diff --git a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
index 93936f7d..50f0f377 100644
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.26 $
-# $Date: 2008-06-02 04:41:14 $
+# $Revision: 1.27 $
+# $Date: 2008-06-04 07:00:46 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -52,24 +52,34 @@ set sz_home 2147457295
 #set sx_Home 8350648
 #
 #set sx_Home 9065892
-set sx_Home 9067806
+#set sx_Home 9067806
+set sx_Home 9072935
 
 #set sy_Home 7230717
 # set value from 7223739 to 7224686 after cor 5.12.07
 #set sy_Home 7223739
 #set sy_Home 7224686
 #set sy_Home 18597074
-set sy_Home 18782188
+#set sy_Home 18782188
+set sy_Home 18771918
 
 set som_Home 23164850
-set stth_Home 28686300
+#set stth_Home 28686300
+#set stth_Home 29446192
+set stth_Home 29438973
 
 #set psho_home 542093
 set psho_home 7576691
 #set psp_home 2040518
 #set psp_home 3479157
 #set psp_home 3783500
-set psp_home 3679100
+#
+#set psp_home 3679100
+#
+# set home value to be equal to front limit switch 03.06.2008
+#
+set psp_home 3977689
+
 #set psw_home 2040518
 set psw_home 7784698
 
@@ -281,22 +291,24 @@ sz long_name translate_z
 #sz2 long_name vertical_translation
 } else {
 # Temporary Tiny Translation Thingy
-set sz_home 10800000
+set sz_home 800000
 Motor sz $motor_driver_type [params \
   asyncqueue mc2\
   axis A\
   units mm\
   hardlowerlim -0.1\
-  hardupperlim 100\
+  hardupperlim 79\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX [expr -25000.0*50.0]\
   absenc 1\
   absenchome $sz_home\
-  cntsPerX -[expr 8192.0*50.0]
+  cntsPerX [expr 8192.0*50.0]]
+sz debug 1
+# remember debug is on!
 sz bias_bits 25
-sz bias_bias -16000000
+sz bias_bias -26000000
 setHomeandRange -motor sz -home 0 -lowrange 0.1 -uprange 100
 sz speed 1
 sz precision 0.01
@@ -409,8 +421,8 @@ Motor stth $motor_driver_type [params \
   asyncqueue mc2\
   axis F\
   units degrees\
-  hardlowerlim 30\
-  hardupperlim 150\
+  hardlowerlim 0\
+  hardupperlim 120\
   maxSpeed 0.5\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -418,14 +430,15 @@ Motor stth $motor_driver_type [params \
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX -8192]
-stth softlowerlim 30
-stth softupperlim 150
-stth home 90
+stth softlowerlim 0
+stth softupperlim 120
+stth home 0
 stth speed 0.5
 stth movecount $move_count
 stth precision 0.01
 stth part sample
 stth long_name azimuthal_angle
+stth Backlash_offset 0.3
 
 
 ############################
@@ -544,10 +557,10 @@ Motor psp $motor_driver_type [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -25000\
+  stepsPerX 25000\
   absenc 1\
   absenchome $psp_home\
-  cntsPerX 8192]
+  cntsPerX -8192]
 psp part aperture.primary
 psp long_name position
 setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150