diff --git a/site_ansto/instrument/config/counter/counter_common_1.tcl b/site_ansto/instrument/config/counter/counter_common_1.tcl
index 9ad2782c..9d11a570 100644
--- a/site_ansto/instrument/config/counter/counter_common_1.tcl
+++ b/site_ansto/instrument/config/counter/counter_common_1.tcl
@@ -35,8 +35,8 @@ proc ::counter::ic_initialize {} {
 # This must be sourced before the hmm_configuration.tcl until we separate the scan setup from the hmm setup
       for {set i 0; set n 1} {$i < $isc_numchannels}  {incr i; incr n} {
         MakeCounter bm$n anstomonitor [ params host $isc_monitor_address port [lindex $isc_portlist $i] ]
-        bm$n send scan=1
-        bm$n send sample=10
+        bm$n send set scan=1
+        bm$n send set sample=10
         append bm_list "bm$n "
       }
     }
diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index 6e89389b..b8f46acd 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -104,25 +104,58 @@ if { [ info exists ::config_dict ] } {
       set axis_config 0
     } elseif {$implementation == "12tmagnet_sample_insert"} {
       set axis_config 1
+    } elseif {$implementation == "eulerian_cradle"} {
+      set axis_config 2
     } else {
       set axis_config 0
     }
   }
+  if { [ dict exists $::config_dict m2s2 implementation ] } {
+    set implementation [ dict get $::config_dict m2s2 implementation ]
+    if {$implementation == "normal_m2s2"} {
+      set m2_speed 0.4
+      set m2_accel 0.04
+      set m2_decel 0.04
+      set s2_speed 0.8
+      set s2_accel 0.2
+      set s2_decel 0.2
+    } elseif {$implementation == "extended_m2s2"} {
+      set m2_speed 0.1
+      set m2_accel 0.025
+      set m2_decel 0.025
+      set s2_speed 0.4
+      set s2_accel 0.1
+      set s2_decel 0.1
+    } else {
+      set m2_speed 0.4
+      set m2_accel 0.04
+      set m2_decel 0.04
+      set s2_speed 0.8
+      set s2_accel 0.2
+      set s2_decel 0.2
+    }
+  }
 }
 
 switch $axis_config {
   0 {
-    set use_normal_config "true"
+    set use_s1_stage "true"
     set tilt_motor_driver_type $motor_driver_type
+    fileeval $cfPath(motors)/tilt_configuration.tcl
   }
   1 {
     set magmot s1
     set magmot_aq "mc2"
     set magmot_axis "A"
-    set use_normal_config "false"
+    set use_s1_stage "false"
     set tilt_motor_driver_type asim
+    fileeval $cfPath(motors)/tilt_configuration.tcl
     fileeval $cfPath(motors)/magnet_configuration.tcl
   }
+  2 {
+    set use_s1_stage "true"
+    fileeval $cfPath(motors)/euler_configuration.tcl
+  }
 }
 
 
@@ -250,9 +283,9 @@ m2 motOffDelay 0
 m2 backlash_offset -0.5
 m2 creep_offset 0.1
 m2 creep_precision 0.0
-m2 speed 0.4
-m2 accel 0.04
-m2 decel 0.04
+m2 speed $m2_speed
+m2 accel $m2_accel
+m2 decel $m2_decel
 
 # mc1: Detector Rotate
 Motor a2 $motor_driver_type [params \
@@ -292,100 +325,8 @@ a2 decel 0.2
 ############################
 #
 
-# mc2: Sample Tilt 1
-Motor sgu $tilt_motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis A\
-  units degrees\
-  hardlowerlim -13\
-  hardupperlim 16.5\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 7745478\
-  cntsPerX 8192]
-sgu part sample
-sgu long_name sgu
-sgu softlowerlim -13
-sgu softupperlim 16.5
-sgu home 0
-sgu backlash_offset -0.2
-
-# mc2: Sample Tilt 2
-Motor sgl $tilt_motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis B\
-  units degrees\
-  hardlowerlim -16.5\
-  hardupperlim 17.5\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 7499135\
-  cntsPerX 8192]
-sgl part sample
-sgl long_name sgl
-sgl softlowerlim -16.5
-sgl softupperlim 17.5
-sgl home 0
-sgl backlash_offset -0.2
-
-# mc2: Sample Up Tanslation
-Motor stu $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis C\
-  units mm\
-  hardlowerlim -15\
-  hardupperlim 15\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX -25000\
-  absEnc 1\
-  absEncHome 7392933\
-  cntsPerX -8192]
-stu part sample
-stu long_name stu
-stu softlowerlim -15
-stu softupperlim 15
-stu home 0.0
-stu backlash_offset -0.2
-
-# mc2: Sample Lower Tanslation
-Motor stl $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis D\
-  units mm\
-  hardlowerlim -15\
-  hardupperlim 15\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 7582773\
-  cntsPerX 8192]
-stl part sample
-stl long_name stl
-stl softlowerlim -15
-stl softupperlim 15
-stl home 0.0
-stl backlash_offset -0.2
-
 # mc2: Sample Rotate
-if {$use_normal_config == "true"} {
+if {$use_s1_stage == "true"} {
   Motor s1 $motor_driver_type [params \
     asyncqueue mc2\
     host mc2-taipan\
@@ -409,6 +350,7 @@ if {$use_normal_config == "true"} {
   s1 backlash_offset -0.2
 }
 
+
 # mc2: Analyser Detector Rotate -- Sample Scattering Angle
 # absEncHome 20728908\ at -50
 Motor s2 $motor_driver_type [params \
@@ -440,9 +382,9 @@ s2 backlash_offset 0.5
 s2 blockage_thresh 1
 s2 creep_offset 0.015
 s2 creep_precision 0.005
-s2 speed 0.8
-s2 accel 0.2
-s2 decel 0.2
+s2 speed $s2_speed
+s2 accel $s2_accel
+s2 decel $s2_decel
 
 # mc2: Analyser Horizontal Focus
 Motor ahfocus $motor_driver_type [params \
@@ -520,9 +462,10 @@ mvfocus long_name mvfocus
 mvfocus softlowerlim 0
 mvfocus softupperlim 300
 mvfocus home 0.0
-mvfocus Blockage_Thresh 2
+mvfocus Blockage_Thresh 4
 mvfocus Blockage_Check_Interval 2
 mvfocus creep_offset 0.2
+mvfocus backlash_offset -4
 # mc3: Monochromator Horizontal Focus
 Motor mhfocus $motor_driver_type [params \
   asyncqueue mc3\
@@ -531,25 +474,26 @@ Motor mhfocus $motor_driver_type [params \
   axis B\
   units degrees\
   precision 0.2\
-  hardlowerlim -80\
-  hardupperlim 240\
+  hardlowerlim -10\
+  hardupperlim 280\
   maxSpeed 3.6\
   maxAccel 1.728\
   maxDecel 1.728\
-  stepsPerX [expr -25000.0 * 50.0 / 360.0]\
+  stepsPerX [expr 25000.0 * 50.0 / 360.0]\
   absEnc 1\
   bias_bits 12\
-  bias_bias 1540\
-  absEncHome 2788\
-  cntsPerX [expr -4096.0 / 360.0]]
+  bias_bias 1300\
+  absEncHome 243\
+  cntsPerX [expr 4096.0 / 360.0]]
 mhfocus part crystal
 mhfocus long_name mhfocus
-mhfocus softlowerlim -75
-mhfocus softupperlim 235
+mhfocus softlowerlim -10
+mhfocus softupperlim 280
 mhfocus home 0
-mhfocus Blockage_Thresh 2
+mhfocus Blockage_Thresh 4
 mhfocus Blockage_Check_Interval 2
 mhfocus creep_offset 0.2
+mhfocus backlash_offset -4
 
 # mc3: Monochromator Rotate
 Motor m1 $motor_driver_type [params \
diff --git a/site_ansto/instrument/tas/config/motors/tilt_configuration.tcl b/site_ansto/instrument/tas/config/motors/tilt_configuration.tcl
new file mode 100644
index 00000000..40da9973
--- /dev/null
+++ b/site_ansto/instrument/tas/config/motors/tilt_configuration.tcl
@@ -0,0 +1,92 @@
+# mc2: Sample Tilt 1
+Motor sgu $tilt_motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis A\
+  units degrees\
+  hardlowerlim -13\
+  hardupperlim 16.5\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7745478\
+  cntsPerX 8192]
+sgu part sample
+sgu long_name sgu
+sgu softlowerlim -13
+sgu softupperlim 16.5
+sgu home 0
+sgu backlash_offset -0.2
+
+# mc2: Sample Tilt 2
+Motor sgl $tilt_motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis B\
+  units degrees\
+  hardlowerlim -16.5\
+  hardupperlim 17.5\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7499135\
+  cntsPerX 8192]
+sgl part sample
+sgl long_name sgl
+sgl softlowerlim -16.5
+sgl softupperlim 17.5
+sgl home 0
+sgl backlash_offset -0.2
+
+# mc2: Sample Up Tanslation
+Motor stu $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis C\
+  units mm\
+  hardlowerlim -15\
+  hardupperlim 15\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome 7392933\
+  cntsPerX -8192]
+stu part sample
+stu long_name stu
+stu softlowerlim -15
+stu softupperlim 15
+stu home 0.0
+stu backlash_offset -0.2
+
+# mc2: Sample Lower Tanslation
+Motor stl $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis D\
+  units mm\
+  hardlowerlim -15\
+  hardupperlim 15\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome 7582773\
+  cntsPerX 8192]
+stl part sample
+stl long_name stl
+stl softlowerlim -15
+stl softupperlim 15
+stl home 0.0
+stl backlash_offset -0.2
+
diff --git a/site_ansto/instrument/tas/taipan_configuration.tcl b/site_ansto/instrument/tas/taipan_configuration.tcl
index 68b2b2aa..c605b795 100644
--- a/site_ansto/instrument/tas/taipan_configuration.tcl
+++ b/site_ansto/instrument/tas/taipan_configuration.tcl
@@ -40,18 +40,22 @@ fileeval $cfPath(environment)/sct_agilent_33220A.tcl
 fileeval $cfPath(environment)/sct_protek_common.tcl
 fileeval $cfPath(environment)/sct_protekmm.tcl
 fileeval $cfPath(environment)/temperature/sct_eurotherm_2000.tcl
+fileeval $cfPath(environment)/temperature/sct_eurotherm_3200.tcl
 fileeval $cfPath(environment)/temperature/sct_julabo_lh45.tcl
 fileeval $cfPath(environment)/temperature/sct_lakeshore_336.tcl
 fileeval $cfPath(environment)/temperature/sct_ls336.tcl
 fileeval $cfPath(environment)/temperature/sct_lakeshore_340.tcl
 fileeval $cfPath(environment)/temperature/sct_ls340.tcl
 fileeval $cfPath(environment)/temperature/sct_lakeshore_370.tcl
+fileeval $cfPath(environment)/temperature/sct_lakeshore_m370.tcl
 fileeval $cfPath(environment)/temperature/sct_oxford_itc.tcl
 fileeval $cfPath(environment)/temperature/sct_oxford_mercury.tcl
 fileeval $cfPath(environment)/temperature/west400.tcl
+fileeval $cfPath(environment)/temperature/sct_west_6100.tcl
+fileeval $cfPath(environment)/he3/sct_he3.tcl
 fileeval $cfPath(environment)/magneticField/oxford_labview.tcl
 fileeval $cfPath(environment)/magneticField/sct_oxford12tlv.tcl
-fileeval $cfPath(environment)/he3/sct_he3.tcl
+fileeval $cfPath(beamline)/sct_he3_polanal.tcl
 fileeval config/load_setup.tcl
 fileeval log.tcl
 publish logbook spy
@@ -60,18 +64,36 @@ source gumxml.tcl
 ::utility::mkVar ::anticollider::protect_detector text manager protect_detector false detector true false
 ::anticollider::protect_detector "true"
 
+if { [ dict exists $::config_dict sample_stage implementation ] } {
+  set sample_stage [ dict get $::config_dict sample_stage implementation ]
+} else {
+  set sample_stage "normal_sample_stage"
+}
+switch $sample_stage {
+  "eulerian_cradle" {
+  # s1-> eom, sgu -> ephi, sgl -> echi
+    set OMEGA s1
+    set PHI ephi
+    set CHI echi
+  }
+  "normal_sample_stage" - default {
+    set OMEGA s1
+    set PHI sgu
+    set CHI sgl
+  }
+}
 # init for the tasUB
 #make mcv mch acv ach into mvfocus mhfocus avfocus ahfocus when it works
 puts "doing tasub"
-MakeTasUB tasub m1 m2 mvfocus mhfocus s1 s2 sgu sgl a1 a2 avfocus ahfocus
+MakeTasUB tasub m1 m2 mvfocus mhfocus $OMEGA s2 $PHI $CHI a1 a2 avfocus ahfocus
 tasub mono dd 3.35416
 tasub ana  dd 3.35416
-# NOTE Autofocussing parameters persist in status.tcl
-# You must set them in extraconfig.tcl to override this behaviour
+# NOTE Autofocussing parameters (vbn, hbn) persist in status.tcl
+# To override this behaviour you can set them in extraconfig.tcl
 tasub mono vb1 102.2
 tasub mono vb2 1.78
-tasub mono hb1 184.42
-tasub mono hb2 -60.1
+tasub mono hb1 18.28
+tasub mono hb2 60.1
 tasub mono hb3 0.951
 tasub ana  vb1 115
 tasub ana  vb2 2.13
@@ -90,6 +112,16 @@ server_init
 ###########################################
 # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
 
+puts "Making hkl command"
+MakeMono mono PG m1 m2
+mono dd 3.35416
+MakeWaveLength lambda mono
+MakeEnergy energy mono
+#MakeSingleX singlex
+#MakeHKL s2 $OMEGA $PHI $CHI
+#MakeHKLMot hkl
+#MakeUBcalc ubcalc hkl
+
 # Provide tasmot notifications to GumTree when real motors move
 proc m2tasupdate {} {
   tasub update
@@ -125,7 +157,7 @@ proc a2tasupdate {} {
 publish a2tasupdate user
 
 scriptcallback connect m2 MOTEND m2tasupdate
-scriptcallback connect s1 MOTEND s1s2tasupdate
+scriptcallback connect $OMEGA MOTEND s1s2tasupdate
 scriptcallback connect s2 MOTEND s1s2tasupdate
 scriptcallback connect a2 MOTEND a2tasupdate