diff --git a/site_ansto/instrument/reflectometer/DMC2280/controller1.txt b/site_ansto/instrument/reflectometer/DMC2280/controller1.txt
index e116269b..04581987 100644
--- a/site_ansto/instrument/reflectometer/DMC2280/controller1.txt
+++ b/site_ansto/instrument/reflectometer/DMC2280/controller1.txt
@@ -1,21 +1,24 @@
-NO TE: PLATYPUS - CONTROLLER 1
-NO TE:
-NO TE: $Revision: 1.10 $
-NO TE: $Date: 2008-02-03 23:41:32 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dcl $
-NO TE:
-NO TE: A-BEAM SHADE RAISE
-NO TE: B-COLLIMATOR TRANSLATE A=7350364, B=6529772, C=6941582
-NO TE: C-COLLIMATOR TILT, LEVEL=134660
-NO TE: D-BEAM ATTENUATOR, BEAM CENTRE=8375078
-NO TE: E-SLIT TOWER S3 RAISE
-NO TE: F-SLIT TOWER S4 RAISE
-NO TE: G-DETECTOR TRANSLATION Y (ALONG BEAM)
-NO TE: H-SPARE
-NO ----------------------------------------
+' PLATYPUS - CONTROLLER 1
+'
+' $Revision: 1.11 $
+' $Date: 2008-04-30 01:57:55 $
+' Author: Dan Bartlett
+' Last revision by: $Author: dcl $
+'
+' A-BEAM SHADE RAISE
+' B-COLLIMATOR TRANSLATE A=7350364, B=6529772, C=6941582
+' C-COLLIMATOR TILT, LEVEL=134660
+' D-BEAM ATTENUATOR, BEAM CENTRE=8375078
+' E-SLIT TOWER S3 RAISE
+' F-SLIT TOWER S4 RAISE
+' G-DETECTOR TRANSLATION Y (ALONG BEAM)
+' H-SPARE
+'
+'
+'-----------------------------------------------------------------------
 #AUTO
-NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+'
 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
 MO;' FIRST TIME MOTOR OFF
 CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -33,17 +36,144 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIH=0,25,13,0<-2>2;'SPARE
-NO TE: FIRST TIME THROUGH BRAKE CONTROL NOT DONE
+' FIRST TIME THROUGH BRAKE CONTROL NOT DONE
 REQA=0
 RSPA=0
+' FIRST TIME THROUGH RESET HALT CONTROL
+HLTA=0
+HLTB=0
+HLTC=0
+HLTD=0
+HLTE=0
+HLTF=0
+HLTG=0
+HLTH=0
+' FIRST TIME THROUGH RESET LIMIT CONTROL
+LSAHIT=0
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
 POS=0;' INITIAL BEAM ATTENUATOR FREQUENCY IS 0, PARKED IN THE BEAM
 XQ #ATTEN,1
 JS #THREAD0
 EN
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
 #THREAD0
-NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
-NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+' MAIN THREAD
+' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKSPD
+JS #CHKDCEL
+JS #AIRPAD
+JP #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
+'
+IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+IF (HLTA=1)
+HLTA=0
+ENDIF
+ENDIF
+'
+IF (_BGB=0)
+IF (LSBHIT=1)
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+IF (HLTB=1)
+HLTB=0
+ENDIF
+ENDIF
+'
+IF (_BGC=0)
+IF (LSCHIT=1)
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+IF (HLTC=1)
+HLTC=0
+ENDIF
+ENDIF
+'
+IF (_BGD=0)
+IF (LSDHIT=1)
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+IF (HLTD=1)
+HLTD=0
+ENDIF
+ENDIF
+'
+IF (_BGE=0)
+IF (LSEHIT=1)
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+IF (HLTE=1)
+HLTE=0
+ENDIF
+ENDIF
+'
+IF (_BGF=0)
+IF (LSFHIT=1)
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+IF (HLTF=1)
+HLTF=0
+ENDIF
+ENDIF
+'
+IF (_BGG=0)
+IF (LSGHIT=1)
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+IF (HLTG=1)
+HLTG=0
+ENDIF
+ENDIF
+'
+IF (_BGH=0)
+IF (LSHHIT=1)
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+IF (HLTH=1)
+HLTH=0
+ENDIF
+ENDIF
+'
+JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
+JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
+JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
+JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
+JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
+JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
+JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
+JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKSPD
+' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+'
 IF (_SPA>50000)
 SPA=50000
 ENDIF
@@ -65,110 +195,187 @@ ENDIF
 IF (_SPG>50000)
 SPG=50000
 ENDIF
-NO IF (_SPH>50000)
-NO SPH=50000
-NO ENDIF
-NO TE: TO CONTROL THE BRAKE ON BEAM SHADE RAISE AXIS
-IF (_MOA=0)&(RSPA=0);'BEAM SHADE RAISE MOTOR IS ON
+IF (_SPH>50000)
+SPH=50000
+ENDIF
+EN
+'
+'
+'-----------------------------------------------------------------------
+#TCPERR
+' EMPTY ROUTINE FOR A TCP ERROR
+'
+RE
+'
+'
+'-----------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'-----------------------------------------------------------------------
+#ININT
+' INTERUPT ROUTINE TO STOP ALL AXES
+' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'
+STA,B,C,D,E,F,G,H
+HLTA=1
+HLTB=1
+HLTC=1
+HLTD=1
+HLTE=1
+HLTF=1
+HLTG=1
+HLTH=1
+JS #SETDCEL
+RI
+'
+'
+'-----------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+JS #SETDCEL
+RE
+'
+'-----------------------------------------------------------------------
+#SETDCEL
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
+'
+IF (_BGA=1)
+IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
+STA
+IF (LSAHIT=0)
+OLDDCA=_DCA
+DCA=100000
+LSAHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGB=1)
+IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
+STB
+IF (LSBHIT=0)
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGC=1)
+IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
+STC
+IF (LSCHIT=0)
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGD=1)
+IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
+STD
+IF (LSDHIT=0)
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGE=1)
+IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
+STE
+IF (LSEHIT=0)
+OLDDCE=_DCE
+DCE=150000
+LSEHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
+STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
+DCF=150000
+LSFHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGG=1)
+IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
+STG
+IF (LSGHIT=0)
+OLDDCG=_DCG
+DCG=100000
+LSGHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGH=1)
+IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
+STH
+IF (LSHHIT=0)
+OLDDCH=_DCH
+DCH=100000
+LSHHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+EN
+'
+'
+'-----------------------------------------------------------------------
+#AIRPAD
+' ROUTINE TO CONTROL THE BRAKE ON BEAM SHADE RAISE AXIS
+IF (_MOA=0)&(RSPA=0);'MOTOR IS ON
 REQA=1
 ENDIF
-IF (_MOA=1)&(RSPA=1);'BEAM SHADE RAISE MOTOR IS ON
+IF (_MOA=1)&(RSPA=1);'MOTOR IS OFF
 REQA=0
 ENDIF
-IF (REQA=1)&(RSPA=0);'BEAM SHADE RAISE MOTOR IS REQUIRED
+'
+IF (REQA=1)&(RSPA=0);'MOTOR IS REQUIRED
 SHA
-WT 200
+WT 200;' WAIT FOR MOTOR TO STABILISE
 CB 9;'RELAY ON = BRAKE COIL ENERGISED = BRAKE DISENGAGED
 WT 300
 RSPA=1
 ENDIF
-IF (REQA=0)&(RSPA=1);'BEAM SHADE RAISE MOTOR IS NOT REQUIRED
+IF (REQA=0)&(RSPA=1);'MOTOR IS NOT REQUIRED
 SB 9;'RELAY OFF = BRAKE COIL DE-ENERGISED = BRAKE ENGAGED
 WT 400
 MOA
 WT 100
 RSPA=0
 ENDIF
-JP #THREAD0
 EN
-NO ----------------------------------------
-#TCPERR
-NO TE: EMPTY ROUTINE FOR A TCP ERROR
-RE
-NO ----------------------------------------
-#ININT
-NO TE: INTERUPT ROUTINE TO STOP ALL AXES
-NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
-STA,B,C,D,E,F,G,H
-AM
-MO
-RI
-NO ----------------------------------------
-#LIMSWI
-NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
-OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
-OLDDCB=_DCB
-OLDDCC=_DCC
-OLDDCD=_DCD
-OLDDCE=_DCE
-OLDDCF=_DCF
-OLDDCG=_DCG
-NO OLDDCH=_DCH
-IF (_LFA = 0) | (_LRA = 0)
-DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STA
-ENDIF
-IF (_LFB = 0) | (_LRB = 0)
-DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STB
-ENDIF
-IF (_LFC = 0) | (_LRC = 0)
-DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STC
-ENDIF
-IF (_LFD = 0) | (_LRD = 0)
-DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STD
-ENDIF
-IF (_LFE = 0) | (_LRE = 0)
-DCE=150000;' DECEL FOR LIMIT HIT OCCURENCE
-STE
-ENDIF
-IF (_LFF = 0) | (_LRF = 0)
-DCF=150000;' DECEL FOR LIMIT HIT OCCURENCE
-STF
-ENDIF
-IF (_LFG = 0) | (_LRG = 0)
-DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STG
-ENDIF
-NO IF (_LFH = 0) | (_LRH = 0)
-NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
-NO STH
-NO ENDIF
-AM ABCDEFGH;' AFTER ALL AXES STOPPED
-DCA=OLDDCA;' RESET DECEL TO OLD VALUE
-DCB=OLDDCB
-DCC=OLDDCC
-DCD=OLDDCD
-DCE=OLDDCE
-DCF=OLDDCF
-DCG=OLDDCG
-NO DCH=OLDDCH
-RE
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
 #ATTEN
-NO TE: THIS IS A PROGRAM FOR CONTROLING THE BEAM ATTENUATOR
-NO TE: ITS STATE IS SET BY THE VARIABLE POS
-NO TE: IF POS=-1 THEN ITS OUT OF THE BEAM
-NO TE: IF POS=0 THEN ITS IN THE BEAM, LIKE A SHUTTER
-NO TE: IF POS=1 THEN ITS OSCILLATING
+' THIS IS A PROGRAM FOR CONTROLING THE BEAM ATTENUATOR
+' ITS STATE IS SET BY THE VARIABLE POS
+' IF POS=-1 THEN ITS OUT OF THE BEAM
+' IF POS=0 THEN ITS IN THE BEAM, LIKE A SHUTTER
+' IF POS=1 THEN ITS OSCILLATING
 DEADBD=20
 PARKPOS=8308518; 'PARKING ENCODER POSITION
 SHUTPOS=8359718; 'BEAM SHUT ENCODER POSITION
 STRTPOS=8395558; 'OSCILLATING START ENCODER POSITION
 IF (POS=-1)&(@ABS[_TPD - PARKPOS]>DEADBD)
-NO TE: PARK ATTENUATOR OUT OF BEAM - NO ATTENUATION
+' PARK ATTENUATOR OUT OF BEAM - NO ATTENUATION
 SPD=75000
 ACD=50000
 DCD=50000
@@ -179,7 +386,7 @@ AMD
 MOD
 ENDIF
 IF (POS=0)&(@ABS[_TPD - SHUTPOS]>DEADBD)
-NO TE: PARK ATTENUATOR IN BEAM - LIKE A SHUTTER
+' PARK ATTENUATOR IN BEAM - LIKE A SHUTTER
 SPD=75000
 ACD=50000
 DCD=50000
@@ -190,7 +397,7 @@ AMD
 MOD
 ENDIF
 IF (POS=1)
-NO TE: OSCILLATE ATTENUATOR
+' OSCILLATE ATTENUATOR
 SHD
 SPD=75000
 ACD=50000
@@ -212,3 +419,6 @@ ENDIF
 JP #LOOP,(POS=1)
 JP #ATTEN
 EN
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/reflectometer/DMC2280/controller2.txt b/site_ansto/instrument/reflectometer/DMC2280/controller2.txt
index ccbb340c..a217cc93 100644
--- a/site_ansto/instrument/reflectometer/DMC2280/controller2.txt
+++ b/site_ansto/instrument/reflectometer/DMC2280/controller2.txt
@@ -1,21 +1,24 @@
-NO TE: PLATYPUS - CONTROLLER 2
-NO TE:
-NO TE: $Revision: 1.5 $
-NO TE: $Date: 2008-04-16 00:57:21 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dcl $
-NO TE:
-NO TE: A-SAMPLE TILT 1
-NO TE: B-SAMPLE TILT 2
-NO TE: C-SAMPLE TRANSLATION - LINEAR
-NO TE: D-ANALYSER 1
-NO TE: E-SAMPLE RAISE
-NO TE: F-ANALYSER 2
-NO TE: G-DETECTOR RAISE
-NO TE: H-SPARE
-NO ----------------------------------------
+' PLATYPUS - CONTROLLER 2
+'
+' $Revision: 1.6 $
+' $Date: 2008-04-30 01:57:55 $
+' Author: Dan Bartlett
+' Last revision by: $Author: dcl $
+'
+' A-SAMPLE TILT 1
+' B-SAMPLE TILT 2
+' C-SAMPLE TRANSLATION - LINEAR
+' D-ANALYSER 1
+' E-SAMPLE RAISE
+' F-ANALYSER 2
+' G-DETECTOR RAISE
+' H-SPARE
+'
+'
+'-----------------------------------------------------------------------
 #AUTO
-NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+'
 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
 MO;' FIRST TIME MOTOR OFF
 CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -33,15 +36,142 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIF=0,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIH=0,25,13,0<-2>2;'SPARE
-NO TE: FIRST TIME THROUGH BRAKE CONTROL NOT DONE
+' FIRST TIME THROUGH BRAKE CONTROL NOT DONE
 REQG=0
 RSPG=0
+' FIRST TIME THROUGH RESET HALT CONTROL
+HLTA=0
+HLTB=0
+HLTC=0
+HLTD=0
+HLTE=0
+HLTF=0
+HLTG=0
+HLTH=0
+' FIRST TIME THROUGH RESET LIMIT CONTROL
+LSAHIT=0
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
 JS #THREAD0
 EN
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
 #THREAD0
-NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
-NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+' MAIN THREAD
+' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKSPD
+JS #CHKDCEL
+JS #AIRPAD
+JP #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
+'
+IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+IF (HLTA=1)
+HLTA=0
+ENDIF
+ENDIF
+'
+IF (_BGB=0)
+IF (LSBHIT=1)
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+IF (HLTB=1)
+HLTB=0
+ENDIF
+ENDIF
+'
+IF (_BGC=0)
+IF (LSCHIT=1)
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+IF (HLTC=1)
+HLTC=0
+ENDIF
+ENDIF
+'
+IF (_BGD=0)
+IF (LSDHIT=1)
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+IF (HLTD=1)
+HLTD=0
+ENDIF
+ENDIF
+'
+IF (_BGE=0)
+IF (LSEHIT=1)
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+IF (HLTE=1)
+HLTE=0
+ENDIF
+ENDIF
+'
+IF (_BGF=0)
+IF (LSFHIT=1)
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+IF (HLTF=1)
+HLTF=0
+ENDIF
+ENDIF
+'
+IF (_BGG=0)
+IF (LSGHIT=1)
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+IF (HLTG=1)
+HLTG=0
+ENDIF
+ENDIF
+'
+IF (_BGH=0)
+IF (LSHHIT=1)
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+IF (HLTH=1)
+HLTH=0
+ENDIF
+ENDIF
+'
+JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
+JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
+JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
+JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
+JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
+JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
+JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
+JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKSPD
+' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+'
 IF (_SPA>50000)
 SPA=50000
 ENDIF
@@ -63,94 +193,172 @@ ENDIF
 IF (_SPG>150000)
 SPG=150000
 ENDIF
-NO IF (_SPH>50000) AXIS NOT USED, COMMENTED OUT
-NO SPH=50000
-NO ENDIF
-NO TE: TO CONTROL THE BRAKE ON DETECTOR RAISE AXIS
-IF (_MOG=0)&(RSPG=0);'DETECTOR RAISE MOTOR IS ON
+IF (_SPH>50000)
+SPH=50000
+ENDIF
+EN
+'
+'
+'-----------------------------------------------------------------------
+#TCPERR
+' EMPTY ROUTINE FOR A TCP ERROR
+'
+RE
+'
+'
+'-----------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'-----------------------------------------------------------------------
+#ININT
+' INTERUPT ROUTINE TO STOP ALL AXES
+' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'
+STA,B,C,D,E,F,G,H
+HLTA=1
+HLTB=1
+HLTC=1
+HLTD=1
+HLTE=1
+HLTF=1
+HLTG=1
+HLTH=1
+JS #SETDCEL
+RI
+'
+'
+'-----------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+JS #SETDCEL
+RE
+'
+'-----------------------------------------------------------------------
+#SETDCEL
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
+'
+IF (_BGA=1)
+IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
+STA
+IF (LSAHIT=0)
+OLDDCA=_DCA
+DCA=100000
+LSAHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGB=1)
+IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
+STB
+IF (LSBHIT=0)
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGC=1)
+IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
+STC
+IF (LSCHIT=0)
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGD=1)
+IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
+STD
+IF (LSDHIT=0)
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGE=1)
+IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
+STE
+IF (LSEHIT=0)
+OLDDCE=_DCE
+DCE=150000
+LSEHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
+STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
+DCF=150000
+LSFHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGG=1)
+IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
+STG
+IF (LSGHIT=0)
+OLDDCG=_DCG
+DCG=100000
+LSGHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGH=1)
+IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
+STH
+IF (LSHHIT=0)
+OLDDCH=_DCH
+DCH=100000
+LSHHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+EN
+'
+'
+'-----------------------------------------------------------------------
+#AIRPAD
+' ROUTINE TO CONTROL THE BRAKE ON DETECTOR RAISE AXIS
+IF (_MOG=0)&(RSPG=0);'MOTOR IS ON
 REQG=1
 ENDIF
-IF (_MOG=1)&(RSPG=1);'DETECTOR RAISE MOTOR IS ON
+IF (_MOG=1)&(RSPG=1);'MOTOR IS OFF
 REQG=0
 ENDIF
-IF (REQG=1)&(RSPG=0);'DETECTOR RAISE MOTOR IS REQUIRED
+'
+IF (REQG=1)&(RSPG=0);'MOTOR IS REQUIRED
 SHG
-WT 200
+WT 200;' WAIT FOR MOTOR TO STABILISE
 CB 15;'RELAY ON = BRAKE COIL ENERGISED = BRAKE DISENGAGED
 WT 300
 RSPG=1
 ENDIF
-IF (REQG=0)&(RSPG=1);'DETECTOR RAISE MOTOR IS NOT REQUIRED
+IF (REQG=0)&(RSPG=1);'MOTOR IS NOT REQUIRED
 SB 15;'RELAY OFF = BRAKE COIL DE-ENERGISED = BRAKE ENGAGED
 WT 400
 MOG
 WT 100
 RSPG=0
 ENDIF
-JP #THREAD0
 EN
-NO ----------------------------------------
-#TCPERR
-NO TE: EMPTY ROUTINE FOR A TCP ERROR
-RE
-NO ----------------------------------------
-#ININT
-NO TE: INTERUPT ROUTINE TO STOP ALL AXES
-NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
-STA,B,C,D,E,F,G,H
-AM
-MO
-RI
-NO ----------------------------------------
-#LIMSWI
-NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
-OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
-OLDDCB=_DCB
-OLDDCC=_DCC
-OLDDCD=_DCD
-OLDDCE=_DCE
-OLDDCF=_DCF
-OLDDCG=_DCG
-NO OLDDCH=_DCH AXIS NOT USED
-IF (_LFA = 0) | (_LRA = 0)
-DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STA
-ENDIF
-IF (_LFB = 0) | (_LRB = 0)
-DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STB
-ENDIF
-IF (_LFC = 0) | (_LRC = 0)
-DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STC
-ENDIF
-IF (_LFD = 0) | (_LRD = 0)
-DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STD
-ENDIF
-IF (_LFE = 0) | (_LRE = 0)
-DCE=150000;' DECEL FOR LIMIT HIT OCCURENCE
-STE
-ENDIF
-IF (_LFF = 0) | (_LRF = 0)
-DCF=150000;' DECEL FOR LIMIT HIT OCCURENCE
-STF
-ENDIF
-IF (_LFG = 0) | (_LRG = 0)
-DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STG
-ENDIF
-NO IF (_LFH = 0) | (_LRH = 0) AXIS NOT USED, COMMENTED OUT
-NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
-NO STH
-NO ENDIF
-AM ABCDEFGH;' AFTER ALL AXES STOPPED
-DCA=OLDDCA;' RESET DECEL TO OLD VALUE
-DCB=OLDDCB
-DCC=OLDDCC
-DCD=OLDDCD
-DCE=OLDDCE
-DCF=OLDDCF
-DCG=OLDDCG
-NO DCH=OLDDCH AXIS NOT USED
-RE
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/reflectometer/DMC2280/controller3.txt b/site_ansto/instrument/reflectometer/DMC2280/controller3.txt
index e9e30a30..35ad8785 100644
--- a/site_ansto/instrument/reflectometer/DMC2280/controller3.txt
+++ b/site_ansto/instrument/reflectometer/DMC2280/controller3.txt
@@ -1,21 +1,24 @@
-NO TE: PLAYTPUS - CONTROLLER 3
-NO TE:
-NO TE: $Revision: 1.5 $
-NO TE: $Date: 2007-02-01 23:54:38 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-SLIT S1 WEST BLADE
-NO TE: B-SLIT S1 EAST BLADE
-NO TE: C-SLIT S1 TOP BLADE
-NO TE: D-SLIT S1 BOTTOM BLADE
-NO TE: E-SLIT S2 WEST BLADE
-NO TE: F-SLIT S2 EAST BLADE
-NO TE: G-SLIT S2 TOP BLADE
-NO TE: H-SLIT S2 BOTTOM BLADE
-NO ----------------------------------------
+' PLATYPUS - CONTROLLER 3
+'
+' $Revision: 1.6 $
+' $Date: 2008-04-30 01:57:55 $
+' Author: Dan Bartlett
+' Last revision by: $Author: dcl $
+'
+' A-SLIT S1 WEST BLADE
+' B-SLIT S1 EAST BLADE
+' C-SLIT S1 TOP BLADE
+' D-SLIT S1 BOTTOM BLADE
+' E-SLIT S2 WEST BLADE
+' F-SLIT S2 EAST BLADE
+' G-SLIT S2 TOP BLADE
+' H-SLIT S2 BOTTOM BLADE
+'
+'
+'-----------------------------------------------------------------------
 #AUTO
-NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+'
 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
 MO;' FIRST TIME MOTOR OFF
 CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -25,12 +28,138 @@ AC 60000,60000,60000,60000,60000,60000,60000,60000;' SET ACELERATION
 DC 60000,60000,60000,60000,60000,60000,60000,60000;' SET DECELERATION
 SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
 HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
+' FIRST TIME THROUGH RESET HALT CONTROL
+HLTA=0
+HLTB=0
+HLTC=0
+HLTD=0
+HLTE=0
+HLTF=0
+HLTG=0
+HLTH=0
+' FIRST TIME THROUGH RESET LIMIT CONTROL
+LSAHIT=0
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
 JS #THREAD0
 EN
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
 #THREAD0
-NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
-NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+' MAIN THREAD
+' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKSPD
+JS #CHKDCEL
+JP #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
+'
+IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+IF (HLTA=1)
+HLTA=0
+ENDIF
+ENDIF
+'
+IF (_BGB=0)
+IF (LSBHIT=1)
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+IF (HLTB=1)
+HLTB=0
+ENDIF
+ENDIF
+'
+IF (_BGC=0)
+IF (LSCHIT=1)
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+IF (HLTC=1)
+HLTC=0
+ENDIF
+ENDIF
+'
+IF (_BGD=0)
+IF (LSDHIT=1)
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+IF (HLTD=1)
+HLTD=0
+ENDIF
+ENDIF
+'
+IF (_BGE=0)
+IF (LSEHIT=1)
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+IF (HLTE=1)
+HLTE=0
+ENDIF
+ENDIF
+'
+IF (_BGF=0)
+IF (LSFHIT=1)
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+IF (HLTF=1)
+HLTF=0
+ENDIF
+ENDIF
+'
+IF (_BGG=0)
+IF (LSGHIT=1)
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+IF (HLTG=1)
+HLTG=0
+ENDIF
+ENDIF
+'
+IF (_BGH=0)
+IF (LSHHIT=1)
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+IF (HLTH=1)
+HLTH=0
+ENDIF
+ENDIF
+'
+JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
+JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
+JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
+JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
+JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
+JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
+JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
+JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKSPD
+' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+'
 IF (_SPA>30000)
 SPA=30000
 ENDIF
@@ -55,79 +184,234 @@ ENDIF
 IF (_SPH>30000)
 SPH=30000
 ENDIF
-JP#THREAD0
 EN
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
 #TCPERR
-NO TE: EMPTY ROUTINE FOR A TCP ERROR
+' EMPTY ROUTINE FOR A TCP ERROR
+'
 RE
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'-----------------------------------------------------------------------
 #ININT
-NO TE: INTERUPT ROUTINE TO STOP ALL AXES
-NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+' INTERUPT ROUTINE TO STOP ALL AXES
+' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'
 STA,B,C,D,E,F,G,H
-AM
-MO
+HLTA=1
+HLTB=1
+HLTC=1
+HLTD=1
+HLTE=1
+HLTF=1
+HLTG=1
+HLTH=1
+JS #SETDCEL
 RI
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+JS #SETDCEL
+RE
+'
+'-----------------------------------------------------------------------
+#SETDCEL
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
+'
+IF (_BGA=1)
+IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
+STA
+IF (LSAHIT=0)
+OLDDCA=_DCA
+DCA=100000
+LSAHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGB=1)
+IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
+STB
+IF (LSBHIT=0)
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGC=1)
+IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
+STC
+IF (LSCHIT=0)
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGD=1)
+IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
+STD
+IF (LSDHIT=0)
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGE=1)
+IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
+STE
+IF (LSEHIT=0)
+OLDDCE=_DCE
+DCE=100000
+LSEHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
+STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
+DCF=100000
+LSFHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGG=1)
+IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
+STG
+IF (LSGHIT=0)
+OLDDCG=_DCG
+DCG=100000
+LSGHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGH=1)
+IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
+STH
+IF (LSHHIT=0)
+OLDDCH=_DCH
+DCH=100000
+LSHHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+EN
+'
+'
+'-----------------------------------------------------------------------
 #HOME
-NO TE: THIS ROUTINE HOMES THE SLITS.
-NO TE: IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES ON SLIT 2
-NO TE: SLIT 1 DOES NOT HAVE HOME LIMITS. ITS HOMED IN THE CONVENTIONAL WAY
-NO TE: IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
+' THIS ROUTINE HOMES THE SLITS.
+' IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
+' SLIT 1 DOES NOT HAVE HOME LIMITS. IT IS HOMED IN THE CONVENTIONAL WAY
+' IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
 IF (HOMERUN = 1)
 JP #ENDHOME
 ENDIF
-SH
-IF (_LRA=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRA=201250
+SH ABCDEFGH
+ST ABCDEFGH
+MC ABCDEFGH
+SP 30000,30000,30000,30000,30000,30000,30000,30000
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRA = 0)
+PRA=200000
 BGA
 ENDIF
-IF (_LRB=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRB=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRB = 0)
+PRB=200000
 BGB
 ENDIF
-IF (_LRC=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRC=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRC = 0)
+PRC=200000
 BGC
 ENDIF
-IF (_LRD=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRD=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRD = 0)
+PRD=200000
 BGD
 ENDIF
-IF (_LRE=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRE=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRE = 0)
+PRE=200000
 BGE
 ENDIF
-IF (_LRF=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRF=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRF = 0)
+PRF=200000
 BGF
 ENDIF
-IF (_LRG=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRG=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRG = 0)
+PRG=200000
 BGG
 ENDIF
-IF (_LRH=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRH=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRH = 0)
+PRH=200000
 BGH
 ENDIF
-AM ABCDEFGH
+MC ABCDEFGH
+WT 100
+' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
 JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
-BG;' OPEN ALL SLITS TO LIMITS
-AM ABCDEFGH
-FE EFGH;' DRIVE SLIT 2 TO THE HOME LIMIT AT FULL SPEED
+BG ABCDEFGH
+MC ABCDEFGH
+WT 100
+' DRIVE SLIT 2 TO THE HOME LIMIT AT FULL SPEED
+FE EFGH
 BG EFGH
-AM EFGH
+MC EFGH
+WT 100
+' MOVE AWAY FROM SWITCHES
 PR 100625,100625,100625,100625,-100625,-100625,-100625,-100625;
-BG;' MOVE AWAY 5MM
-AM ABCDEFGH
-SP ,,,,7500,7500,7500,7500;' REDUCE SPEED
-FE EFGH;' DRIVE TO LIMIT AT LOW SPEED
-JG -7500,-7500,-7500,-7500
-BG
-AM ABCDEFGH
-DP 0,0,0,0,0,0,0,0;' DEFINE EACH AXIS POSTION AS ZERO
-SP 30000,30000,30000,30000,30000,30000,30000,30000;' SPEED BACK TO NORMAL
+BG ABCDEFGH
+MC ABCDEFGH
+WT 100
+' DRIVE BACK SLOWLY
+SP 5000,5000,5000,5000,5000,5000,5000,5000
+JG -5000,-5000,-5000,-5000
+FE EFGH
+BG ABCDEFGH
+MC ABCDEFGH
+WT 100
+' MOVE FORWARD FROM LIMIT SWITCH
+PR 30000,30000,30000,30000
+BG ABCD
+MC ABCD
+WT 100
+'
+' STOP MOTORS AND SET ZERO
+MO ABCDEFGH
+DP 0,0,0,0,0,0,0,0
+SP 30000,30000,30000,30000,30000,30000,30000,30000
 HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
 #ENDHOME
 EN
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/reflectometer/DMC2280/controller4.txt b/site_ansto/instrument/reflectometer/DMC2280/controller4.txt
index 803cd05e..816b1b66 100644
--- a/site_ansto/instrument/reflectometer/DMC2280/controller4.txt
+++ b/site_ansto/instrument/reflectometer/DMC2280/controller4.txt
@@ -1,21 +1,24 @@
-NO TE: PLAYTPUS - CONTROLLER 4
-NO TE:
-NO TE: $Revision: 1.5 $
-NO TE: $Date: 2008-04-16 00:57:40 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dcl $
-NO TE:
-NO TE: A-SLIT S3 BOTTOM BLADE
-NO TE: B-SLIT S3 TOP BLADE
-NO TE: C-SLIT S3 WEST BLADE
-NO TE: D-SLIT S3 EAST BLADE
-NO TE: E-SLIT S4 BOTTOM BLADE
-NO TE: F-SLIT S4 TOP BLADE
-NO TE: G-SLIT S4 WEST BLADE
-NO TE: H-SLIT S4 EAST BLADE
-NO ----------------------------------------
+' PLATYPUS - CONTROLLER 4
+'
+' $Revision: 1.6 $
+' $Date: 2008-04-30 01:57:55 $
+' Author: Dan Bartlett
+' Last revision by: $Author: dcl $
+'
+' A-SLIT S3 BOTTOM BLADE
+' B-SLIT S3 TOP BLADE
+' C-SLIT S3 WEST BLADE
+' D-SLIT S3 EAST BLADE
+' E-SLIT S4 BOTTOM BLADE
+' F-SLIT S4 TOP BLADE
+' G-SLIT S4 WEST BLADE
+' H-SLIT S4 EAST BLADE
+'
+'
+'-----------------------------------------------------------------------
 #AUTO
-NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+'
 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
 MO;' FIRST TIME MOTOR OFF
 CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -25,12 +28,138 @@ AC 60000,60000,60000,60000,60000,60000,60000,60000;' SET ACELERATION
 DC 60000,60000,60000,60000,60000,60000,60000,60000;' SET DECELERATION
 SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
 HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
+' FIRST TIME THROUGH RESET HALT CONTROL
+HLTA=0
+HLTB=0
+HLTC=0
+HLTD=0
+HLTE=0
+HLTF=0
+HLTG=0
+HLTH=0
+' FIRST TIME THROUGH RESET LIMIT CONTROL
+LSAHIT=0
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
 JS #THREAD0
 EN
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
 #THREAD0
-NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
-NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+' MAIN THREAD
+' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKSPD
+JS #CHKDCEL
+JP #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
+'
+IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+IF (HLTA=1)
+HLTA=0
+ENDIF
+ENDIF
+'
+IF (_BGB=0)
+IF (LSBHIT=1)
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+IF (HLTB=1)
+HLTB=0
+ENDIF
+ENDIF
+'
+IF (_BGC=0)
+IF (LSCHIT=1)
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+IF (HLTC=1)
+HLTC=0
+ENDIF
+ENDIF
+'
+IF (_BGD=0)
+IF (LSDHIT=1)
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+IF (HLTD=1)
+HLTD=0
+ENDIF
+ENDIF
+'
+IF (_BGE=0)
+IF (LSEHIT=1)
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+IF (HLTE=1)
+HLTE=0
+ENDIF
+ENDIF
+'
+IF (_BGF=0)
+IF (LSFHIT=1)
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+IF (HLTF=1)
+HLTF=0
+ENDIF
+ENDIF
+'
+IF (_BGG=0)
+IF (LSGHIT=1)
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+IF (HLTG=1)
+HLTG=0
+ENDIF
+ENDIF
+'
+IF (_BGH=0)
+IF (LSHHIT=1)
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+IF (HLTH=1)
+HLTH=0
+ENDIF
+ENDIF
+'
+JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
+JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
+JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
+JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
+JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
+JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
+JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
+JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKSPD
+' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+'
 IF (_SPA>30000)
 SPA=30000
 ENDIF
@@ -55,77 +184,227 @@ ENDIF
 IF (_SPH>30000)
 SPH=30000
 ENDIF
-JP#THREAD0
 EN
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
 #TCPERR
-NO TE: EMPTY ROUTINE FOR A TCP ERROR
+' EMPTY ROUTINE FOR A TCP ERROR
+'
 RE
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'-----------------------------------------------------------------------
 #ININT
-NO TE: INTERUPT ROUTINE TO STOP ALL AXES
-NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+' INTERUPT ROUTINE TO STOP ALL AXES
+' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'
 STA,B,C,D,E,F,G,H
-AM
-MO
+HLTA=1
+HLTB=1
+HLTC=1
+HLTD=1
+HLTE=1
+HLTF=1
+HLTG=1
+HLTH=1
+JS #SETDCEL
 RI
-NO ----------------------------------------
+'
+'
+'-----------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+JS #SETDCEL
+RE
+'
+'-----------------------------------------------------------------------
+#SETDCEL
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
+'
+IF (_BGA=1)
+IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
+STA
+IF (LSAHIT=0)
+OLDDCA=_DCA
+DCA=100000
+LSAHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGB=1)
+IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
+STB
+IF (LSBHIT=0)
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGC=1)
+IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
+STC
+IF (LSCHIT=0)
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGD=1)
+IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
+STD
+IF (LSDHIT=0)
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGE=1)
+IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
+STE
+IF (LSEHIT=0)
+OLDDCE=_DCE
+DCE=100000
+LSEHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
+STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
+DCF=100000
+LSFHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGG=1)
+IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
+STG
+IF (LSGHIT=0)
+OLDDCG=_DCG
+DCG=100000
+LSGHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGH=1)
+IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
+STH
+IF (LSHHIT=0)
+OLDDCH=_DCH
+DCH=100000
+LSHHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+EN
+'
+'
+'-----------------------------------------------------------------------
 #HOME
-NO TE: THIS ROUTINE HOMES THE SLITS.
-NO TE: IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
-NO TE: IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
+' THIS ROUTINE HOMES THE SLITS.
+' IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
+' IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
 IF (HOMERUN = 1)
 JP #ENDHOME
 ENDIF
-SH
-IF (_LRA=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRA=201250
+SH ABCDEFGH
+ST ABCDEFGH
+MC ABCDEFGH
+SP 30000,30000,30000,30000,30000,30000,30000,30000
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRA = 0)
+PRA=200000
 BGA
 ENDIF
-IF (_LRB=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRB=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRB = 0)
+PRB=200000
 BGB
 ENDIF
-IF (_LRC=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRC=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRC = 0)
+PRC=200000
 BGC
 ENDIF
-IF (_LRD=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRD=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRD = 0)
+PRD=200000
 BGD
 ENDIF
-IF (_LRE=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRE=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRE = 0)
+PRE=200000
 BGE
 ENDIF
-IF (_LRF=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRF=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRF = 0)
+PRF=200000
 BGF
 ENDIF
-IF (_LRG=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRG=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRG = 0)
+PRG=200000
 BGG
 ENDIF
-IF (_LRH=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
-PRH=201250
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRH = 0)
+PRH=200000
 BGH
 ENDIF
-AM ABCDEFGH
+MC ABCDEFGH
+WT 100
+' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
 JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
-BG;' OPEN ALL SLITS TO LIMITS
-AM ABCDEFGH
-FE;' DRIVE TO THE HOME LIMIT AT FULL SPEED
-BG
-AM ABCDEFGH
+BG ABCDEFGH
+MC ABCDEFGH
+WT 100
+' DRIVE SLITS TO THE HOME LIMIT AT FULL SPEED
+FE ABCDEFGH
+BG ABCDEFGH
+MC ABCDEFGH
+WT 100
+' MOVE AWAY FROM SWITCHES
 PR -100625,-100625,-100625,-100625,-100625,-100625,-100625,-100625;
-BG;' MOVE AWAY 5MM
-AM ABCDEFGH
-SP 7500,7500,7500,7500,7500,7500,7500,7500;' REDUCE SPEED
-FE;' DRIVE TO HOME LIMIT AT LOW SPEED
-BG
-AM ABCDEFGH
-DP 0,0,0,0,0,0,0,0;' DEFINE EACH AXIS POSTION AS ZERO
-SP 30000,30000,30000,30000,30000,30000,30000,30000;' SPEED BACK TO NORMAL
+BG ABCDEFGH
+MC ABCDEFGH
+WT 100
+' DRIVE BACK SLOWLY
+SP 5000,5000,5000,5000,5000,5000,5000,5000
+FE ABCDEFGH
+BG ABCDEFGH
+MC ABCDEFGH
+WT 100
+'
+' STOP MOTORS AND SET ZERO
+MO ABCDEFGH
+DP 0,0,0,0,0,0,0,0
+SP 30000,30000,30000,30000,30000,30000,30000,30000
 HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
 #ENDHOME
 EN
+'
+'
+'-----------------------------------------------------------------------