diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
index 89bec06f..77c9bcc0 100644
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -1,4 +1,3 @@
-# Author: Jing Chen (jgn@ansto.gov.au)
 # All Motors are 25000 steps per motor revolution
 
 set animal pelican
@@ -72,11 +71,14 @@ set my_Home       8391084
 set mom_Home      8389414
 
 set rco_Home      33531098
-# TODO get real values from Dan
-set rcz_Home      33141607
+
+set rcz_Home      33137920
+set rcz_Beam      33479215
+
 set bsr_Home      1192516
-set gv1_Home      0
-set gv2_Home      0
+
+set gv1_Open      33468000
+set gv1_Shut      33221600
 
 
 # set movecount high to reduce the frequency of
@@ -142,6 +144,7 @@ ptz home 0
 ptz posit_1 31408274
 ptz posit_2 32096132
 ptz posit_3 33171650
+ptz creep_offset 0.001
 
 # mc1: Beryllium / Graphite filter  shared - Z translation slide
 # Moto: 100:1 gear, 2mm pitch
@@ -168,10 +171,11 @@ ftz long_name ftz
 ftz softlowerlim -280
 ftz softupperlim 160
 ftz home 0
-# 1:RevLimit, 2:PG, 3:Open, 4:Be, 5:FwdLim
+# 1:PG, 2:Open, 3:Be
 ftz posit_1 590157
 ftz posit_2 1242083
 ftz posit_3 2348104
+ftz creep_offset 0.001
 
 # mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
 set pomStepRate [expr { 1176 * 25000 }]
@@ -184,7 +188,7 @@ Motor pom $motor_driver_type [params \
   units degrees\
   hardlowerlim -1.5\
   hardupperlim 1.5\
-  maxSpeed [expr { 100000.0 / $pomStepRate }]\
+  maxSpeed [expr { 200000.0 / $pomStepRate }]\
   maxAccel [expr {  25000.0 / $pomStepRate }]\
   maxDecel [expr {  25000.0 / $pomStepRate }]\
   stepsPerX $pomStepRate\
@@ -196,10 +200,14 @@ pom long_name pom
 pom softlowerlim -1.5
 pom softupperlim 1.5
 pom home 0
+pom blockage_thresh 1.0
+pom backlash_offset -0.2
+pom MotOffDelay 2000
+pom creep_offset 0.1
 
 # mc1: Sample/Detector Chamber Rotation (Detector)
 #set stthStepRate 66807.314
-set stthStepRate [expr { 25000 * 100.0 * (3800.0 / 395.0) / 360.0 }]
+set stthStepRate [expr { 25000 * 400.0 * (2 * 1800.0 / 400.0) / 360.0 }]
 
 Motor stth $motor_driver_type [params \
   asyncqueue mc1\
@@ -207,24 +215,30 @@ Motor stth $motor_driver_type [params \
   port pmc1-pelican\
   axis F\
   units degrees\
-  hardlowerlim -60\
-  hardupperlim 50\
-  maxSpeed [expr { 25000.0 / $stthStepRate }]\
+  hardlowerlim -50\
+  hardupperlim 60\
+  maxSpeed [expr { 50000.0 / $stthStepRate }]\
   maxAccel [expr {  5000.0 / $stthStepRate }]\
   maxDecel [expr {  5000.0 / $stthStepRate }]\
-  stepsPerX $stthStepRate\
+  stepsPerX [expr {0.8 * $stthStepRate}]\
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX -[expr { 8192.0 / 360.0 }]]
 stth part detector
 stth long_name stth
-stth softlowerlim -60
-stth softupperlim 50
+stth softlowerlim -50
+stth softupperlim 60
 stth home 0
+stth Blockage_Thresh 2.000000
+stth Blockage_Ratio 5.000000
+stth Backlash_offset -0.100000
+stth MotOffDelay 2000
+stth creep_offset 1
+stth creep_precision 0.022
 
 # mc1: Instrument Drive System (Main Drive) (Flight Tube)
 #set mtthStepRate 222222.222
-set mtthStepRate [expr { 25000 * 100.0 / (66.0/2112) / 360.0 }]
+set mtthStepRate [expr { 25000 * 400.0 / (66.0/2112) / 360.0 }]
 
 Motor mtth $motor_driver_type [params \
   asyncqueue mc1\
@@ -237,16 +251,20 @@ Motor mtth $motor_driver_type [params \
   maxSpeed [expr { 100000.0 / $mtthStepRate }]\
   maxAccel [expr {  25000.0 / $mtthStepRate }]\
   maxDecel [expr {  25000.0 / $mtthStepRate }]\
-  stepsPerX $mtthStepRate\
+  stepsPerX -$mtthStepRate\
   absEnc 1\
   absEncHome $mtth_Home\
-  cntsPerX [expr { (1<<25)/360.0 }]]
+  cntsPerX -[expr { (1<<25)/360.0 }]]
 mtth part detector
 mtth long_name mtth
 mtth softlowerlim 43
 mtth softupperlim 134
 mtth home 90
-
+mtth MotOffDelay 2000
+mtth Blockage_Thresh 2.0
+mtth Backlash_offset -0.100000
+mtth Creep_Offset 1.000000
+mtth Creep_Precision 0.005000
 
 ############################
 # Motor Controller 2
@@ -461,8 +479,6 @@ 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 \
@@ -513,8 +529,6 @@ 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 \
@@ -565,8 +579,6 @@ 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 \
@@ -751,16 +763,20 @@ Motor rco $motor_driver_type [params \
   stepsPerX $rcoStepRate\
   absEnc 1\
   absEncHome $rco_Home\
-  cntsPerX [expr { (1200.26 / 60.0) * (8192.0 / 360.0) }]]
+  cntsPerX [expr { (1200.26 / 60.0) * (8192.0 / 360.0) }]\
+  posit_count 3]
 rco part collimator
 rco long_name rco
 rco softlowerlim 0
 rco softupperlim 0
+# 1:RevLimit, 2:Center, 3:FwdLim
+rco posit_1 33529987
+rco posit_2 33531098
+rco posit_3 33532000
 rco home 0
-# fix this motor
-rco fixed 1
 
 # mc6: Radial Collimator -- Z Translation
+#set rczStepRate [expr { 25000.0 * 100.0 / 10.0 }]
 set rczStepRate [expr { 25000.0 * 100.0 / 10.0 }]
 
 Motor rcz $motor_driver_type [params \
@@ -777,14 +793,16 @@ Motor rcz $motor_driver_type [params \
   stepsPerX $rczStepRate\
   absEnc 1\
   absEncHome $rcz_Home\
-  cntsPerX [expr { 8192.0 / 10.0 }]]
+  cntsPerX [expr { 8192.0 / 10.0 }]\
+  posit_count 2]
 rcz part collimator
 rcz long_name rcz
 rcz softlowerlim 0
 rcz softupperlim 450
 rcz home 0
-# fix this motor
-rcz fixed 1
+# 1:Down 2:Up
+rcz posit_1 $rcz_Home
+rcz posit_2 $rcz_Beam
 
 # mc6: Beam Stop Stage - Rotation
 set bsrStepRate [expr { 25000.0 / 2.0 }]
@@ -809,10 +827,8 @@ bsr long_name bsr
 bsr softlowerlim -150
 bsr softupperlim 180
 bsr home 0
-# fix this motor
-bsr fixed 1
 
-# mc6: Isolation Vaue -- Axis 1,  currently this Axis is set to read ONLY to read the encoder
+# mc6: Isolation Valve -- Axis 1,  currently this Axis is set to read ONLY to read the encoder
 Motor gv1 $motor_driver_type [params \
   asyncqueue mc6\
   host mc6-pelican\
@@ -826,48 +842,20 @@ Motor gv1 $motor_driver_type [params \
   maxDecel 0\
   stepsPerX 1\
   absEnc 1\
-  absEncHome $gv1_Home\
-  cntsPerX 1\
+  absEncHome $gv1_Shut\
+  cntsPerX [expr { ($gv1_Open - $gv1_Shut) / 100.0 }]\
   posit_count 2]
 gv1 part sample
 gv1 long_name gv1
 gv1 softlowerlim 0
-gv1 softupperlim 180
+gv1 softupperlim 0
 gv1 home 0
 # 1:open, 2:closed
-gv1 posit_1 33468000
-gv1 posit_2 33221600
+gv1 posit_1 $gv1_Open
+gv1 posit_2 $gv1_Shut
 # fix the motor
 gv1 fixed 1
 
-# mc6: Isolation Vaue -- Axis 2,  currently this Axis is set to read ONLY to read the encoder
-Motor gv2 $motor_driver_type [params \
-  asyncqueue mc6\
-  host mc6-pelican\
-  port pmc6-pelican\
-  axis F\
-  units degrees\
-  hardlowerlim 0\
-  hardupperlim 0\
-  maxSpeed 0\
-  maxAccel 0\
-  maxDecel 0\
-  stepsPerX 1\
-  absEnc 1\
-  absEncHome $gv2_Home\
-  cntsPerX 1\
-  posit_count 2]
-gv2 part sample
-gv2 long_name gv2
-gv2 softlowerlim 0
-gv2 softupperlim 0
-gv2 home 0
-# 1:open, 2:closed
-gv2 posit_1 33549541
-gv2 posit_2 33549541
-# fix the motor
-gv2 fixed 1
-
 proc motor_set_sobj_attributes {} {
 }
 # END MOTOR CONFIGURATION
@@ -887,3 +875,21 @@ proc motor_set_sobj_attributes {} {
 #make_coll_motor_1 c9 section_9 pc10 $vc_units
 #unset vc_units
 
+# Generator functions
+proc make_virtual_motor_1 { vm1 vm1_name pm1 aunits klass } {
+  eval "proc get_$vm1 {} { get_virtual_1 $pm1 }"
+  set v {$var}
+  eval "proc set_$vm1 {var} { set_virtual_1 $pm1 $v }"
+  MakeConfigurableMotor $vm1
+  $vm1 readscript get_$vm1
+  $vm1 drivescript set_$vm1
+  sicslist setatt $vm1 units $aunits
+  sicslist setatt $vm1 klass $klass
+  sicslist setatt $vm1 long_name $vm1_name
+  sicslist setatt $vm1 hdbchain $pm1
+}
+
+make_virtual_motor_1 { vrcz RCollZ rcz count collimator }
+make_virtual_motor_1 { vptz PolarizerZ ptz count thing }
+make_virtual_motor_1 { vftz FilterZ ftz count thing }
+make_virtual_motor_1 { vgv GateValve gv1 count thing }