diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index 8659c72f..c6436fe8 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -34,6 +34,7 @@ if {$sim_mode == "true"} {
   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 mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
 }
 
 #Measured absolute encoder reading at home position
@@ -245,7 +246,7 @@ Motor stu $motor_driver_type [params \
   host mc2-taipan\
   port pmc2-taipan\
   axis C\
-  units degrees\
+  units mm\
   hardlowerlim -15\
   hardupperlim 15\
   maxSpeed 50000\
@@ -267,7 +268,7 @@ Motor stl $motor_driver_type [params \
   host mc2-taipan\
   port pmc2-taipan\
   axis D\
-  units degrees\
+  units mm\
   hardlowerlim -15\
   hardupperlim 15\
   maxSpeed 50000\
@@ -597,7 +598,7 @@ Motor ps_right $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis A\
-  units mm\
+  units degrees\
   hardlowerlim -27\
   hardupperlim -2\
   maxSpeed 30000\
@@ -619,7 +620,7 @@ Motor ps_left $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis B\
-  units mm\
+  units degrees\
   hardlowerlim -27\
   hardupperlim -2\
   maxSpeed 30000\
@@ -641,7 +642,7 @@ Motor ps_top $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis C\
-  units mm\
+  units degrees\
   hardlowerlim -200\
   hardupperlim -2\
   maxSpeed 30000\
@@ -663,7 +664,7 @@ Motor ps_bottom $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis D\
-  units mm\
+  units degrees\
   hardlowerlim -200\
   hardupperlim -2\
   maxSpeed 30000\
@@ -685,7 +686,7 @@ Motor pa_right $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis E\
-  units mm\
+  units degrees\
   hardlowerlim -26\
   hardupperlim 2\
   maxSpeed 30000\
@@ -707,7 +708,7 @@ Motor pa_left $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis F\
-  units mm\
+  units degrees\
   hardlowerlim -26\
   hardupperlim 2\
   maxSpeed 30000\
@@ -729,7 +730,7 @@ Motor pa_top $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis G\
-  units mm\
+  units degrees\
   hardlowerlim -200\
   hardupperlim 0\
   maxSpeed 30000\
@@ -751,7 +752,7 @@ Motor pa_bottom $motor_driver_type [params \
   host mc6-taipan\
   port pmc6-taipan\
   axis H\
-  units mm\
+  units degrees\
   hardlowerlim -200\
   hardupperlim 0\
   maxSpeed 30000\
diff --git a/site_ansto/instrument/tas/taipan_configuration.tcl b/site_ansto/instrument/tas/taipan_configuration.tcl
index 5dd814cc..91dafba8 100644
--- a/site_ansto/instrument/tas/taipan_configuration.tcl
+++ b/site_ansto/instrument/tas/taipan_configuration.tcl
@@ -50,4 +50,14 @@ server_init
 ###########################################
 # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
 
+# fix all motors 
+foreach m [sicslist type motor] {
+        if {$m == "motor" || $m == "dummy_motor"} {
+                # skipit
+        } else {
+                clientput fix $m position
+                $m fixed 1
+        }
+}
+
 # You can add extra-configuration code in ../extraconfig.tcl