diff --git a/site_ansto/instrument/kookaburra/config/motors/motor_configuration.tcl b/site_ansto/instrument/kookaburra/config/motors/motor_configuration.tcl
index c0212cc1..4370b123 100644
--- a/site_ansto/instrument/kookaburra/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/kookaburra/config/motors/motor_configuration.tcl
@@ -1,8 +1,10 @@
+######################################################################
+#
+# Motor Configuration file for Kookaburra
+#
 # Author: Jing Chen (jgn@ansto.gov.au)
-# All Motors are 25000 steps per motor revolution
-
-# SET TO 1 TO USE THE TILT STAGE ie sample phi and chi
-set use_tiltstage 0
+#
+#######################################################################
 
 set animal kookaburra
 set sim_mode [SplitReply [motor_simulation]]
@@ -17,84 +19,24 @@ 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_controller5(host) mc5-$animal
-set dmc2280_controller5(port) pmc5-$animal
-
-set dmc2280_controller6(host) mc6-$animal
-set dmc2280_controller6(port) pmc6-$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 mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
+#  MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 }
 
 
-#Measured absolute encoder reading at home position
+# Dummy simulation motor, useful for testing scans
+
 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 \
+Motor dummy_motor asim [params \
   asyncqueue mc1\
   host mc1-kookaburra\
   port pmc1-kookaburra\
@@ -109,135 +51,177 @@ 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 ptz $motor_driver_type [params \
+# all motor rate is 25000steps/turn if no other specify
+set motorrate 25000.0
+
+############################
+# Motor Controller 1
+# Motor Controller 1
+# Motor Controller 1
+############################
+
+
+# mc1: Be Filter Y Translation
+# Gearbox
+set bex_Home    0
+set bexStepRate [expr (300000.0/100.0)/2.0]
+Motor bex $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-kookaburra\
+  port pmc1-kookaburra\
+  axis A\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 500\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $bexStepRate\
+  absEnc 1\
+  absEncHome $bex_Home\
+  cntsPerX 4096]
+bex part crystal
+bex long_name bex
+bex softlowerlim 0
+bex softupperlim 500
+bex home 0
+
+
+# mc1: Premonochromator Crystal Si(111) Tilt
+# Gearbox 50:1, 
+set pmchi_Home    0
+set pmchiStepRate [expr (300000.0/100.0)/2.0]
+Motor pmchi $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-kookaburra\
   port pmc1-kookaburra\
   axis B\
-  units mm\
+  units degrees\
   hardlowerlim 0\
   hardupperlim 500\
   maxSpeed [expr 400000.0/300000.0]\
   maxAccel [expr 150000.0/300000.0]\
   maxDecel [expr 150000.0/300000.0]\
-  stepsPerX $ptzStepRate\
+  stepsPerX $pmchiStepRate\
   absEnc 1\
-  absEncHome $ptz_Home\
+  absEncHome $pmchi_Home\
   cntsPerX 4096]
-ptz part crystal
-ptz long_name ptz
-ptz softlowerlim 0
-ptz softupperlim 500
-ptz home 0
+pmchi part crystal
+pmchi long_name pmchi
+pmchi softlowerlim 0
+pmchi softupperlim 500
+pmchi 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: Premonochromator Crystal Si(111) Rotate
+# Gearbox 100:1,
+set pmom_Home     0
+set pmomStepRate [expr (300000.0/100.0)/2.0]
+Motor pmom $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-kookaburra\
   port pmc1-kookaburra\
   axis C\
+  units degrees\
+  hardlowerlim 0\
+  hardupperlim 500\
+  maxSpeed [expr 400000.0/300000.0]\
+  maxAccel [expr 150000.0/300000.0]\
+  maxDecel [expr 150000.0/300000.0]\
+  stepsPerX $pmomStepRate\
+  absEnc 1\
+  absEncHome $pmom_Home\
+  cntsPerX 4096]
+pmom part crystal
+pmom long_name pmom
+pmom softlowerlim 0
+pmom softupperlim 500
+pmom home 0
+
+
+# mc1: Main Detector - Y Translate
+# Gearbox 23:1
+set mdet_Home     0
+set mdetStepRate [expr (300000.0/100.0)/2.0]
+Motor mdet $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-kookaburra\
+  port pmc1-kookaburra\
+  axis D\
   units mm\
   hardlowerlim 0\
   hardupperlim 500\
   maxSpeed [expr 400000.0/300000.0]\
   maxAccel [expr 150000.0/300000.0]\
   maxDecel [expr 150000.0/300000.0]\
-  stepsPerX $ftzStepRate\
+  stepsPerX $mdetStepRate\
   absEnc 1\
-  absEncHome $ftz_Home\
+  absEncHome $mdet_Home\
   cntsPerX 4096]
-ftz part crystal
-ftz long_name ftz
-ftz softlowerlim 0
-ftz softupperlim 500
-ftz home 0
-}
+mdet part detector
+mdet long_name mdet
+mdet softlowerlim 0
+mdet softupperlim 500
+mdet home 0
 
-# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
-set pomSetRate 25000
 
-Motor pom $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-kookaburra\
-  port pmc1-kookaburra\
-  axis E\
-  units degrees\
-  hardlowerlim 0\
-  hardupperlim 2\
-  maxSpeed [expr 250000.0/$pomSetRate]\
-  maxAccel [expr 25000.0/$pomSetRate]\
-  maxDecel [expr 25000.0/$pomSetRate]\
-  stepsPerX $pomSetRate\
-  absEnc 1\
-  absEncHome $pom_Home\
-  cntsPerX 4096]
-pom part crystal
-pom long_name pom
-pom softlowerlim 0
-pom softupperlim 2
-pom home 0
-
-# mc1: Sample/Detector Chamber Rotation (Detector)
-set stthSetRate 25000
-
-Motor stth $motor_driver_type [params \
+# mc1: Tertiary Beam Shutter, status only and is controlled via PLC panel
+# Gearbox
+set plc_tertiary  0
+set plc_tertiaryStepRate [expr (300000.0/100.0)/2.0]
+Motor plc_tertiary $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-kookaburra\
   port pmc1-kookaburra\
   axis F\
-  units degrees\
-  hardlowerlim -125\
-  hardupperlim 8\
-  maxSpeed [expr 150000.0/$stthSetRate]\
-  maxAccel [expr 5000.0/$stthSetRate]\
-  maxDecel [expr 5000.0/$stthSetRate]\
-  stepsPerX $stthSetRate\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 2\
+  maxSpeed [expr 250000.0/$plc_tertiarySetRate]\
+  maxAccel [expr 25000.0/$plc_tertiarySetRate]\
+  maxDecel [expr 25000.0/$plc_tertiarySetRate]\
+  stepsPerX $plc_tertiarySetRate\
   absEnc 1\
-  absEncHome $stth_Home\
+  absEncHome $plc_tertiary_Home\
   cntsPerX 4096]
-stth part detector
-stth long_name stth
-stth softlowerlim -125
-stth softupperlim 8
-stth home 0
+plc_tertiary part detector
+plc_tertiary long_name plc_tertiary
+plc_tertiary softlowerlim 0
+plc_tertiary softupperlim 2
+plc_tertiary home 0
 
-# mc1: Instrument Drive System (Main Drive)
-set mtthSetRate 25000
 
-Motor mtth $motor_driver_type [params \
+# mc1: Detector Stage Y Attenuator
+# Gearbox
+set att_Home      0
+set attSetRate    25000
+Motor att $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-kookaburra\
   port pmc1-kookaburra\
   axis G\
   units mm\
-  hardlowerlim 40\
-  hardupperlim 140\
-  maxSpeed [expr 150000.0/$mtthSetRate]\
-  maxAccel [expr 25000.0/$mtthSetRate]\
-  maxDecel [expr 25000.0/$mtthSetRate]\
-  stepsPerX $mtthSetRate\
+  hardlowerlim -125\
+  hardupperlim 8\
+  maxSpeed [expr 150000.0/$attSetRate]\
+  maxAccel [expr 5000.0/$attSetRate]\
+  maxDecel [expr 5000.0/$attSetRate]\
+  stepsPerX $attSetRate\
   absEnc 1\
-  absEncHome $mtth_Home\
+  absEncHome $att_Home\
   cntsPerX 4096]
-mtth part detector
-mtth long_name mtth
-mtth softlowerlim 40
-mtth softupperlim 140
-mtth home 0
+att part detector
+att long_name att
+att softlowerlim -125
+att softupperlim 8
+att home 0
 
 
 ############################
@@ -247,58 +231,63 @@ mtth home 0
 ############################
 # 
 
-# mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
-set sv1SetRate 25000
-
-Motor sv1 $motor_driver_type [params \
+# mc2: CC1 Monochromator Stage Tilt
+# Gearbox 50:1 
+set m1chi_Home    0 
+set m1chiSetRate  25000
+Motor m1chi $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-kookaburra\
   port pmc2-kookaburra\
   axis A\
-  units mm\
+  units degrees\
   hardlowerlim -2\
   hardupperlim 60\
-  maxSpeed [expr 25000.0/$sv1SetRate]\
-  maxAccel [expr 25000.0/$sv1SetRate]\
-  maxDecel [expr 25000.0/$sv1SetRate]\
-  stepsPerX $sv1SetRate\
+  maxSpeed [expr 25000.0/$m1chiSetRate]\
+  maxAccel [expr 25000.0/$m1chiSetRate]\
+  maxDecel [expr 25000.0/$m1chiSetRate]\
+  stepsPerX $m1chiSetRate\
   absEnc 1\
-  absEncHome $sv1_Home\
+  absEncHome $m1chi_Home\
   cntsPerX 4096]
-sv1 part aperture
-sv1 long_name sv1
-sv1 softlowerlim -2
-sv1 softupperlim 60
-sv1 home 0
+m1chi part crystal
+m1chi long_name m1chi
+m1chi softlowerlim -2
+m1chi softupperlim 60
+m1chi 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 \
+# mc2: CC1 Monochromator Stage Rotation
+# Gearbox 60:1 
+set m1om_Home     0
+set m1omSetRate   25000
+Motor m1om $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-kookaburra\
   port pmc2-kookaburra\
   axis B\
-  units mm\
+  units degrees\
   hardlowerlim -2\
   hardupperlim 50\
-  maxSpeed [expr 25000.0/$sh1SetRate]\
-  maxAccel [expr 25000.0/$sh1SetRate]\
-  maxDecel [expr 25000.0/$sh1SetRate]\
-  stepsPerX $sh1SetRate\
+  maxSpeed [expr 25000.0/$m1omSetRate]\
+  maxAccel [expr 25000.0/$m1omSetRate]\
+  maxDecel [expr 25000.0/$m1omSetRate]\
+  stepsPerX $m1omSetRate\
   absEnc 1\
-  absEncHome $sh1_Home\
+  absEncHome $m1om_Home\
   cntsPerX 4096]
-sh1 part aperture
-sh1 long_name sh1
-sh1 softlowerlim -2
-sh1 softupperlim 50
-sh1 home 0
+m1om part crystal
+m1om long_name m1om
+m1om softlowerlim -2
+m1om softupperlim 50
+m1om 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 \
+# mc2: CC1 Monochromator Stage Y Translation
+# Gearbox 20:1 
+set m1x_Home      0
+set m1xSetRate    25000
+Motor m1x $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-kookaburra\
   port pmc2-kookaburra\
@@ -306,23 +295,25 @@ Motor sv2 $motor_driver_type [params \
   units mm\
   hardlowerlim -2\
   hardupperlim 40\
-  maxSpeed [expr 25000.0/$sv2SetRate]\
-  maxAccel [expr 25000.0/$sv2SetRate]\
-  maxDecel [expr 25000.0/$sv2SetRate]\
-  stepsPerX $sv2SetRate\
+  maxSpeed [expr 25000.0/$m1xSetRate]\
+  maxAccel [expr 25000.0/$m1xSetRate]\
+  maxDecel [expr 25000.0/$m1xSetRate]\
+  stepsPerX $m1xSetRate\
   absEnc 1\
-  absEncHome $sv2_Home\
+  absEncHome $m1x_Home\
   cntsPerX 4096]
-sv2 part aperture
-sv2 long_name sv2
-sv2 softlowerlim -2
-sv2 softupperlim 40
-sv2 home 0
+m1x part crystal 
+m1x long_name m1x
+m1x softlowerlim -2
+m1x softupperlim 40
+m1x 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 \
+# mc2: Slit system - 1 TOP Blade
+# Gearbox 55:1 
+set ss1u_Home     0
+set ss1uSetRate   25000
+Motor ss1u $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-kookaburra\
   port pmc2-kookaburra\
@@ -330,531 +321,342 @@ Motor sh2 $motor_driver_type [params \
   units mm\
   hardlowerlim -2\
   hardupperlim 30\
-  maxSpeed [expr 25000.0/$sh2SetRate]\
-  maxAccel [expr 25000.0/$sh2SetRate]\
-  maxDecel [expr 25000.0/$sh2SetRate]\
-  stepsPerX $sh2SetRate\
+  maxSpeed [expr 25000.0/$ss1uSetRate]\
+  maxAccel [expr 25000.0/$ss1uSetRate]\
+  maxDecel [expr 25000.0/$ss1uSetRate]\
+  stepsPerX $ss1uSetRate\
   absEnc 1\
-  absEncHome $sh2_Home\
+  absEncHome $ss1u_Home\
   cntsPerX 4096]
-sh2 part aperture
-sh2 long_name sh2
-sh2 softlowerlim -2
-sh2 softupperlim 30
-sh2 home 0
+ss1u parts slits 
+ss1u long_name ss1u
+ss1u softlowerlim -2
+ss1u softupperlim 30
+ss1u home 0
 
-# mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
-set gomSetRate 25000
 
-Motor gom $motor_driver_type [params \
+# mc2: Slit system - 1 BOTTOM Blade 
+# Gearbox 55:1
+set ss1d_Home     0
+set ss1dSetRate   25000
+Motor ss1d $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-kookaburra\
   port pmc2-kookaburra\
   axis E\
-  units degrees\
+  units mm\
   hardlowerlim 0\
   hardupperlim 15\
-  maxSpeed [expr 50000.0/$gomSetRate]\
-  maxAccel [expr 25000.0/$gomSetRate]\
-  maxDecel [expr 25000.0/$gomSetRate]\
-  stepsPerX $gomSetRate\
+  maxSpeed [expr 50000.0/$ss1dSetRate]\
+  maxAccel [expr 25000.0/$ss1dSetRate]\
+  maxDecel [expr 25000.0/$ss1dSetRate]\
+  stepsPerX $ss1dSetRate\
   absEnc 1\
-  absEncHome $gom_Home\
+  absEncHome $ss1d_Home\
   cntsPerX 4096]
-gom part sample
-gom long_name gom
-gom softlowerlim 0
-gom softupperlim 15
-gom home 0
+ss1d part slits 
+ss1d long_name ss1d
+ss1d softlowerlim 0
+ss1d softupperlim 15
+ss1d home 0
 
-# mc2: Sample rotation correction - 10 deg rotation
-set scorSetRate 25000
 
-Motor scor $motor_driver_type [params \
+# mc2: Slit system - 1 LEFT Blade
+# Gearbox 55:1 
+set ss1l_Home     0
+set ss1lSetRate   25000
+Motor ss1l $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-kookaburra\
   port pmc2-kookaburra\
   axis F\
-  units degrees\
+  units mm\
   hardlowerlim 0\
   hardupperlim 360\
-  maxSpeed [expr 50000.0/$scorSetRate]\
-  maxAccel [expr 25000.0/$scorSetRate]\
-  maxDecel [expr 25000.0/$scorSetRate]\
-  stepsPerX $scorSetRate\
+  maxSpeed [expr 50000.0/$ss1lSetRate]\
+  maxAccel [expr 25000.0/$ss1lSetRate]\
+  maxDecel [expr 25000.0/$ss1lSetRate]\
+  stepsPerX $ss1lSetRate\
   absEnc 1\
-  absEncHome $scor_Home\
+  absEncHome $ss1l_Home\
   cntsPerX 4096]
-scor part sample
-scor long_name scor
-scor softlowerlim 0
-scor softupperlim 360
-scor 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 \
-  asyncqueue mc3\
-  host mc3-kookaburra\
-  port pmc3-kookaburra\
-  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-kookaburra\
-  port pmc3-kookaburra\
-  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-kookaburra\
-  port pmc3-kookaburra\
-  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-kookaburra\
-  port pmc3-kookaburra\
-  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-kookaburra\
-  port pmc3-kookaburra\
-  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\
-  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-kookaburra\
-  port pmc3-kookaburra\
-  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
+ss1l part slits
+ss1l long_name ss1l
+ss1l softlowerlim 0
+ss1l softupperlim 360
+ss1l home 0
 
 
-############################
-# 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-kookaburra\
-  port pmc4-kookaburra\
-  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\
-  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-kookaburra\
-  port pmc4-kookaburra\
-  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-kookaburra\
-  port pmc4-kookaburra\
-  axis C\
+# mc2: Slit system - 1 RIGHT Blade
+# Gearbox 55:1
+set ss1r_Home     0
+set ss1rSetRate   25000
+Motor ss1r $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-kookaburra\
+  port pmc2-kookaburra\
+  axis G\
   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-kookaburra\
-  port pmc4-kookaburra\
-  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-kookaburra\
-  port pmc4-kookaburra\
-  axis E\
-  units degrees\
-  hardlowerlim -15\
+  hardlowerlim 0\
   hardupperlim 15\
-  maxSpeed [expr 50000.0/25000.0]\
-  maxAccel [expr 12500.0/25000.0]\
-  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $momSetRate\
+  maxSpeed [expr 50000.0/$ss1rSetRate]\
+  maxAccel [expr 25000.0/$ss1rSetRate]\
+  maxDecel [expr 25000.0/$ss1rSetRate]\
+  stepsPerX $ss1rSetRate\
   absEnc 1\
-  absEncHome $mom_Home\
+  absEncHome $ss1r_Home\
   cntsPerX 4096]
-mom speed 0.5
-mom part crystal
-mom long_name mom
-mom softlowerlim -15
-mom softupperlim 15
-mom home 0
+ss1r part slits
+ss1r long_name ss1r
+ss1r softlowerlim 0
+ss1r softupperlim 15
+ss1r home 0
+
+
+# mc2: Sample Changer (Sample Stage) Z Translation
+# Gearbox 1:1 
+set samz_Home     0
+set samzSetRate   25000
+Motor samz $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-kookaburra\
+  port pmc2-kookaburra\
+  axis H\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 360\
+  maxSpeed [expr 50000.0/$samzSetRate]\
+  maxAccel [expr 25000.0/$samzSetRate]\
+  maxDecel [expr 25000.0/$samzSetRate]\
+  stepsPerX $samzSetRate\
+  absEnc 1\
+  absEncHome $samz_Home\
+  cntsPerX 4096]
+samz part sample
+samz long_name samz
+samz softlowerlim 0
+samz softupperlim 360
+samz home 0
 
 
 ############################
-# Motor Controller 6
-# Motor Controller 6
-# Motor Controller 6
+# Motor Controller 3
+# Motor Controller 3
+# Motor Controller 3
 ############################
 # 
 
-# mc6: Radial Collimator -- Oscillator
-Motor rco $motor_driver_type [params \
-  asyncqueue mc6\
-  host mc6-kookaburra\
-  port pmc6-kookaburra\
+# mc3: Slit system - 2 TOP Blade
+# Gearbox 55:1
+set ss2u_Home     0
+set ss2uSetRate 25000
+Motor ss2u $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
   axis A\
   units mm\
-  hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardlowerlim -2\
+  hardupperlim 30\
+  maxSpeed [expr 25000.0/$ss1uSetRate]\
+  maxAccel [expr 25000.0/$ss1uSetRate]\
+  maxDecel [expr 25000.0/$ss1uSetRate]\
+  stepsPerX $ss2uSetRate\
   absEnc 1\
-  absEncHome $rco_Home\
+  absEncHome $ss2u_Home\
   cntsPerX 4096]
-rco part collimator
-rco long_name rco
-rco softlowerlim 0
-rco softupperlim 180
-rco home 0
+ss2u parts slits
+ss2u long_name ss2u
+ss2u softlowerlim -2
+ss2u softupperlim 30
+ss2u home 0
 
-# mc6: Radial Collimator -- Z Translation
-Motor rcz $motor_driver_type [params \
-  asyncqueue mc6\
-  host mc6-kookaburra\
-  port pmc6-kookaburra\
+
+# mc3: Slit system - 2 BOTTOM Blade
+# Gearbox 55:1
+set ss2d_Home     0
+set ss2dSetRate 25000
+Motor ss2d $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
   axis B\
   units mm\
   hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardupperlim 15\
+  maxSpeed [expr 50000.0/$ss2dSetRate]\
+  maxAccel [expr 25000.0/$ss2dSetRate]\
+  maxDecel [expr 25000.0/$ss2dSetRate]\
+  stepsPerX $ss2dSetRate\
   absEnc 1\
-  absEncHome $rcz_Home\
+  absEncHome $ss2d_Home\
   cntsPerX 4096]
-rcz part collimator
-rcz long_name rcz
-rcz softlowerlim 0
-rcz softupperlim 180
-rcz home 0
+ss2d part slits
+ss2d long_name ss2d
+ss2d softlowerlim 0
+ss2d softupperlim 15
+ss2d home 0
 
-# mc6: Beam Stop Stage - Rotation
-Motor bsr $motor_driver_type [params \
-  asyncqueue mc6\
-  host mc6-kookaburra\
-  port pmc6-kookaburra\
+
+# mc3: Slit system - 2 LEFT Blade
+# Gearbox 55:1
+set ss2l_Home     0
+set ss2lSetRate 25000
+Motor ss2l $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
   axis C\
-  units degrees\
+  units mm\
   hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardupperlim 360\
+  maxSpeed [expr 50000.0/$ss2lSetRate]\
+  maxAccel [expr 25000.0/$ss2lSetRate]\
+  maxDecel [expr 25000.0/$ss2lSetRate]\
+  stepsPerX $ss2lSetRate\
   absEnc 1\
-  absEncHome $bsr_Home\
+  absEncHome $ss2l_Home\
   cntsPerX 4096]
-bsr part sample
-bsr long_name bsr
-bsr softlowerlim 0
-bsr softupperlim 180
-bsr home 0
+ss2l part slits
+ss2l long_name ss2l
+ss2l softlowerlim 0
+ss2l softupperlim 360
+ss2l home 0
 
-# mc6: Isolation Vaue -- Axis 1,  currently this Axis is set to read ONLY to read the encoder
-Motor gv1 $motor_driver_type [params \
-  asyncqueue mc6\
-  host mc6-kookaburra\
-  port pmc6-kookaburra\
+
+# mc3: Slit system - 2 RIGHT Blade
+# Gearbox 55:1
+set ss2r_Home     0
+set ss2rSetRate 25000
+Motor ss2r $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
+  axis D\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 15\
+  maxSpeed [expr 50000.0/$ss2rSetRate]\
+  maxAccel [expr 25000.0/$ss2rSetRate]\
+  maxDecel [expr 25000.0/$ss2rSetRate]\
+  stepsPerX $ss2rSetRate\
+  absEnc 1\
+  absEncHome $ss2r_Home\
+  cntsPerX 4096]
+ss2r part slits
+ss2r long_name ss2r
+ss2r softlowerlim 0
+ss2r softupperlim 15
+ss2r home 0
+
+
+# mc3: CC2 Analyser Stage - Tilt
+# Gearbox 50:1
+set m2chi_Home    0
+set m2chiSetRate 25000
+Motor m2chi $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
   axis E\
   units degrees\
-  hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardlowerlim -2\
+  hardupperlim 60\
+  maxSpeed [expr 25000.0/$m2chiSetRate]\
+  maxAccel [expr 25000.0/$m2chiSetRate]\
+  maxDecel [expr 25000.0/$m2chiSetRate]\
+  stepsPerX $m2chiSetRate\
   absEnc 1\
-  absEncHome $gv1_Home\
+  absEncHome $m2chi_Home\
   cntsPerX 4096]
-gv1 part sample
-gv1 long_name gv1
-gv1 softlowerlim 0
-gv1 softupperlim 180
-gv1 home 0
-# fix the motor
-gv1 fixed -1
+m2chi part crystal
+m2chi long_name m2chi
+m2chi softlowerlim -2
+m2chi softupperlim 60
+m2chi home 0
 
-# 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-kookaburra\
-  port pmc6-kookaburra\
+
+# mc3: CC2 Analyser Stage - Rotation
+# Gearbox 60:1
+set m2om_Home     0
+set m2omSetRate 25000
+Motor m2om $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
   axis F\
   units degrees\
-  hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardlowerlim -2\
+  hardupperlim 50\
+  maxSpeed [expr 25000.0/$m2omSetRate]\
+  maxAccel [expr 25000.0/$m2omSetRate]\
+  maxDecel [expr 25000.0/$m2omSetRate]\
+  stepsPerX $m2omSetRate\
   absEnc 1\
-  absEncHome $gv2_Home\
+  absEncHome $m2om_Home\
   cntsPerX 4096]
-gv2 part sample
-gv2 long_name gv2
-gv2 softlowerlim 0
-gv2 softupperlim 180
-gv2 home 0
-# fix the motor
-gv2 fixed -1
+m2om part crystal
+m2om long_name m2om
+m2om softlowerlim -2
+m2om softupperlim 50
+m2om home 0
+
+
+# mc3: CC2 Analyser Stage - X Translate 
+# Gearbox 20:1
+set m2x_Home      0
+set m2xSetRate 25000
+Motor m2x $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
+  axis G\
+  units mm\
+  hardlowerlim -2\
+  hardupperlim 40\
+  maxSpeed [expr 25000.0/$m2xSetRate]\
+  maxAccel [expr 25000.0/$m2xSetRate]\
+  maxDecel [expr 25000.0/$m2xSetRate]\
+  stepsPerX $m2xSetRate\
+  absEnc 1\
+  absEncHome $m2x_Home\
+  cntsPerX 4096]
+m2x part crystal
+m2x long_name m2x
+m2x softlowerlim -2
+m2x softupperlim 40
+m2x home 0
+
+
+# mc3: CC2 Analyser Stage - Y Translation
+# Gearbox 20:1
+set m2y_Home      0
+set m2ySetRate 25000
+Motor m2y $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-kookaburra\
+  port pmc3-kookaburra\
+  axis H\
+  units mm\
+  hardlowerlim -2\
+  hardupperlim 40\
+  maxSpeed [expr 25000.0/$m2ySetRate]\
+  maxAccel [expr 25000.0/$m2ySetRate]\
+  maxDecel [expr 25000.0/$m2ySetRate]\
+  stepsPerX $m2ySetRate\
+  absEnc 1\
+  absEncHome $m2y_Home\
+  cntsPerX 4096]
+m2y part crystal
+m2y long_name m2y
+m2y softlowerlim -2
+m2y softupperlim 40
+m2y home 0
+
 
 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