enum", "enum": {"0": 0, "1": 1, "6": 2}, "readonly": false, "cmd": "cc hea"},
+{"path": "hch", "type": "int", "readonly": false, "cmd": "cc hch", "visibility": 3},
+{"path": "hwr0", "type": "float", "readonly": false, "cmd": "cc hwr0", "visibility": 3},
+{"path": "hem0", "type": "float", "readonly": false, "cmd": "cc hem0", "description": "sensor length in mm from top to empty pos.", "visibility": 3},
+{"path": "hfu0", "type": "float", "readonly": false, "cmd": "cc hfu0", "description": "sensor length in mm from top to full pos.", "visibility": 3},
+{"path": "hd0", "type": "float", "readonly": false, "cmd": "cc hd0", "description": "external sensor drive current (mA)", "visibility": 3},
+{"path": "h0", "type": "float", "visibility": 3},
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+{"path": "h1", "type": "float", "visibility": 3},
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+{"path": "h2", "type": "float", "visibility": 3},
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+{"path": "h3", "type": "float", "visibility": 3},
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+{"path": "h4", "type": "float", "visibility": 3},
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+{"path": "h5", "type": "float", "visibility": 3},
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+{"path": "hfb", "type": "float"},
+{"path": "nav", "type": "bool", "readonly": false, "cmd": "cc nav"},
+{"path": "nu", "type": "float"},
+{"path": "nl", "type": "float"},
+{"path": "nth", "type": "float", "readonly": false, "cmd": "cc nth"},
+{"path": "ntc", "type": "float", "readonly": false, "cmd": "cc ntc"},
+{"path": "ntm", "type": "float", "readonly": false, "cmd": "cc ntm"},
+{"path": "ns", "type": "enum", "enum": {"sens_ok": 0, "no_sens": 1, "short_circuit": 2, "upside_down": 3, "sens_warm": 4, "empty": 5}},
+{"path": "na", "type": "bool", "readonly": false, "cmd": "cc na"},
+{"path": "nv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4, "boost": 5}},
+{"path": "nc", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3}, "readonly": false, "cmd": "cc nc"},
+{"path": "nfb", "type": "float"},
+{"path": "cda", "type": "float"},
+{"path": "cdb", "type": "float"},
+{"path": "cba", "type": "float"},
+{"path": "cbb", "type": "float"},
+{"path": "cvs", "type": "int"},
+{"path": "csp", "type": "int"},
+{"path": "cdv", "type": "text", "readonly": false, "cmd": "cc cdv"},
+{"path": "cic", "type": "text", "readonly": false, "cmd": "cc cic"},
+{"path": "cin", "type": "text"},
+{"path": "cds", "type": "enum", "enum": {"local": 0, "remote": 1, "loading": 2, "by_code": 3, "by_touch": 4}, "readonly": false, "cmd": "cc cds"},
+{"path": "timing", "type": "bool", "readonly": false, "cmd": "cc timing"},
+{"path": "tc", "type": "float", "visibility": 3},
+{"path": "tn", "type": "float", "visibility": 3},
+{"path": "th", "type": "float", "visibility": 3},
+{"path": "tf", "type": "float", "visibility": 3},
+{"path": "tm", "type": "float", "visibility": 3},
+{"path": "tv", "type": "float", "visibility": 3},
+{"path": "tq", "type": "float", "visibility": 3},
+{"path": "bdl", "type": "float", "readonly": false, "cmd": "cc bdl"}]},
+
+"nv": {"base": "/nv", "params": [
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+{"path": "send", "type": "text", "readonly": false, "cmd": "nv send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "motstat", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}},
+{"path": "flow", "type": "float"},
+{"path": "set", "type": "float", "readonly": false, "cmd": "nv set"},
+{"path": "flowmax", "type": "float", "readonly": false, "cmd": "nv flowmax"},
+{"path": "flowp", "type": "float"},
+{"path": "span", "type": "float"},
+{"path": "ctrl", "type": "none", "kids": 13},
+{"path": "ctrl/regtext", "type": "text"},
+{"path": "ctrl/prop_o", "type": "float", "readonly": false, "cmd": "nv ctrl/prop_o", "description": "prop [sec/mbar] when opening. above 4 mbar a 10 times lower value is used"},
+{"path": "ctrl/prop_c", "type": "float", "readonly": false, "cmd": "nv ctrl/prop_c", "description": "prop [sec/mbar] when closing. above 4 mbar a 10 times lower value is used"},
+{"path": "ctrl/deriv_o", "type": "float", "readonly": false, "cmd": "nv ctrl/deriv_o", "description": "convergence target time [sec] when opening"},
+{"path": "ctrl/deriv_c", "type": "float", "readonly": false, "cmd": "nv ctrl/deriv_c", "description": "convergence target time [sec] when closing"},
+{"path": "ctrl/minpulse_o", "type": "float", "readonly": false, "cmd": "nv ctrl/minpulse_o", "description": "minimum close pulse [sec]"},
+{"path": "ctrl/minpulse_c", "type": "float", "readonly": false, "cmd": "nv ctrl/minpulse_c", "description": "standard close pulse [sec]"},
+{"path": "ctrl/hystpulse_o", "type": "float", "readonly": false, "cmd": "nv ctrl/hystpulse_o", "description": "motor pulse to overcome hysteresis when opening"},
+{"path": "ctrl/hystpulse_c", "type": "float", "readonly": false, "cmd": "nv ctrl/hystpulse_c", "description": "motor pulse to overcome hysteresis when closing"},
+{"path": "ctrl/tol", "type": "float", "readonly": false, "cmd": "nv ctrl/tol", "description": "valid below 3 mbar"},
+{"path": "ctrl/tolhigh", "type": "float", "readonly": false, "cmd": "nv ctrl/tolhigh", "description": "valid above 4 mbar"},
+{"path": "ctrl/openpulse", "type": "float", "readonly": false, "cmd": "nv ctrl/openpulse", "description": "time to open from completely closed to a significant opening"},
+{"path": "ctrl/adjust_minpulse", "type": "bool", "readonly": false, "cmd": "nv ctrl/adjust_minpulse", "description": "adjust minpulse automatically"},
+{"path": "autoflow", "type": "none", "kids": 24},
+{"path": "autoflow/suspended", "type": "bool", "readonly": false, "cmd": "nv autoflow/suspended"},
+{"path": "autoflow/prop", "type": "float", "readonly": false, "cmd": "nv autoflow/prop"},
+{"path": "autoflow/flowstd", "type": "float", "readonly": false, "cmd": "nv autoflow/flowstd"},
+{"path": "autoflow/flowlim", "type": "float", "readonly": false, "cmd": "nv autoflow/flowlim"},
+{"path": "autoflow/smooth", "type": "float", "readonly": false, "cmd": "nv autoflow/smooth"},
+{"path": "autoflow/difSize", "type": "float", "readonly": false, "cmd": "nv autoflow/difSize"},
+{"path": "autoflow/difRange", "type": "float", "readonly": false, "cmd": "nv autoflow/difRange"},
+{"path": "autoflow/flowSize", "type": "float", "readonly": false, "cmd": "nv autoflow/flowSize"},
+{"path": "autoflow/convTime", "type": "float", "readonly": false, "cmd": "nv autoflow/convTime"},
+{"path": "autoflow/Tmin", "type": "float", "readonly": false, "cmd": "nv autoflow/Tmin"},
+{"path": "autoflow/script", "type": "text", "readonly": false, "cmd": "nv autoflow/script"},
+{"path": "autoflow/getTemp", "type": "text", "readonly": false, "cmd": "nv autoflow/getTemp"},
+{"path": "autoflow/getTset", "type": "text", "readonly": false, "cmd": "nv autoflow/getTset"},
+{"path": "autoflow/getFlow", "type": "text", "readonly": false, "cmd": "nv autoflow/getFlow"},
+{"path": "autoflow/difBuf", "type": "text"},
+{"path": "autoflow/flowBuf", "type": "text"},
+{"path": "autoflow/flowset", "type": "float"},
+{"path": "autoflow/flowmin", "type": "float"},
+{"path": "autoflow/flowmax", "type": "float"},
+{"path": "autoflow/difmin", "type": "float"},
+{"path": "autoflow/difmax", "type": "float"},
+{"path": "autoflow/setmin", "type": "float"},
+{"path": "autoflow/setmax", "type": "float"},
+{"path": "autoflow/flowtarget", "type": "float"},
+{"path": "calib", "type": "none", "kids": 2},
+{"path": "calib/ln_per_min_per_mbar", "type": "float", "readonly": false, "cmd": "nv calib/ln_per_min_per_mbar"},
+{"path": "calib/mbar_offset", "type": "float", "readonly": false, "cmd": "nv calib/mbar_offset"}]},
+
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+{"path": "send", "type": "text", "readonly": false, "cmd": "hepump send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "running", "type": "bool", "readonly": false, "cmd": "hepump running", "visibility": 3},
+{"path": "eco", "type": "bool", "readonly": false, "cmd": "hepump eco", "visibility": 3},
+{"path": "auto", "type": "bool", "readonly": false, "cmd": "hepump auto", "visibility": 3},
+{"path": "valve", "type": "enum", "enum": {"closed": 0, "closing": 1, "opening": 2, "opened": 3, "undefined": 4}, "readonly": false, "cmd": "hepump valve", "visibility": 3},
+{"path": "eco_t_lim", "type": "float", "readonly": false, "cmd": "hepump eco_t_lim", "description": "switch off eco mode when T_set < eco_t_lim and T < eco_t_lim * 2", "visibility": 3},
+{"path": "calib", "type": "float", "readonly": false, "cmd": "hepump calib", "visibility": 3},
+{"path": "health", "type": "float"}]},
+
+"hemot": {"base": "/hepump/hemot", "params": [
+{"path": "", "type": "float", "readonly": false, "cmd": "run hemot", "visibility": 3, "kids": 30},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hemot send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "hemot is_running", "visibility": 3},
+{"path": "pos", "type": "float"},
+{"path": "encoder", "type": "float"},
+{"path": "zero", "type": "float", "readonly": false, "cmd": "hemot zero"},
+{"path": "lowerlimit", "type": "float", "readonly": false, "cmd": "hemot lowerlimit"},
+{"path": "upperlimit", "type": "float", "readonly": false, "cmd": "hemot upperlimit"},
+{"path": "disablelimits", "type": "bool", "readonly": false, "cmd": "hemot disablelimits"},
+{"path": "verbose", "type": "bool", "readonly": false, "cmd": "hemot verbose"},
+{"path": "target", "type": "float"},
+{"path": "runstate", "type": "enum", "enum": {"idle": 0, "running": 1, "finished": 2, "error": 3}},
+{"path": "precision", "type": "float", "readonly": false, "cmd": "hemot precision"},
+{"path": "maxencdif", "type": "float", "readonly": false, "cmd": "hemot maxencdif"},
+{"path": "id", "type": "float", "readonly": false, "cmd": "hemot id"},
+{"path": "pump_number", "type": "float", "readonly": false, "cmd": "hemot pump_number"},
+{"path": "init", "type": "float", "readonly": false, "cmd": "hemot init"},
+{"path": "maxspeed", "type": "float", "readonly": false, "cmd": "hemot maxspeed"},
+{"path": "acceleration", "type": "float", "readonly": false, "cmd": "hemot acceleration"},
+{"path": "maxcurrent", "type": "float", "readonly": false, "cmd": "hemot maxcurrent"},
+{"path": "standbycurrent", "type": "float", "readonly": false, "cmd": "hemot standbycurrent"},
+{"path": "freewheeling", "type": "bool", "readonly": false, "cmd": "hemot freewheeling"},
+{"path": "output0", "type": "bool", "readonly": false, "cmd": "hemot output0"},
+{"path": "output1", "type": "bool", "readonly": false, "cmd": "hemot output1"},
+{"path": "input3", "type": "bool"},
+{"path": "pullup", "type": "float", "readonly": false, "cmd": "hemot pullup"},
+{"path": "nopumpfeedback", "type": "bool", "readonly": false, "cmd": "hemot nopumpfeedback"},
+{"path": "eeprom", "type": "enum", "enum": {"ok": 0, "dirty": 1, "save": 2, "load": 3}, "readonly": false, "cmd": "hemot eeprom"},
+{"path": "customadr", "type": "text", "readonly": false, "cmd": "hemot customadr"},
+{"path": "custompar", "type": "float", "readonly": false, "cmd": "hemot custompar"}]},
+
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+{"path": "send", "type": "text", "readonly": false, "cmd": "ln2fill send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "state", "type": "text"},
+{"path": "readlevel", "type": "text", "readonly": false, "cmd": "ln2fill readlevel", "visibility": 3},
+{"path": "lowlevel", "type": "float", "readonly": false, "cmd": "ln2fill lowlevel"},
+{"path": "highlevel", "type": "float", "readonly": false, "cmd": "ln2fill highlevel"},
+{"path": "smooth", "type": "float"},
+{"path": "minfillminutes", "type": "float", "readonly": false, "cmd": "ln2fill minfillminutes"},
+{"path": "maxfillminutes", "type": "float", "readonly": false, "cmd": "ln2fill maxfillminutes"},
+{"path": "minholdhours", "type": "float", "readonly": false, "cmd": "ln2fill minholdhours"},
+{"path": "maxholdhours", "type": "float", "readonly": false, "cmd": "ln2fill maxholdhours"},
+{"path": "tolerance", "type": "float", "readonly": false, "cmd": "ln2fill tolerance"},
+{"path": "badreadingminutes", "type": "float", "readonly": false, "cmd": "ln2fill badreadingminutes"},
+{"path": "tubecoolingminutes", "type": "float", "readonly": false, "cmd": "ln2fill tubecoolingminutes"}]},
+
+"hefill": {"base": "/hefill", "params": [
+{"path": "", "type": "enum", "enum": {"no fill valve": 2}, "readonly": false, "cmd": "hefill", "kids": 16},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hefill send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "state", "type": "text"},
+{"path": "readlevel", "type": "text", "readonly": false, "cmd": "hefill readlevel", "visibility": 3},
+{"path": "lowlevel", "type": "float", "readonly": false, "cmd": "hefill lowlevel"},
+{"path": "highlevel", "type": "float", "readonly": false, "cmd": "hefill highlevel"},
+{"path": "smooth", "type": "float"},
+{"path": "minfillminutes", "type": "float", "readonly": false, "cmd": "hefill minfillminutes"},
+{"path": "maxfillminutes", "type": "float", "readonly": false, "cmd": "hefill maxfillminutes"},
+{"path": "minholdhours", "type": "float", "readonly": false, "cmd": "hefill minholdhours"},
+{"path": "maxholdhours", "type": "float", "readonly": false, "cmd": "hefill maxholdhours"},
+{"path": "tolerance", "type": "float", "readonly": false, "cmd": "hefill tolerance"},
+{"path": "badreadingminutes", "type": "float", "readonly": false, "cmd": "hefill badreadingminutes"},
+{"path": "tubecoolingminutes", "type": "float", "readonly": false, "cmd": "hefill tubecoolingminutes"},
+{"path": "vessellimit", "type": "float", "readonly": false, "cmd": "hefill vessellimit"},
+{"path": "vext", "type": "float"}]},
+
+"mf": {"base": "/mf", "params": [
+{"path": "", "type": "float", "kids": 26},
+{"path": "persmode", "type": "int", "readonly": false, "cmd": "mf persmode"},
+{"path": "perswitch", "type": "int"},
+{"path": "nowait", "type": "int", "readonly": false, "cmd": "mf nowait"},
+{"path": "maxlimit", "type": "float", "visibility": 3},
+{"path": "limit", "type": "float", "readonly": false, "cmd": "mf limit"},
+{"path": "ramp", "type": "float", "readonly": false, "cmd": "mf ramp"},
+{"path": "perscurrent", "type": "float", "readonly": false, "cmd": "mf perscurrent"},
+{"path": "perslimit", "type": "float", "readonly": false, "cmd": "mf perslimit"},
+{"path": "perswait", "type": "int", "readonly": false, "cmd": "mf perswait"},
+{"path": "persdelay", "type": "int", "readonly": false, "cmd": "mf persdelay"},
+{"path": "current", "type": "float"},
+{"path": "measured", "type": "float"},
+{"path": "voltage", "type": "float"},
+{"path": "lastfield", "type": "float", "visibility": 3},
+{"path": "ampRamp", "type": "float", "visibility": 3},
+{"path": "inductance", "type": "float", "visibility": 3},
+{"path": "trainedTo", "type": "float", "readonly": false, "cmd": "mf trainedTo"},
+{"path": "trainMode", "type": "int"},
+{"path": "external", "type": "int", "readonly": false, "cmd": "mf external"},
+{"path": "startScript", "type": "text", "readonly": false, "cmd": "mf startScript", "visibility": 3},
+{"path": "is_running", "type": "int", "visibility": 3},
+{"path": "verbose", "type": "int", "readonly": false, "cmd": "mf verbose", "visibility": 3},
+{"path": "driver", "type": "text", "visibility": 3},
+{"path": "creationCmd", "type": "text", "visibility": 3},
+{"path": "targetValue", "type": "float"},
+{"path": "status", "type": "text", "readonly": false, "cmd": "mf status", "visibility": 3}]},
+
+"lev": {"base": "/lev", "params": [
+{"path": "", "type": "float", "kids": 4},
+{"path": "send", "type": "text", "readonly": false, "cmd": "lev send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "mode", "type": "enum", "enum": {"slow": 0, "fast (switches to slow automatically after filling)": 1}, "readonly": false, "cmd": "lev mode"},
+{"path": "n2", "type": "float"}]}}
diff --git a/cfg/sea/ori1.cfg b/cfg/sea/ori1.cfg
index 3b012d8..d8e91b1 100644
--- a/cfg/sea/ori1.cfg
+++ b/cfg/sea/ori1.cfg
@@ -12,12 +12,12 @@ uri = tcp://samenv.psi.ch:8642
 
 [module tt]
 class = secop_psi.sea.SeaDrivable
-iodev = seaconn
+io = seaconn
 json_descr = tt.ori1.config
 remote_paths = .
 
 [module nv]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = nv.ori1.config
 remote_paths = .
diff --git a/cfg/sea/sch5.stick.json b/cfg/sea/sch5.stick.json
index 47ff8fc..2b47748 100644
--- a/cfg/sea/sch5.stick.json
+++ b/cfg/sea/sch5.stick.json
@@ -6,4 +6,307 @@
 {"path": "limit", "type": "float", "readonly": false, "cmd": "warmup limit", "description": "do not use warmup when target < limit"},
 {"path": "timef", "type": "float", "readonly": false, "cmd": "warmup timef", "description": "reset double control after (timef * int2) sec"},
 {"path": "abruptstop", "type": "bool", "readonly": false, "cmd": "warmup abruptstop", "description": "switch off sample heater immediately after tm > treg"},
-{"path": "warmup", "type": "enum", "enum": {"off": 0, "warmup": 1, "htroff": 2, "settle": 3}, "readonly": false, "cmd": "warmup warmup"}]}}
+{"path": "warmup", "type": "enum", "enum": {"off": 0, "warmup": 1, "htroff": 2, "settle": 3}, "readonly": false, "cmd": "warmup warmup"}]},
+"tt": {"base": "/tt", "params": [{"path": "", "type": "float", "readonly": false, "cmd": "run tt", "description": "tt", "kids": 18},
+{"path": "send", "type": "text", "readonly": false, "cmd": "tt send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "tt is_running", "visibility": 3},
+{"path": "target", "type": "float"},
+{"path": "running", "type": "int"},
+{"path": "tolerance", "type": "float", "readonly": false, "cmd": "tt tolerance"},
+{"path": "maxwait", "type": "float", "readonly": false, "cmd": "tt maxwait"},
+{"path": "settle", "type": "float", "readonly": false, "cmd": "tt settle"},
+{"path": "log", "type": "text", "readonly": false, "cmd": "tt log", "visibility": 3, "kids": 4},
+{"path": "log/mean", "type": "float", "visibility": 3},
+{"path": "log/m2", "type": "float", "visibility": 3},
+{"path": "log/stddev", "type": "float", "visibility": 3},
+{"path": "log/n", "type": "float", "visibility": 3},
+{"path": "dblctrl", "type": "bool", "readonly": false, "cmd": "tt dblctrl", "kids": 9},
+{"path": "dblctrl/tshift", "type": "float", "readonly": false, "cmd": "tt dblctrl/tshift"},
+{"path": "dblctrl/mode", "type": "enum", "enum": {"disabled": -1, "inactive": 0, "stable": 1, "up": 2, "down": 3}, "readonly": false, "cmd": "tt dblctrl/mode"},
+{"path": "dblctrl/shift_up", "type": "float"},
+{"path": "dblctrl/shift_lo", "type": "float"},
+{"path": "dblctrl/t_min", "type": "float"},
+{"path": "dblctrl/t_max", "type": "float"},
+{"path": "dblctrl/int2", "type": "float", "readonly": false, "cmd": "tt dblctrl/int2"},
+{"path": "dblctrl/prop_up", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_up"},
+{"path": "dblctrl/prop_lo", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_lo"},
+{"path": "tm", "type": "float", "kids": 4},
+{"path": "tm/curve", "type": "text", "readonly": false, "cmd": "tt tm/curve", "kids": 1},
+{"path": "tm/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt tm/curve/points", "visibility": 3},
+{"path": "tm/alarm", "type": "float", "readonly": false, "cmd": "tt tm/alarm"},
+{"path": "tm/stddev", "type": "float"},
+{"path": "tm/raw", "type": "float"},
+{"path": "ts", "type": "float", "kids": 4},
+{"path": "ts/curve", "type": "text", "readonly": false, "cmd": "tt ts/curve", "kids": 1},
+{"path": "ts/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts/curve/points", "visibility": 3},
+{"path": "ts/alarm", "type": "float", "readonly": false, "cmd": "tt ts/alarm"},
+{"path": "ts/stddev", "type": "float"},
+{"path": "ts/raw", "type": "float"},
+{"path": "ts_2", "type": "float", "visibility": 3, "kids": 4},
+{"path": "ts_2/curve", "type": "text", "readonly": false, "cmd": "tt ts_2/curve", "visibility": 3, "kids": 1},
+{"path": "ts_2/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts_2/curve/points", "visibility": 3},
+{"path": "ts_2/alarm", "type": "float", "readonly": false, "cmd": "tt ts_2/alarm", "visibility": 3},
+{"path": "ts_2/stddev", "type": "float", "visibility": 3},
+{"path": "ts_2/raw", "type": "float", "visibility": 3},
+{"path": "set", "type": "float", "readonly": false, "cmd": "tt set", "kids": 18},
+{"path": "set/mode", "type": "enum", "enum": {"disabled": -1, "off": 0, "controlling": 1, "manual": 2}, "readonly": false, "cmd": "tt set/mode"},
+{"path": "set/reg", "type": "float"},
+{"path": "set/ramp", "type": "float", "readonly": false, "cmd": "tt set/ramp", "description": "maximum ramp in K/min (0: ramp off)"},
+{"path": "set/wramp", "type": "float", "readonly": false, "cmd": "tt set/wramp"},
+{"path": "set/smooth", "type": "float", "readonly": false, "cmd": "tt set/smooth", "description": "smooth time (minutes)"},
+{"path": "set/channel", "type": "text", "readonly": false, "cmd": "tt set/channel"},
+{"path": "set/limit", "type": "float", "readonly": false, "cmd": "tt set/limit"},
+{"path": "set/resist", "type": "float", "readonly": false, "cmd": "tt set/resist"},
+{"path": "set/maxheater", "type": "text", "readonly": false, "cmd": "tt set/maxheater", "description": "maximum heater limit, units should be given without space: W, mW, A, mA"},
+{"path": "set/linearpower", "type": "float", "readonly": false, "cmd": "tt set/linearpower", "description": "when not 0, it is the maximum effective power, and the power is linear to the heater output"},
+{"path": "set/maxpowerlim", "type": "float", "description": "the maximum power limit (before any booster or converter)"},
+{"path": "set/maxpower", "type": "float", "readonly": false, "cmd": "tt set/maxpower", "description": "maximum power [W]"},
+{"path": "set/maxcurrent", "type": "float", "description": "the maximum current before any booster or converter"},
+{"path": "set/manualpower", "type": "float", "readonly": false, "cmd": "tt set/manualpower"},
+{"path": "set/power", "type": "float"},
+{"path": "set/prop", "type": "float", "readonly": false, "cmd": "tt set/prop", "description": "bigger means more gain"},
+{"path": "set/integ", "type": "float", "readonly": false, "cmd": "tt set/integ", "description": "bigger means faster"},
+{"path": "set/deriv", "type": "float", "readonly": false, "cmd": "tt set/deriv"},
+{"path": "display", "type": "text", "readonly": false, "cmd": "tt display"},
+{"path": "dout", "type": "int", "readonly": false, "cmd": "tt dout"},
+{"path": "dinp", "type": "int"},
+{"path": "remote", "type": "bool"}]}, "cc": {"base": "/cc", "params": [{"path": "", "type": "bool", "kids": 96},
+{"path": "send", "type": "text", "readonly": false, "cmd": "cc send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "autodevice", "type": "bool", "readonly": false, "cmd": "cc autodevice"},
+{"path": "fav", "type": "bool", "readonly": false, "cmd": "cc fav"},
+{"path": "f", "type": "float"},
+{"path": "fs", "type": "enum", "enum": {"ok": 0, "no_sens": 1}, "readonly": false, "cmd": "cc fs"},
+{"path": "mav", "type": "bool", "readonly": false, "cmd": "cc mav"},
+{"path": "fm", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}},
+{"path": "fa", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "offline": 3}, "readonly": false, "cmd": "cc fa"},
+{"path": "mp", "type": "float", "readonly": false, "cmd": "cc mp"},
+{"path": "msp", "type": "float"},
+{"path": "mmp", "type": "float"},
+{"path": "mc", "type": "float", "readonly": false, "cmd": "cc mc"},
+{"path": "mfc", "type": "float", "readonly": false, "cmd": "cc mfc"},
+{"path": "moc", "type": "float", "readonly": false, "cmd": "cc moc"},
+{"path": "mtc", "type": "float", "readonly": false, "cmd": "cc mtc"},
+{"path": "mtl", "type": "float"},
+{"path": "mft", "type": "float", "readonly": false, "cmd": "cc mft"},
+{"path": "mt", "type": "float"},
+{"path": "mo", "type": "float"},
+{"path": "mcr", "type": "float"},
+{"path": "mot", "type": "float"},
+{"path": "mw", "type": "float", "readonly": false, "cmd": "cc mw", "description": "correction pulse after automatic open"},
+{"path": "hav", "type": "bool", "readonly": false, "cmd": "cc hav"},
+{"path": "h", "type": "float"},
+{"path": "hr", "type": "float"},
+{"path": "hc", "type": "float"},
+{"path": "hu", "type": "float"},
+{"path": "hh", "type": "float", "readonly": false, "cmd": "cc hh"},
+{"path": "hl", "type": "float", "readonly": false, "cmd": "cc hl"},
+{"path": "htf", "type": "float", "readonly": false, "cmd": "cc htf", "description": "meas. period in fast mode"},
+{"path": "hts", "type": "float", "readonly": false, "cmd": "cc hts", "description": "meas. period in slow mode"},
+{"path": "hd", "type": "float", "readonly": false, "cmd": "cc hd"},
+{"path": "hwr", "type": "float", "readonly": false, "cmd": "cc hwr"},
+{"path": "hem", "type": "float", "readonly": false, "cmd": "cc hem", "description": "sensor length in mm from top to empty pos."},
+{"path": "hfu", "type": "float", "readonly": false, "cmd": "cc hfu", "description": "sensor length in mm from top to full pos."},
+{"path": "hcd", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3, "manual": 7}, "readonly": false, "cmd": "cc hcd"},
+{"path": "hv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4}},
+{"path": "hsf", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}},
+{"path": "ha", "type": "bool", "readonly": false, "cmd": "cc ha"},
+{"path": "hm", "type": "bool"},
+{"path": "hf", "type": "enum", "enum": {"slow": 0, "fast": 1}, "readonly": false, "cmd": "cc hf"},
+{"path": "hbe", "type": "bool", "readonly": false, "cmd": "cc hbe"},
+{"path": "hmf", "type": "float"},
+{"path": "hms", "type": "float"},
+{"path": "hit", "type": "float", "readonly": false, "cmd": "cc hit"},
+{"path": "hft", "type": "int", "readonly": false, "cmd": "cc hft"},
+{"path": "hea", "type": "enum", "enum": {"0": 0, "1": 1, "6": 2}, "readonly": false, "cmd": "cc hea"},
+{"path": "hch", "type": "int", "readonly": false, "cmd": "cc hch", "visibility": 3},
+{"path": "hwr0", "type": "float", "readonly": false, "cmd": "cc hwr0", "visibility": 3},
+{"path": "hem0", "type": "float", "readonly": false, "cmd": "cc hem0", "description": "sensor length in mm from top to empty pos.", "visibility": 3},
+{"path": "hfu0", "type": "float", "readonly": false, "cmd": "cc hfu0", "description": "sensor length in mm from top to full pos.", "visibility": 3},
+{"path": "hd0", "type": "float", "readonly": false, "cmd": "cc hd0", "description": "external sensor drive current (mA)", "visibility": 3},
+{"path": "h0", "type": "float", "visibility": 3},
+{"path": "hs0", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
+{"path": "h1", "type": "float", "visibility": 3},
+{"path": "hs1", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
+{"path": "h2", "type": "float", "visibility": 3},
+{"path": "hs2", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
+{"path": "h3", "type": "float", "visibility": 3},
+{"path": "hs3", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
+{"path": "h4", "type": "float", "visibility": 3},
+{"path": "hs4", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
+{"path": "h5", "type": "float", "visibility": 3},
+{"path": "hs5", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
+{"path": "hfb", "type": "float"},
+{"path": "nav", "type": "bool", "readonly": false, "cmd": "cc nav"},
+{"path": "nu", "type": "float"},
+{"path": "nl", "type": "float"},
+{"path": "nth", "type": "float", "readonly": false, "cmd": "cc nth"},
+{"path": "ntc", "type": "float", "readonly": false, "cmd": "cc ntc"},
+{"path": "ntm", "type": "float", "readonly": false, "cmd": "cc ntm"},
+{"path": "ns", "type": "enum", "enum": {"sens_ok": 0, "no_sens": 1, "short_circuit": 2, "upside_down": 3, "sens_warm": 4, "empty": 5}},
+{"path": "na", "type": "bool", "readonly": false, "cmd": "cc na"},
+{"path": "nv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4, "boost": 5}},
+{"path": "nc", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3}, "readonly": false, "cmd": "cc nc"},
+{"path": "nfb", "type": "float"},
+{"path": "cda", "type": "float"},
+{"path": "cdb", "type": "float"},
+{"path": "cba", "type": "float"},
+{"path": "cbb", "type": "float"},
+{"path": "cvs", "type": "int"},
+{"path": "csp", "type": "int"},
+{"path": "cdv", "type": "text", "readonly": false, "cmd": "cc cdv"},
+{"path": "cic", "type": "text", "readonly": false, "cmd": "cc cic"},
+{"path": "cin", "type": "text"},
+{"path": "cds", "type": "enum", "enum": {"local": 0, "remote": 1, "loading": 2, "by_code": 3, "by_touch": 4}, "readonly": false, "cmd": "cc cds"},
+{"path": "timing", "type": "bool", "readonly": false, "cmd": "cc timing"},
+{"path": "tc", "type": "float", "visibility": 3},
+{"path": "tn", "type": "float", "visibility": 3},
+{"path": "th", "type": "float", "visibility": 3},
+{"path": "tf", "type": "float", "visibility": 3},
+{"path": "tm", "type": "float", "visibility": 3},
+{"path": "tv", "type": "float", "visibility": 3},
+{"path": "tq", "type": "float", "visibility": 3},
+{"path": "bdl", "type": "float", "readonly": false, "cmd": "cc bdl"}]}, "nv": {"base": "/nv", "params": [{"path": "", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "close": 3, "open": 4}, "readonly": false, "cmd": "nv", "kids": 12},
+{"path": "send", "type": "text", "readonly": false, "cmd": "nv send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "flow", "type": "float"},
+{"path": "motstat", "type": "text"},
+{"path": "set", "type": "float", "readonly": false, "cmd": "nv set"},
+{"path": "flowmax", "type": "float", "readonly": false, "cmd": "nv flowmax"},
+{"path": "ctrl", "type": "none", "kids": 4},
+{"path": "ctrl/prop", "type": "float", "readonly": false, "cmd": "nv ctrl/prop"},
+{"path": "ctrl/int", "type": "float", "readonly": false, "cmd": "nv ctrl/int"},
+{"path": "ctrl/delay", "type": "float", "readonly": false, "cmd": "nv ctrl/delay"},
+{"path": "ctrl/tol", "type": "float", "readonly": false, "cmd": "nv ctrl/tol"},
+{"path": "autoflow", "type": "none", "kids": 24},
+{"path": "autoflow/suspended", "type": "bool", "readonly": false, "cmd": "nv autoflow/suspended"},
+{"path": "autoflow/prop", "type": "float", "readonly": false, "cmd": "nv autoflow/prop"},
+{"path": "autoflow/flowstd", "type": "float", "readonly": false, "cmd": "nv autoflow/flowstd"},
+{"path": "autoflow/flowlim", "type": "float", "readonly": false, "cmd": "nv autoflow/flowlim"},
+{"path": "autoflow/smooth", "type": "float", "readonly": false, "cmd": "nv autoflow/smooth"},
+{"path": "autoflow/difSize", "type": "float", "readonly": false, "cmd": "nv autoflow/difSize"},
+{"path": "autoflow/difRange", "type": "float", "readonly": false, "cmd": "nv autoflow/difRange"},
+{"path": "autoflow/flowSize", "type": "float", "readonly": false, "cmd": "nv autoflow/flowSize"},
+{"path": "autoflow/convTime", "type": "float", "readonly": false, "cmd": "nv autoflow/convTime"},
+{"path": "autoflow/Tmin", "type": "float", "readonly": false, "cmd": "nv autoflow/Tmin"},
+{"path": "autoflow/script", "type": "text", "readonly": false, "cmd": "nv autoflow/script"},
+{"path": "autoflow/getTemp", "type": "text", "readonly": false, "cmd": "nv autoflow/getTemp"},
+{"path": "autoflow/getTset", "type": "text", "readonly": false, "cmd": "nv autoflow/getTset"},
+{"path": "autoflow/getFlow", "type": "text", "readonly": false, "cmd": "nv autoflow/getFlow"},
+{"path": "autoflow/difBuf", "type": "text"},
+{"path": "autoflow/flowBuf", "type": "text"},
+{"path": "autoflow/flowset", "type": "float"},
+{"path": "autoflow/flowmin", "type": "float"},
+{"path": "autoflow/flowmax", "type": "float"},
+{"path": "autoflow/difmin", "type": "float"},
+{"path": "autoflow/difmax", "type": "float"},
+{"path": "autoflow/setmin", "type": "float"},
+{"path": "autoflow/setmax", "type": "float"},
+{"path": "autoflow/flowtarget", "type": "float"},
+{"path": "calib", "type": "none", "kids": 2},
+{"path": "calib/ln_per_min_per_mbar", "type": "float", "readonly": false, "cmd": "nv calib/ln_per_min_per_mbar"},
+{"path": "calib/mbar_offset", "type": "float", "readonly": false, "cmd": "nv calib/mbar_offset"},
+{"path": "initialize", "type": "enum", "enum": {"check": 1, "adjust": 2, "stop": 3}, "readonly": false, "cmd": "nv initialize", "visibility": 3},
+{"path": "initstate", "type": "text", "visibility": 3}]}, "nvmot": {"base": "/nv/nvmot", "params": [{"path": "", "type": "float", "readonly": false, "cmd": "run nvmot", "kids": 32},
+{"path": "send", "type": "text", "readonly": false, "cmd": "nvmot send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "nvmot is_running", "visibility": 3},
+{"path": "pos", "type": "float"},
+{"path": "encoder", "type": "float"},
+{"path": "zero", "type": "float", "readonly": false, "cmd": "nvmot zero"},
+{"path": "lowerlimit", "type": "float", "readonly": false, "cmd": "nvmot lowerlimit"},
+{"path": "upperlimit", "type": "float", "readonly": false, "cmd": "nvmot upperlimit"},
+{"path": "disablelimits", "type": "bool", "readonly": false, "cmd": "nvmot disablelimits"},
+{"path": "verbose", "type": "bool", "readonly": false, "cmd": "nvmot verbose"},
+{"path": "target", "type": "float"},
+{"path": "runstate", "type": "enum", "enum": {"idle": 0, "running": 1, "finished": 2, "error": 3}},
+{"path": "precision", "type": "float", "readonly": false, "cmd": "nvmot precision"},
+{"path": "maxencdif", "type": "float", "readonly": false, "cmd": "nvmot maxencdif"},
+{"path": "id", "type": "float", "readonly": false, "cmd": "nvmot id"},
+{"path": "pump_number", "type": "float", "readonly": false, "cmd": "nvmot pump_number"},
+{"path": "init", "type": "float", "readonly": false, "cmd": "nvmot init"},
+{"path": "maxspeed", "type": "float", "readonly": false, "cmd": "nvmot maxspeed"},
+{"path": "acceleration", "type": "float", "readonly": false, "cmd": "nvmot acceleration"},
+{"path": "maxcurrent", "type": "float", "readonly": false, "cmd": "nvmot maxcurrent"},
+{"path": "standbycurrent", "type": "float", "readonly": false, "cmd": "nvmot standbycurrent"},
+{"path": "freewheeling", "type": "bool", "readonly": false, "cmd": "nvmot freewheeling"},
+{"path": "output0", "type": "bool", "readonly": false, "cmd": "nvmot output0"},
+{"path": "output1", "type": "bool", "readonly": false, "cmd": "nvmot output1"},
+{"path": "input3", "type": "bool"},
+{"path": "input0", "type": "float"},
+{"path": "input0raw", "type": "float"},
+{"path": "pullup", "type": "float", "readonly": false, "cmd": "nvmot pullup"},
+{"path": "nopumpfeedback", "type": "bool", "readonly": false, "cmd": "nvmot nopumpfeedback"},
+{"path": "eeprom", "type": "enum", "enum": {"ok": 0, "dirty": 1, "save": 2, "load": 3}, "readonly": false, "cmd": "nvmot eeprom"},
+{"path": "customadr", "type": "text", "readonly": false, "cmd": "nvmot customadr"},
+{"path": "custompar", "type": "float", "readonly": false, "cmd": "nvmot custompar"}]}, "ln2fill": {"base": "/ln2fill", "params": [{"path": "", "type": "enum", "enum": {"watching": 0, "fill": 1, "inactive": 2}, "readonly": false, "cmd": "ln2fill", "kids": 3},
+{"path": "send", "type": "text", "readonly": false, "cmd": "ln2fill send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "state", "type": "text"}]}, "hefill": {"base": "/hefill", "params": [{"path": "", "type": "enum", "enum": {"no fill valve": 2}, "readonly": false, "cmd": "hefill", "kids": 6},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hefill send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "fast", "type": "enum", "enum": {"slow": 0, "fast": 1}, "readonly": false, "cmd": "cc hf"},
+{"path": "state", "type": "text"},
+{"path": "hefull", "type": "float", "readonly": false, "cmd": "cc hh"},
+{"path": "helow", "type": "float", "readonly": false, "cmd": "cc hl"}]}, "hepump": {"base": "/hepump", "params": [{"path": "", "type": "enum", "enum": {"xds35_auto": 0, "xds35_manual": 1, "sv65": 2, "other": 3, "no": -1}, "readonly": false, "cmd": "hepump", "description": "xds35: scroll pump, sv65: leybold", "kids": 9},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hepump send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "running", "type": "bool", "readonly": false, "cmd": "hepump running"},
+{"path": "eco", "type": "bool", "readonly": false, "cmd": "hepump eco"},
+{"path": "auto", "type": "bool", "readonly": false, "cmd": "hepump auto"},
+{"path": "valve", "type": "enum", "enum": {"closed": 0, "closing": 1, "opening": 2, "opened": 3, "undefined": 4}, "readonly": false, "cmd": "hepump valve"},
+{"path": "eco_t_lim", "type": "float", "readonly": false, "cmd": "hepump eco_t_lim", "description": "switch off eco mode when T_set < eco_t_lim and T < eco_t_lim * 2"},
+{"path": "calib", "type": "float", "readonly": false, "cmd": "hepump calib", "visibility": 3}]}, "hemot": {"base": "/hepump/hemot", "params": [{"path": "", "type": "float", "readonly": false, "cmd": "run hemot", "kids": 32},
+{"path": "send", "type": "text", "readonly": false, "cmd": "hemot send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "is_running", "type": "int", "readonly": false, "cmd": "hemot is_running", "visibility": 3},
+{"path": "pos", "type": "float"},
+{"path": "encoder", "type": "float"},
+{"path": "zero", "type": "float", "readonly": false, "cmd": "hemot zero"},
+{"path": "lowerlimit", "type": "float", "readonly": false, "cmd": "hemot lowerlimit"},
+{"path": "upperlimit", "type": "float", "readonly": false, "cmd": "hemot upperlimit"},
+{"path": "disablelimits", "type": "bool", "readonly": false, "cmd": "hemot disablelimits"},
+{"path": "verbose", "type": "bool", "readonly": false, "cmd": "hemot verbose"},
+{"path": "target", "type": "float"},
+{"path": "runstate", "type": "enum", "enum": {"idle": 0, "running": 1, "finished": 2, "error": 3}},
+{"path": "precision", "type": "float", "readonly": false, "cmd": "hemot precision"},
+{"path": "maxencdif", "type": "float", "readonly": false, "cmd": "hemot maxencdif"},
+{"path": "id", "type": "float", "readonly": false, "cmd": "hemot id"},
+{"path": "pump_number", "type": "float", "readonly": false, "cmd": "hemot pump_number"},
+{"path": "init", "type": "float", "readonly": false, "cmd": "hemot init"},
+{"path": "maxspeed", "type": "float", "readonly": false, "cmd": "hemot maxspeed"},
+{"path": "acceleration", "type": "float", "readonly": false, "cmd": "hemot acceleration"},
+{"path": "maxcurrent", "type": "float", "readonly": false, "cmd": "hemot maxcurrent"},
+{"path": "standbycurrent", "type": "float", "readonly": false, "cmd": "hemot standbycurrent"},
+{"path": "freewheeling", "type": "bool", "readonly": false, "cmd": "hemot freewheeling"},
+{"path": "output0", "type": "bool", "readonly": false, "cmd": "hemot output0"},
+{"path": "output1", "type": "bool", "readonly": false, "cmd": "hemot output1"},
+{"path": "input3", "type": "bool"},
+{"path": "input0", "type": "float"},
+{"path": "input0raw", "type": "float"},
+{"path": "pullup", "type": "float", "readonly": false, "cmd": "hemot pullup"},
+{"path": "nopumpfeedback", "type": "bool", "readonly": false, "cmd": "hemot nopumpfeedback"},
+{"path": "eeprom", "type": "enum", "enum": {"ok": 0, "dirty": 1, "save": 2, "load": 3}, "readonly": false, "cmd": "hemot eeprom"},
+{"path": "customadr", "type": "text", "readonly": false, "cmd": "hemot customadr"},
+{"path": "custompar", "type": "float", "readonly": false, "cmd": "hemot custompar"}]}, "table": {"base": "/table", "params": [{"path": "", "type": "none", "kids": 20},
+{"path": "send", "type": "text", "readonly": false, "cmd": "table send", "visibility": 3},
+{"path": "status", "type": "text", "visibility": 3},
+{"path": "fix_tt_set_prop", "type": "bool", "readonly": false, "cmd": "table fix_tt_set_prop"},
+{"path": "val_tt_set_prop", "type": "float"},
+{"path": "tbl_tt_set_prop", "type": "text", "readonly": false, "cmd": "table tbl_tt_set_prop", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_set_integ", "type": "bool", "readonly": false, "cmd": "table fix_tt_set_integ"},
+{"path": "val_tt_set_integ", "type": "float"},
+{"path": "tbl_tt_set_integ", "type": "text", "readonly": false, "cmd": "table tbl_tt_set_integ", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_dblctrl_int2", "type": "bool", "readonly": false, "cmd": "table fix_tt_dblctrl_int2"},
+{"path": "val_tt_dblctrl_int2", "type": "float"},
+{"path": "tbl_tt_dblctrl_int2", "type": "text", "readonly": false, "cmd": "table tbl_tt_dblctrl_int2", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_dblctrl_prop_up", "type": "bool", "readonly": false, "cmd": "table fix_tt_dblctrl_prop_up"},
+{"path": "val_tt_dblctrl_prop_up", "type": "float"},
+{"path": "tbl_tt_dblctrl_prop_up", "type": "text", "readonly": false, "cmd": "table tbl_tt_dblctrl_prop_up", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_tt_dblctrl_prop_lo", "type": "bool", "readonly": false, "cmd": "table fix_tt_dblctrl_prop_lo"},
+{"path": "val_tt_dblctrl_prop_lo", "type": "float"},
+{"path": "tbl_tt_dblctrl_prop_lo", "type": "text", "readonly": false, "cmd": "table tbl_tt_dblctrl_prop_lo", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
+{"path": "fix_warmup_weight", "type": "bool", "readonly": false, "cmd": "table fix_warmup_weight"},
+{"path": "val_warmup_weight", "type": "float"},
+{"path": "tbl_warmup_weight", "type": "text", "readonly": false, "cmd": "table tbl_warmup_weight", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."}]}}
diff --git a/cfg/sea/test_secop4.cfg b/cfg/sea/test_secop4.cfg
index b7ba07b..879de42 100644
--- a/cfg/sea/test_secop4.cfg
+++ b/cfg/sea/test_secop4.cfg
@@ -12,6 +12,6 @@ uri = tcp://samenv.psi.ch:8642
 
 [module secop]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = secop.test_secop4.config
 remote_paths = .
diff --git a/cfg/sea/varioxB_vb.cfg b/cfg/sea/varioxB_vb.cfg
index 7350d68..a3509c7 100644
--- a/cfg/sea/varioxB_vb.cfg
+++ b/cfg/sea/varioxB_vb.cfg
@@ -12,54 +12,54 @@ uri = tcp://samenv.psi.ch:8646
 
 [module tvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvs.varioxB.config
 remote_paths = .
 
 [module tvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvd.varioxB.config
 remote_paths = .
 
 [module pstat]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pstat.varioxB.config
 remote_paths = .
 
 [module pdyn]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pdyn.varioxB.config
 remote_paths = .
 
 [module tneck1]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck1.varioxB.config
 remote_paths = .
 
 [module tneck2]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck2.varioxB.config
 remote_paths = .
 
 [module tnvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvs.varioxB.config
 remote_paths = .
 
 [module tnvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvd.varioxB.config
 remote_paths = .
 
 [module ts]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = ts.vb.stick
 remote_paths = .
diff --git a/cfg/stick.ini b/cfg/stick.ini
new file mode 100644
index 0000000..5a96c84
--- /dev/null
+++ b/cfg/stick.ini
@@ -0,0 +1,4 @@
+[FRAPPY]
+confdir = ~/frappy/cfg/stick:~/frappy/cfg/develop
+logdir = ~/frappylog
+piddir = ~/frappylog/pid
diff --git a/cfg/stick/ill4stick.cfg b/cfg/stick/ill4stick.cfg
new file mode 100644
index 0000000..a50d766
--- /dev/null
+++ b/cfg/stick/ill4stick.cfg
@@ -0,0 +1,17 @@
+[NODE]
+description = ILL4 standard sample stick
+id = ill4.stick.sea.psi.ch
+
+[sea_stick]
+class = secop_psi.sea.SeaClient
+description = SEA stick connection
+config = ill4.stick
+service = stick
+
+[ts]
+class = secop_psi.sea.SeaReadable
+iodev = sea_stick
+sea_object = tt
+json_file = ill4.config.json
+rel_paths = ts
+
diff --git a/cfg/stick/ill5stick.cfg b/cfg/stick/ill5stick.cfg
index 07e8de5..0b26ed9 100644
--- a/cfg/stick/ill5stick.cfg
+++ b/cfg/stick/ill5stick.cfg
@@ -10,7 +10,7 @@ service = stick
 
 [ts]
 class = secop_psi.sea.SeaReadable
-iodev = sea_stick
+io = sea_stick
 sea_object = tt
 json_file = ill5.config.json
 rel_paths = ts
diff --git a/cfg/stick/ma11stick.cfg b/cfg/stick/ma11stick.cfg
index f0eb393..a162ad1 100644
--- a/cfg/stick/ma11stick.cfg
+++ b/cfg/stick/ma11stick.cfg
@@ -10,7 +10,7 @@ service = stick
 
 [ts]
 class = secop_psi.sea.SeaReadable
-iodev = sea_stick
+io = sea_stick
 sea_object = tt
 json_file = ma11.config.json
 rel_paths = ts
diff --git a/cfg/stick/ma7stick.cfg b/cfg/stick/ma7stick.cfg
index b66a1eb..b6e606e 100644
--- a/cfg/stick/ma7stick.cfg
+++ b/cfg/stick/ma7stick.cfg
@@ -10,7 +10,7 @@ service = stick
 
 [ts]
 class = secop_psi.sea.SeaReadable
-iodev = sea_stick
+io = sea_stick
 sea_object = tt
 json_file = ma7.config.json
 rel_paths = ts
diff --git a/cfg/stick/ori4stick.cfg b/cfg/stick/ori4stick.cfg
index a24e45a..f1fdb9c 100644
--- a/cfg/stick/ori4stick.cfg
+++ b/cfg/stick/ori4stick.cfg
@@ -10,7 +10,7 @@ service = stick
 
 [ts]
 class = secop_psi.sea.SeaReadable
-iodev = sea_stick
+io = sea_stick
 sea_object = tt
 json_file = ori4.config.json
 rel_paths = ts
diff --git a/cfg/stick/sch5.cfg b/cfg/stick/sch5.cfg
index 9ea4125..d57ae97 100644
--- a/cfg/stick/sch5.cfg
+++ b/cfg/stick/sch5.cfg
@@ -2,7 +2,7 @@
 description = sample changer for 100 mm orange cryo (5 samples, HRPT)
 id = sch5.stick.sea.psi.ch
 
-[seaconn]
+[sea_stick]
 class = secop_psi.sea.SeaClient
 description = SEA connection to sch5
 config = sch5.stick
@@ -10,12 +10,13 @@ service = stick
 
 [warmup]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = sea_stick
 sea_object = warmup
 
 [ts]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = sea_stick
 sea_object = tt
+json_file = ori4.config.json
 rel_paths = ts
 
diff --git a/cfg/test_ppms_mf.cfg b/cfg/test_ppms_mf.cfg
index 014e26a..88b2749 100644
--- a/cfg/test_ppms_mf.cfg
+++ b/cfg/test_ppms_mf.cfg
@@ -9,62 +9,62 @@ bindport = 5000
 #[module tt]
 #class = secop_psi.ppms.Temp
 #.description = main temperature
-#iodev = ppms
+#io = ppms
 
 [module mf]
 class = secop_psi.ppms.Field
 .description = magnetic field
-iodev = ppms
+io = ppms
 
 #[module pos]
 #class = secop_psi.ppms.Position
 #.description = sample rotator
-#iodev = ppms
+#io = ppms
 
 #[module lev]
 #class = secop_psi.ppms.Level
 #.description = helium level
-#iodev = ppms
+#io = ppms
 
 #[module chamber]
 #class = secop_psi.ppms.Chamber
 #.description = chamber state
-#iodev = ppms
+#io = ppms
 
 #[module r1]
 #class = secop_psi.ppms.BridgeChannel
 #.description = resistivity channel 1
 #no = 1
 #value.unit = Ohm
-#iodev = ppms
+#io = ppms
 
 #[module i1]
 #class = secop_psi.ppms.Channel
 #.description = current channel 1
 #no = 1
 #value.unit = uA
-#iodev = ppms
+#io = ppms
 
 #[module v1]
 #class = secop_psi.ppms.DriverChannel
 #.description = voltage channel 1
 #no = 1
 #value.unit = V
-#iodev = ppms
+#io = ppms
 
 #[module tv]
 #class = secop_psi.ppms.UserChannel
 #.description = VTI temperature
 #enabled = 1
 #value.unit = K
-#iodev = ppms
+#io = ppms
 
 #[module ts]
 #class = secop_psi.ppms.UserChannel
 #.description = sample temperature
 #enabled = 1
 #value.unit = K
-#iodev = ppms
+#io = ppms
 
 [module ppms]
 class = secop_psi.ppms.Main
diff --git a/cfg/trinamic.cfg b/cfg/trinamic.cfg
index ca375e3..6d7424e 100644
--- a/cfg/trinamic.cfg
+++ b/cfg/trinamic.cfg
@@ -5,7 +5,7 @@ description = trinamic motor test
 [INTERFACE]
 uri = tcp://5000
 
-[drv_iodev]
+[drv_io]
 description = 
 class = secop.core.BytesIO
 uri = serial:///dev/tty.usbserial?baudrate=57600
@@ -14,7 +14,7 @@ uri = serial:///dev/tty.usbserial?baudrate=57600
 [drv]
 description = trinamic motor test
 class = secop_psi.trinamic.Motor
-iodev = drv_iodev
+io = drv_io
 standby_current=0.1
 maxcurrent=1.4
 acceleration=150.
diff --git a/cfg/uniax.cfg b/cfg/uniax.cfg
index da86987..9a03b8b 100644
--- a/cfg/uniax.cfg
+++ b/cfg/uniax.cfg
@@ -11,7 +11,7 @@ class = secop_psi.uniax.Uniax
 motor = drv
 transducer = transducer
 
-#[drv_iodev]
+#[drv_io]
 #description = 
 #class = secop.core.BytesIO
 # uri = serial:///dev/ttyUSB1?baudrate=57600
@@ -20,7 +20,7 @@ transducer = transducer
 [drv]
 description = trinamic motor test
 class = secop_psi.trinamic.Motor
-# iodev = drv_iodev
+# io = drv_io
 uri = tcp://192.168.127.254:3002
 standby_current=0.1
 maxcurrent=0.2
diff --git a/cfg/varioxb.cfg b/cfg/varioxb.cfg
index a015874..77a99a3 100644
--- a/cfg/varioxb.cfg
+++ b/cfg/varioxb.cfg
@@ -12,49 +12,49 @@ uri = tcp://samenv.psi.ch:8646
 
 [module tvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvs.varioxB.config
 remote_paths = .
 
 [module tvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tvd.varioxB.config
 remote_paths = .
 
 [module pstat]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pstat.varioxB.config
 remote_paths = .
 
 [module pdyn]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = pdyn.varioxB.config
 remote_paths = .
 
 [module tneck1]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck1.varioxB.config
 remote_paths = .
 
 [module tneck2]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tneck2.varioxB.config
 remote_paths = .
 
 [module tnvs]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvs.varioxB.config
 remote_paths = .
 
 [module tnvd]
 class = secop_psi.sea.SeaReadable
-iodev = seaconn
+io = seaconn
 json_descr = tnvd.varioxB.config
 remote_paths = .
 
diff --git a/secop/errors.py b/secop/errors.py
index c50cbac..5affb4a 100644
--- a/secop/errors.py
+++ b/secop/errors.py
@@ -17,12 +17,14 @@
 #
 # Module authors:
 #   Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
+#   Markus Zolliker <markus.zolliker@psi.ch>
 #
 # *****************************************************************************
 """Define (internal) SECoP Errors"""
 
 
 class SECoPError(RuntimeError):
+    silent = False   # silent = True indicates that the error is already logged
 
     def __init__(self, *args, **kwds):
         super().__init__()
@@ -32,7 +34,8 @@ class SECoPError(RuntimeError):
 
     def __repr__(self):
         args = ', '.join(map(repr, self.args))
-        kwds = ', '.join(['%s=%r' % i for i in list(self.__dict__.items())])
+        kwds = ', '.join(['%s=%r' % i for i in list(self.__dict__.items())
+                          if i[0] != 'silent'])
         res = []
         if args:
             res.append(args)
@@ -102,14 +105,6 @@ class CommunicationFailedError(SECoPError):
     pass
 
 
-class SilentError(SECoPError):
-    pass
-
-
-class CommunicationSilentError(SilentError, CommunicationFailedError):
-    name = 'CommunicationFailed'
-
-
 class IsBusyError(SECoPError):
     pass
 
@@ -123,7 +118,7 @@ class DisabledError(SECoPError):
 
 
 class HardwareError(SECoPError):
-    pass
+    name = 'HardwareError'
 
 
 def make_secop_error(name, text):
diff --git a/secop/io.py b/secop/io.py
index d7e09df..07932ef 100644
--- a/secop/io.py
+++ b/secop/io.py
@@ -31,8 +31,7 @@ import threading
 from secop.lib.asynconn import AsynConn, ConnectionClosed
 from secop.datatypes import ArrayOf, BLOBType, BoolType, FloatRange, IntRange, \
     StringType, TupleOf, ValueType
-from secop.errors import CommunicationFailedError, CommunicationSilentError, \
-    ConfigError, ProgrammingError
+from secop.errors import CommunicationFailedError, ConfigError, ProgrammingError
 from secop.modules import Attached, Command, \
     Communicator, Done, Module, Parameter, Property
 from secop.lib import generalConfig
@@ -42,6 +41,10 @@ generalConfig.set_default('legacy_hasiodev', False)
 HEX_CODE = re.compile(r'[0-9a-fA-F][0-9a-fA-F]$')
 
 
+class SilentError(CommunicationFailedError):
+    silent = True
+
+
 class HasIO(Module):
     """Mixin for modules using a communicator"""
     io = Attached()
@@ -151,11 +154,10 @@ class IOBase(Communicator):
                 self.callCallbacks()
                 return Done
         except Exception as e:
-            if str(e) == self._last_error:
-                raise CommunicationSilentError(str(e)) from e
-            self._last_error = str(e)
-            self.log.error(self._last_error)
-            raise
+            if str(e) != self._last_error:
+                self._last_error = str(e)
+                self.log.error(self._last_error)
+            raise SilentError(repr(e)) from e
         return Done
 
     def write_is_connected(self, value):
@@ -249,10 +251,10 @@ class StringIO(IOBase):
         """
         command = command.encode(self.encoding)
         if not self.is_connected:
+            # do not try to reconnect here
+            # read_is_connected is doing this when called by its poller
             self.read_is_connected()  # try to reconnect
-            if not self._conn:
-                self.log.debug('can not connect to %r' % self.uri)
-                raise CommunicationSilentError('can not connect to %r' % self.uri)
+            raise SilentError('disconnected') from None
         try:
             with self._lock:
                 # read garbage and wait before send
@@ -279,11 +281,12 @@ class StringIO(IOBase):
                 self.comLog('< %s', reply)
                 return reply
         except Exception as e:
-            if str(e) == self._last_error:
-                raise CommunicationSilentError(str(e)) from None
-            self._last_error = str(e)
-            self.log.error(self._last_error)
-            raise
+            if self._conn is None:
+                raise SilentError('disconnected') from None
+            if repr(e) != self._last_error:
+                self._last_error = str(e)
+                self.log.error(self._last_error)
+            raise SilentError(repr(e)) from e
 
     @Command(ArrayOf(StringType()), result=ArrayOf(StringType()))
     def multicomm(self, commands):
@@ -357,9 +360,10 @@ class BytesIO(IOBase):
     def communicate(self, request, replylen):  # pylint: disable=arguments-differ
         """send a request and receive (at least) <replylen> bytes as reply"""
         if not self.is_connected:
+            # do not try to reconnect here
+            # read_is_connected is doing this when called by its poller
             self.read_is_connected()  # try to reconnect
-            if not self._conn:
-                raise CommunicationSilentError('can not connect to %r' % self.uri)
+            raise SilentError('disconnected') from None
         try:
             with self._lock:
                 # read garbage and wait before send
@@ -378,11 +382,12 @@ class BytesIO(IOBase):
                 self.comLog('< %s', hexify(reply))
                 return self.getFullReply(request, reply)
         except Exception as e:
-            if str(e) == self._last_error:
-                raise CommunicationSilentError(str(e)) from None
-            self._last_error = str(e)
-            self.log.error(self._last_error)
-            raise
+            if self._conn is None:
+                raise SilentError('disconnected') from None
+            if repr(e) != self._last_error:
+                self._last_error = str(e)
+                self.log.error(self._last_error)
+            raise SilentError(repr(e)) from e
 
     @Command((ArrayOf(TupleOf(BLOBType(), IntRange(0)))), result=ArrayOf(BLOBType()))
     def multicomm(self, requests):
diff --git a/secop/lib/asynconn.py b/secop/lib/asynconn.py
index 9d5df16..52d3878 100644
--- a/secop/lib/asynconn.py
+++ b/secop/lib/asynconn.py
@@ -167,7 +167,7 @@ class AsynTcp(AsynConn):
             uri = uri[6:]
         try:
             self.connection = tcpSocket(uri, self.defaultport, self.timeout)
-        except (ConnectionRefusedError, socket.gaierror) as e:
+        except (ConnectionRefusedError, socket.gaierror, socket.timeout) as e:
             # indicate that retrying might make sense
             raise CommunicationFailedError(str(e)) from None
 
diff --git a/secop/lib/statemachine.py b/secop/lib/statemachine.py
index 6d066c5..309cabf 100644
--- a/secop/lib/statemachine.py
+++ b/secop/lib/statemachine.py
@@ -177,9 +177,9 @@ class StateMachine:
 
         :return: a delay or None when idle
         """
-        if self.state is None:
-            return None
         with self._lock:
+            if self.state is None:
+                return None
             for _ in range(999):
                 self.now = time.time()
                 try:
@@ -236,7 +236,7 @@ class StateMachine:
                 pass
             delay = self.cycle()
 
-    def _start(self, state, first_delay, **kwds):
+    def _start(self, state, **kwds):
         self._restart = None
         self._idle_event.clear()
         self.last_error = None
@@ -245,10 +245,12 @@ class StateMachine:
         self._new_state(state)
         self.start_time = self.now
         self._last_time = self.now
+        first_delay = self.cycle()  # important: call once (e.g. set status to busy)
         if self._threaded:
             if self._thread is None or not self._thread.is_alive():
                 # restart thread if dead (may happen when cleanup failed)
-                self._thread = mkthread(self._run, first_delay)
+                if first_delay is not None:
+                    self._thread = mkthread(self._run, first_delay)
             else:
                 self.trigger(first_delay)
 
@@ -269,11 +271,9 @@ class StateMachine:
                     self.last_error = self.stopped
                     self.cleanup(self)  # ignore return state on restart
                     self.stopped = False
-                delay = self.cycle()
-                self._start(state, delay, **kwds)
+                    self._start(state, **kwds)
         else:
-            delay = self.cycle()  # important: call once (e.g. set status to busy)
-            self._start(state, delay, **kwds)
+            self._start(state, **kwds)
 
     def stop(self):
         """stop machine, go to idle state
diff --git a/secop/logging.py b/secop/logging.py
index cd8cf41..04ab122 100644
--- a/secop/logging.py
+++ b/secop/logging.py
@@ -86,7 +86,6 @@ class RemoteLogHandler(mlzlog.Handler):
 class LogfileHandler(mlzlog.LogfileHandler):
 
     def __init__(self, logdir, rootname, max_days=0):
-        self.logdir = logdir
         self.rootname = rootname
         self.max_days = max_days
         super().__init__(logdir, rootname)
@@ -95,6 +94,11 @@ class LogfileHandler(mlzlog.LogfileHandler):
         if record.levelno != COMLOG:
             super().emit(record)
 
+    def getChild(self, name):
+        child = type(self)(dirname(self.baseFilename), name, self.max_days)
+        child.setLevel(self.level)
+        return child
+
     def doRollover(self):
         super().doRollover()
         if self.max_days:
@@ -157,8 +161,6 @@ class MainLogger:
         if self.logdir:
             logfile_days = generalConfig.getint('logfile_days')
             logfile_handler = LogfileHandler(self.logdir, self.rootname, max_days=logfile_days)
-            if generalConfig.logfile_days:
-                logfile_handler.max_days = int(generalConfig.logfile_days)
             logfile_handler.setLevel(LOG_LEVELS[generalConfig.get('logfile_level', 'info')])
             self.log.addHandler(logfile_handler)
 
diff --git a/secop/modules.py b/secop/modules.py
index 101f50e..48ebfa5 100644
--- a/secop/modules.py
+++ b/secop/modules.py
@@ -31,7 +31,7 @@ from functools import wraps
 from secop.datatypes import ArrayOf, BoolType, EnumType, FloatRange, \
     IntRange, StatusType, StringType, TextType, TupleOf, DiscouragedConversion
 from secop.errors import BadValueError, ConfigError, \
-    ProgrammingError, SECoPError, SilentError, secop_error
+    ProgrammingError, SECoPError, secop_error
 from secop.lib import formatException, mkthread, UniqueObject, generalConfig
 from secop.lib.enum import Enum
 from secop.params import Accessible, Command, Parameter
@@ -233,7 +233,7 @@ class PollInfo:
         self.interval = pollinterval
         self.last_main = 0
         self.last_slow = 0
-        self.last_error = None
+        self.last_error = {}  # dict [<name of poll func>] of (None or str(last exception))
         self.polled_parameters = []
         self.fast_flag = False
         self.trigger_event = trigger_event
@@ -318,7 +318,8 @@ class Module(HasAccessibles):
         self.initModuleDone = False
         self.startModuleDone = False
         self.remoteLogHandler = None
-        self.accessLock = threading.RLock()
+        self.accessLock = threading.RLock()  # for read_* / write_* methods
+        self.updateLock = threading.RLock()  # for announceUpdate
         self.polledModules = []  # modules polled by thread started in self.startModules
         errors = []
 
@@ -495,7 +496,7 @@ class Module(HasAccessibles):
     def announceUpdate(self, pname, value=None, err=None, timestamp=None):
         """announce a changed value or readerror"""
 
-        with self.accessLock:
+        with self.updateLock:
             # TODO: remove readerror 'property' and replace value with exception
             pobj = self.parameters[pname]
             timestamp = timestamp or time.time()
@@ -632,12 +633,19 @@ class Module(HasAccessibles):
         """call read method with proper error handling"""
         try:
             rfunc()
-        except SilentError:
-            pass
-        except SECoPError as e:
-            self.log.error(str(e))
-        except Exception:
-            self.log.error(formatException())
+            self.pollInfo.last_error[rfunc.__name__] = None
+        except Exception as e:
+            name = rfunc.__name__
+            if str(e) != self.pollInfo.last_error.get(name):
+                self.pollInfo.last_error[name] = str(e)
+                if isinstance(e, SECoPError):
+                    if e.silent:
+                        self.log.debug('%s: %s', name, str(e))
+                    else:
+                        self.log.error('%s: %s', name, str(e))
+                else:
+                    # uncatched error: this is more serious
+                    self.log.error('%s: %s', name, formatException())
 
     def __pollThread(self, modules, started_callback):
         """poll thread body
@@ -692,25 +700,14 @@ class Module(HasAccessibles):
                 pinfo = mobj.pollInfo
                 if now > pinfo.last_main + pinfo.interval:
                     pinfo.last_main = (now // pinfo.interval) * pinfo.interval
-                    try:
-                        mobj.doPoll()
-                        pinfo.last_error = None
-                    except Exception as e:
-                        if str(e) != str(pinfo.last_error) and not isinstance(e, SilentError):
-                            mobj.log.error('doPoll: %r', e)
-                        pinfo.last_error = e
+                    mobj.callPollFunc(mobj.doPoll)
                 now = time.time()
             # find ONE due slow poll and call it
             loop = True
             while loop:  # loops max. 2 times, when to_poll is at end
                 for mobj, rfunc, pobj in to_poll:
                     if now > pobj.timestamp + mobj.slowinterval * 0.5:
-                        try:
-                            prev_err = pobj.readerror
-                            rfunc()
-                        except Exception as e:
-                            if not isinstance(e, SilentError) and str(pobj.readerror) != str(prev_err):
-                                mobj.log.error('%s: %r', pobj.name, e)
+                        mobj.callPollFunc(rfunc)
                         loop = False  # one poll done
                         break
                 else:
@@ -736,15 +733,20 @@ class Module(HasAccessibles):
             value = self.writeDict.pop(pname, Done)
             # in the mean time, a poller or handler might already have done it
             if value is not Done:
-                try:
-                    self.log.debug('initialize parameter %s', pname)
-                    getattr(self, 'write_' + pname)(value)
-                except SilentError:
-                    pass
-                except SECoPError as e:
-                    self.log.error(str(e))
-                except Exception:
-                    self.log.error(formatException())
+                wfunc = getattr(self, 'write_' + pname, None)
+                if wfunc is None:
+                    setattr(self, pname, value)
+                else:
+                    try:
+                        self.log.debug('initialize parameter %s', pname)
+                        wfunc(value)
+                    except SECoPError as e:
+                        if e.silent:
+                            self.log.debug('%s: %s', pname, str(e))
+                        else:
+                            self.log.error('%s: %s', pname, str(e))
+                    except Exception:
+                        self.log.error(formatException())
         if started_callback:
             started_callback()
 
diff --git a/secop/persistent.py b/secop/persistent.py
index 63ce5a1..0e7aebd 100644
--- a/secop/persistent.py
+++ b/secop/persistent.py
@@ -72,15 +72,16 @@ class PersistentMixin(HasAccessibles):
         persistentdir = os.path.join(generalConfig.logdir, 'persistent')
         os.makedirs(persistentdir, exist_ok=True)
         self.persistentFile = os.path.join(persistentdir, '%s.%s.json' % (self.DISPATCHER.equipment_id, self.name))
-        self.initData = {}
+        self.initData = {}  # "factory" settings
         for pname in self.parameters:
             pobj = self.parameters[pname]
-            if hasattr(self, 'write_' + pname) and getattr(pobj, 'persistent', 0):
-                self.initData[pname] = pobj.value
-                if pobj.persistent == 'auto':
+            flag = getattr(pobj, 'persistent', 0)
+            if flag:
+                if flag == 'auto':
                     def cb(value, m=self):
                         m.saveParameters()
                     self.valueCallbacks[pname].append(cb)
+                self.initData[pname] = pobj.value
         self.writeDict.update(self.loadParameters(write=False))
 
     def loadParameters(self, write=True):
diff --git a/secop/proxy.py b/secop/proxy.py
index 2c25838..b372c82 100644
--- a/secop/proxy.py
+++ b/secop/proxy.py
@@ -33,6 +33,7 @@ from secop.io import HasIO
 
 class ProxyModule(HasIO, Module):
     module = Property('remote module name', datatype=StringType(), default='')
+    status = Parameter('connection status', Readable.status.datatype)  # add status even when not a Readable
 
     _consistency_check_done = False
     _secnode = None
@@ -182,11 +183,12 @@ def proxy_class(remote_class, name=None):
 
     for aname, aobj in rcls.accessibles.items():
         if isinstance(aobj, Parameter):
-            pobj = aobj.merge(dict(handler=None, needscfg=False))
+            pobj = aobj.copy()
+            pobj.merge(dict(handler=None, needscfg=False))
             attrs[aname] = pobj
 
             def rfunc(self, pname=aname):
-                value, _, readerror = self._secnode.getParameter(self.name, pname)
+                value, _, readerror = self._secnode.getParameter(self.name, pname, True)
                 if readerror:
                     raise readerror
                 return value
diff --git a/secop_psi/k2601b.py b/secop_psi/k2601b.py
index d82a36a..926f359 100644
--- a/secop_psi/k2601b.py
+++ b/secop_psi/k2601b.py
@@ -41,7 +41,7 @@ SOURCECMDS = {
        ' smua.source.output = 0 print("ok")',
     1: 'reset()'
        ' smua.source.func = smua.OUTPUT_DCAMPS'
-       ' display.smua.measure.func = display.MEASURE_VOLTS'
+       ' display.smua.measure.func = display.MEASURE_DCVOLTS'
        ' smua.source.autorangei = 1'
        ' smua.source.output = 1 print("ok")',
     2: 'reset()'
@@ -65,11 +65,11 @@ class SourceMeter(HasIO, Module):
         return float(self.communicate('print((smua.source.func+1)*smua.source.output)'))
 
     def write_mode(self, value):
+        assert self.communicate(SOURCECMDS[value]) == 'ok'
         if value == 'current':
             self.write_vlimit(self.vlimit)
         elif value == 'voltage':
             self.write_ilimit(self.ilimit)
-        assert self.communicate(SOURCECMDS[value]) == 'ok'
         return self.read_mode()
 
     def read_ilimit(self):
@@ -118,6 +118,7 @@ class Current(HasIO, Writable):
     limit = Parameter('current limit', FloatRange(0, 2.0, unit='A'), default=2)
 
     def initModule(self):
+        super().initModule()
         self.sourcemeter.registerCallbacks(self)
 
     def read_value(self):
@@ -129,9 +130,9 @@ class Current(HasIO, Writable):
     def write_target(self, value):
         if value > self.sourcemeter.ilimit:
             raise ValueError('current exceeds limit')
-        value = float(self.communicate('smua.source.leveli = %g print(smua.source.leveli)' % value))
         if not self.active:
             self.sourcemeter.write_mode('current')   # triggers update_mode -> set active to True
+        value = float(self.communicate('smua.source.leveli = %g print(smua.source.leveli)' % value))
         return value
 
     def read_limit(self):
@@ -163,6 +164,7 @@ class Voltage(HasIO, Writable):
     limit = Parameter('voltage limit', FloatRange(0, 2.0, unit='V'), default=2)
 
     def initModule(self):
+        super().initModule()
         self.sourcemeter.registerCallbacks(self)
 
     def read_value(self):
@@ -174,9 +176,9 @@ class Voltage(HasIO, Writable):
     def write_target(self, value):
         if value > self.sourcemeter.vlimit:
             raise ValueError('voltage exceeds limit')
-        value = float(self.communicate('smua.source.levelv = %g print(smua.source.levelv)' % value))
         if not self.active:
             self.sourcemeter.write_mode('voltage')  # triggers update_mode -> set active to True
+        value = float(self.communicate('smua.source.levelv = %g print(smua.source.levelv)' % value))
         return value
 
     def read_limit(self):
diff --git a/secop_psi/mercury.py b/secop_psi/mercury.py
index 599ced3..991d0fb 100644
--- a/secop_psi/mercury.py
+++ b/secop_psi/mercury.py
@@ -25,84 +25,147 @@ import math
 import re
 import time
 
-from secop.core import Drivable, HasIodev, \
-    Parameter, Property, Readable, StringIO
-from secop.datatypes import EnumType, FloatRange, StringType, StructOf
+from secop.core import Drivable, HasIO, Writable, \
+    Parameter, Property, Readable, StringIO, Attached, Done, IDLE, nopoll
+from secop.datatypes import EnumType, FloatRange, StringType, StructOf, BoolType
 from secop.errors import HardwareError
-from secop.lib.statemachine import StateMachine
+from secop_psi.convergence import HasConvergence
+from secop.lib.enum import Enum
 
 
-class MercuryIO(StringIO):
+VALUE_UNIT = re.compile(r'(.*\d|inf)([A-Za-z/%]*)$')
+SELF = 0
+
+
+def as_float(value):
+    if isinstance(value, str):
+        return float(VALUE_UNIT.match(value).group(1))
+    return '%g' % value
+
+
+def as_string(value):
+    return value
+
+
+class Mapped:
+    def __init__(self, **kwds):
+        self.mapping = kwds
+        self.mapping.update({v: k for k, v in kwds.items()})
+
+    def __call__(self, value):
+        return self.mapping[value]
+
+
+off_on = Mapped(OFF=False, ON=True)
+fast_slow = Mapped(ON=0, OFF=1)  # maps OIs slow=ON/fast=OFF to sample_rate.slow=0/sample_rate.fast=1
+
+
+class IO(StringIO):
     identification = [('*IDN?', r'IDN:OXFORD INSTRUMENTS:MERCURY*')]
 
 
-VALUE_UNIT = re.compile(r'(.*\d)([A-Za-z]*)$')
-
-
-def make_map(**kwds):
-    """create a dict converting internal names to values and vice versa"""
-    kwds.update({v: k for k, v in kwds.items()})
-    return kwds
-
-
-MODE_MAP = make_map(OFF=0, ON=1)
-SAMPLE_RATE = make_map(OFF=1, ON=0)  # invert the codes used by OI
-
-
-class MercuryChannel(HasIodev):
-    slots = Property('''slot uids
+class MercuryChannel(HasIO):
+    slot = Property('''slot uids
     
-                     example: DB6.T1,DB1.H1
-                     slot ids for sensor (and control output)''',
-                     StringType())
-    channel_name = Parameter('mercury nick name', StringType())
-    channel_type = ''  #: channel type(s) for sensor (and control)
+                    example: DB6.T1,DB1.H1
+                    slot ids for sensor (and control output)''',
+                    StringType())
+    channel_name = Parameter('mercury nick name', StringType(), default='')
+    channel_type = ''  #: channel type(s) for sensor (and control) e.g. TEMP,HTR or PRES,AUX
 
-    def query(self, adr, value=None):
-        """get or set a parameter in mercury syntax
+    def _complete_adr(self, adr):
+        """complete address from channel_type and slot"""
+        head, sep, tail = adr.partition(':')
+        for i, (channel_type, slot) in enumerate(zip(self.channel_type.split(','), self.slot.split(','))):
+            if head == str(i):
+                return 'DEV:%s:%s%s%s' % (slot, channel_type, sep, tail)
+            if head == channel_type:
+                return 'DEV:%s:%s%s%s' % (slot, head, sep, tail)
+        return adr
 
-        :param adr: for example "TEMP:SIG:TEMP"
-        :param value: if given and not None, a write command is executed
-        :return:  the value
+    def multiquery(self, adr, names=(), convert=as_float):
+        """get parameter(s) in mercury syntax
 
-        remark: the DEV:<slot> is added automatically, when adr starts with the channel type
-                in addition, when addr starts with '0:' or '1:', the channel type is added
+        :param adr: the 'address part' of the SCPI command
+                    the DEV:<slot> is added automatically, when adr starts with the channel type
+                    in addition, when adr starts with '0:' or '1:', channel type and slot are added
+        :param names: the SCPI names of the parameter(s), for example ['TEMP']
+        :param convert: a converter function (converts replied string to value)
+        :return:  the values as tuple
+
+        Example:
+            adr='AUX:SIG'
+            names = ('PERC',)
+            self.channel_type='PRES,AUX'    # adr starts with 'AUX'
+            self.slot='DB5.P1,DB3.G1'       # -> take second slot
+        -> query command will be READ:DEV:DB3.G1:PRES:SIG:PERC
         """
-        for i, (channel_type, slot) in enumerate(zip(self.channel_type.split(','), self.slots.split(','))):
-            if adr.startswith('%d:' % i):
-                adr = 'DEV:%s:%s:%s' % (slot, channel_type, adr[2:])  # assume i <= 9
-                break
-            if adr.startswith(channel_type + ':'):
-                adr = 'DEV:%s:%s' % (slot, adr)
-                break
-        if value is not None:
-            try:
-                value = '%g' % value  # this works for float, integers and enums
-            except ValueError:
-                value = str(value)  # this alone would not work for enums, and not be nice for floats
-            cmd = 'SET:%s:%s' % (adr, value)
-            reply = self._iodev.communicate(cmd)
-            if reply != 'STAT:%s:VALID' % cmd:
-                raise HardwareError('bad response %r to %r' % (reply, cmd))
-            # chain a read command anyway
-        cmd = 'READ:%s' % adr
-        reply = self._iodev.communicate(cmd)
-        head, _, result = reply.rpartition(':')
-        if head != 'STAT:%s' % adr:
-            raise HardwareError('bad response %r to %r' % (reply, cmd))
-        match = VALUE_UNIT.match(result)
-        if match:  # result can be interpreted as a float with optional units
-            return float(match.group(1))
-        return result
+        adr = self._complete_adr(adr)
+        cmd = 'READ:%s:%s' % (adr, ':'.join(names))
+        reply = self.communicate(cmd)
+        head = 'STAT:%s:' % adr
+        try:
+            assert reply.startswith(head)
+            replyiter = iter(reply[len(head):].split(':'))
+            keys, result = zip(*zip(replyiter, replyiter))
+            assert keys == tuple(names)
+            return tuple(convert(r) for r in result)
+        except (AssertionError, AttributeError, ValueError):
+            raise HardwareError('invalid reply %r to cmd %r' % (reply, cmd)) from None
+
+    def multichange(self, adr, values, convert=as_float):
+        """set parameter(s) in mercury syntax
+
+        :param adr: as in see multiquery method
+        :param values: [(name1, value1), (name2, value2) ...]
+        :param convert: a converter function (converts given value to string and replied string to value)
+        :return:  the values as tuple
+
+        Example:
+            adr='0:LOOP'
+            values = [('P', 5), ('I', 2), ('D', 0)]
+            self.channel_type='TEMP,HTR'   # adr starts with 0: take TEMP
+            self.slot='DB6.T1,DB1.H1'      # and take first slot
+        -> change command will be SET:DEV:DB6.T1:TEMP:LOOP:P:5:I:2:D:0
+        """
+        adr = self._complete_adr(adr)
+        params = ['%s:%s' % (k, convert(v)) for k, v in values]
+        cmd = 'SET:%s:%s' % (adr, ':'.join(params))
+        reply = self.communicate(cmd)
+        head = 'STAT:SET:%s:' % adr
+
+        try:
+            assert reply.startswith(head)
+            replyiter = iter(reply[len(head):].split(':'))
+            keys, result, valid = zip(*zip(replyiter, replyiter, replyiter))
+            assert keys == tuple(k for k, _ in values)
+            assert any(v == 'VALID' for v in valid)
+            return tuple(convert(r) for r in result)
+        except (AssertionError, AttributeError, ValueError) as e:
+            raise HardwareError('invalid reply %r to cmd %r' % (reply, cmd)) from e
+
+    def query(self, adr, convert=as_float):
+        """query a single parameter
+
+        'adr' and 'convert' areg
+        """
+        adr, _, name = adr.rpartition(':')
+        return self.multiquery(adr, [name], convert)[0]
+
+    def change(self, adr, value, convert=as_float):
+        adr, _, name = adr.rpartition(':')
+        return self.multichange(adr, [(name, value)], convert)[0]
 
     def read_channel_name(self):
-        return self.query('')
+        if self.channel_name:
+            return Done  # channel name will not change
+        return self.query('0:NICK', as_string)
 
 
 class TemperatureSensor(MercuryChannel, Readable):
     channel_type = 'TEMP'
     value = Parameter(unit='K')
-    raw = Parameter('raw value', FloatRange())
+    raw = Parameter('raw value', FloatRange(unit='Ohm'))
 
     def read_value(self):
         return self.query('TEMP:SIG:TEMP')
@@ -111,240 +174,250 @@ class TemperatureSensor(MercuryChannel, Readable):
         return self.query('TEMP:SIG:RES')
 
 
-class HasProgressCheck:
-    """mixin for progress checks
+class HasInput(MercuryChannel):
+    controlled_by = Parameter('source of target value', EnumType(members={'self': SELF}), default=0)
+    target = Parameter(readonly=False)
+    input_modules = ()
 
-    Implements progress checks based on tolerance, settling time and timeout.
-    The algorithm does its best to support changes of these parameters on the
-    fly. However, the full history is not considered, which means for example
-    that the spent time inside tolerance stored already is not altered when
-    changing tolerance.
-    """
-    tolerance = Parameter('absolute tolerance', FloatRange(0), readonly=False, default=0)
-    min_slope = Parameter('minimal abs(slope)', FloatRange(0), readonly=False, default=0)
-    settling_time = Parameter(
-        '''settling time
+    def add_input(self, modobj):
+        if not self.input_modules:
+            self.input_modules = []
+        self.input_modules.append(modobj)
+        prev_enum = self.parameters['controlled_by'].datatype._enum
+        # add enum member, using autoincrement feature of Enum
+        self.parameters['controlled_by'].datatype = EnumType(Enum(prev_enum, **{modobj.name: None}))
 
-        total amount of time the value has to be within tolerance before switching to idle.
-        ''', FloatRange(0), readonly=False, default=0)
-    timeout = Parameter(
-        '''timeout
-
-        timeout = 0: disabled, else:
-        A timeout event happens, when the difference (target - value) is not improved by
-        at least min_slope * timeout over any interval (t, t + timeout).
-        As soon as the value is the first time within tolerance, the criterium is changed:
-        then the timeout event happens after this time + settling_time + timeout.
-        ''', FloatRange(0, unit='sec'), readonly=False, default=3600)
-    status = Parameter('status determined from progress check')
-    value = Parameter()
-    target = Parameter()
-
-    def earlyInit(self):
-        super().earlyInit()
-        self.__state = StateMachine()
-
-    def prepare_state(self, state):
-        tol = self.tolerance
-        if not tol:
-            tol = 0.01 * max(abs(self.target), abs(self.value))
-        dif = abs(self.target - self.value)
-        return dif, tol, state.now, state.delta(0)
-
-    def state_approaching(self, state):
-        if self.init():
-            self.status = 'BUSY', 'approaching'
-        dif, tol, now, delta = self.prepare_state(state)
-        if dif < tol:
-            state.timeout_base = now
-            state.next_step(self.state_inside)
-            return
-        if not self.timeout:
-            return
-        if state.init():
-            state.timeout_base = now
-            state.dif_crit = dif
-            return
-        min_slope = getattr(self, 'ramp', 0) or getattr('min_slope', 0)
-        state.dif_crit -= min_slope * delta
-        if dif < state.dif_crit:
-            state.timeout_base = now
-        elif now > state.timeout_base:
-            self.status = 'WARNING', 'convergence timeout'
-            state.next_action(self.state_idle)
-
-    def state_inside(self, state):
-        if state.init():
-            self.status = 'BUSY', 'inside tolerance'
-        dif, tol, now, delta = self.prepare_state(state)
-        if dif > tol:
-            state.next_action(self.state_outside)
-        state.spent_inside += delta
-        if state.spent_inside > self.settling_time:
-            self.status = 'IDLE', 'reached target'
-            state.next_action(self.state_idle)
-
-    def state_outside(self, state, now, dif, tol, delta):
-        if state.init():
-            self.status = 'BUSY', 'outside tolerance'
-        dif, tol, now, delta = self.prepare_state(state)
-        if dif < tol:
-            state.next_action(self.state_inside)
-        elif now > self.timeout_base + self.settling_time + self.timeout:
-            self.status = 'WARNING', 'settling timeout'
-            state.next_action(self.state_idle)
-
-    def start_state(self):
-        """must be called from write_target, whenever the target changes"""
-        self.__state.start(self.state_approach)
-
-    def poll(self):
-        super().poll()
-        self.__state.poll()
-
-    def read_status(self):
-        if self.status[0] == 'IDLE':
-            # do not change when idle already
-            return self.status
-        return self.check_progress(self.value, self.target)
-
-    def write_target(self, value):
-        raise NotImplementedError()
+    def write_controlled_by(self, value):
+        if self.controlled_by == value:
+            return Done
+        self.controlled_by = value
+        if value == SELF:
+            self.log.warning('switch to manual mode')
+            for input_module in self.input_modules:
+                if input_module.control_active:
+                    input_module.write_control_active(False)
+        return Done
 
 
-class Loop(HasProgressCheck, MercuryChannel):
+class Loop(HasConvergence, MercuryChannel, Drivable):
     """common base class for loops"""
-    mode = Parameter('control mode', EnumType(manual=0, pid=1), readonly=False)
+    control_active = Parameter('control mode', BoolType())
+    output_module = Attached(HasInput, mandatory=False)
     ctrlpars = Parameter(
-        'pid (proportional nad, integral time, differential time',
+        'pid (proportional band, integral time, differential time',
         StructOf(p=FloatRange(0, unit='$'), i=FloatRange(0, unit='min'), d=FloatRange(0, unit='min')),
-        readonly=False, poll=True
+        readonly=False,
     )
-    """pid = Parameter('control parameters', StructOf(p=FloatRange(), i=FloatRange(), d=FloatRange()),readonly=False)"""
-    pid_table_mode = Parameter('', EnumType(off=0, on=1), readonly=False)
+    enable_pid_table = Parameter('', BoolType(), readonly=False)
 
-    def read_ctrlpars(self):
-        return self.query('0:LOOP:P')
+    def initModule(self):
+        super().initModule()
+        if self.output_module:
+            self.output_module.add_input(self)
 
-    def read_integ(self):
-        return self.query('0:LOOP:I')
+    def set_output(self, active):
+        if active:
+            if self.output_module and self.output_module.controlled_by != self.name:
+                self.output_module.controlled_by = self.name
+        else:
+            if self.output_module and self.output_module.controlled_by != SELF:
+                self.output_module.write_controlled_by(SELF)
+            status = IDLE, 'control inactive'
+            if self.status != status:
+                self.status = status
 
-    def read_deriv(self):
-        return self.query('0:LOOP:D')
-
-    def write_prop(self, value):
-        return self.query('0:LOOP:P', value)
-
-    def write_integ(self, value):
-        return self.query('0:LOOP:I', value)
-
-    def write_deriv(self, value):
-        return self.query('0:LOOP:D', value)
+    def set_target(self, target):
+        if self.control_active:
+            self.set_output(True)
+        else:
+            self.log.warning('switch loop control on')
+            self.write_control_active(True)
+        self.target = target
+        self.start_state()
 
     def read_enable_pid_table(self):
-        return self.query('0:LOOP:PIDT').lower()
+        return self.query('0:LOOP:PIDT', off_on)
 
     def write_enable_pid_table(self, value):
-        return self.query('0:LOOP:PIDT', value.upper()).lower()
+        return self.change('0:LOOP:PIDT', value, off_on)
 
-    def read_mode(self):
-        return MODE_MAP[self.query('0:LOOP:ENAB')]
+    def read_ctrlpars(self):
+        # read all in one go, in order to reduce comm. traffic
+        pid = self.multiquery('0:LOOP', ('P', 'I', 'D'))
+        return {k: float(v) for k, v in zip('pid', pid)}
 
-    def write_mode(self, value):
-        if value == 'manual':
-            self.status = 'IDLE', 'manual mode'
-        elif self.status[0] == 'IDLE':
-            self.status = 'IDLE', ''
-        return MODE_MAP[self.query('0:LOOP:ENAB', value)]
+    def write_ctrlpars(self, value):
+        pid = self.multichange('0:LOOP', [(k, value[k.lower()]) for k in 'PID'])
+        return {k.lower(): v for k, v in zip('PID', pid)}
+
+
+class HeaterOutput(HasInput, MercuryChannel, Writable):
+    """heater output
+
+    Remark:
+    The hardware calculates the power from the voltage and the configured
+    resistivity. As the measured heater current is available, the resistivity
+    will be adjusted automatically, when true_power is True.
+    """
+    channel_type = 'HTR'
+    value = Parameter('heater output', FloatRange(unit='W'), readonly=False)
+    target = Parameter('heater output', FloatRange(0, 100, unit='$'), readonly=False)
+    resistivity = Parameter('heater resistivity', FloatRange(10, 1000, unit='Ohm'),
+                            readonly=False)
+    true_power = Parameter('calculate power from measured current', BoolType(), readonly=False, default=True)
+    limit = Parameter('heater output limit', FloatRange(0, 1000, unit='W'), readonly=False)
+    volt = 0.0  # target voltage
+    _last_target = None
+    _volt_target = None
+
+    def read_limit(self):
+        return self.query('HTR:VLIM') ** 2 / self.resistivity
+
+    def write_limit(self, value):
+        result = self.change('HTR:VLIM', math.sqrt(value * self.resistivity))
+        return result ** 2 / self.resistivity
+
+    def read_resistivity(self):
+        if self.true_power:
+            return self.resistivity
+        return max(10, self.query('HTR:RES'))
+
+    def write_resistivity(self, value):
+        self.resistivity = self.change('HTR:RES', max(10, value))
+        if self._last_target is not None:
+            if not self.true_power:
+                self._volt_target = math.sqrt(self._last_target * self.resistivity)
+            self.change('HTR:SIG:VOLT', self._volt_target)
+        return Done
+
+    def read_status(self):
+        status = IDLE, ('true power' if self.true_power else 'fixed resistivity')
+        if self.status != status:
+            return status
+        return Done
+
+    def read_value(self):
+        if self._last_target is None:  # on init
+            self.read_target()
+        if not self.true_power:
+            volt = self.query('HTR:SIG:VOLT')
+            return volt ** 2 / max(10, self.resistivity)
+        volt, current = self.multiquery('HTR:SIG', ('VOLT', 'CURR'))
+        if volt > 0 and current > 0.0001 and self._last_target:
+            res = volt / current
+            tol = res * max(max(0.0003, abs(volt - self._volt_target)) / volt, 0.0001 / current, 0.0001)
+            if abs(res - self.resistivity) > tol + 0.07 and self._last_target:
+                self.write_resistivity(round(res, 1))
+                if self.controlled_by == 0:
+                    self._volt_target = math.sqrt(self._last_target * self.resistivity)
+                    self.change('HTR:SIG:VOLT', self._volt_target)
+        return volt * current
+
+    def read_target(self):
+        if self.controlled_by != 0 and self.target:
+            return 0
+        if self._last_target is not None:
+            return Done
+        self._volt_target = self.query('HTR:SIG:VOLT')
+        self.resistivity = max(10, self.query('HTR:RES'))
+        self._last_target = self._volt_target ** 2 / max(10, self.resistivity)
+        return self._last_target
+
+    def set_target(self, value):
+        """set the target without switching to manual
+
+        might be used by a software loop
+        """
+        self._volt_target = math.sqrt(value * self.resistivity)
+        self.change('HTR:SIG:VOLT', self._volt_target)
+        self._last_target = value
+        return value
 
     def write_target(self, value):
-        raise NotImplementedError
-
-    # def read_pid(self):
-    #     # read all in one go, in order to reduce comm. traffic
-    #     cmd = 'READ:DEV:%s:TEMP:LOOP:P:I:D' % self.slots.split(',')[0]
-    #     reply = self._iodev.communicate(cmd)
-    #     result = list(reply.split(':'))
-    #     pid = result[6::2]
-    #     del result[6::2]
-    #     if ':'.join(result) != cmd:
-    #         raise HardwareError('bad response %r to %r' % (reply, cmd))
-    #     return dict(zip('pid', pid))
-    #
-    # def write_pid(self, value):
-    #     # for simplicity use single writes
-    #     return {k: self.query('LOOP:%s' % k.upper(), value[k]) for k in 'pid'}
+        self.write_controlled_by(SELF)
+        return self.set_target(value)
 
 
-class TemperatureLoop(Loop, TemperatureSensor, Drivable):
+class TemperatureLoop(TemperatureSensor, Loop, Drivable):
     channel_type = 'TEMP,HTR'
-    heater_limit = Parameter('heater output limit', FloatRange(0, 100, unit='W'), readonly=False)
-    heater_resistivity = Parameter('heater resistivity', FloatRange(10, 1000, unit='Ohm'), readonly=False)
+    output_module = Attached(HeaterOutput, mandatory=False)
     ramp = Parameter('ramp rate', FloatRange(0, unit='K/min'), readonly=False)
-    enable_ramp = Parameter('enable ramp rate', EnumType(off=0, on=1), readonly=False)
-    auto_flow = Parameter('enable auto flow', EnumType(off=0, on=1), readonly=False)
-    heater_output = Parameter('heater output', FloatRange(0, 100, unit='W'), readonly=False)
+    enable_ramp = Parameter('enable ramp rate', BoolType(), readonly=False)
+    setpoint = Parameter('working setpoint (differs from target when ramping)', FloatRange(0, unit='$'))
+    auto_flow = Parameter('enable auto flow', BoolType(), readonly=False)
+    _last_setpoint_change = None
 
-    def read_heater_limit(self):
-        return self.query('HTR:VLIM') ** 2 / self.heater_resistivity
+    def doPoll(self):
+        super().doPoll()
+        self.read_setpoint()
 
-    def write_heater_limit(self, value):
-        result = self.query('HTR:VLIM', math.sqrt(value * self.heater_resistivity))
-        return result ** 2 / self.heater_resistivity
+    def read_control_active(self):
+        active = self.query('TEMP:LOOP:ENAB', off_on)
+        self.set_output(active)
+        return active
 
-    def read_heater_resistivity(self):
-        value = self.query('HTR:RES')
-        if value:
-            return value
-        return self.heater_resistivity
+    def write_control_active(self, value):
+        self.set_output(value)
+        return self.change('TEMP:LOOP:ENAB', value, off_on)
 
-    def write_heater_resistivity(self, value):
-        return self.query('HTR:RES', value)
+    @nopoll  # polled by read_setpoint
+    def read_target(self):
+        if self.read_enable_ramp():
+            return self.target
+        self.setpoint = self.query('TEMP:LOOP:TSET')
+        return self.setpoint
+
+    def read_setpoint(self):
+        setpoint = self.query('TEMP:LOOP:TSET')
+        if self.enable_ramp:
+            if setpoint == self.setpoint:
+                # update target when working setpoint does no longer change
+                if setpoint != self.target and self._last_setpoint_change is not None:
+                    unchanged_since = time.time() - self._last_setpoint_change
+                    if unchanged_since > max(12.0, 0.06 / max(1e-4, self.ramp)):
+                        self.target = self.setpoint
+                return setpoint
+            self._last_setpoint_change = time.time()
+        else:
+            self.target = setpoint
+        return setpoint
+
+    def write_target(self, value):
+        target = self.change('TEMP:LOOP:TSET', value)
+        if self.enable_ramp:
+            self._last_setpoint_change = None
+            self.set_target(value)
+        else:
+            self.set_target(target)
+        return Done
 
     def read_enable_ramp(self):
-        return self.query('TEMP:LOOP:RENA').lower()
+        return self.query('TEMP:LOOP:RENA', off_on)
 
     def write_enable_ramp(self, value):
-        return self.query('TEMP:LOOP:RENA', EnumType(off=0, on=1)(value).name).lower()
+        return self.change('TEMP:LOOP:RENA', value, off_on)
 
     def read_auto_flow(self):
-        return self.query('TEMP:LOOP:FAUT').lower()
+        return self.query('TEMP:LOOP:FAUT', off_on)
 
     def write_auto_flow(self, value):
-        return self.query('TEMP:LOOP:FAUT', EnumType(off=0, on=1)(value).name).lower()
+        return self.change('TEMP:LOOP:FAUT', value, off_on)
 
     def read_ramp(self):
-        return self.query('TEMP:LOOP:RSET')
+        result = self.query('TEMP:LOOP:RSET')
+        return min(9e99, result)
 
     def write_ramp(self, value):
+        # use 0 or a very big value for switching off ramp
         if not value:
             self.write_enable_ramp(0)
             return 0
-        if value:
-            self.write_enable_ramp(1)
-        return self.query('TEMP:LOOP:RSET', value)
-
-    def read_target(self):
-        # TODO: check about working setpoint
-        return self.query('TEMP:LOOP:TSET')
-
-    def write_target(self, value):
-        if self.mode != 'pid':
-            self.log.warning('switch to pid loop mode')
-            self.write_mode('pid')
-        self.reset_progress(self.value, value)
-        return self.query('TEMP:LOOP:TSET', value)
-
-    def read_heater_output(self):
-        # TODO: check that this really works, else next line
-        return self.query('HTR:SIG:POWR')
-        # return self.query('HTR:SIG:VOLT') ** 2 / self.heater_resistivity
-
-    def write_heater_output(self, value):
-        if self.mode != 'manual':
-            self.log.warning('switch to manual heater mode')
-            self.write_mode('manual')
-        return self.query('HTR:SIG:VOLT', math.sqrt(value * self.heater_resistivity))
+        if value >= 9e99:
+            self.change('TEMP:LOOP:RSET', 'inf', as_string)
+            self.write_enable_ramp(0)
+            return 9e99
+        self.write_enable_ramp(1)
+        return self.change('TEMP:LOOP:RSET', max(1e-4, value))
 
 
 class PressureSensor(MercuryChannel, Readable):
@@ -355,32 +428,67 @@ class PressureSensor(MercuryChannel, Readable):
         return self.query('PRES:SIG:PRES')
 
 
-class PressureLoop(Loop, PressureSensor, Drivable):
+class ValvePos(HasInput, MercuryChannel, Drivable):
     channel_type = 'PRES,AUX'
+    value = Parameter('value pos', FloatRange(unit='%'), readonly=False)
+    target = Parameter('valve pos target', FloatRange(0, 100, unit='$'), readonly=False)
 
-    valve_pos = Parameter('valve position', FloatRange(0, 100, unit='%'), readonly=False)
+    def doPoll(self):
+        self.read_status()
 
-    def read_valve_pos(self):
+    def read_value(self):
         return self.query('AUX:SIG:PERC')
 
-    def write_valve_pos(self, value):
-        if self.mode != 'manual':
-            self.log.warning('switch to manual valve mode')
-            self.write_mode('manual')
-        return self.query('AUX:SIG:PERC', value)
+    def read_status(self):
+        self.read_value()
+        if abs(self.value - self.target) < 0.01:
+            return 'IDLE', 'at target'
+        return 'BUSY', 'moving'
+
+    def read_target(self):
+        return self.query('PRES:LOOP:FSET')
 
     def write_target(self, value):
-        self.reset_progress(self.value, value)
-        return self.query('PRES:LOOP:PRST', value)
+        self.write_controlled_by(SELF)
+        return self.change('PRES:LOOP:FSET', value)
+
+
+class PressureLoop(PressureSensor, Loop, Drivable):
+    channel_type = 'PRES,AUX'
+    output_module = Attached(ValvePos, mandatory=False)
+
+    def read_control_active(self):
+        active = self.query('PRES:LOOP:FAUT', off_on)
+        self.set_output(active)
+        return active
+
+    def write_control_active(self, value):
+        self.set_output(value)
+        return self.change('PRES:LOOP:FAUT', value, off_on)
+
+    def read_target(self):
+        return self.query('PRES:LOOP:PRST')
+
+    def write_target(self, value):
+        target = self.change('PRES:LOOP:PRST', value)
+        self.set_target(target)
+        return Done
 
 
 class HeLevel(MercuryChannel, Readable):
+    """He level meter channel
+
+    The Mercury system does not support automatic switching between fast
+    (when filling) and slow (when consuming). We have to handle this by software.
+    """
     channel_type = 'LVL'
-    sample_rate = Parameter('_', EnumType(slow=0, fast=1), readonly=False, poll=True)
-    hysteresis = Parameter('hysteresis for detection of increase', FloatRange(0, 100, unit='%'), readonly=False)
-    fast_timeout = Parameter('timeout for switching to slow', FloatRange(0, unit='sec'), readonly=False)
-    _min_level = 200
-    _max_level = -100
+    sample_rate = Parameter('_', EnumType(slow=0, fast=1), readonly=False)
+    hysteresis = Parameter('hysteresis for detection of increase', FloatRange(0, 100, unit='%'),
+                           default=5, readonly=False)
+    fast_timeout = Parameter('time to switch to slow after last increase', FloatRange(0, unit='sec'),
+                             default=300, readonly=False)
+    _min_level = 999
+    _max_level = -999
     _last_increase = None  # None when in slow mode, last increase time in fast mode
 
     def check_rate(self, sample_rate):
@@ -392,18 +500,18 @@ class HeLevel(MercuryChannel, Readable):
         if sample_rate != 0:  # fast
             if not self._last_increase:
                 self._last_increase = time.time()
-                self._max_level = -100
+                self._max_level = -999
         elif self._last_increase:
             self._last_increase = None
-            self._min_level = 200
+            self._min_level = 999
         return sample_rate
 
     def read_sample_rate(self):
-        return self.check_rate(SAMPLE_RATE[self.query('LVL:HEL:PULS:SLOW')])
+        return self.check_rate(self.query('LVL:HEL:PULS:SLOW', fast_slow))
 
     def write_sample_rate(self, value):
         self.check_rate(value)
-        return SAMPLE_RATE[self.query('LVL:HEL:PULS:SLOW', SAMPLE_RATE[value])]
+        return self.change('LVL:HEL:PULS:SLOW', value, fast_slow)
 
     def read_value(self):
         level = self.query('LVL:SIG:HEL:LEV')
@@ -415,11 +523,11 @@ class HeLevel(MercuryChannel, Readable):
                 self._max_level = level
             elif now > self._last_increase + self.fast_timeout:
                 # no increase since fast timeout -> slow
-                self.write_sample_rate('slow')
+                self.write_sample_rate(self.sample_rate.slow)
         else:
             if level > self._min_level + self.hysteresis:
                 # substantial increase -> fast
-                self.write_sample_rate('fast')
+                self.write_sample_rate(self.sample_rate.fast)
             else:
                 self._min_level = min(self._min_level, level)
         return level
@@ -432,5 +540,4 @@ class N2Level(MercuryChannel, Readable):
         return self.query('LVL:SIG:NIT:LEV')
 
 
-class MagnetOutput(MercuryChannel, Drivable):
-    pass
+# TODO: magnet power supply
diff --git a/secop_psi/motorvalve.py b/secop_psi/motorvalve.py
new file mode 100644
index 0000000..0c7344f
--- /dev/null
+++ b/secop_psi/motorvalve.py
@@ -0,0 +1,267 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+
+"""motor valve using a trinamic PD-1161 motor
+
+the valve has an end switch connected to the 'home' digital input
+of the motor controller. Motor settings for the currently used valve:
+
+[valve_motor]
+description = valve motor
+class = secop_psi.trinamic.Motor
+maxcurrent=0.3   # a value corresponding to the torque needed to firmly close the valve.
+move_limit=9999  # no move limit needed
+acceleration=150
+encoder_tolerance=3.6  # typical value
+auto_reset=True   # motor stalls on closing
+
+[valve]
+description = trinamic angular motor valve
+class = secop_psi.motorvalve.MotorValve
+motor = valve_motor
+turns = 9      # number of turns needed to open fully
+speed = 400    # close to max. speed
+lowspeed = 50  # speed for final closing / reference run
+"""
+
+from secop.core import Drivable, Parameter, EnumType, Attached, FloatRange, \
+    Command, IDLE, BUSY, WARN, ERROR, Done, PersistentParam, PersistentMixin
+from secop.errors import HardwareError
+from secop_psi.trinamic import Motor
+from secop.lib.statemachine import StateMachine, Retry, Stop
+
+
+class MotorValve(PersistentMixin, Drivable):
+    motor = Attached(Motor)
+    value = Parameter('current state', EnumType(
+        closed=0, opened=1, undefined=-1), default=-1)
+    target = Parameter('target state', EnumType(close=0, open=1))
+    turns = Parameter('number of turns to open', FloatRange(), readonly=False, group='settings')
+    speed = Parameter('speed for far moves', FloatRange(), readonly=False, group='settings')
+    lowspeed = Parameter('speed for finding closed position', FloatRange(), readonly=False, group='settings')
+    closed_pos = PersistentParam('fully closed position', FloatRange(),
+                                 persistent='auto', export=True, default=-999)  # TODO: export=False
+    pollinterval = Parameter(group='settings')
+
+    _state = None
+
+    # remark: the home button must be touched when the motor is at zero
+
+    def earlyInit(self):
+        super().earlyInit()
+        self._state = StateMachine(logger=self.log, count=3, cleanup=self.handle_error)
+
+    def write_target(self, target):
+        if self.status[0] == ERROR:
+            raise HardwareError('%s: need refrun' % self.status[1])
+        self.target = target
+        self._state.start(self.goto_target, count=3)
+        return Done
+
+    def goto_target(self, state):
+        self.value = 'undefined'
+        if self.motor.isBusy():
+            mot_target = 0 if self.target == self.target.close else self.turns * 360
+            if abs(mot_target - self.motor.target) > self.motor.tolerance:
+                self.motor.stop()
+        return self.open_valve if self.target == self.target.open else self.close_valve
+
+    def read_value(self):
+        """determine value and status"""
+        if self.status[0] == ERROR:
+            return 'undefined'
+        if self.motor.isBusy():
+            return Done
+        motpos = self.motor.read_value()
+        if self.motor.read_home():
+            if motpos > 360:
+                self.status = ERROR, 'home button must be released at this position'
+            elif motpos > 5:
+                if self.status[0] != ERROR:
+                    self.status = WARN, 'position undefined'
+            elif motpos < -360:
+                self.status = ERROR, 'motor must not reach -1 turn!'
+            elif abs(motpos - self.closed_pos) < self.motor.tolerance:
+                self.status = IDLE, 'closed'
+                return 'closed'
+            self.status = WARN, 'nearly closed'
+            return 'undefined'
+        if abs(motpos - self.turns * 360) < 5:
+            self.status = IDLE, 'opened'
+            return 'opened'
+        if motpos < 5:
+            self.status = ERROR, 'home button must be engaged at this position'
+        elif self.status[0] != ERROR:
+            self.status = WARN, 'position undefined'
+        return 'undefined'
+
+    def open_valve(self, state):
+        if state.init:
+            self.closed_pos = -999
+            self.value = 'undefined'
+            self.status = BUSY, 'opening'
+            self.motor.write_speed(self.speed)
+            self.motor.write_target(self.turns * 360)
+        if self.motor.isBusy():
+            if self.motor.home and self.motor.value > 360:
+                self.motor.stop()
+                self.status = ERROR, 'opening valve failed (home switch not released)'
+                return None
+            return Retry()
+        motvalue = self.motor.read_value()
+        if abs(motvalue - self.turns * 360) < 5:
+            self.read_value()  # value = opened, status = IDLE
+        else:
+            if state.count > 0:
+                state.count -= 1
+                self.log.info('target %g not reached, try again', motvalue)
+                return self.goto_target
+            self.status = ERROR, 'opening valve failed (motor target not reached)'
+        return None
+
+    def close_valve(self, state):
+        if state.init:
+            self.closed_pos = -999
+            self.status = BUSY, 'closing'
+            self.motor.write_speed(self.speed)
+            self.motor.write_target(0)
+        if self.motor.isBusy():
+            if self.motor.home:
+                return self.find_closed
+            return Retry()
+        motvalue = self.motor.read_value()
+        if abs(motvalue) > 5:
+            if state.count > 0:
+                state.count -= 1
+                self.log.info('target %g not reached, try again', motvalue)
+                return self.goto_target
+            self.status = ERROR, 'closing valve failed (zero not reached)'
+            return None
+        if self.read_value() == self.value.undefined:
+            if self.status[0] != ERROR:
+                return self.find_closed
+        return None
+
+    def find_closed(self, state):
+        """drive with low speed until motor stalls"""
+        if state.init:
+            self.motor.write_speed(self.lowspeed)
+            state.prev = self.motor.value
+            self.motor.write_target(-360)
+        if self.motor.isBusy():
+            if not self.motor.home:
+                self.motor.stop()
+                return None
+            return Retry()
+        motvalue = self.motor.read_value()
+        if motvalue < -360:
+            self.read_value()  # status -> error
+            return None
+        if motvalue < state.prev - 5:
+            # moved by more than 5 deg
+            state.prev = self.motor.value
+            self.motor.write_target(-360)
+            return Retry()
+        if motvalue > 5:
+            self.status = ERROR, 'closing valve failed (zero not reached)'
+            return None
+        if motvalue < -355:
+            self.status = ERROR, 'closing valve failed (does not stop)'
+            return None
+        self.closed_pos = motvalue
+        self.read_value()  # value = closed, status = IDLE
+        return None
+
+    @Command
+    def ref_run(self):
+        """start reference run"""
+        self.target = 'close'
+        self._state.start(self.ref_home, count=3)
+
+    @Command
+    def stop(self):
+        self._state.stop()
+        self.motor.stop()
+
+    def ref_home(self, state):
+        if state.init:
+            self.closed_pos = -999
+            self.motor.write_speed(self.lowspeed)
+            if self.motor.read_home():
+                self.status = BUSY, 'refrun: release home'
+                self.motor.write_target(self.motor.read_value() + 360)
+                return self.ref_released
+            self.status = BUSY, 'refrun: find home'
+            self.motor.write_target(self.motor.read_value() - (self.turns + 1) * 360)
+        if not self.motor.isBusy():
+            self.status = ERROR, 'ref run failed, can not find home switch'
+            return None
+        if not self.motor.home:
+            return Retry()
+        self.motor.write_speed(self.lowspeed)
+        state.prev = self.motor.read_value()
+        self.motor.write_target(state.prev - 360)
+        self.status = BUSY, 'refrun: find closed'
+        return self.ref_closed
+
+    def ref_released(self, state):
+        if self.motor.isBusy():
+            if self.motor.home:
+                return Retry()
+        elif self.motor.read_home():
+            if state.count > 0:
+                state.count -= 1
+                self.log.info('home switch not released, try again')
+                self.motor.write_target(self.motor.target)
+                return Retry()
+            self.status = ERROR, 'ref run failed, can not release home switch'
+            return None
+        return self.ref_home
+
+    def ref_closed(self, state):
+        if self.motor.isBusy():
+            if not self.motor.home:
+                self.motor.stop()
+                return None
+            return Retry()
+        self.motor.set_zero(max(-50, (self.motor.read_value() - state.prev) * 0.5))
+        self.read_value()  # check home button is valid
+        if abs(self.motor.target - self.motor.value) < 5:
+            self.status = ERROR, 'ref run failed, does not stop'
+        if self.status[0] == ERROR:
+            return None
+        self.log.info('refrun successful')
+        return self.close_valve
+
+    def handle_error(self, state):
+        if state.stopped:  # stop or restart case
+            if state.stopped is Stop:
+                self.status = WARN, 'stopped'
+            return None
+        if state.count > 0:
+            state.count -= 1
+            self.log.info('error %r, try again', state.last_error)
+            state.default_cleanup(state)  # log error cause
+            state.last_error = None
+            return self.goto_target  # try again
+        self.status = ERROR, str(state.last_error)
+        return state.default_cleanup(state)
diff --git a/secop_psi/phytron.py b/secop_psi/phytron.py
index 3a020a7..13cb70b 100644
--- a/secop_psi/phytron.py
+++ b/secop_psi/phytron.py
@@ -23,50 +23,62 @@
 """driver for pythron motors"""
 
 from secop.core import Done, Command, EnumType, FloatRange, IntRange, \
-    HasIodev, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType
+    HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType
 from secop.errors import CommunicationFailedError, HardwareError
 
 
 class PhytronIO(StringIO):
     end_of_line = '\x03'  # ETX
+    timeout = 0.2
     identification = [('0IVR', 'MCC Minilog .*')]
 
-    def communicate(self, command):
-        head, _, reply = super().communicate('\x02' + command).partition('\x02')
-        if reply[0] != '\x06':  # ACK
-            raise CommunicationFailedError('missing ACK %r' % reply)
+    def communicate(self, command, expect_response=True):
+        for ntry in range(5, 0, -1):
+            try:
+                head, _, reply = super().communicate('\x02' + command).partition('\x02')
+                if reply[0] == '\x06':  # ACK
+                    if len(reply) == 1 and expect_response:
+                        raise CommunicationFailedError('empty response')
+                    break
+                raise CommunicationFailedError('missing ACK %r' % reply)
+            except Exception as e:
+               if ntry == 1:
+                   raise
+               self.log.warning('%s - retry', e)
         return reply[1:]
 
 
-class Motor(PersistentMixin, HasIodev, Drivable):
+class Motor(PersistentMixin, HasIO, Drivable):
     axis = Property('motor axis X or Y', StringType(), default='X')
     address = Property('address', IntRange(0, 15), default=0)
     speed_factor = Property('steps / degree', FloatRange(0, None), default=2000)
 
     encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
                              default=1, readonly=False)
-    value = Parameter('angle', FloatRange(unit='deg'), poll=True)
+    value = Parameter('angle', FloatRange(unit='deg'))
     target = Parameter('target angle', FloatRange(unit='deg'), readonly=False)
-    speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False, poll=True)
-    accel = Parameter('', FloatRange(2, 250, unit='deg/s/s'), readonly=False, poll=True)
+    speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False)
+    accel = Parameter('', FloatRange(2, 250, unit='deg/s/s'), readonly=False)
     encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
     zero = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
-    encoder = Parameter('encoder reading', FloatRange(unit='deg'), poll=True)
+    encoder = Parameter('encoder reading', FloatRange(unit='deg'))
     sameside_offset = Parameter('offset when always approaching from the same side',
-                                FloatRange(unit='deg'), readonly=True, default=0)
+                                FloatRange(unit='deg'), readonly=False, default=0)
 
-    iodevClass = PhytronIO
-    fast_pollfactor = 0.02
+    ioClass = PhytronIO
+    fast_poll = 0.1
     _sameside_pending = False
+    _mismatch_count = 0
 
     def earlyInit(self):
+        super().earlyInit()
         self.loadParameters()
 
     def get(self, cmd):
-        return self._iodev.communicate('\x02%x%s%s' % (self.address, self.axis, cmd))
+        return self.communicate('\x02%x%s%s' % (self.address, self.axis, cmd))
 
     def set(self, cmd, value):
-        self._iodev.communicate('\x02%x%s%s%g' % (self.address, self.axis, cmd, value))
+        self.communicate('\x02%x%s%s%g' % (self.address, self.axis, cmd, value), False)
 
     def set_get(self, cmd, value, query):
         self.set(cmd, value)
@@ -79,6 +91,9 @@ class Motor(PersistentMixin, HasIodev, Drivable):
             enc = self.read_encoder()
         else:
             enc = pos
+        status = self.communicate('\x02%xSE' % self.address)
+        status = status[0:4] if self.axis == 'X' else status[4:8]
+        self.log.debug('run %s enc %s end %s', status[1], status[2], status[3])
         status = self.get('=H')
         if status == 'N':
             if self.encoder_mode == 'CHECK':
@@ -86,9 +101,11 @@ class Motor(PersistentMixin, HasIodev, Drivable):
                 if e1 - self.encoder_tolerance <= pos <= e2 + self.encoder_tolerance:
                     self.status = self.Status.BUSY, 'driving'
                 else:
-                    self.log.error('encoder lag: %g not within %g..%g' % (pos, e1, e2))
+                    self.log.error('encoder lag: %g not within %g..%g',
+                                   pos, e1, e2)
                     self.get('S')  # stop
                     self.status = self.Status.ERROR, 'encoder lag error'
+                    self.setFastPoll(False)
             else:
                 self.status = self.Status.BUSY, 'driving'
         else:
@@ -99,9 +116,16 @@ class Motor(PersistentMixin, HasIodev, Drivable):
                 return pos
             if (self.encoder_mode == 'CHECK' and
                     abs(enc - pos) > self.encoder_tolerance):
-                self.status = self.Status.ERROR, 'encoder does not match pos'
+                if self._mismatch_count < 2:
+                    self._mismatch_count += 1
+                else:
+                    self.log.error('encoder mismatch: abs(%g - %g) < %g',
+                                   enc, pos, self.encoder_tolerance)
+                    self.status = self.Status.ERROR, 'encoder does not match pos'
             else:
+                self._mismatch_count = 0
                 self.status = self.Status.IDLE, ''
+            self.setFastPoll(False)
         return pos
 
     def read_encoder(self):
@@ -113,8 +137,9 @@ class Motor(PersistentMixin, HasIodev, Drivable):
         return float(self.get('P14R')) / self.speed_factor
 
     def write_speed(self, value):
-        if abs(float(self.get('P03R')) * self.speed_factor - 1) > 0.001:
-            raise HardwareError('speed factor does not match')
+        inv_factor = float(self.get('P03R'))
+        if abs(inv_factor * self.speed_factor - 1) > 0.001:
+            raise HardwareError('speed factor does not match %g' % (1.0 / inv_factor))
         return float(self.set_get('P14S', int(value * self.speed_factor), 'P14R')) / self.speed_factor
 
     def read_accel(self):
@@ -136,6 +161,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
             self.set('A', value - self.zero + self.sameside_offset)
         else:
             self.set('A', value - self.zero)
+        self.setFastPoll(True, self.fast_poll)
         return value
 
     def write_zero(self, value):
@@ -167,4 +193,4 @@ class Motor(PersistentMixin, HasIodev, Drivable):
 # TODO:
 #  '=E' electronics status
 #  '=I+' / '=I-': limit switches
-#  use P37 to determine if restarted
\ No newline at end of file
+#  use P37 to determine if restarted
diff --git a/secop_psi/sea.py b/secop_psi/sea.py
index 0bde526..a6cbe03 100644
--- a/secop_psi/sea.py
+++ b/secop_psi/sea.py
@@ -62,7 +62,7 @@ service = %(service)s
 CFG_MODULE = """
 [%(module)s]
 class = secop_psi.sea.%(modcls)s
-iodev = %(seaconn)s
+io = %(seaconn)s
 sea_object = %(module)s
 """
 
@@ -367,7 +367,7 @@ def get_datatype(paramdesc):
 
 
 class SeaModule(Module):
-    iodev = Attached()
+    io = Attached()
 
     # pollerClass=None
     path2param = None
@@ -380,7 +380,7 @@ class SeaModule(Module):
         else:
             extra_modules = {}
             srv.extra_sea_modules = extra_modules
-        json_file = cfgdict.pop('json_file', None) or SeaClient.default_json_file[cfgdict['iodev']]
+        json_file = cfgdict.pop('json_file', None) or SeaClient.default_json_file[cfgdict['io']]
         visibility_level = cfgdict.pop('visibility_level', 2)
 
         single_module = cfgdict.pop('single_module', None)
@@ -406,7 +406,9 @@ class SeaModule(Module):
             # with open(join(seaconfdir, json_file + '.json')) as fp:
             #    sea_object, descr = json.load(fp)
             with open(join(seaconfdir, json_file)) as fp:
-                descr = json.load(fp)[sea_object]
+                content = json.load(fp)
+                # print(json_file, content.keys())
+                descr = content[sea_object]
             if rel_paths == '*' or not rel_paths:
                 # take all
                 main = descr['params'][0]
@@ -419,13 +421,14 @@ class SeaModule(Module):
                 # filter by relative paths
                 rel_paths = rel_paths.split()
                 result = []
+                is_running = None
                 for rpath in rel_paths:
                     include = True
                     for paramdesc in descr['params']:
                         path = paramdesc['path']
                         if path.endswith('is_running'):
                             # take this always
-                            result.append(paramdesc)
+                            is_running = paramdesc
                             continue
                         if paramdesc.get('visibility', 1) > visibility_level:
                             continue
@@ -437,6 +440,8 @@ class SeaModule(Module):
                                 result.append(paramdesc)
                         elif sub[0] == rpath:
                             result.append(paramdesc)
+                if is_running:  # take this at end
+                    result.append(is_running)
                 descr['params'] = result
                 rel0 = '' if rel_paths[0] == '.' else rel_paths[0]
                 if result[0]['path'] == rel0:
@@ -518,7 +523,7 @@ class SeaModule(Module):
             #     print('override %s.read_%s' % (cls.__name__, key))
 
             def rfunc(self, cmd='hval %s/%s' % (base, path)):
-                reply = self._iodev.query(cmd)
+                reply = self.io.query(cmd)
                 try:
                     reply = float(reply)
                 except ValueError:
@@ -538,7 +543,7 @@ class SeaModule(Module):
                         value = int(value)
                         # TODO: check if more has to be done for valid tcl data (strings?)
                     cmd = "%s %s" % (command, value)
-                    self._iodev.query(cmd)
+                    self.io.query(cmd)
                     return Done
 
                 attributes['write_' + key] = wfunc
@@ -584,7 +589,7 @@ class SeaModule(Module):
         self.DISPATCHER.broadcast_event(make_update(self.name, pobj))
 
     def initModule(self):
-        self._iodev.register_obj(self, self.sea_object)
+        self.io.register_obj(self, self.sea_object)
         super().initModule()
 
 
@@ -623,7 +628,7 @@ class SeaDrivable(SeaModule, Drivable):
     #    return self.target
 
     def write_target(self, value):
-        self._iodev.query('run %s %s' % (self.sea_object, value))
+        self.io.query('run %s %s' % (self.sea_object, value))
         #self.status = [self.Status.BUSY, 'driving']
         return value
 
@@ -656,4 +661,4 @@ class SeaDrivable(SeaModule, Drivable):
         - on stdsct drivables this will call the halt script
         - on EaseDriv this will set the stopped state
         """
-        self._iodev.query('%s is_running 0' % self.sea_object)
+        self.io.query('%s is_running 0' % self.sea_object)
diff --git a/secop_psi/softcal.py b/secop_psi/softcal.py
index 8095cbf..530c7be 100644
--- a/secop_psi/softcal.py
+++ b/secop_psi/softcal.py
@@ -191,7 +191,7 @@ class Sensor(Readable):
 
     def initModule(self):
         super().initModule()
-        self._rawsensor.registerCallbacks(self, ['status'])  # auto update status
+        self.rawsensor.registerCallbacks(self, ['status'])  # auto update status
         self._calib = CalCurve(self.calib)
         if self.description == '_':
             self.description = '%r calibrated with curve %r' % (self.rawsensor, self.calib)
@@ -220,4 +220,4 @@ class Sensor(Readable):
             self.status = self.Status.ERROR, self._value_error
 
     def read_value(self):
-        return self._calib(self._rawsensor.read_value())
+        return self._calib(self.rawsensor.read_value())
diff --git a/secop_psi/trinamic.py b/secop_psi/trinamic.py
index 9b3edad..793f502 100644
--- a/secop_psi/trinamic.py
+++ b/secop_psi/trinamic.py
@@ -26,10 +26,12 @@ import time
 import struct
 
 from secop.core import BoolType, Command, EnumType, FloatRange, IntRange, \
-    HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, Done
+    HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, Done, \
+    IDLE, BUSY, ERROR
 from secop.io import BytesIO
 from secop.errors import CommunicationFailedError, HardwareError, BadValueError, IsBusyError
 from secop.rwhandler import ReadHandler, WriteHandler
+from secop.lib import formatStatusBits
 
 MOTOR_STOP = 3
 MOVE = 4
@@ -37,6 +39,8 @@ SET_AXIS_PAR = 5
 GET_AXIS_PAR = 6
 SET_GLOB_PAR = 9
 GET_GLOB_PAR = 10
+SET_IO = 14
+GET_IO = 15
 # STORE_GLOB_PAR = 11
 
 BAUDRATES = [9600, 0, 19200, 0, 38400, 57600, 0, 115200]
@@ -80,7 +84,8 @@ def writable(*args, **kwds):
 class Motor(PersistentMixin, HasIO, Drivable):
     address = Property('module address', IntRange(0, 255), default=1)
 
-    value = Parameter('motor position', FloatRange(unit='deg', fmtstr='%.3f'))
+    value = Parameter('motor position', FloatRange(unit='deg', fmtstr='%.3f'),
+                      needscfg=False)
     zero = PersistentParam('zero point', FloatRange(unit='$'), readonly=False, default=0)
     encoder = PersistentParam('encoder reading', FloatRange(unit='$', fmtstr='%.1f'),
                               readonly=True, initwrite=False)
@@ -88,12 +93,17 @@ class Motor(PersistentMixin, HasIO, Drivable):
                               readonly=True, initwrite=False)
     target = Parameter('', FloatRange(unit='$'), default=0)
 
-    move_limit = Parameter('max. angle to drive in one go', FloatRange(unit='$'),
+    move_limit = Parameter('max. angle to drive in one go when current above safe_current',
+                           FloatRange(unit='$'),
                            readonly=False, default=360, group='more')
+    safe_current = Parameter('motor current allowed for big steps', FloatRange(unit='A'),
+                             readonly=False, default=0.2, group='more')
     tolerance = Parameter('positioning tolerance', FloatRange(unit='$'),
                           readonly=False, default=0.9)
     encoder_tolerance = writable('the allowed deviation between steppos and encoder\n\nmust be > tolerance',
                                  FloatRange(0, 360., unit='$', fmtstr='%.3f'), group='more')
+    has_encoder = Parameter('whether encoder is used or not', BoolType(),
+                            readonly=False, default=True, group='more')
     speed = writable('max. speed', FloatRange(0, MAX_SPEED, unit='$/sec', fmtstr='%.1f'), default=40)
     minspeed = writable('min. speed', FloatRange(0, MAX_SPEED, unit='$/sec', fmtstr='%.1f'),
                         default=SPEED_SCALE, group='motorparam')
@@ -106,10 +116,16 @@ class Motor(PersistentMixin, HasIO, Drivable):
     acceleration = writable('', FloatRange(4.6 * ACCEL_SCALE, MAX_ACCEL, unit='deg/s^2', fmtstr='%.1f'),
                             default=150., group='motorparam')
     target_reached = Parameter('', BoolType(), group='hwstatus')
-    move_status = Parameter('', IntRange(0, 3), group='hwstatus')
+    move_status = Parameter('', EnumType(ok=0, stalled=1, encoder_deviation=2, stalled_and_encoder_deviation=3),
+                            group='hwstatus')
     error_bits = Parameter('', IntRange(0, 255), group='hwstatus')
+    home = Parameter('state of home switch (input 3)', BoolType())
+    has_home = Parameter('enable home and activate pullup resistor', BoolType(),
+                         default=True, initwrite=True, group='more')
+    auto_reset = Parameter('automatic reset after failure', BoolType(), readonly=False, default=False)
     free_wheeling = writable('', FloatRange(0, 60., unit='sec', fmtstr='%.2f'),
                              default=0.1, group='motorparam')
+
     power_down_delay = writable('', FloatRange(0, 60., unit='sec', fmtstr='%.2f'),
                                 default=0.1, group='motorparam')
     baudrate = Parameter('', EnumType({'%d' % v: i for i, v in enumerate(BAUDRATES)}),
@@ -117,22 +133,24 @@ class Motor(PersistentMixin, HasIO, Drivable):
     pollinterval = Parameter(group='more')
 
     ioClass = BytesIO
-    fast_pollfactor = 0.001  # not used any more, TODO: use a statemachine for running
-    _started = 0
-    _calcTimeout = True
+    fast_poll = 0.05
+    _run_mode = 0  # 0: idle, 1: driving, 2: stopping
+    _calc_timeout = True
     _need_reset = None
+    _last_change = 0
+    _loading = False  # True when loading parameters
 
     def comm(self, cmd, adr, value=0, bank=0):
         """set or get a parameter
 
         :param adr: parameter number
-        :param cmd: SET command (in the GET case, 1 is added to this)
+        :param cmd: instruction number (SET_* or GET_*)
         :param bank: the bank
         :param value: if given, the parameter is written, else it is returned
         :return: the returned value
         """
-        if self._calcTimeout and self.io._conn:
-            self._calcTimeout = False
+        if self._calc_timeout and self.io._conn:
+            self._calc_timeout = False
             baudrate = getattr(self.io._conn.connection, 'baudrate', None)
             if baudrate:
                 if baudrate not in BAUDRATES:
@@ -167,6 +185,8 @@ class Motor(PersistentMixin, HasIO, Drivable):
         super().startModule(start_events)
 
         def fix_encoder(self=self):
+            if not self.has_encoder:
+                return
             try:
                 # get encoder value from motor. at this stage self.encoder contains the persistent value
                 encoder = self._read_axispar(ENCODER_ADR, ANGLE_SCALE) + self.zero
@@ -174,7 +194,8 @@ class Motor(PersistentMixin, HasIO, Drivable):
             except Exception as e:
                 self.log.error('fix_encoder failed with %r', e)
 
-        start_events.queue(fix_encoder)
+        if self.has_encoder:
+            start_events.queue(fix_encoder)
 
     def fix_encoder(self, encoder_from_hw):
         """fix encoder value
@@ -194,7 +215,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
             if adjusted_encoder != encoder_from_hw:
                 self.log.info('take next closest encoder value (%.2f)' % adjusted_encoder)
             self._need_reset = True
-            self.status = self.Status.ERROR, 'saved encoder value does not match reading'
+            self.status = ERROR, 'saved encoder value does not match reading'
         self._write_axispar(adjusted_encoder - self.zero, ENCODER_ADR, ANGLE_SCALE, readback=False)
 
     def _read_axispar(self, adr, scale=1):
@@ -235,71 +256,123 @@ class Motor(PersistentMixin, HasIO, Drivable):
         """handler write for HwParam"""
         return self._write_axispar(value, *HW_ARGS[pname])
 
+    def doPoll(self):
+        self.read_status()  # read_value is called by read_status
+
     def read_value(self):
-        encoder = self.read_encoder()
         steppos = self.read_steppos()
+        encoder = self.read_encoder() if self.has_encoder else steppos
+        if self.has_home:
+            self.read_home()
         initialized = self.comm(GET_GLOB_PAR, 255, bank=2)
         if initialized:  # no power loss
             self.saveParameters()
-        else:  # just powered up
-            # get persistent values
-            writeDict = self.loadParameters()
+        elif not self._loading:  # just powered up
+            try:
+                self._loading = True
+                # get persistent values
+                writeDict = self.loadParameters()
+            finally:
+                self._loading = False
             self.log.info('set to previous saved values %r', writeDict)
             # self.encoder now contains the last known (persistent) value
             if self._need_reset is None:
-                if self.status[0] == self.Status.IDLE:
+                if self.status[0] == IDLE:
                     # server started, power cycled and encoder value matches last one
                     self.reset()
             else:
-                self.fix_encoder(encoder)
+                if self.has_encoder:
+                    self.fix_encoder(encoder)
                 self._need_reset = True
-                self.status = self.Status.ERROR, 'power loss'
+                self.status = ERROR, 'power loss'
                 # or should we just fix instead of error status?
                 # self._write_axispar(self.steppos - self.zero, readback=False)
             self.comm(SET_GLOB_PAR, 255, 1, bank=2)  # set initialized flag
-            self._started = 0
+            self._run_mode = 0
+            self.setFastPoll(False)
 
         return encoder if abs(encoder - steppos) > self.tolerance else steppos
 
     def read_status(self):
         oldpos = self.steppos
         self.read_value()  # make sure encoder and steppos are fresh
-        if not self._started:
-            if abs(self.encoder - self.steppos) > self.encoder_tolerance:
+        if not self._run_mode:
+            if self.has_encoder and abs(self.encoder - self.steppos) > self.encoder_tolerance:
                 self._need_reset = True
-                if self.status[0] != self.Status.ERROR:
+                if self.auto_reset:
+                    return IDLE, 'encoder does not match internal pos'
+                if self.status[0] != ERROR:
                     self.log.error('encoder (%.2f) does not match internal pos (%.2f)', self.encoder, self.steppos)
-                    return self.Status.ERROR, 'encoder does not match internal pos'
+                    return ERROR, 'encoder does not match internal pos'
             return self.status
-        if oldpos != self.steppos or not (self.read_target_reached() or self.read_move_status()
-                                          or self.read_error_bits()):
-            return self.Status.BUSY, 'moving'
-        # TODO: handle the different errors from move_status and error_bits
+        now = self.parameters['steppos'].timestamp
+        if self.steppos != oldpos:
+            self._last_change = now
+            return BUSY, 'stopping' if self._run_mode == 2 else 'moving'
+        if now < self._last_change + 0.3 and not (self.read_target_reached() or self.read_move_status()):
+            return BUSY, 'stopping' if self._run_mode == 2  else 'moving'
+        if self.target_reached:
+            reason = ''
+        elif self.move_status:
+            reason = self.move_status.name
+        elif self.error_bits:
+            reason = formatStatusBits(self.error_bits, (
+                'stallGuard', 'over_temp', 'over_temp_warn', 'short_A', 'short_B',
+                'open_load_A', 'open_load_B', 'standstill'))
+        else:
+            reason = 'unknown'
+        self.setFastPoll(False)
+        if self._run_mode == 2:
+            self.target = self.value  # indicate to customers that this was stopped
+            self._run_mode = 0
+            return IDLE, 'stopped'
+        self._run_mode = 0
         diff = self.target - self.encoder
         if abs(diff) <= self.tolerance:
-            self._started = 0
-            return self.Status.IDLE, ''
-        self.log.error('out of tolerance by %.3g', diff)
-        self._started = 0
-        return self.Status.ERROR, 'out of tolerance'
+            if reason:
+                self.log.warning('target reached, but move_status = %s', reason)
+            return IDLE, ''
+        if self.auto_reset:
+            self._need_reset = True
+            return IDLE, 'stalled: %s' % reason
+        self.log.error('out of tolerance by %.3g (%s)', diff, reason)
+        return ERROR, 'out of tolerance (%s)' % reason
 
     def write_target(self, target):
-        self.read_value()  # make sure encoder and steppos are fresh
-        if abs(target - self.encoder) > self.move_limit:
-            raise BadValueError('can not move more than %s deg' % self.move_limit)
-        diff = self.encoder - self.steppos
-        if self._need_reset:
-            raise HardwareError('need reset (%s)' % self.status[1])
+        for _ in range(2):  # for auto reset
+            self.read_value()  # make sure encoder and steppos are fresh
+            if self.maxcurrent >= self.safe_current + CURRENT_SCALE and (
+                    abs(target - self.encoder) > self.move_limit + self.tolerance):
+                # pylint: disable=bad-string-format-type
+                # pylint wrongly does not recognise encoder as a descriptor
+                raise BadValueError('can not move more than %g deg (%g -> %g)' %
+                                    (self.move_limit, self.encoder, target))
+            diff = self.encoder - self.steppos
+            if self._need_reset:
+                if self.auto_reset:
+                    if self.isBusy():
+                        self.stop()
+                        while self.isBusy():
+                            time.sleep(0.1)
+                            self.read_value()
+                    self.reset()
+                    if self.status[0] == IDLE:
+                        continue
+                    raise HardwareError('auto reset failed')
+                raise HardwareError('need reset (%s)' % self.status[1])
+            break
         if abs(diff) > self.tolerance:
-            if abs(diff) > self.encoder_tolerance:
+            if abs(diff) > self.encoder_tolerance and self.has_encoder:
                 self._need_reset = True
-                self.status = self.Status.ERROR, 'encoder does not match internal pos'
+                self.status = ERROR, 'encoder does not match internal pos'
                 raise HardwareError('need reset (encoder does not match internal pos)')
-            self._write_axispar(self.encoder - self.zero, STEPPOS_ADR, ANGLE_SCALE)
-        self._started = time.time()
-        self.log.info('move to %.1f', target)
+            self._write_axispar(self.encoder - self.zero, STEPPOS_ADR, ANGLE_SCALE, readback=False)
+        self._last_change = time.time()
+        self._run_mode = 1  # driving
+        self.setFastPoll(True, self.fast_poll)
+        self.log.debug('move to %.1f', target)
         self.comm(MOVE, 0, (target - self.zero) / ANGLE_SCALE)
-        self.status = self.Status.BUSY, 'changed target'
+        self.status = BUSY, 'changed target'
         return target
 
     def write_zero(self, value):
@@ -308,71 +381,67 @@ class Motor(PersistentMixin, HasIO, Drivable):
         return Done
 
     def read_encoder(self):
-        return self._read_axispar(ENCODER_ADR, ANGLE_SCALE) + self.zero
+        if self.has_encoder:
+            return self._read_axispar(ENCODER_ADR, ANGLE_SCALE) + self.zero
+        return self.read_steppos()
 
     def read_steppos(self):
         return self._read_axispar(STEPPOS_ADR, ANGLE_SCALE) + self.zero
 
+    def read_home(self):
+        return not self.comm(GET_IO, 255) & 8
+
+    def write_has_home(self, value):
+        """activate pullup resistor"""
+        return bool(self.comm(SET_IO, 0, value))
+
     @Command(FloatRange())
     def set_zero(self, value):
-        """adjust zero"""
-        self.write_zero(value - self.read_value())
+        """adapt zero to make current position equal to given value"""
+        raw = self.read_value() - self.zero
+        self.write_zero(value - raw)
 
     def read_baudrate(self):
         return self.comm(GET_GLOB_PAR, 65)
 
     def write_baudrate(self, value):
-        self.comm(SET_GLOB_PAR, 65, int(value))
+        """a baudrate change takes effect only after power cycle"""
+        return self.comm(SET_GLOB_PAR, 65, int(value))
 
     @Command()
     def reset(self):
         """set steppos to encoder value, if not within tolerance"""
-        if self._started:
+        if self._run_mode:
             raise IsBusyError('can not reset while moving')
         tol = ENCODER_RESOLUTION * 1.1
         for itry in range(10):
             diff = self.read_encoder() - self.read_steppos()
             if abs(diff) <= tol:
                 self._need_reset = False
-                self.status = self.Status.IDLE, 'ok'
+                self.status = IDLE, 'ok'
                 return
             self._write_axispar(self.encoder - self.zero, STEPPOS_ADR, ANGLE_SCALE, readback=False)
             self.comm(MOVE, 0, (self.encoder - self.zero) / ANGLE_SCALE)
             time.sleep(0.1)
             if itry > 5:
                 tol = self.tolerance
-        self.status = self.Status.ERROR, 'reset failed'
+        self.status = ERROR, 'reset failed'
         return
 
     @Command()
     def stop(self):
         """stop motor immediately"""
+        self._run_mode = 2  # stopping
         self.comm(MOTOR_STOP, 0)
-        self.status = self.Status.IDLE, 'stopped'
-        self._started = 0
+        self.status = BUSY, 'stopping'
+        self.setFastPoll(False)
 
-    @Command()
-    def step_forward(self):
-        """move one full step forwards
-
-        for quick tests
-        """
-        self.comm(MOVE, 1, FULL_STEP / ANGLE_SCALE)
-
-    @Command()
-    def step_back(self):
-        """move one full step backwards
-
-        for quick tests
-        """
-        self.comm(MOVE, 1, - FULL_STEP / ANGLE_SCALE)
-
-    @Command(IntRange(), result=IntRange())
+    @Command(IntRange(), result=IntRange(), export=False)
     def get_axis_par(self, adr):
         """get arbitrary motor parameter"""
         return self.comm(GET_AXIS_PAR, adr)
 
-    @Command((IntRange(), IntRange()), result=IntRange())
+    @Command((IntRange(), IntRange()), result=IntRange(), export=False)
     def set_axis_par(self, adr, value):
         """set arbitrary motor parameter"""
         return self.comm(SET_AXIS_PAR, adr, value)
diff --git a/secop_psi/triton.py b/secop_psi/triton.py
new file mode 100644
index 0000000..93a0e48
--- /dev/null
+++ b/secop_psi/triton.py
@@ -0,0 +1,181 @@
+#!/usr/bin/env python
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+# *****************************************************************************
+"""oxford instruments triton (kelvinoxjt dil)"""
+
+from secop.core import Drivable, HasIO, Writable, \
+    Parameter, Property, Readable, StringIO, Attached, Done, IDLE, nopoll
+from secop.datatypes import EnumType, FloatRange, StringType, StructOf, BoolType
+from secop_psi.mercury import MercuryChannel, Mapped, off_on
+import secop_psi.mercury as mercury
+
+
+opened_closed = Mapped(opened=False, closed=True)
+open_close = Mapped(open=False, clos=True)
+
+
+class DilState(MercuryChannel):
+    pass
+    # states:
+    # CLDN (cool down)
+    # PCL (precool automation)
+    # COND (condense mixture)
+    # PCOND (pause pre-cool (not condense?) automation
+    # RCOND (resume pre-cool (not condense?) automation
+    # WARM (warm-up)
+    # COLL (collect mixture)
+    # EPCL (empty pre-coll automation)
+    # STOP
+    #
+
+
+class Valve(MercuryChannel, Writable):
+    channel_type = 'VALV'
+    value = Parameter('valve state', EnumType(closed=0, opened=1))
+    target = Parameter('valve target', EnumType(close=0, open=1))
+
+    def read_value(self):
+        return self.query('VALV:SIG:STATE', opened_closed)
+
+    def write_target(self, value):
+        return self.change('VALV:SIG:STATE', value, open_close)
+
+
+class Pump(MercuryChannel, Writable):
+    channel_type = 'PUMP'
+    value = Parameter('pump state', EnumType(closed=0, opened=1))
+    target = Parameter('pump target', EnumType(close=0, open=1))
+    power = Parameter('pump power', FloatRange(unit='W'))
+    freq = Parameter('pump frequency', FloatRange(unit='Hz'))
+    powerstage_temp = Parameter('temperature of power stage', FloatRange(unit='K'))
+    motor_temp = Parameter('temperature of motor', FloatRange(unit='K'))
+    bearing_temp = Parameter('temperature of bearing', FloatRange(unit='K'))
+    pumpbase_temp = Parameter('temperature of pump base', FloatRange(unit='K'))
+    electronics_temp = Parameter('temperature of electronics', FloatRange(unit='K'))
+
+    def read_value(self):
+        return self.query('PUMP:SIG:STATE', off_on)
+
+    def write_target(self, value):
+        return self.change('PUMP:SIG:STATE', value, off_on)
+
+    def read_status(self):
+        # TODO: check possible status values
+        return self.WARN, self.query('PUMP:SIG:STATUS')
+
+    def read_power(self):
+        return self.query('PUMP:SIG:POWR')
+
+    def read_freq(self):
+        return self.query('PUMP:SIG:SPD')
+
+    def read_powerstage_temp(self):
+        return self.query('PUMP:SIG:PST')
+
+    def read_motor_temp(self):
+        return self.query('PUMP:SIG:MT')
+
+    def read_bearing_temp(self):
+        return self.query('PUMP:SIG:BT')
+
+    def read_pumpbase_temp(self):
+        return self.query('PUMP:SIG:PBT')
+
+    def read_electronics_temp(self):
+        return self.query('PUMP:SIG:ET')
+
+
+class PulseTubeCompressor(MercuryChannel, Writable):
+    channel_type = 'PTC'
+    value = Parameter('compressor state', EnumType(closed=0, opened=1))
+    target = Parameter('compressor target', EnumType(close=0, open=1))
+    water_in_temp = Parameter('temperature of water inlet', FloatRange(unit='K'))
+    water_out_temp = Parameter('temperature of water outlet', FloatRange(unit='K'))
+    helium_temp = Parameter('temperature of helium', FloatRange(unit='K'))
+    helium_low_pressure = Parameter('helium pressure (low side)', FloatRange(unit='mbar'))
+    helium_high_pressure = Parameter('helium pressure (high side)', FloatRange(unit='mbar'))
+    motor_current = Parameter('motor current', FloatRange(unit='A'))
+
+    def read_value(self):
+        return self.query('PTC:SIG:STATE', off_on)
+
+    def write_target(self, value):
+        return self.change('PTC:SIG:STATE', value, off_on)
+
+    def read_status(self):
+        # TODO: check possible status values
+        return self.WARN, self.query('PTC:SIG:STATUS')
+
+    def read_water_in_temp(self):
+        return self.query('PTC:SIG:WIT')
+
+    def read_water_out_temp(self):
+        return self.query('PTC:SIG:WOT')
+
+    def read_helium_temp(self):
+        return self.query('PTC:SIG:HT')
+
+    def read_helium_low_pressure(self):
+        return self.query('PTC:SIG:HLP')
+
+    def read_helium_high_pressure(self):
+        return self.query('PTC:SIG:HHP')
+
+    def read_motor_current(self):
+        return self.query('PTC:SIG:MCUR')
+
+
+class FlowMeter(MercuryChannel, Readable):
+    channel_type = 'FLOW'
+
+    def read_value(self):
+        return self.query('FLOW:SIG:FLOW')
+
+
+class TemperatureSensor(mercury.TemperatureSensor):
+    # TODO: excitation, enable
+    filter_time = Parameter('filter time', FloatRange(1, 200, unit='sec'), readonly=False)
+    dwell_time = Parameter('dwell time', FloatRange(1, 200, unit='sec'), readonly=False)
+    pause_time = Parameter('pause time', FloatRange(3, 200, unit='sec'), readonly=False)
+
+    def read_filter_time(self):
+        return self.query('TEMP:FILT:TIME')
+
+    def write_filter_time(self, value):
+        self.change('TEMP:FILT:WIN', 80)
+        return self.change('TEMP:FILT:TIME', value)
+
+    def read_dwell_time(self):
+        return self.query('TEMP:FILT:DWEL')
+
+    def write_dwell_time(self, value):
+        self.change('TEMP:FILT:WIN', 80)
+        return self.change('TEMP:FILT:DWEL', value)
+
+    def read_pause_time(self):
+        return self.query('TEMP:FILT:PAUS')
+
+    def write_pause_time(self, value):
+        self.change('TEMP:FILT:WIN', 80)
+        return self.change('TEMP:FILT:PAUS', value)
+
+
+class TemperatureLoop(mercury.TemperatureLoop):
+    pass  # TODO: switch on/off filter, check
diff --git a/test/test_errors.py b/test/test_errors.py
new file mode 100644
index 0000000..fd455eb
--- /dev/null
+++ b/test/test_errors.py
@@ -0,0 +1,30 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+"""test data types."""
+
+import secop.errors
+
+
+def test_errors():
+    """check consistence of secop.errors.EXCEPTIONS"""
+    for e in secop.errors.EXCEPTIONS.values():
+        assert secop.errors.EXCEPTIONS[e().name] == e
diff --git a/test/test_statemachine.py b/test/test_statemachine.py
index b835fb3..2ea81b5 100644
--- a/test/test_statemachine.py
+++ b/test/test_statemachine.py
@@ -78,7 +78,6 @@ def test_fun():
     s.cycle()  # do nothing
     assert s.step == 0
     s.start(rise, level=0, direction=0)
-    s.cycle()
     for i in range(1, 4):
         assert s.status == 'rise'
         assert s.step == i
@@ -100,7 +99,6 @@ def test_fun():
 def test_max_chain():
     s = StateMachine(step=0, status='', threaded=False, logger=LoggerStub())
     s.start(fall, level=999+1, direction=0)
-    s.cycle()
     assert isinstance(s.last_error, RuntimeError)
     assert s.state is None