diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index d4fdb4c2..72aebcdd 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -22,6 +22,9 @@ set dmc2280_controller3(port) pmc3-$animal
 set dmc2280_controller4(host) mc4-$animal
 set dmc2280_controller4(port) pmc4-$animal
 
+set dmc2280_controller6(host) mc6-$animal
+set dmc2280_controller6(port) pmc6-$animal
+
 if {$sim_mode == "true"} {
   set motor_driver_type asim
 } else {
@@ -152,10 +155,10 @@ set move_count 100
 # Motor Controller 1
 # Motor Controller 1
 ############################
-#:TP at HOME
 #
 
 # Dummy translation motor, useful for testing scans
+
 Motor dummy_motor asim [params \
   asyncqueue mc1\
   host mc1-taipan\
@@ -177,795 +180,675 @@ dummy_motor softlowerlim -500
 dummy_motor softupperlim 500
 dummy_motor home 0
 
-if $use_tiltstage {
-# Sample tilt along beam [-20,+20] degrees
-Motor samchi $motor_driver_type [params \
+#if $use_tiltstage {
+# mc1: Monochromator crystal selection rotation/Tilt
+Motor mtilt $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-taipan\
   port pmc1-taipan\
   axis A\
   units degrees\
-  hardlowerlim -20\
-  hardupperlim 20\
-  maxSpeed 1\
-  maxAccel 5\
-  maxDecel 5\
-  stepsPerX 25000\
+  hardlowerlim -5\
+  hardupperlim 5\
+  maxSpeed 5000\
+  maxAccel 2048\
+  maxDecel 2048\
+  stepsPerX 4096\
   absEnc 1\
   absEncHome $samchi_Home\
-  cntsPerX 8192]
-samchi part sample
-samchi long_name sample_chi
-samchi softlowerlim -20
-samchi softupperlim 20
-samchi home 0
+  cntsPerX 4096]
+mtilt part sample
+mtilt long_name mtilt
+mtilt softlowerlim -5
+mtilt softupperlim 5
+mtilt home 0
+#}
 
-# Sample tilt across beam [-20,+20] degrees
-Motor samphi $motor_driver_type [params \
+# mc1: Monochromator Linear (Translate)
+Motor mtrans $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-taipan\
   port pmc1-taipan\
   axis B\
   units degrees\
-  hardlowerlim -20\
-  hardupperlim 20\
-  maxSpeed 1\
-  maxAccel 5\
-  maxDecel 5\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome $samphi_Home\
-  cntsPerX 8192]
-samphi part sample
-samphi long_name sample_phi
-samphi softlowerlim -20
-samphi softupperlim 20
-samphi home 0
-}
-# Sample translation across beam [0,1000] mm
-Motor samx $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-taipan\
-  port pmc1-taipan\
-  axis C\
-  units mm\
-  hardlowerlim -500\
-  hardupperlim 500\
-  maxSpeed 10\
-  maxAccel 10\
-  maxDecel 10\
-  stepsPerX [expr 25000.0/5.0]\
-  absEnc 1\
-  absEncHome $samx_Home\
-  cntsPerX [expr 8192.0/5.0]]
-samx part sample
-samx long_name sample_x
-samx softlowerlim -500
-samx softupperlim 500
-samx home 0
-
-# Sample translation along beam [0,1000] mm
-Motor samy $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-taipan\
-  port pmc1-taipan\
-  axis D\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 1000\
-  maxSpeed 10\
-  maxAccel 5\
-  maxDecel 5\
-  stepsPerX [expr 25000.0/5.0]\
-  absEnc 1\
-  absEncHome $samy_Home\
-  cntsPerX [expr 8192.0/5.0]]
-samy part sample
-samy long_name sample_y
-samy softlowerlim 0
-samy softupperlim 1000
-samy home 0
-samy speed 5
-
-# Sample translation vertical [0,500] mm
-Motor samz $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-taipan\
-  port pmc1-taipan\
-  axis E\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
-  maxSpeed 10\
-  maxAccel 1\
-  maxDecel 10\
-  stepsPerX $samzStepRate\
-  absEnc 1\
-  absEncHome $samz_Home\
-  cntsPerX $samzCountRate]
-samz part sample
-samz long_name sample_z
-samz softlowerlim 0
-samz softupperlim 500
-samz home 0
-
-# Sample rotation (theta) [0,180] degrees
-Motor samthet $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-taipan\
-  port pmc1-taipan\
-  axis F\
-  units degrees\
-  hardlowerlim -30\
-  hardupperlim 30\
-  maxSpeed 10\
-  maxAccel 1\
-  maxDecel 10\
-  stepsPerX [expr 25000.0/2.0]\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX [expr 8192.0/2.0]]
-samthet part sample
-samthet long_name sample_theta
-samthet softlowerlim -10
-samthet softupperlim 10
-samthet home 0
-
-# Motor feeds 70:1 gearbox to 120mm diameter drive wheel ~= 377mm circumference
-#set det_StepsPerX [expr 25000.0*70.0*3.1415926*120.0]
-#set det_StepsPerX [expr 25000.0/5.385]
-set det_StepsPerX [expr (25000.0*70.0)/377.0]
-
-# Absolute encoder is on the drive wheel
-#set det_CntsPerX [expr 8192.0/3.1415926/120.0]]
-#set det_CntsPerX [expr 21.6898]
-set det_CntsPerX [expr 8192.0/377.0]
-
-# Detector translation along beam [0,20000] mm
-Motor det $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-taipan\
-  port pmc1-taipan\
-  action MC1\
-  axis G\
-  units mm\
-  hardlowerlim 488\
-  hardupperlim 19320\
-  maxSpeed 53\
-  maxAccel 5\
-  maxDecel 10\
-  stepsPerX $det_StepsPerX\
-  absEnc 1\
-  absEncHome $det_Home\
-  cntsPerX $det_CntsPerX]
-det part detector
-det long_name detector_y
-det precision 1
-det softlowerlim 500
-det softupperlim 19310
-det home 350.5
-det speed 53
-det Blockage_Fail 0
-
-# Detector translation across beam [-50,450] mm
-# Looks like an non-metric screw pitch 0.2 inches / turn
-Motor detoff $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-taipan\
-  port pmc1-taipan\
-  axis H\
-  units mm\
-  hardlowerlim -9\
-  hardupperlim 465\
-  maxSpeed 10\
-  maxAccel 1\
-  maxDecel 10\
-  stepsPerX [expr -(25000.0*3.0)/5.08]\
-  absEnc 1\
-  absEncHome $detoff_Home\
-  cntsPerX [expr 8192.0/5.08]]
-detoff part detector
-detoff long_name detector_x
-detoff softlowerlim 0
-detoff softupperlim 450
-detoff home 0
-
-############################
-# Motor Controller 2
-# Motor Controller 2
-# Motor Controller 2
-############################
-#:TP at HOME
-#
-
-# Collimation motor 1
-Motor pc1 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis A\
-  units mm\
-  hardlowerlim -295\
-  hardupperlim 95\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc1_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc1 posit_1 [expr $pc1_Guide]
-pc1 posit_2 [expr $pc1_Empty]
-pc1 posit_3 [expr $pc1_Polarizer]
-pc1 part collimator
-pc1 long_name pc1
-setHomeandRange -motor pc1 -home 0 -lowrange 295 -uprange 95
-pc1 speed 6
-pc1 creep_offset 1
-
-# Collimation motor 2
-Motor pc2 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis B\
-  units mm\
-  hardlowerlim -295\
-  hardupperlim 95\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc2_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc2 posit_1 [expr $pc2_Guide]
-pc2 posit_2 [expr $pc2_Empty]
-pc2 posit_3 [expr $pc2_Polarizer]
-pc2 part collimator
-pc2 long_name pc2
-setHomeandRange -motor pc2 -home 0 -lowrange 295 -uprange 95
-pc2 speed 6
-pc2 creep_offset 1
-
-# Collimation motor 3
-Motor pc3 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis C\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc3_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc3 posit_1 [expr $pc3_Empty]
-pc3 posit_2 [expr $pc3_Guide]
-pc3 posit_3 [expr $pc3_Aperture]
-pc3 part collimator
-pc3 long_name pc3
-setHomeandRange -motor pc3 -home 0 -lowrange 190 -uprange 190
-pc3 speed 6
-pc3 creep_offset 1
-
-# Collimation motor 4
-Motor pc4 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis D\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc4_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc4 posit_1 [expr $pc4_Empty]
-pc4 posit_2 [expr $pc4_Guide]
-pc4 posit_3 [expr $pc4_Aperture]
-pc4 part collimator
-pc4 long_name pc4
-setHomeandRange -motor pc4 -home 0 -lowrange 190 -uprange 190
-pc4 speed 6
-pc4 creep_offset 1
-
-# Collimation motor 5
-Motor pc5 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis E\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc5_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc5 posit_1 [expr $pc5_Empty]
-pc5 posit_2 [expr $pc5_Guide]
-pc5 posit_3 [expr $pc5_Aperture]
-pc5 part collimator
-pc5 long_name pc5
-setHomeandRange -motor pc5 -home 0 -lowrange 190 -uprange 190
-pc5 speed 6
-pc5 creep_offset 1
-
-# Collimation motor 6
-Motor pc6 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis F\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc6_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc6 posit_1 [expr $pc6_Empty]
-pc6 posit_2 [expr $pc6_Guide]
-pc6 posit_3 [expr $pc6_Aperture]
-pc6 part collimator
-pc6 long_name pc6
-setHomeandRange -motor pc6 -home 0 -lowrange 190 -uprange 190
-pc6 speed 6
-pc6 creep_offset 1
-
-# Collimation motor 7
-Motor pc7 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis G\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc7_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc7 posit_1 [expr $pc7_Empty]
-pc7 posit_2 [expr $pc7_Guide]
-pc7 posit_3 [expr $pc7_Aperture]
-pc7 part collimator
-pc7 long_name pc7
-setHomeandRange -motor pc7 -home 0 -lowrange 190 -uprange 190
-pc7 speed 6
-pc7 creep_offset 1
-
-# Collimation motor 8
-Motor pc8 $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-taipan\
-  port pmc2-taipan\
-  axis H\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc8_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc8 posit_1 [expr $pc8_Empty]
-pc8 posit_2 [expr $pc8_Guide]
-pc8 posit_3 [expr $pc8_Aperture]
-pc8 part collimator
-pc8 long_name pc8
-setHomeandRange -motor pc8 -home 0 -lowrange 190 -uprange 190
-pc8 speed 6
-pc8 creep_offset 1
-
-############################
-# Motor Controller 3
-# Motor Controller 3
-# Motor Controller 3
-############################
-#
-
-# Collimation motor 9
-Motor pc9 $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-taipan\
-  port pmc3-taipan\
-  axis A\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc9_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 3]
-pc9 posit_1 [expr $pc9_Empty]
-pc9 posit_2 [expr $pc9_Guide]
-pc9 posit_3 [expr $pc9_Aperture]
-pc9 part collimator
-pc9 long_name pc9
-setHomeandRange -motor pc9 -home 0 -lowrange 190 -uprange 190
-pc9 speed 6
-pc9 creep_offset 1
-
-# Collimation motor 10
-Motor pc10 $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-taipan\
-  port pmc3-taipan\
-  axis B\
-  units mm\
-  hardlowerlim -190\
-  hardupperlim 190\
-  maxSpeed 6\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $coll_StepsPerX\
-  absEnc 1\
-  absEncHome $pc10_Home\
-  cntsPerX $coll_CntsPerX\
-  posit_count 5]
-pc10 posit_1 [expr $pc10_Lens]
-pc10 posit_2 [expr $pc10_Empty]
-pc10 posit_3 [expr $pc10_Guide]
-pc10 posit_4 [expr $pc10_Aperture]
-pc10 posit_5 [expr $pc10_LensandPrism]
-pc10 part collimator
-pc10 long_name pc10
-setHomeandRange -motor pc10 -home 0 -lowrange 190 -uprange 190
-pc10 speed 6
-pc10 creep_offset 1
-
-# Pentaprism
-Motor pent $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-taipan\
-  port pmc3-taipan\
-  axis C\
-  units mm\
-  hardlowerlim -30\
-  hardupperlim 300\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX [expr 25000.0/3.0]\
-  absEnc 1\
-  absEncHome $pent_Home\
-  cntsPerX [expr -8192.0/3.0]]
-pent part collimator
-pent long_name pent
-setHomeandRange -motor pent -home 0 -lowrange 30 -uprange 300
-pent speed 1
-
-# Rotary source aperture
-Motor srce $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-taipan\
-  port pmc3-taipan\
-  axis D\
-  units degrees\
   hardlowerlim -10\
-  hardupperlim 340\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX [expr 25000.0/6.0]\
+  hardupperlim 195\
+  maxSpeed 20000\
+  maxAccel 2048\
+  maxDecel 2048\
+  stepsPerX 4096\
   absEnc 1\
-  absEncHome $srce_Home\
-  cntsPerX [expr -8192.0/6.0]\
-  posit_count 12]
-srce part collimator
-srce long_name srce
-srce home 180
-srce softlowerlim -10
-srce softupperlim 340
-srce speed 1
-srce posit_1 $srce_Home
-srce posit_2 [expr $srce_Home - (1 * 5 * 8192)]
-srce posit_3 [expr $srce_Home - (2 * 5 * 8192)]
-srce posit_4 [expr $srce_Home - (3 * 5 * 8192)]
-srce posit_5 [expr $srce_Home - (4 * 5 * 8192)]
-srce posit_6 [expr $srce_Home - (5 * 5 * 8192)]
-srce posit_7 [expr $srce_Home - (6 * 5 * 8192)]
-srce posit_8 [expr $srce_Home - (7 * 5 * 8192)]
-srce posit_9 [expr $srce_Home - (8 * 5 * 8192)]
-srce posit_10 [expr $srce_Home - (9 * 5 * 8192)]
-srce posit_11 [expr $srce_Home - (10 * 5 * 8192)]
-srce posit_12 [expr $srce_Home - (11 * 5 * 8192)]
+  absEncHome $samphi_Home\
+  cntsPerX 4096]
+mtrans part sample
+mtrans long_name mtrans
+mtrans softlowerlim -10
+mtrans softupperlim 195
+mtrans home 0
 
-# Sample aperture x
-Motor apx $motor_driver_type [params \
+# mc1: Fight Tube Rotate
+Motor m2 $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-taipan\
+  port pmc1-taipan\
+  axis F\
+  units degrees\
+  hardlowerlim -32.5\
+  hardupperlim 53\
+  maxSpeed 75000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samx_Home\
+  cntsPerX 4096]
+m2 part sample
+m2 long_name m2
+m2 softlowerlim -32.5
+m2 softupperlim 53
+m2 home 0
+
+# mc1: Detector Rotate
+Motor a2 $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-taipan\
+  port pmc1-taipan\
+  axis H\
+  units degrees\
+  hardlowerlim -55\
+  hardupperlim 55\
+  maxSpeed 100000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samy_Home\
+  cntsPerX 4096]
+a2 part sample
+a2 long_name a2
+a2 softlowerlim -55
+a2 softupperlim 55
+a2 home 0
+
+
+############################
+# Motor Controller 2
+# Motor Controller 2
+# Motor Controller 2
+############################
+# 
+
+# mc2: Sample Tilt 1
+Motor sgu $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis A\
+  units degrees\
+  hardlowerlim -18\
+  hardupperlim 19\
+  maxSpeed 12500\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samz_Home\
+  cntsPerX 4096]
+sgu part sample
+sgu long_name sgu
+sgu softlowerlim -18
+sgu softupperlim 19
+sgu home 0
+
+# mc2: Sample Tilt 2
+Motor sgl $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis B\
+  units degrees\
+  hardlowerlim -18\
+  hardupperlim 18\
+  maxSpeed 25000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+sgl part sample
+sgl long_name sgl
+sgl softlowerlim -18
+sgl softupperlim 18
+sgl home 0
+
+# mc2: Sample Up Tanslation
+Motor stu $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis C\
+  units degrees\
+  hardlowerlim -15\
+  hardupperlim 15\
+  maxSpeed 30000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+stu part sample
+stu long_name stu
+stu softlowerlim -15
+stu softupperlim 15
+stu home 0
+
+# mc2: Sample Lower Tanslation
+Motor stl $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis D\
+  units degrees\
+  hardlowerlim -15\
+  hardupperlim 15\
+  maxSpeed 30000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+stl part sample
+stl long_name stl
+stl softlowerlim -15
+stl softupperlim 15
+stl home 0
+
+# mc2: Sample Rotate
+Motor s1 $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis E\
+  units degrees\
+  hardlowerlim -185\
+  hardupperlim 124\
+  maxSpeed 25000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+s1 part sample
+s1 long_name s1
+s1 softlowerlim -185
+s1 softupperlim 124
+s1 home 0
+
+# mc2: Analyser Detector Rotate -- Sample Scattering Angle
+Motor s2 $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis F\
+  units degrees\
+  hardlowerlim -128\
+  hardupperlim 3\
+  maxSpeed 100000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+s2 part sample
+s2 long_name s2
+s2 softlowerlim -128
+s2 softupperlim 3
+s2 home 0
+
+# mc2: Analyser Horizontal Focus
+Motor ahfocus $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis G\
+  units degrees\
+  hardlowerlim -360\
+  hardupperlim 360\
+  maxSpeed 2000\
+  maxAccel 1000\
+  maxDecel 1000\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+ahfocus part sample
+ahfocus long_name ahfocus
+ahfocus softlowerlim -360
+ahfocus softupperlim 360
+ahfocus home 0
+
+# mc2: Analyser Vertical Focus
+Motor avfocus $motor_driver_type [params \
+  asyncqueue mc2\
+  host mc2-taipan\
+  port pmc2-taipan\
+  axis H\
+  units degrees\
+  hardlowerlim -200\
+  hardupperlim 0\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+avfocus part sample
+avfocus long_name avfocus
+avfocus softlowerlim -200
+avfocus softupperlim 0
+avfocus home 0
+
+# mc3: Monochromator Vertical Focus
+Motor mvfocus $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-taipan\
+  port pmc3-taipan\
+  axis A\
+  units degrees\
+  hardlowerlim 0\
+  hardupperlim 240\
+  maxSpeed 25000\
+  maxAccel 8192\
+  maxDecel 4096\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+mvfocus part sample
+mvfocus long_name mvfocus
+mvfocus softlowerlim 0
+mvfocus softupperlim 240
+mvfocus home 0
+
+# mc3: Monochromator Horizontal Focus
+Motor mhfocus $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-taipan\
+  port pmc3-taipan\
+  axis B\
+  units degrees\
+  hardlowerlim -180\
+  hardupperlim 275\
+  maxSpeed 25000\
+  maxAccel 8192\
+  maxDecel 4096\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+mhfocus part sample
+mhfocus long_name mhfocus
+mhfocus softlowerlim 0
+mhfocus softupperlim 240
+mhfocus home 0
+
+# mc3: Monochromator Rotate
+Motor m1 $motor_driver_type [params \
   asyncqueue mc3\
   host mc3-taipan\
   port pmc3-taipan\
   axis E\
-  units mm\
-  hardlowerlim -260\
-  hardupperlim 5\
-  maxSpeed 5\
-  maxAccel 5\
-  maxDecel 5\
-  stepsPerX 2500\
-  absEnc 1\
-  absEncHome $apx_Home\
-  cntsPerX -819.2]
-apx part collimator
-apx long_name apx
-apx home 0
-apx softlowerlim -255
-apx softupperlim 5
-apx speed 5
-
-# Sample aperture y
-#Motor apz $motor_driver_type [params \
-#  asyncqueue mc3\
-#  host mc3-taipan\
-#  port pmc3-taipan\
-#  axis F\
-#  units mm\
-#  hardlowerlim -10\
-#  hardupperlim 10\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#  stepsPerX 25000\
-#  absEnc 1\
-#  absEncHome $apz_Home\
-#  cntsPerX -8192]
-#apz part collimator
-#apz long_name apz
-#setHomeandRange -motor apz -home 0 -lowrange 0 -uprange 5
-#apz speed 1
-
-# Rotary attenuator
-set att_factor [expr ((1.0 - (1.0)/360.0)*(3000.0/61.0))/360.0]
-Motor att $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-taipan\
-  port pmc3-taipan\
-  axis G\
   units degrees\
-  hardlowerlim -30\
-  hardupperlim 7230\
-  maxSpeed 10\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX [expr ($att_factor*25000.0)]\
+  hardlowerlim 5\
+  hardupperlim 40\
+  maxSpeed 75000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 4096\
   absEnc 1\
-  absEncHome $att_Home\
-  cntsPerX [expr -($att_factor*8192.0)]]
-att part collimator
-att long_name att
-setHomeandRange -motor att -home 0 -lowrange 0 -uprange 7230
-att speed 5
-# 2009-12-15 Attenuator wheel was re-installed 120 degrees out of whack!!!!!!
-att home -120
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+m1 part sample
+m1 long_name m1
+m1 softlowerlim 5
+m1 softupperlim 40
+m1 home 0
 
-############################
-# Motor Controller 4
-# Motor Controller 4
-# Motor Controller 4
-############################
-#
-
-# beam stop horizontal [-100,300] mm
-Motor bsx $motor_driver_type [params \
+# mc4: Analyzer Tilt 1 -- Two-theta Angle
+Motor atilt $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-taipan\
   port pmc4-taipan\
   axis A\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 317\
-  maxSpeed 5\
-  maxAccel 2\
-  maxDecel 5\
-  stepsPerX [expr -(25000.0*7.0)/5.0/1.02]\
+  units degrees\
+  hardlowerlim -5\
+  hardupperlim 5\
+  maxSpeed 100000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
   absEnc 1\
-  absEncHome $bsx_Home\
-  cntsPerX [expr 8192.0/5.0/1.02]]
-bsx part detector
-bsx long_name bsx
-bsx softlowerlim 0
-bsx softupperlim 310
-bsx speed 5
-bsx home 0
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+atilt part sample
+atilt long_name atilt
+atilt softlowerlim -5
+atilt softupperlim 5
+atilt home 0
 
-# beam stop vertical [-240,100] mm
-Motor bsz $motor_driver_type [params \
+# mc4: Analyzer Translate
+Motor atrans $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-taipan\
   port pmc4-taipan\
-  axis B\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 280\
-  maxSpeed 5\
-  maxAccel 1\
-  maxDecel 5\
-  stepsPerX [expr (25000.0*7.0)/5.0/1.02]\
-  absEnc 1\
-  absEncHome $bsz_Home\
-  cntsPerX [expr (8192.0*7.0)/5.0/1.02]]
-bsz part detector
-bsz long_name bsz
-bsz softlowerlim 0
-bsz softupperlim 275
-bsz home 0
-
-# Largest beamstop
-Motor bs1 $motor_driver_type [params \
-  asyncqueue mc4\
   axis C\
   units degrees\
-  hardlowerlim 9\
-  hardupperlim 95\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $bs_stepsPerX\
+  hardlowerlim -1\
+  hardupperlim 22\
+  maxSpeed 100000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
   absEnc 1\
-  absEncHome $bs1_Home\
-  cntsPerX $bs_cntsPerX]
-bs1 part detector
-bs1 long_name bs1
-bs1 softlowerlim 11
-bs1 softupperlim 95
-bs1 home 90
-bs1 precision 0.05
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+atrans part sample
+atrans long_name atrans
+atrans softlowerlim -1
+atrans softupperlim 22
+atrans home 0
 
-Motor bs2 $motor_driver_type [params \
+# mc4: Analyzer Rotate
+Motor a1 $motor_driver_type [params \
   asyncqueue mc4\
+  host mc4-taipan\
+  port pmc4-taipan\
   axis D\
   units degrees\
-  hardlowerlim 6\
-  hardupperlim 95\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $bs_stepsPerX\
+  hardlowerlim -5.1\
+  hardupperlim 30\
+  maxSpeed 50000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
   absEnc 1\
-  absEncHome $bs2_Home\
-  cntsPerX $bs_cntsPerX]
-bs2 part detector
-bs2 long_name bs2
-bs2 softlowerlim 7
-bs2 softupperlim 95
-bs2 home 90
-bs2 precision 0.05
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+a1 part sample
+a1 long_name a1
+a1 softlowerlim -5.1
+a1 softupperlim 30
+a1 home 0
 
-Motor bs3 $motor_driver_type [params \
+# mc4: Virtural Source Left Translation
+Motor VS_left $motor_driver_type [params \
   asyncqueue mc4\
+  host mc4-taipan\
+  port pmc4-taipan\
   axis E\
-  units degrees\
-  hardlowerlim 9\
-  hardupperlim 95\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $bs_stepsPerX\
+  units mm\
+  hardlowerlim 2\
+  hardupperlim 35\
+  maxSpeed 12500\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 8192\
   absEnc 1\
-  absEncHome $bs3_Home\
-  cntsPerX $bs_cntsPerX]
-bs3 part detector
-bs3 long_name bs3
-bs3 softlowerlim 11
-bs3 softupperlim 95
-bs3 home 90
-bs3 precision 0.05
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+VS_left part sample
+VS_left long_name VS_left
+VS_left softlowerlim 2
+VS_left softupperlim 35
+VS_left home 0
 
-Motor bs4 $motor_driver_type [params \
+# mc4: Virtural Source Right Translation
+Motor VS_right $motor_driver_type [params \
   asyncqueue mc4\
+  host mc4-taipan\
+  port pmc4-taipan\
   axis F\
-  units degrees\
-  hardlowerlim 6\
-  hardupperlim 95\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $bs_stepsPerX\
+  units mm\
+  hardlowerlim -35\
+  hardupperlim -2\
+  maxSpeed 12500\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 8192\
   absEnc 1\
-  absEncHome $bs4_Home\
-  cntsPerX $bs_cntsPerX]
-bs4 part detector
-bs4 long_name bs4
-bs4 softlowerlim 7
-bs4 softupperlim 95
-bs4 home 90
-bs4 precision 0.05
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+VS_right part sample
+VS_right long_name VS_right
+VS_right softlowerlim -35
+VS_right softupperlim -2
+VS_right home 0
 
-Motor bs5 $motor_driver_type [params \
+# mc4: Filter Rotate
+Motor mfilter $motor_driver_type [params \
   asyncqueue mc4\
+  host mc4-taipan\
+  port pmc4-taipan\
   axis G\
   units degrees\
-  hardlowerlim 9\
-  hardupperlim 95\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $bs_stepsPerX\
+  hardlowerlim 0\
+  hardupperlim 360\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 8192\
   absEnc 1\
-  absEncHome $bs5_Home\
-  cntsPerX $bs_cntsPerX]
-bs5 part detector
-bs5 long_name bs5
-bs5 softlowerlim 11
-bs5 softupperlim 95
-bs5 home 90
-bs5 precision 0.05
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+mfilter part sample
+mfilter long_name mfilter
+mfilter softlowerlim 0
+mfilter softupperlim 360
+mfilter home 0
 
-Motor bs6 $motor_driver_type [params \
+# mc4: Primary collimator Translate
+Motor collimator $motor_driver_type [params \
   asyncqueue mc4\
+  host mc4-taipan\
+  port pmc4-taipan\
   axis H\
-  units degrees\
-  hardlowerlim 6\
-  hardupperlim 95\
-  maxSpeed 2\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $bs_stepsPerX\
+  units mm\
+  hardlowerlim -112\
+  hardupperlim 112\
+  maxSpeed 12500\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 4096\
   absEnc 1\
-  absEncHome $bs6_Home\
-  cntsPerX $bs_cntsPerX]
-bs6 part detector
-bs6 long_name bs6
-bs6 softlowerlim 7
-bs6 softupperlim 95
-bs6 home 90
-bs6 precision 0.05
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+mfilter part sample
+mfilter long_name collimator
+mfilter softlowerlim -112
+mfilter softupperlim 112
+mfilter home 0
 
-# Polarizer Rotation
-#Motor pol $motor_driver_type [params \
-#  asyncqueue mc4\
-#  host mc4-taipan\
-#  port pmc4-taipan\
-#  axis H\
-#  units degrees\
-#  hardlowerlim 0\
-#  hardupperlim 3\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 5\
-#  stepsPerX 25000\
-#  absEnc 1\
-#  absEncHome $pol_Home\
-#  cntsPerX 8192]
-#pol part detector
-#pol long_name pol
-#pol softlowerlim 0
-#pol softupperlim 3
-#pol home 0
+# mc6: Pre-sample right aperture -- Slit s1 right Blade
+Motor ps_right $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis A\
+  units mm\
+  hardlowerlim -27\
+  hardupperlim -2\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+ps_right part sample
+ps_right long_name ps_right
+ps_right softlowerlim -27
+ps_right softupperlim -2
+ps_right home 0
+
+# mc6: Pre-sample left aperture -- Slit s1 left Blade
+Motor ps_left $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis B\
+  units mm\
+  hardlowerlim -27\
+  hardupperlim -2\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+ps_left part sample
+ps_left long_name ps_left
+ps_left softlowerlim -27
+ps_left softupperlim -2
+ps_left home 0
+
+# mc6: Pre-sample top aperture -- Slit s1 top Blade
+Motor ps_top $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis C\
+  units mm\
+  hardlowerlim -200\
+  hardupperlim -2\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+ps_top part sample
+ps_top long_name ps_top
+ps_top softlowerlim -200
+ps_top softupperlim -2
+ps_top home 0
+
+# mc6: Pre-sample bottom aperture -- Slit s1 bottom Blade
+Motor ps_bottom $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis D\
+  units mm\
+  hardlowerlim -200\
+  hardupperlim -2\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+ps_bottom part sample
+ps_bottom long_name ps_bottom
+ps_bottom softlowerlim -200
+ps_bottom softupperlim -2
+ps_bottom home 0
+
+# mc6: Pre-sample right aperture -- Slit s2 right Blade
+Motor pa_right $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis E\
+  units mm\
+  hardlowerlim -26\
+  hardupperlim 2\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+pa_right part sample
+pa_right long_name pa_right
+pa_right softlowerlim -26
+pa_right softupperlim 2
+pa_right home 0
+
+# mc6: Pre-sample left aperture -- Slit s2 left Blade
+Motor pa_left $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis F\
+  units mm\
+  hardlowerlim -26\
+  hardupperlim 2\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+pa_left part sample
+pa_left long_name pa_left
+pa_left softlowerlim -26
+pa_left softupperlim 2
+pa_left home 0
+
+# mc6: Pre-sample top aperture -- Slit s2 top Blade
+Motor pa_top $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis G\
+  units mm\
+  hardlowerlim -200\
+  hardupperlim 0\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+pa_left part sample
+pa_left long_name pa_top
+pa_left softlowerlim -200
+pa_left softupperlim 0   
+pa_left home 0
+
+# mc6: Pre-sample bottom aperture -- Slit s2 bottom Blade
+Motor pa_bottom $motor_driver_type [params \
+  asyncqueue mc6\
+  host mc6-taipan\
+  port pmc6-taipan\
+  axis H\
+  units mm\
+  hardlowerlim -200\
+  hardupperlim 0\
+  maxSpeed 30000\
+  maxAccel 60000\
+  maxDecel 60000\
+  stepsPerX 4096\
+  absEnc 1\
+  absEncHome $samthet_Home\
+  cntsPerX 4096]
+pa_bottom part sample
+pa_bottom long_name pa_bottom
+pa_bottom softlowerlim -200
+pa_bottom softupperlim 0  
+pa_bottom home 0
 
 proc motor_set_sobj_attributes {} {
 }
@@ -974,15 +857,15 @@ proc motor_set_sobj_attributes {} {
 # 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
+#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