diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index d52a6229..6e1b5efa 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -62,6 +62,28 @@ set samzStepRate [expr -((25000.0*25.0)/5.0)/2.0]
 # 8192 count encoder, 5mm/Turn screw, 14:15 gearing?
 set samzCountRate [expr -((8192.0/5.0)/(14.0/15.0))/2.0]
 
+
+#Measured or computed slit motor steps per millimetre
+# 250 steps * 161:1 gears = 40250
+set slitStepRate  [expr (250.0*161.0)/2.0]
+
+#Measured slit gap, in units, after homing on limit switches
+set ss1h_Gap       52.5
+set ss1v_Gap      205.9
+set ss2h_Gap       51.3
+set ss2v_Gap      203.8
+
+set ss1l_Home  [expr $ss1h_Gap/2*$slitStepRate]
+set ss1r_Home  [expr $ss1h_Gap/2*$slitStepRate]
+set ss1t_Home  [expr $ss1v_Gap/2*$slitStepRate]
+set ss1b_Home  [expr $ss1v_Gap/2*$slitStepRate]
+
+set ss2l_Home  [expr $ss2h_Gap/2*$slitStepRate]
+set ss2r_Home  [expr $ss2h_Gap/2*$slitStepRate]
+set ss2t_Home  [expr $ss2v_Gap/2*$slitStepRate]
+set ss2b_Home  [expr $ss2v_Gap/2*$slitStepRate]
+
+
 # set movecount high to reduce the frequency of
 # hnotify messages to a reasonable level
 set move_count 100
@@ -111,13 +133,13 @@ Motor mtilt $motor_driver_type [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 80235\
-  cntsPerX 8192]
+  absEncHome 79651\
+  cntsPerX 4096]
 mtilt part crystal
 mtilt long_name mtilt
 mtilt softlowerlim -5
 mtilt softupperlim 5
-mtilt home 0.143
+mtilt home 0.151
 #}
 
 set atest mtilt
@@ -136,13 +158,13 @@ Motor mtrans $motor_driver_type [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 743791\
-  cntsPerX 8192]
+  absEncHome 469388\
+  cntsPerX 4096]
 mtrans part crystal
 mtrans long_name mtrans
 mtrans softlowerlim -10
 mtrans softupperlim 195
-mtrans home 66.993
+mtrans home 66.991
 
 # mc1: Fight Tube Rotate
 Motor m2 $motor_driver_type [params \
@@ -151,20 +173,20 @@ Motor m2 $motor_driver_type [params \
   port pmc1-taipan\
   axis F\
   units degrees\
-  hardlowerlim -32.5\
+  hardlowerlim 17\
   hardupperlim 53\
-  maxSpeed 4\
-  maxAccel 0.4\
-  maxDecel 0.4\
-  stepsPerX 12500\
+  maxSpeed 1\
+  maxAccel 0.1\
+  maxDecel 0.1\
+  stepsPerX 50000\
   absEnc 1\
-  absEncHome 183787\
-  cntsPerX 4096]
+  absEncHome -124231\
+  cntsPerX 8192]
 m2 part crystal 
 m2 long_name m2
-m2 softlowerlim -32.5
+m2 softlowerlim 17
 m2 softupperlim 53
-m2 home 69.42475 
+m2 home 38.17141 
 
 # mc1: Detector Rotate
 Motor a2 $motor_driver_type [params \
@@ -174,19 +196,19 @@ Motor a2 $motor_driver_type [params \
   axis H\
   units degrees\
   hardlowerlim -55\
-  hardupperlim 55\
-  maxSpeed 8\
-  maxAccel 2\
-  maxDecel 2\
-  stepsPerX 12500\
+  hardupperlim 88\
+  maxSpeed 0.8\
+  maxAccel 0.2\
+  maxDecel 0.2\
+  stepsPerX 125000\
   absEnc 1\
-  absEncHome 16093721\
-  cntsPerX 4096]
+  absEncHome 10194201\
+  cntsPerX 93206.7556]
 a2 part detector
 a2 long_name a2
 a2 softlowerlim -55
-a2 softupperlim 55
-a2 home 20.0421
+a2 softupperlim 88
+a2 home 41.16916
 
 
 ############################
@@ -203,19 +225,19 @@ Motor sgu $motor_driver_type [params \
   port pmc2-taipan\
   axis A\
   units degrees\
-  hardlowerlim -18\
-  hardupperlim 19\
+  hardlowerlim -13\
+  hardupperlim 16.5\
   maxSpeed 2\
   maxAccel 1\
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7745445\
+  absEncHome 7745436\
   cntsPerX 8192]
 sgu part sample
 sgu long_name sgu
-sgu softlowerlim -18
-sgu softupperlim 19
+sgu softlowerlim -13
+sgu softupperlim 16.5
 sgu home 0
 
 # mc2: Sample Tilt 2
@@ -225,19 +247,19 @@ Motor sgl $motor_driver_type [params \
   port pmc2-taipan\
   axis B\
   units degrees\
-  hardlowerlim -18\
-  hardupperlim 18\
+  hardlowerlim -16.5\
+  hardupperlim 17.5\
   maxSpeed 2\
   maxAccel 1\
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7499341\
+  absEncHome 7499179\
   cntsPerX 8192]
 sgl part sample
 sgl long_name sgl
-sgl softlowerlim -18
-sgl softupperlim 18
+sgl softlowerlim -16.5
+sgl softupperlim 17.5
 sgl home 0
 
 # mc2: Sample Up Tanslation
@@ -254,13 +276,13 @@ Motor stu $motor_driver_type [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7392945\
+  absEncHome 7392971\
   cntsPerX 8192]
 stu part sample
 stu long_name stu
 stu softlowerlim -15
 stu softupperlim 15
-stu home -0.001
+stu home -0.002
 
 # mc2: Sample Lower Tanslation
 Motor stl $motor_driver_type [params \
@@ -276,13 +298,13 @@ Motor stl $motor_driver_type [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7582758\
+  absEncHome 7582791\
   cntsPerX 8192]
 stl part sample
 stl long_name stl
 stl softlowerlim -15
 stl softupperlim 15
-stl home -0.002
+stl home -0.001
 
 # mc2: Sample Rotate
 Motor s1 $motor_driver_type [params \
@@ -291,20 +313,20 @@ Motor s1 $motor_driver_type [params \
   port pmc2-taipan\
   axis E\
   units degrees\
-  hardlowerlim -185\
-  hardupperlim 124\
+  hardlowerlim -170\
+  hardupperlim 90\
   maxSpeed 4\
   maxAccel 2\
   maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
-  absEncHome 10138002\
-  cntsPerX 4096]
+  absEncHome 18156361\
+  cntsPerX 93206.7556]
 s1 part sample
 s1 long_name s1
-s1 softlowerlim -185
-s1 softupperlim 124
-s1 home -100.0051
+s1 softlowerlim -170
+s1 softupperlim 90
+s1 home -85.38518
 
 # mc2: Analyser Detector Rotate -- Sample Scattering Angle
 Motor s2 $motor_driver_type [params \
@@ -313,20 +335,20 @@ Motor s2 $motor_driver_type [params \
   port pmc2-taipan\
   axis F\
   units degrees\
-  hardlowerlim -128\
-  hardupperlim 3\
-  maxSpeed 8\
-  maxAccel 2\
-  maxDecel 2\
-  stepsPerX 12500\
+  hardlowerlim -78\
+  hardupperlim -1.9\
+  maxSpeed 0.8\
+  maxAccel 0.2\
+  maxDecel 0.2\
+  stepsPerX 125000\
   absEnc 1\
-  absEncHome 17827565\
-  cntsPerX 4096]
+  absEncHome 27256910\
+  cntsPerX 93206.7556]
 s2 part sample 
 s2 long_name s2
-s2 softlowerlim -128
-s2 softupperlim 3
-s2 home -50.0026
+s2 softlowerlim -78
+s2 softupperlim -1.9
+s2 home -75.58425
 
 # mc2: Analyser Horizontal Focus
 Motor ahfocus $motor_driver_type [params \
@@ -337,12 +359,12 @@ Motor ahfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -360\
   hardupperlim 360\
-  maxSpeed 1\
-  maxAccel 0.5\
-  maxDecel 0.5\
-  stepsPerX 25000\
+  maxSpeed 360\
+  maxAccel 180\
+  maxDecel 180\
+  stepsPerX 69.444\
   absEnc 1\
-  absEncHome 8361542\
+  absEncHome 7879140\
   cntsPerX 8192]
 ahfocus part crystal 
 ahfocus long_name ahfocus
@@ -351,6 +373,7 @@ ahfocus softupperlim 360
 ahfocus home 58.887
 
 # mc2: Analyser Vertical Focus
+# Jing: not fixed so far
 Motor avfocus $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-taipan\
@@ -359,10 +382,10 @@ Motor avfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 1\
-  maxAccel 0.5\
-  maxDecel 0.5\
-  stepsPerX 25000\
+  maxSpeed 1.2422\
+  maxAccel 0.6211\
+  maxDecel 0.6211\
+  stepsPerX 20125\
   absEnc 1\
   absEncHome $samthet_Home\
   cntsPerX 8192]
@@ -381,13 +404,13 @@ Motor mvfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 240\
-  maxSpeed 0.5\
-  maxAccel 0.24\
-  maxDecel 0.24\
-  stepsPerX 25000\
+  maxSpeed 3.6\
+  maxAccel 1.728\
+  maxDecel 1.728\
+  stepsPerX 3472.2222\
   absEnc 1\
-  absEncHome 542614\
-  cntsPerX 8192]
+  absEncHome 75695\
+  cntsPerX 4096]
 mvfocus part crystal
 mvfocus long_name mvfocus
 mvfocus softlowerlim 0
@@ -403,18 +426,18 @@ Motor mhfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -180\
   hardupperlim 275\
-  maxSpeed 0.5\
-  maxAccel 0.24\
-  maxDecel 0.24\
-  stepsPerX 25000\
+  maxSpeed 3.6\
+  maxAccel 1.728\
+  maxDecel 1.728\
+  stepsPerX 3472.2222\
   absEnc 1\
-  absEncHome 5860595\
-  cntsPerX 8192]
+  absEncHome 5983434\
+  cntsPerX 4096]
 mhfocus part crystal
 mhfocus long_name mhfocus
 mhfocus softlowerlim 0
 mhfocus softupperlim 240
-mhfocus home -29.970
+mhfocus home -29.990
 
 # mc3: Monochromator Rotate
 Motor m1 $motor_driver_type [params \
@@ -425,18 +448,18 @@ Motor m1 $motor_driver_type [params \
   units degrees\
   hardlowerlim 5\
   hardupperlim 40\
-  maxSpeed 8\
-  maxAccel 2\
-  maxDecel 2\
-  stepsPerX 12500\
+  maxSpeed 1\
+  maxAccel 0.25\
+  maxDecel 0.25\
+  stepsPerX 100000\
   absEnc 1\
-  absEncHome 16293938\
+  absEncHome 16310005\
   cntsPerX 4096]
 m1 part crystal
 m1 long_name m1
 m1 softlowerlim 5
 m1 softupperlim 40
-m1 home 34.76255
+m1 home 8.97251
 
 # mc4: Analyzer Tilt 1 -- Two-theta Angle
 Motor atilt $motor_driver_type [params \
@@ -452,13 +475,13 @@ Motor atilt $motor_driver_type [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7909774\
+  absEncHome 7909802\
   cntsPerX 8192]
 atilt part crystal 
 atilt long_name atilt
 atilt softlowerlim -5
 atilt softupperlim 5
-atilt home -0.004
+atilt home 0.001
 
 # mc4: Analyzer Translate
 Motor atrans $motor_driver_type [params \
@@ -474,13 +497,13 @@ Motor atrans $motor_driver_type [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 23726439\
+  absEncHome 23560555\
   cntsPerX 8192]
 atrans part crystal 
 atrans long_name atrans
 atrans softlowerlim -1
 atrans softupperlim 22
-atrans home 0.00023
+atrans home 10.12476
 
 # mc4: Analyzer Rotate
 Motor a1 $motor_driver_type [params \
@@ -490,19 +513,19 @@ Motor a1 $motor_driver_type [params \
   axis D\
   units degrees\
   hardlowerlim -5.1\
-  hardupperlim 30\
+  hardupperlim 45\
   maxSpeed 4\
   maxAccel 2\
   maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
-  absEncHome 24771579\
-  cntsPerX 4096]
+  absEncHome 24646226\
+  cntsPerX 8192]
 a1 part crystal
 a1 long_name a1
 a1 softlowerlim -5.1
-a1 softupperlim 30
-a1 home 10.0204
+a1 softupperlim 45
+a1 home 20.58360
 
 # mc4: Virtural Source Left Translation
 Motor VS_left $motor_driver_type [params \
@@ -512,18 +535,18 @@ Motor VS_left $motor_driver_type [params \
   axis E\
   units mm\
   hardlowerlim 2\
-  hardupperlim 35\
-  maxSpeed 0.5\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
+  hardupperlim 41\
+  maxSpeed 3\
+  maxAccel 6\
+  maxDecel 6\
+  stepsPerX 4166.6667\
   absEnc 1\
-  absEncHome 14574349\
-  cntsPerX 8192]
+  absEncHome 14471941\
+  cntsPerX 4096]
 VS_left part slits
 VS_left long_name VS_left
 VS_left softlowerlim 2
-VS_left softupperlim 35
+VS_left softupperlim 41
 VS_left home 25.0019
 
 # mc4: Virtural Source Right Translation
@@ -533,22 +556,23 @@ Motor VS_right $motor_driver_type [params \
   port pmc4-taipan\
   axis F\
   units mm\
-  hardlowerlim -35\
+  hardlowerlim -41\
   hardupperlim -2\
-  maxSpeed 0.5\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
+  maxSpeed 3\
+  maxAccel 6\
+  maxDecel 6\
+  stepsPerX 4166.6667\
   absEnc 1\
-  absEncHome 16251954\
-  cntsPerX 8192]
+  absEncHome 16354268\
+  cntsPerX 4096]
 VS_right part slits 
 VS_right long_name VS_right
-VS_right softlowerlim -35
+VS_right softlowerlim -41
 VS_right softupperlim -2
 VS_right home -24.9790
 
 # mc4: Filter Rotate
+#Jing: current no data from SPiCe, based on Gali reading only
 Motor mfilter $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-taipan\
@@ -562,8 +586,8 @@ Motor mfilter $motor_driver_type [params \
   maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
+  absEncHome 22369621\
+  cntsPerX 8192]
 mfilter part crystal 
 mfilter long_name mfilter
 mfilter softlowerlim 0
@@ -579,13 +603,13 @@ Motor collimator $motor_driver_type [params \
   units mm\
   hardlowerlim -112\
   hardupperlim 112\
-  maxSpeed 0.5\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
+  maxSpeed 3\
+  maxAccel 6\
+  maxDecel 6\
+  stepsPerX 4166.6667\
   absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 8192]
+  absEncHome 2176205\
+  cntsPerX 4096]
 collimator part collimator
 collimator long_name collimator
 collimator softlowerlim -112
@@ -598,21 +622,20 @@ Motor ps_right $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis A\
-  units degrees\
+  units mm\
   hardlowerlim -27\
-  hardupperlim -2\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
+  hardupperlim -3\
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss1r_Home]
 ps_right part slits
 ps_right long_name ps_right
 ps_right softlowerlim -27
-ps_right softupperlim -2
-ps_right home -8.0000
+ps_right softupperlim -3
+ps_right home -10.0000
+ps_right movecount $move_count
 
 # mc6: Pre-sample left aperture -- Slit s1 left Blade
 Motor ps_left $motor_driver_type [params \
@@ -620,21 +643,21 @@ Motor ps_left $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis B\
-  units degrees\
+  units mm\
   hardlowerlim -27\
-  hardupperlim -2\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
+  hardupperlim -4\
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss1l_Home]
 ps_left part slits 
 ps_left long_name ps_left
 ps_left softlowerlim -27
-ps_left softupperlim -2
-ps_left home -7.99998
+ps_left softupperlim -4
+ps_left home -10.0000
+ps_left movecount $move_count
+
 
 # mc6: Pre-sample top aperture -- Slit s1 top Blade
 Motor ps_top $motor_driver_type [params \
@@ -642,21 +665,20 @@ Motor ps_top $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis C\
-  units degrees\
+  units mm\
   hardlowerlim -200\
   hardupperlim -2\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
-ps_top part slits 
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss1t_Home]
+s_top part slits 
 ps_top long_name ps_top
 ps_top softlowerlim -200
 ps_top softupperlim -2
-ps_top home -40.0000
+ps_top home -19.0000
+ps_top movecount $move_count
 
 # mc6: Pre-sample bottom aperture -- Slit s1 bottom Blade
 Motor ps_bottom $motor_driver_type [params \
@@ -664,21 +686,20 @@ Motor ps_bottom $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis D\
-  units degrees\
+  units mm\
   hardlowerlim -200\
   hardupperlim -2\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss1b_Home]
 ps_bottom part slits 
 ps_bottom long_name ps_bottom
 ps_bottom softlowerlim -200
 ps_bottom softupperlim -2
-ps_bottom home -40.0000
+ps_bottom home -21.0000
+ps_bottom movecount $move_count
 
 # mc6: Pre-sample right aperture -- Slit s2 right Blade
 Motor pa_right $motor_driver_type [params \
@@ -686,21 +707,20 @@ Motor pa_right $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis E\
-  units degrees\
+  units mm\
   hardlowerlim -26\
-  hardupperlim 2\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
+  hardupperlim -2\
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss2r_Home]
 pa_right part slits 
 pa_right long_name pa_right
 pa_right softlowerlim -26
-pa_right softupperlim 2
-pa_right home -7.0000
+pa_right softupperlim -2
+pa_right home -6.0000
+pa_right movecount $move_count
 
 # mc6: Pre-sample left aperture -- Slit s2 left Blade
 Motor pa_left $motor_driver_type [params \
@@ -708,21 +728,20 @@ Motor pa_left $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis F\
-  units degrees\
+  units mm\
   hardlowerlim -26\
-  hardupperlim 2\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
+  hardupperlim -2\
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss2l_Home]
 pa_left part slits 
 pa_left long_name pa_left
 pa_left softlowerlim -26
-pa_left softupperlim 2
-pa_left home -7.0000
+pa_left softupperlim -2
+pa_left home -6.0000
+pa_left movecount $move_count
 
 # mc6: Pre-sample top aperture -- Slit s2 top Blade
 Motor pa_top $motor_driver_type [params \
@@ -730,21 +749,19 @@ Motor pa_top $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis G\
-  units degrees\
+  units mm\
   hardlowerlim -200\
-  hardupperlim 0\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
-pa_left part slits 
-pa_left long_name pa_top
-pa_left softlowerlim -200
-pa_left softupperlim 0   
-pa_left home -35.0000
+  hardupperlim -3\
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss2t_Home]
+pa_top part slits 
+pa_top long_name pa_top
+pa_top softlowerlim -200
+pa_top softupperlim -3   
+pa_top home -19.0000
 
 # mc6: Pre-sample bottom aperture -- Slit s2 bottom Blade
 Motor pa_bottom $motor_driver_type [params \
@@ -752,38 +769,22 @@ Motor pa_bottom $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis H\
-  units degrees\
+  units mm\
   hardlowerlim -200\
-  hardupperlim 0\
-  maxSpeed 1.2\
-  maxAccel 2.4\
-  maxDecel 2.4\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 0\
-  cntsPerX 8192]
+  hardupperlim -3\
+  maxSpeed 1.4907\
+  maxAccel 3.0020\
+  maxDecel 3.0020\
+  stepsPerX $slitStepRate\
+  motorHome $ss2b_Home]
 pa_bottom part slits 
 pa_bottom long_name pa_bottom
 pa_bottom softlowerlim -200
-pa_bottom softupperlim 0  
-pa_bottom home -35.0000
+pa_bottom softupperlim -3  
+pa_bottom home -16.0000
 
 proc motor_set_sobj_attributes {} {
 }
 # END MOTOR CONFIGURATION
 
-# According to http://www.nexusformat.org/Design units must conform to
-# http://www.unidata.ucar.edu/software/udunits/udunits-1/udunits.txt
-# So we use "count" for dimensionless decimal numbers
-#set vc_units count
-#make_coll_motor_2 c1 section_1 pc1 pc2 $vc_units
-#make_coll_motor_1 c2 section_2 pc3 $vc_units
-#make_coll_motor_1 c3 section_3 pc4 $vc_units
-#make_coll_motor_1 c4 section_4 pc5 $vc_units
-#make_coll_motor_1 c5 section_5 pc6 $vc_units
-#make_coll_motor_1 c6 section_6 pc7 $vc_units
-#make_coll_motor_1 c7 section_7 pc8 $vc_units
-#make_coll_motor_1 c8 section_8 pc9 $vc_units
-#make_coll_motor_1 c9 section_9 pc10 $vc_units
-#unset vc_units