diff --git a/site_ansto/action.c b/site_ansto/action.c
index 09035966..e3e73e8d 100644
--- a/site_ansto/action.c
+++ b/site_ansto/action.c
@@ -20,6 +20,7 @@
 #include <math.h>
 
 static char *SV_FastShutter = "FastShutter";
+static char *SV_BATPOS = "::beam::attenuator::_fb_BeamAttenuator";
 
 static void setTextSICSVar(char *VarName, char *value) {
   int privilege = 1;
@@ -38,7 +39,7 @@ static void setTextSICSVar(char *VarName, char *value) {
 void AO_istatus(int input, char *identifier) {
   int testVal;
   
-  if (strcasecmp(identifier, "TI1") == 0) {
+  if (strcasecmp(identifier, "QKK:TI1") == 0) {
     testVal = 48 & input;
     if (testVal == 32) { // Fast shutter open
       setTextSICSVar(SV_FastShutter, "OPEN");
@@ -49,6 +50,19 @@ void AO_istatus(int input, char *identifier) {
     } else { // 0 ie both limits activated
       setTextSICSVar(SV_FastShutter, "FAULT");
     }
-  } else if (strcasecmp(identifier, "TS") == 0) {
+  } else if (strcasecmp(identifier, "PLP:BAT:POS") == 0) {
+  // Handle platypus:BAT POS
+    switch (input) {
+      case -1:
+        setTextSICSVar(SV_BATPOS, "OUT");
+      break;
+      case 0:
+        setTextSICSVar(SV_BATPOS, "IN");
+      break;
+      case 1:
+        setTextSICSVar(SV_BATPOS, "OSCILLATING");
+      default:
+      break;
+    }
   }
 }
diff --git a/site_ansto/instrument/config/environment/temperature/lakeshore340_common.tcl b/site_ansto/instrument/config/environment/temperature/lakeshore340_common.tcl
index eebaec4f..999a155c 100644
--- a/site_ansto/instrument/config/environment/temperature/lakeshore340_common.tcl
+++ b/site_ansto/instrument/config/environment/temperature/lakeshore340_common.tcl
@@ -1,4 +1,15 @@
-namespace eval ::environment::temperature { }
+namespace eval ::environment::temperature {
+# Default temperature controller parameters
+  array set tc_dfltPar {
+    tolerance 1
+    settle 30
+    range 2
+    upperlimit 500
+    lowerlimit 4
+  }
+  set tc_dfltURL ca5-[instname]
+  array set moxaPortMap {1 4001 2 4002 3 4003 4 4004}
+}
 
 # @brief Make a simulated temperature controller object.
 #
@@ -19,7 +30,7 @@ proc ::environment::temperature::mkls340sim {temp_sobj} {
 # @param temp_sobj, name for temperature controller object
 # @param IP, (optional) IP address for temperature controller.
 # @param port, (optional) port number for temperature controller.
-proc ::environment::temperature::mkls340 {temp_sobj {IP 137.157.201.50} {port 4001}} {
+proc ::environment::temperature::mkls340 {temp_sobj IP port} {
   Makeasyncqueue sertemp1 LS340 $IP $port
   sertemp1 timeout 2000
   EvFactory new $temp_sobj ls340 sertemp1 1 D ABCD
diff --git a/site_ansto/instrument/hrpd/config/environment/temperature/lakeshore340.tcl b/site_ansto/instrument/hrpd/config/environment/temperature/lakeshore340.tcl
index 209d8ad8..2f4aa1d2 100644
--- a/site_ansto/instrument/hrpd/config/environment/temperature/lakeshore340.tcl
+++ b/site_ansto/instrument/hrpd/config/environment/temperature/lakeshore340.tcl
@@ -5,20 +5,48 @@ source $cfPath(environment)/temperature/lakeshore340_common.tcl
 # This must be called when the instrument configuration is loaded and before\n
 # the buildHDB function is called.  Currently there is no way to add and remove\n
 # environment controllers and their hdb paths at runtime.
-proc ::environment::temperature::add_ls340 {} {
-  set sim_mode [SplitReply [environment_simulation]]
-  if {$sim_mode == "true"} {
-    ::environment::temperature::mkls340sim tc1
-  } else {
-    ::environment::temperature::mkls340 tc1
-    tc1 tolerance 1
-    tc1 Settle 30
-    tc1 range 2
-    tc1 UpperLimit 500
-    tc1 LowerLimit 4
-  }
+#
+# @param tcn temperature controller name, the hdb name will be tcn_cntrl
+# @param mport, the moxa RS232 port number, ie 1,2,3,4
+#
+# Optional parameters, see lakeshore340_common.tcl for defaults in tc_dfltPar
+# @param tolerance, temperature controller tolerance
+# @param settle, settling time in seconds
+# @param range, lakeshore range
+# @param upperlimit, upper temperature limit Kelvin
+# @param lowerlimit, lower temperature limit Kelvin 
+proc ::environment::temperature::add_ls340 {tcn mport args} {
+  variable tc_dfltPar
+  variable tc_dfltURL
+  variable moxaPortMap
+  if [catch {
+    if {$tcn == "" || $mport == ""} {
+      error "ERROR: You must provide a temperature controller name and moxa port number"
+    }
 
-  sicslist setatt tc1 environment_name tempone 
-  sicslist setatt tc1 long_name control_sensor_reading
-  ::environment::mkenvinfo tc1 {heateron {priv user} range {priv manager} }
+    array set tc_param [array get tc_dfltPar]
+
+    if {$args != ""} {
+      array set tc_param $args
+      foreach {nm v} $args {
+        set tc_param($nm) $v
+      }
+    }
+    set sim_mode [SplitReply [environment_simulation]]
+    if {$sim_mode == "true"} {
+      ::environment::temperature::mkls340sim $tcn
+    } else {
+      ::environment::temperature::mkls340 $tcn $tc_dfltURL $moxaPortMap($mport)
+      foreach nm [array names tc_param] {
+        $tcn $nm $tc_param($nm)
+      }
+    }
+
+    sicslist setatt $tcn environment_name ${tcn}_cntrl 
+    sicslist setatt $tcn long_name control_sensor_reading
+    ::environment::mkenvinfo $tcn {heateron {priv user} range {priv manager} }
+  } message ] {
+    if {$::errorCode=="NONE"} {return $message}
+    return -code error $message
+  }
 }
diff --git a/site_ansto/instrument/hrpd/echidna_configuration.tcl b/site_ansto/instrument/hrpd/echidna_configuration.tcl
index 95e3c173..3e8cf4b4 100644
--- a/site_ansto/instrument/hrpd/echidna_configuration.tcl
+++ b/site_ansto/instrument/hrpd/echidna_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.32 $
-# $Date: 2008-08-07 03:17:28 $
+# $Revision: 1.33 $
+# $Date: 2008-08-19 05:11:55 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -40,7 +40,8 @@ source gumxml.tcl
 # AN ERROR IF THERE IS NO ../log/status.tcl FILE.
 restore
 catch {
-#  ::environment::temperature::add_ls340 
+#  ::environment::temperature::add_ls340 tc1 1
+#  ::environment::temperature::add_ls340 tc2 2
   server_init
 
   if [file exists ../extraconfig.tcl] {
diff --git a/site_ansto/instrument/reflectometer/config/commands/commands.tcl b/site_ansto/instrument/reflectometer/config/commands/commands.tcl
index abdfd2de..8d214c5c 100644
--- a/site_ansto/instrument/reflectometer/config/commands/commands.tcl
+++ b/site_ansto/instrument/reflectometer/config/commands/commands.tcl
@@ -5,6 +5,26 @@ namespace eval motor {
     variable is_homing_list ""
 }
 
+namespace eval beam {
+  command attenuator {text=in,out,osc pos} {
+    switch $pos {
+      "in" {
+        bat send POS=0
+      }
+      "out" {
+        bat send POS=-1
+      }
+      "osc" {
+        bat send POS=1
+      }
+      default {
+        return -code error "ERROR: valid values are in, out, osc"
+      }
+    }
+  }
+}
+::beam::attenuator -addfb text BeamAttenuator
+
 namespace eval exp_mode {
     variable valid_modes  
     variable guide_for_mode		;#guide element for a specific mode
diff --git a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
index ae7c763e..b9bd8dce 100644
--- a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
@@ -275,6 +275,7 @@ m1ro precision 0.001
 # Beam Attenuator (16mm/turn, 200mm travel)
 Motor bat $motor_driver_type [params \
   asyncqueue mc1\
+  action MC1\
   axis D\
   units mm\
   hardlowerlim 0\
diff --git a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
index bad0d479..b98b0825 100644
--- a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.23 $
-# $Date: 2008-08-13 04:16:30 $
+# $Revision: 1.24 $
+# $Date: 2008-08-19 05:11:55 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -371,7 +371,7 @@ Motor det $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-quokka\
   port pmc1-quokka\
-  aoid MC1\
+  action MC1\
   axis G\
   units mm\
   hardlowerlim 350\
diff --git a/site_ansto/instrument/server_config.tcl b/site_ansto/instrument/server_config.tcl
index c34c06bf..63c351a6 100644
--- a/site_ansto/instrument/server_config.tcl
+++ b/site_ansto/instrument/server_config.tcl
@@ -1,7 +1,7 @@
 # SICS common configuration
 
-# $Revision: 1.40 $
-# $Date: 2008-08-18 03:01:29 $
+# $Revision: 1.41 $
+# $Date: 2008-08-19 05:11:55 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by $Author: ffr $
 
@@ -138,7 +138,7 @@ sics_release [lindex $tmpstr [expr [llength $tmpstr] - 1]]
 sics_release lock
 
 ::utility::mkVar sics_revision_num Text internal
-set tmpstr [string map {"$" ""} {$Revision: 1.40 $}]
+set tmpstr [string map {"$" ""} {$Revision: 1.41 $}]
 sics_revision_num [lindex $tmpstr [expr [llength $tmpstr] - 1]]
 sics_revision_num lock
 
@@ -163,6 +163,9 @@ exe syspath ../batch
 
 proc server_set_sobj_attributes {} { 
   if [ catch {
+    foreach m [lrange [sicslist type Motor] 1 end] {
+      $m movecount 500
+    }
     motor_set_sobj_attributes 
     ::utility::set_motor_attributes
     ::utility::set_histomem_attributes
diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 59e9b1a2..197e4abb 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -1249,9 +1249,10 @@ static int rspStatus(pDMC2280Driv self, const char* text) {
       &iStopCode, &iTIzero, &iTIone, &iXQ0);
   if (iRet != 8)
     return 0;
- /* TODO some kind of callback for builtin status would be better */ 
+ /* TODO Put the following in specialised response handlers */ 
   if (self->ao_id[0] != '\0') {
-    AO_istatus(iTIone, "TI1");
+    AO_istatus(iTIone, "QKK:TI1");
+    AO_istatus(iSteps, "PLP:BAT:POS");
   }
   if (self->axisLabel >= 'A' && self->axisLabel <= 'D')
     iIOByte = iTIzero;
@@ -1745,7 +1746,9 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
         pAsyncTxn pCmd = event->event.msg.cmd;
         if (self->subState == 1) { /* Status Response */
           int iRet;
-          long lDelta;
+          long lDelta, lprecision;
+          float fprecision;
+
           iRet = rspStatus(self, pCmd->inp_buf);
           if (iRet == 0)
             break;
@@ -1756,11 +1759,16 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
             return;
           }
           /* if the motor moved, update any observers */
-          if (self->abs_encoder)
+          MotorGetPar(self->pMot, "precision", &fprecision);
+          if (self->abs_encoder) {
             lDelta = fabs(self->currCounts - self->lastCounts);
-          else
+            lprecision = (long) (fprecision * self->cntsPerX + 0.5);
+          } else {
             lDelta = fabs(self->currSteps - self->lastSteps);
-          if (lDelta > 10) {
+            lprecision = (long) (fprecision * self->stepsPerX + 0.5);
+          }
+
+          if (lDelta > lprecision) {
             set_lastMotion(self, self->currSteps, self->currCounts);
             report_motion(self);
           }
@@ -3660,7 +3668,7 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
   }
 
   pNew->ao_id[0] = '\0';
-  if ((pPtr=getParam(pCon, interp, params, "aoid", _OPTIONAL)) != NULL) {
+  if ((pPtr=getParam(pCon, interp, params, "action", _OPTIONAL)) != NULL) {
     strncpy(pNew->ao_id, pPtr, sizeof(pNew->ao_id));
     pNew->ao_id[sizeof(pNew->ao_id) - 1] = '\0';
   }