diff --git a/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl b/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
index cf49d1f3..d345629b 100644
--- a/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
@@ -17,78 +17,24 @@ set dmc2280_controller2(port) pmc2-$animal
 set dmc2280_controller3(host) mc3-$animal
 set dmc2280_controller3(port) pmc3-$animal
 
-set dmc2280_controller4(host) mc4-$animal
-set dmc2280_controller4(port) pmc4-$animal
+#set dmc2280_controller4(host) mc4-$animal
+#set dmc2280_controller4(port) pmc4-$animal
 
 if {$sim_mode == "true"} {
   set motor_driver_type asim
 } else {
   set motor_driver_type DMC2280
-#  MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
-#  MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+  MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
+  MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
   MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
-  MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
+#  MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 #  MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
 }
 
 
-#Measured absolute encoder reading at home position
-set dummy_Home    0
-
-set ftz_Home      0
-set ptz_Home      0
-set pom_Home      0
-set stth_Home     0
-set mtth_Home     0
-
-set sv1_Home      0 
-set sh1_Home      0
-set sv2_Home      0
-set sh2_Home      0
-set gom_Home      0
-set scor_Home     0
-
-# AND abs Encoder Reading with FFF to get the lowest 12 bits only
-#set mra_Home      4286
-set mra_Home      191
-#set moma_Home     8386659
-set moma_Home     2147
-#set mrb_Home      294
-set mrb_Home      294
-#set momb_Home     8386694
-set momb_Home     2182
-#set mrc_Home      4558982
-set mrc_Home      86
-#set momc_Home     12499198
-set momc_Home     2302
-
-set mphi_Home     0
-set mchi_Home     8383096
-set mx_Home       8390604
-set my_Home       8391084 
-set mom_Home      8389414
-
-set rco_Home      0
-set rcz_Home      0
-set bsr_Home      0
-set gv1_Home      0
-set gv2_Home      0
-
-
-# set movecount high to reduce the frequency of
-# hnotify messages to a reasonable level
-set move_count 100
-
-############################
-# Motor Controller 1
-# Motor Controller 1
-# Motor Controller 1
-############################
-#
-
 # Dummy translation motor, useful for testing scans
-
-#Motor dummy_motor asim [params \
+set dummy_Home    0
+Motor dummy_motor asim [params \
   asyncqueue mc1\
   host mc1-dingo\
   port pmc1-dingo\
@@ -103,17 +49,53 @@ set move_count 100
   absEnc 1\
   absEncHome $dummy_Home\
   cntsPerX [expr 8192.0/5.0]]
-#dummy_motor part instrument
-#dummy_motor long_name dummy_motor
-#dummy_motor softlowerlim -500
-#dummy_motor softupperlim 500
-#dummy_motor home 0
+dummy_motor part instrument
+dummy_motor long_name dummy_motor
+dummy_motor softlowerlim -500
+dummy_motor softupperlim 500
+dummy_motor home 0
 
-# mc1: Polariser & Spin Flipper - Z translation slide
-# Moto: 100:1 gear, 2mm pitch
-set ptzStepRate [expr (300000.0/100.0)/2.0]
+############################
+# Motor Controller 1
+# Motor Controller 1
+# Motor Controller 1
+############################
+#
 
-Motor ptz $motor_driver_type [params \
+# All motors are at 25000steps/turn if no other specify
+set motorrate 25000.0
+
+# mc1: Sample rotation axis
+# Gearbox 100:1, Gear ratio 356:1
+set stth_Home  0
+set stthStepRate [expr $motorrate*100.0*356.0/360.0]
+Motor stth $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-dingo\
+  port pmc1-dingo\
+  axis A\
+  units degree\
+  hardlowerlim 0\
+  hardupperlim 360\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $stthStepRate\
+  absEnc 1\
+  absEncHome $stth_Home\
+  cntsPerX 4096]
+stth part sample
+stth long_name stth 
+stth softlowerlim 0
+stth softupperlim 360
+stth home 0
+
+
+# mc1: Sample X-translation sample stage
+# Gearbox 20:1, pitch 5mm
+set sx_Home     0
+set sxStepRate  [expr $motorrate*20.0/5.0]
+Motor sx $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-dingo\
   port pmc1-dingo\
@@ -124,22 +106,21 @@ Motor ptz $motor_driver_type [params \
   maxSpeed [expr 400000.0/300000.0]\
   maxAccel [expr 150000.0/300000.0]\
   maxDecel [expr 150000.0/300000.0]\
-  stepsPerX $ptzStepRate\
+  stepsPerX $sxStepRate\
   absEnc 1\
-  absEncHome $ptz_Home\
+  absEncHome $sx_Home\
   cntsPerX 4096]
-ptz part crystal
-ptz long_name ptz
-ptz softlowerlim 0
-ptz softupperlim 500
-ptz home 0
+sx part sample
+sx long_name sx
+sx softlowerlim -250
+sx softupperlim 250
+sx home 0
 
-#if $use_tiltstage {
-# mc1: Beryllium / Graphite filter  shared - Z translation slide
-# Moto: 100:1 gear, 2mm pitch
-set  ftzStepRate [expr (300000.0/100.0)/2.0]
-
-Motor ftz $motor_driver_type [params \
+# mc1: Sample Y-translation sample stage
+# Gearbox 20:1, pitch 5mm
+set sy_Home     0
+set syStepRate  [expr $motorrate*20.0/5.0]
+Motor sy $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-dingo\
   port pmc1-dingo\
@@ -150,87 +131,65 @@ Motor ftz $motor_driver_type [params \
   maxSpeed [expr 400000.0/300000.0]\
   maxAccel [expr 150000.0/300000.0]\
   maxDecel [expr 150000.0/300000.0]\
-  stepsPerX $ftzStepRate\
+  stepsPerX $syStepRate\
   absEnc 1\
-  absEncHome $ftz_Home\
+  absEncHome $sy_Home\
   cntsPerX 4096]
-ftz part crystal
-ftz long_name ftz
-ftz softlowerlim 0
-ftz softupperlim 500
-ftz home 0
+sy part sample
+sy long_name sy
+sy softlowerlim -250
+sy softupperlim 250
+sy home 0
 
-# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
-set pomSetRate 25000
-
-Motor pom $motor_driver_type [params \
+# mc1: Sample Z-translation sample stage
+# Gearbox 20:1, pitch ?
+set sz_Home     0
+set szStepRate  ?
+Motor sz $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-dingo\
   port pmc1-dingo\
-  axis E\
-  units degrees\
+  axis D\
+  units mm\
   hardlowerlim 0\
-  hardupperlim 2\
-  maxSpeed [expr 250000.0/$pomSetRate]\
-  maxAccel [expr 25000.0/$pomSetRate]\
-  maxDecel [expr 25000.0/$pomSetRate]\
-  stepsPerX $pomSetRate\
+  hardupperlim 500\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $szStepRate\
   absEnc 1\
-  absEncHome $pom_Home\
+  absEncHome $sz_Home\
   cntsPerX 4096]
-pom part crystal
-pom long_name pom
-pom softlowerlim 0
-pom softupperlim 2
-pom home 0
+sz part sample
+sz long_name sz
+sz softlowerlim -250
+sz softupperlim 250
+sz home 0
 
-# mc1: Sample/Detector Chamber Rotation (Detector)
-set stthSetRate 25000
-
-Motor stth $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-dingo\
-  port pmc1-dingo\
-  axis F\
-  units degrees\
-  hardlowerlim -125\
-  hardupperlim 8\
-  maxSpeed [expr 150000.0/$stthSetRate]\
-  maxAccel [expr 5000.0/$stthSetRate]\
-  maxDecel [expr 5000.0/$stthSetRate]\
-  stepsPerX $stthSetRate\
-  absEnc 1\
-  absEncHome $stth_Home\
-  cntsPerX 4096]
-stth part detector
-stth long_name stth
-stth softlowerlim -125
-stth softupperlim 8
-stth home 0
-
-# mc1: Instrument Drive System (Main Drive)
-set mtthSetRate 25000
-
-Motor mtth $motor_driver_type [params \
+# mc1: End station Z-translation
+# Gearbox 5:1, Gear ratio 16:1, pitch 4mm
+set dz_Home     0
+set dzStepRate  [expr $motorrate*5.0*16.0/4.0]
+Motor dz $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-dingo\
   port pmc1-dingo\
   axis G\
   units mm\
-  hardlowerlim 40\
-  hardupperlim 140\
-  maxSpeed [expr 150000.0/$mtthSetRate]\
-  maxAccel [expr 25000.0/$mtthSetRate]\
-  maxDecel [expr 25000.0/$mtthSetRate]\
-  stepsPerX $mtthSetRate\
+  hardlowerlim 0\
+  hardupperlim 500\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $dzStepRate\
   absEnc 1\
-  absEncHome $mtth_Home\
+  absEncHome $dz_Home\
   cntsPerX 4096]
-mtth part detector
-mtth long_name mtth
-mtth softlowerlim 40
-mtth softupperlim 140
-mtth home 0
+dz part sample
+dz long_name dz
+dz softlowerlim -125
+dz softupperlim 125
+sz home 0
 
 
 ############################
@@ -238,478 +197,66 @@ mtth home 0
 # Motor Controller 2
 # Motor Controller 2
 ############################
-# 
+#
 
-# mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
-set sv1SetRate 25000
-
-Motor sv1 $motor_driver_type [params \
+# mc2: Camera translation axis along beam
+# Gearbox ?, Gear ratio ?, 
+set dy_Home     0
+set dyStepRate  ?
+Motor dy $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-dingo\
   port pmc2-dingo\
   axis A\
   units mm\
-  hardlowerlim -2\
-  hardupperlim 60\
-  maxSpeed [expr 25000.0/$sv1SetRate]\
-  maxAccel [expr 25000.0/$sv1SetRate]\
-  maxDecel [expr 25000.0/$sv1SetRate]\
-  stepsPerX $sv1SetRate\
-  absEnc 1\
-  absEncHome $sv1_Home\
-  cntsPerX 4096]
-sv1 part aperture
-sv1 long_name sv1
-sv1 softlowerlim -2
-sv1 softupperlim 60
-sv1 home 0
-
-# mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
-set sh1SetRate 25000
-
-Motor sh1 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-dingo\
-  port pmc2-dingo\
-  axis B\
-  units mm\
-  hardlowerlim -2\
-  hardupperlim 50\
-  maxSpeed [expr 25000.0/$sh1SetRate]\
-  maxAccel [expr 25000.0/$sh1SetRate]\
-  maxDecel [expr 25000.0/$sh1SetRate]\
-  stepsPerX $sh1SetRate\
-  absEnc 1\
-  absEncHome $sh1_Home\
-  cntsPerX 4096]
-sh1 part aperture
-sh1 long_name sh1
-sh1 softlowerlim -2
-sh1 softupperlim 50
-sh1 home 0
-
-# mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
-set sv2SetRate 25000
-
-Motor sv2 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-dingo\
-  port pmc2-dingo\
-  axis C\
-  units mm\
-  hardlowerlim -2\
-  hardupperlim 40\
-  maxSpeed [expr 25000.0/$sv2SetRate]\
-  maxAccel [expr 25000.0/$sv2SetRate]\
-  maxDecel [expr 25000.0/$sv2SetRate]\
-  stepsPerX $sv2SetRate\
-  absEnc 1\
-  absEncHome $sv2_Home\
-  cntsPerX 4096]
-sv2 part aperture
-sv2 long_name sv2
-sv2 softlowerlim -2
-sv2 softupperlim 40
-sv2 home 0
-
-# mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
-set sh2SetRate 25000
-
-Motor sh2 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-dingo\
-  port pmc2-dingo\
-  axis D\
-  units mm\
-  hardlowerlim -2\
-  hardupperlim 30\
-  maxSpeed [expr 25000.0/$sh2SetRate]\
-  maxAccel [expr 25000.0/$sh2SetRate]\
-  maxDecel [expr 25000.0/$sh2SetRate]\
-  stepsPerX $sh2SetRate\
-  absEnc 1\
-  absEncHome $sh2_Home\
-  cntsPerX 4096]
-sh2 part aperture
-sh2 long_name sh2
-sh2 softlowerlim -2
-sh2 softupperlim 30
-sh2 home 0
-
-# mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
-set gomSetRate 25000
-
-Motor gom $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-dingo\
-  port pmc2-dingo\
-  axis E\
-  units degrees\
   hardlowerlim 0\
-  hardupperlim 15\
-  maxSpeed [expr 50000.0/$gomSetRate]\
-  maxAccel [expr 25000.0/$gomSetRate]\
-  maxDecel [expr 25000.0/$gomSetRate]\
-  stepsPerX $gomSetRate\
+  hardupperlim 500\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $dyStepRate\
   absEnc 1\
-  absEncHome $gom_Home\
+  absEncHome $dy_Home\
   cntsPerX 4096]
-gom part sample
-gom long_name gom
-gom softlowerlim 0
-gom softupperlim 15
-gom home 0
-
-# mc2: Sample rotation correction - 10 deg rotation
-set scorSetRate 25000
-
-Motor scor $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-dingo\
-  port pmc2-dingo\
-  axis F\
-  units degrees\
-  hardlowerlim 0\
-  hardupperlim 360\
-  maxSpeed [expr 50000.0/$scorSetRate]\
-  maxAccel [expr 25000.0/$scorSetRate]\
-  maxDecel [expr 25000.0/$scorSetRate]\
-  stepsPerX $scorSetRate\
-  absEnc 1\
-  absEncHome $scor_Home\
-  cntsPerX 4096]
-scor part sample
-scor long_name scor
-scor softlowerlim 0
-scor softupperlim 360
-scor home 0
+dy part instrument
+dy long_name dy
+dy softlowerlim 0
+dy softupperlim 20
+dy home 0
 
 ############################
 # Motor Controller 3
 # Motor Controller 3
 # Motor Controller 3
 ############################
-# 
+#
 
-# ROTATION STAGES 120:1 PLUS GEARBOX 8:1
-# ROTATION STAGE RESOLVER 360:55
-
-# FOCUS STAGE GEARBOX 6:1
-# FOCUS STAGE RESOLVER DIRECT 310 DEG, 3527 COUNTS USABLE RANGE
-
-# Computes Monochromator step rates (steps per degree) of focusing and Rotation
-# 1 unit here is 1 degree
-set monoRotateStepsPerUnit [expr 25000.0*8.0*120.0/360.0]
-
-# Encode reading at the roation, 1 unit here is 1 degree 
-set MonoRotateCntsPerUnit [expr 4096.0*360.0/55.0/360.0]
-
-# Setup Focus range as min = 0 and max = 1, working range = 0 to 1 (310 degrees)
-# or, 0 for full focus and 1 for non focus
-# Focusing rate 25000 steps * 6:1 gears = 150000, 1 unit here is 310 degrees
-set monoFocusStepsPerUnit  [expr -25000.0*6.0*310.0/360.0]
-
-#  Encode reading at Focusing stage, 1 unit here is 310 degrees
-set monoFocusCntsPerUnit [expr 4096.0*310.0/360.0]
-
-# Max speed for Focusing , -- currently set as 0.083
-# speed unit here is 310 degrees
-set monoFocusSpeed        0.05
-set monoFocusMaxSpeed     0.083
-
-# Precision setting turn/move, or 310*turn/move (degrees)
-set monoFocusprecision    0.001
-
-# mc3: Monochromator Focusing 1 - Focus 
-Motor mra $motor_driver_type [params \
+# mc3: Selector Wheel Rotation Axis (attenuator)
+# Gearbox 50:1, Gear ratio 119:14
+set at_Home      0
+set atStepRate   [expr $motorrate*50.0*119.0/14.0/360.0]
+Motor at $motor_driver_type [params \
   asyncqueue mc3\
   host mc3-dingo\
   port pmc3-dingo\
   axis A\
-  units degrees\
-  hardlowerlim 0\
-  hardupperlim 1\
-  precision $monoFocusprecision\
-  maxSpeed $monoFocusMaxSpeed\
-  maxAccel [expr 25000.0/25000.0]\
-  maxDecel [expr 25000.0/25000.0]\
-  stepsPerX $monoFocusStepsPerUnit\
-  absEnc 1\
-  absEncHome $mra_Home\
-  bias_bits 12\
-  cntsPerX $monoFocusCntsPerUnit]
-mra speed $monoFocusSpeed
-mra accel $monoFocusSpeed
-mra decel $monoFocusSpeed
-mra part crystal 
-mra long_name mra
-mra softlowerlim 0
-mra softupperlim 1
-mra home 0
-# fix the motor
-mra fixed -1
-
-# mc3: Monochromator Focusing 1 - Rotation
-Motor moma $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-dingo\
-  port pmc3-dingo\
-  axis B\
-  units degrees\
-  hardlowerlim -72.003174\
-  hardupperlim -20.0379\
-  maxSpeed 0.5\
-  maxAccel 0.5\
-  maxDecel 0.5\
-  stepsPerX $monoRotateStepsPerUnit\
-  absEnc 1\
-  absEncHome $moma_Home\
-  bias_bits 12\
-  cntsPerX $MonoRotateCntsPerUnit]
-moma part crystal
-moma long_name moma
-moma softlowerlim -70
-moma softupperlim -20.537842
-moma home -45
-
-# mc3: Monochromator Focusing 2 - Focus
-Motor mrb $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-dingo\
-  port pmc3-dingo\
-  axis C\
-  units degrees\
-  hardlowerlim 0\
-  hardupperlim 1\
-  precision $monoFocusprecision\
-  maxSpeed $monoFocusMaxSpeed\
-  maxAccel [expr 25000.0/25000.0]\
-  maxDecel [expr 25000.0/25000.0]\
-  stepsPerX $monoFocusStepsPerUnit\
-  absEnc 1\
-  absEncHome $mrb_Home\
-  bias_bits 12\
-  cntsPerX $monoFocusCntsPerUnit]
-mrb speed $monoFocusSpeed
-mrb accel $monoFocusSpeed
-mrb decel $monoFocusSpeed
-mrb part crystal
-mrb long_name mrb
-mrb softlowerlim 0
-mrb softupperlim 1
-mrb home 0
-# fix the motor
-mrb fixed -1
-
-# mc3: Monochromator Focusing 2 - Rotation
-Motor momb $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-dingo\
-  port pmc3-dingo\
-  axis D\
   units degree\
-  hardlowerlim -72.003174\
-  hardupperlim -20.198975\
-  maxSpeed 0.5\
-  maxAccel 0.5\
-  maxDecel 0.5\
-  stepsPerX $monoRotateStepsPerUnit\
-  absEnc 1\
-  absEncHome $momb_Home\
-  bias_bits 12\
-  cntsPerX $MonoRotateCntsPerUnit]
-momb part crystal
-momb long_name momb
-momb softlowerlim -70
-momb softupperlim -20.698975
-momb home -45
-
-# mc3: Monochromator Focusing 3 - Focus
-Motor mrc $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-dingo\
-  port pmc3-dingo\
-  axis E\
-  units degrees\
   hardlowerlim 0\
-  hardupperlim 1\
-  precision $monoFocusprecision\
-  maxSpeed $monoFocusMaxSpeed\
-  maxAccel [expr 25000.0/25000.0]\
-  maxDecel [expr 25000.0/25000.0]\
-  stepsPerX $monoFocusStepsPerUnit\
+  hardupperlim 500\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $atStepRate\
   absEnc 1\
-  absEncHome $mrc_Home\
-  bias_bits 12\
-  cntsPerX $monoFocusCntsPerUnit]
-mrc speed $monoFocusSpeed
-mrc accel $monoFocusSpeed
-mrc decel $monoFocusSpeed
-mrc part crystal
-mrc long_name mrc
-mrc softlowerlim 0
-mrc softupperlim 1
-mrc home 0
-# fix the motor
-mrc fixed -1
-
-# mc3: Monochromator Focusing 3 - Rotation
-Motor momc $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-dingo\
-  port pmc3-dingo\
-  axis F\
-  units degree\
-  hardlowerlim -72.003174\
-  hardupperlim -21.246338\
-  maxSpeed 0.5\
-  maxAccel 0.5\
-  maxDecel 0.5\
-  stepsPerX $monoRotateStepsPerUnit\
-  absEnc 1\
-  absEncHome $momc_Home\
-  bias_bits 12\
-  cntsPerX $MonoRotateCntsPerUnit]
-momc part crystal
-momc long_name momc
-momc softlowerlim -70
-momc softupperlim -21.746338
-momc home -45
-
-
-############################
-# Motor Controller 4
-# Motor Controller 4
-# Motor Controller 4
-############################
-# 
-
-# mc4: Monochromator crystal stages tilt stage - G270
-set mphiSetRate 25000
-
-Motor mphi $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-dingo\
-  port pmc4-dingo\
-  axis A\
-  units degrees\
-  hardlowerlim -5\
-  hardupperlim 5\
-  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel [expr 12500.0/25000.0]\
-  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mphiSetRate\
-  absEnc 1\
-  absEncHome $mphi_Home\
+  absEncHome $at_Home\
   cntsPerX 4096]
-mphi part crystal 
-mphi long_name mphi
-mphi softlowerlim -5
-mphi softupperlim 5
-mphi home 0
-
-# mc4: Monochromator crystal stages tilt stage - G350
-set mchiSetRate 25000
-
-Motor mchi $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-dingo\
-  port pmc4-dingo\
-  axis B\
-  units degrees\
-  hardlowerlim -5\
-  hardupperlim 5\
-  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel [expr 12500.0/25000.0]\
-  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mchiSetRate\
-  absEnc 1\
-  absEncHome $mchi_Home\
-  cntsPerX 4096]
-mchi part crystal
-mchi long_name mchi
-mchi softlowerlim -5
-mchi softupperlim 5
-mchi home 0
-mchi speed 0.2
-mchi accel 0.1
-mchi decel 0.1
-
-# mc4: Monochromator crystal stages Linear stage X - T250
-set mxSetRate 25000
-
-Motor mx $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-dingo\
-  port pmc4-dingo\
-  axis C\
-  units mm\
-  hardlowerlim -20\
-  hardupperlim 20\
-  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel [expr 12500.0/25000.0]\
-  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mxSetRate\
-  absEnc 1\
-  absEncHome $mx_Home\
-  cntsPerX 4096]
-mx part crystal
-mx long_name mx
-mx softlowerlim -20
-mx softupperlim 20
-mx home 0
-mx speed 1.0
-
-# mc4: Monochromator crystal stages Linear stage Y - T250
-set mySetRate 25000
-
-Motor my $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-dingo\
-  port pmc4-dingo\
-  axis D\
-  units mm\
-  hardlowerlim -20\
-  hardupperlim 20\
-  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel [expr 12500.0/25000.0]\
-  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mySetRate\
-  absEnc 1\
-  absEncHome $my_Home\
-  cntsPerX 4096]
-my part crystal
-my long_name my
-my softlowerlim -10
-my softupperlim 10
-my home 0
-my speed 1.0
-
-# mc4: Monochromator crystal stages  Rotation stage - R275 
-set momSetRate 25000
-
-Motor mom $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-dingo\
-  port pmc4-dingo\
-  axis E\
-  units degrees\
-  hardlowerlim -15\
-  hardupperlim 15\
-  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel [expr 12500.0/25000.0]\
-  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $momSetRate\
-  absEnc 1\
-  absEncHome $mom_Home\
-  cntsPerX 4096]
-mom speed 0.5
-mom part crystal
-mom long_name mom
-mom softlowerlim -15
-mom softupperlim 15
-mom home 0
+at part sample
+at long_name at
+at softlowerlim 0
+at softupperlim 20
 
 proc motor_set_sobj_attributes {} {
 }
 
+# End of configuration file
+