diff --git a/site_ansto/instrument/rsd/motor_configuration.tcl b/site_ansto/instrument/rsd/motor_configuration.tcl
index dbed5a93..fc347793 100644
--- a/site_ansto/instrument/rsd/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/motor_configuration.tcl
@@ -1,3 +1,10 @@
+# $Revision: 1.4 $
+# $Date: 2006-12-12 22:30:13 $
+# Author: Ferdi Franceschini (ffr@ansto.gov.au)
+# Last revision by: $Author: dcl $
+
+# START MOTOR CONFIGURATION
+
 # Setup addresses of Galil DMC2280 controllers.
 set dmc2280_controller1(host) mc1-kowari
 set dmc2280_controller1(port) pmc1-kowari
@@ -21,184 +28,253 @@ set dmc2280_controller4(port) pmc4-kowari
 #  dmc_close dmc2280_controller4
 #}
 
+############################
+# Motor Controller 1
+# Motor Controller 1
+# Motor Controller 1
+############################
+#:TP at HOME
+#
+
 # Monochromator phi, Tilt 1, upper
 Motor mphi DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis A\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -25000]
-setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis A\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome 7414753\
+  cntsPerX -8192]
+setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
 mphi speed 1
 mphi precision 0.01
 
 # Monochromator chi, Tilt 2, lower
 Motor mchi DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis B\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX 25000]
-setHomeandRange -motor mchi -home 90 -lowrange 20 -uprange 20 
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis B\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7818915\
+  cntsPerX 8192]
+setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
 mchi speed 1
 mchi precision 0.01
 
 # Monochromator Trans 1, upper
 Motor my DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis C\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX 25000]
-setHomeandRange -motor my -home 0 -lowrange 5 -uprange 5
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis C\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7781680\
+  cntsPerX 8192]
+setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
 my speed 1
 my precision 0.01
 
 # Monochromator Trans 2, lower
 Motor mx DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis D\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX 25000]
-setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis D\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome 7562793\
+  cntsPerX -8192]
+setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
 mx speed 1
 mx precision 0.01
 
 # Monochromator omega, rotate
 Motor mom DMC2280 [params \
-	host $dmc2280_controller1(host)\
-        port $dmc2280_controller1(port)\
-        axis E\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-        stepsPerX -12500]
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis E\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -12500\
+  absEnc 1\
+  absEncHome 17694127\
+  cntsPerX -4096]
 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
 mom speed 1
 mom precision 0.01
 
 # Monochromator two-theta, flight-tube rotate
 Motor mtth DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis F\
-        units degrees\
-        maxSpeed 0.5\
-        maxAccel 0.2\
-        maxDecel 0.2\
-	stepsPerX 25000]
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis F\
+  units degrees\
+  maxSpeed 0.5\
+  maxAccel 0.2\
+  maxDecel 0.2\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 10299428\
+  cntsPerX 93207]
 setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
 mtth speed 0.5
-mtth precision 0.01
+mtth accel 0.01
+mtth decel 0.01
+mtth precision 0.02
 
-# Sample Trans3 (vertical)
-Motor sz DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis A\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX 25000]
-setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 700 
-sz speed 1
-sz precision 0.01
+############################
+# Motor Controller 2
+# Motor Controller 2
+# Motor Controller 2
+############################
+#:TP at HOME
+#
 
-# Sample Trans 1 (upper)
+# Sample Trans, vertical, first stage
+Motor sz1 DMC2280 [params \
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis A\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+setHomeandRange -motor sz1 -home 0 -lowrange 0 -uprange 350
+sz1 speed 1
+sz1 precision 0.01
+
+# Sample Trans, vertical, second stage
+Motor sz2 DMC2280 [params \
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis B\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
+setHomeandRange -motor sz2 -home 0 -lowrange 0 -uprange 350
+sz2 speed 1
+sz2 precision 0.01
+
+# Sample Trans 1, upper, y
 Motor sy DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis C\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-        stepsPerX 25000]
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis C\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 5000\
+  absEnc 1\
+  absEncHome 7626584\
+  cntsPerX 1638.4]
 setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250 
 sy speed 1
 sy precision 0.01
 
-# Sample Trans2 (lower)
+# Sample Trans2, lower, x
 Motor sx DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis D\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX 25000]
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis D\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 5000\
+  absEnc 1\
+  absEncHome 24029910\
+  cntsPerX 1638.4]
 setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250 
 sx speed 1
 sx precision 0.01
 
 # Sample Omega, rotate
 Motor som DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis E\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -12500]
-setHomeandRange -motor som -home 0 -lowrange 0 -uprange 360
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis E\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 12500\
+  absEnc 1\
+  absEncHome 24984596\
+  cntsPerX 4096]
+setHomeandRange -motor som -home 0 -lowrange 100 -uprange 100
 som speed 1
 som precision 0.01
 
 # Sample two-theta, detector rotate
 Motor stth DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis F\
-        units degrees\
-        maxSpeed 0.2\
-        maxAccel 0.2\
-        maxDecel 0.2\
-	stepsPerX 125000]
-setHomeandRange -motor stth -home 90 -lowrange 15 -uprange 15
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis F\
+  units degrees\
+  maxSpeed 0.5\
+  maxAccel 0.2\
+  maxDecel 0.2\
+  stepsPerX 125000\
+  absEnc 1\
+  absEncHome 14530407\
+  cntsPerX -93207]
+setHomeandRange -motor stth -home 0 -lowrange 100 -uprange 100
 stth speed 0.5
 stth precision 0.01
 
+############################
+# Motor Controller 3
+# Motor Controller 3
+# Motor Controller 3
+############################
+#
+
 # Monochromator Focusing (HOPG)
 Motor mf1 DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis A\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-        stepsPerX 25000]
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis A\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
 setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
 mf1 speed 1
 mf1 precision 0.01
 
-# Monochromator Fucusing (Ge)
+# Monochromator Focusing (Ge)
 Motor mf2 DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis B\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX 25000]
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis B\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000]
 setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
 mf2 speed 1
 mf2 precision 0.01
@@ -231,45 +307,50 @@ mf2 precision 0.01
 #ephi speed 1
 #ephi precision 0.01
 
-#--------------------------------------------------------
+############################
+# Motor Controller 4
+# Motor Controller 4
+# Motor Controller 4
+############################
+#
 
 # Primary Slit, horizontal offset, 0-30mm
 Motor psho DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis A\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -20125\
-        motorHome 542093]
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis A\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -20125\
+  motorHome 542093]
 setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30 
 
 # Primary Slit, position 0-150mm
 Motor psp DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-        axis B\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -20125\
-        motorHome 2040518]
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis B\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -20125\
+  motorHome 2040518]
 setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
 
 # Primary Slit, width, 0-30mm
 Motor psw DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-        axis C\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -20125\
-        motorHome 2040518]
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis C\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -20125\
+  motorHome 2040518]
 setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 
 
 ## Primary Slit, height, 0-30mm
@@ -289,54 +370,54 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
 
 # Secondary Slit, horizontal offset
 Motor ssho DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis E\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-        motorHome 500000]
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis E\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -20125\
+  motorHome 500000]
 setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30 
 
 # Secondary Slit, position
 Motor ssp DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis F\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-        motorHome 2043085]
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis F\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -20125\
+  motorHome 2043085]
 setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
 
 # Secondary Slit, width
 Motor ssw DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis G\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-        motorHome 2043085]
+  host $dmc2280_controller4(host)\
+  port $dmc2280_controller4(port)\
+  axis G\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -20125\
+  motorHome 2043085]
 setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30
 
 ## Secondary Slit, height
 #Motor ssh DMC2280 [params \
-#	host $dmc2280_controller4(host)\
-#	port $dmc2280_controller4(port)\
-#	axis H\
-#	units mm\
-#	maxSpeed 1\
-#	maxAccel 1\
-#	maxDecel 1\
-#	stepsPerX -20125\
-#        motorHome 500000]
+#  host $dmc2280_controller4(host)\
+#  port $dmc2280_controller4(port)\
+#  axis H\
+#  units mm\
+#  maxSpeed 1\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX -20125\
+#  motorHome 500000]
 #setHomeandRange -motor ssh  -home 0 -lowrange 0 -uprange 30 
 
 #--------------------------------------------------------
@@ -351,8 +432,8 @@ mth drivescript mthSet
 
 proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
 proc sthSet {val} { return "stth=[SplitReply [stth]]"}
-publish sthSet user
 publish sthGet user
+publish sthSet user
 MakeConfigurableMotor sth
 sth readscript sthGet
 sth drivescript sthSet