diff --git a/site_ansto/instrument/TEST_SICS/setup/pelican b/site_ansto/instrument/TEST_SICS/setup/pelican
new file mode 100755
index 00000000..1baca5db
--- /dev/null
+++ b/site_ansto/instrument/TEST_SICS/setup/pelican
@@ -0,0 +1,16 @@
+#!/bin/bash
+echo me:${0}
+. $(dirname ${0})/common
+status=${?}
+echo root:${status}:${root}
+if [ ! ${status} ]; then
+  exit 1
+fi
+gnome-terminal \
+  --tab --title="Motors" \
+    --working-directory=${root}/fakeGalil \
+    --command="${root}/fakeGalil/SIM_GALIL.py -w pelican" \
+  --tab --title="Bash" \
+    --working-directory=${root} \
+    --command="bash"
+
diff --git a/site_ansto/instrument/config/environment/temperature/watlow_mrm.sct b/site_ansto/instrument/config/environment/temperature/watlow_mrm.sct
index c9b1dbf6..e29210a0 100644
--- a/site_ansto/instrument/config/environment/temperature/watlow_mrm.sct
+++ b/site_ansto/instrument/config/environment/temperature/watlow_mrm.sct
@@ -1,6 +1,6 @@
 # vim: ts=8 sts=2 sw=2 expandtab autoindent smartindent nocindent
 driver watlow_mrm = {
-  protocol = std
+  protocol = modbus
   sobj_priv_type = 'user float'
   class = environment
   simulation_group = environment_simulation
diff --git a/site_ansto/instrument/config/environment/temperature/watlow_mrm_sct.tcl b/site_ansto/instrument/config/environment/temperature/watlow_mrm_sct.tcl
index 2c654f46..eed2cf18 100644
--- a/site_ansto/instrument/config/environment/temperature/watlow_mrm_sct.tcl
+++ b/site_ansto/instrument/config/environment/temperature/watlow_mrm_sct.tcl
@@ -61,8 +61,8 @@ proc ::scobj::watlow_mrm::add_driver {name device_class simulation_flag ip_addre
         ::scobj::watlow_mrm::sics_log 9 "makesctcontroller sct_${name} aqadapter ${tcp_port}"
         makesctcontroller sct_${name} aqadapter ${tcp_port}
       } else {
-        ::scobj::watlow_mrm::sics_log 9 "makesctcontroller sct_${name} std ${ip_address}:${tcp_port}"
-        makesctcontroller sct_${name} std ${ip_address}:${tcp_port}
+        ::scobj::watlow_mrm::sics_log 9 "makesctcontroller sct_${name} modbus ${ip_address}:${tcp_port}"
+        makesctcontroller sct_${name} modbus ${ip_address}:${tcp_port}
       }
     } else {
       ::scobj::watlow_mrm::sics_log 9 "simulation_flag=${simulation_flag} => Null sctcontroller for watlow_mrm"
@@ -131,7 +131,7 @@ proc ::scobj::watlow_mrm::read_config {} {
             if { [string equal -nocase ${asyncqueue} "sct"] } {
               set ip_address [dict get $v ip]
               set tcp_port [dict get $v port]
-              makesctcontroller sct_${name} std ${ip_address}:${tcp_port}
+              makesctcontroller sct_${name} modbus ${ip_address}:${tcp_port}
             } else {
               makesctcontroller sct_${name} aqadapter ${asyncqueue}
             }
diff --git a/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl b/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
index aa4a1f69..e7f4dc5a 100644
--- a/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/dingo/config/motors/motor_configuration.tcl
@@ -16,6 +16,12 @@ if {$sim_mode == "true"} {
   #MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
 }
 
+set sample_stage_rotate "normal_sample_stage"
+if { [ info exists ::config_dict ] } {
+  if { [ dict exists $::config_dict sample_stage implementation ] } {
+    set sample_stage_rotate [ dict get $::config_dict sample_stage implementation ]
+  }
+}
 
 # Dummy translation motor, useful for testing scans
 set dummy_Home    0
@@ -135,41 +141,43 @@ sy softlowerlim -50
 sy softupperlim 230
 sy home 0
 
-# mc1: Sample rotation axis
-# Gearbox 100:1, screw pitch 356:1
-# Encoder 2P17
-#set stth_Home  821487
-set stth_Home  0
-#set stthStepRate [expr -$motorrate*100.0]
-set stthStepRate -2478000
-Motor stth $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-dingo\
-  port pmc1-dingo\
-  axis D\
-  units degree\
-  hardlowerlim -722\
-  hardupperlim 722\
-  maxSpeed 0.12\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $stthStepRate\
-  absEnc 1\
-  absEncHome $stth_Home\
-  nopowersave 1\
-  cntsPerX 93206.75556 ]
-stth speed 0.1
-stth accel 0.1
-stth decel 0.1
-stth part sample
-stth long_name stth 
-stth softlowerlim 0.01
-stth softupperlim 359.99
-stth home 0
-#stth bias_bits 25
-#stth bias_bias -33432264
-stth rotary_bits 25
-stth creep_offset 0.05
+if {[string equal -nocase ${sample_stage_rotate} "normal_sample_stage"]} {
+  # mc1: Sample rotation axis
+  # Gearbox 100:1, screw pitch 356:1
+  # Encoder 2P17
+  #set stth_Home  821487
+  set stth_Home  0
+  #set stthStepRate [expr -$motorrate*100.0]
+  set stthStepRate -2478000
+  Motor stth $motor_driver_type [params \
+    asyncqueue mc1\
+    host mc1-dingo\
+    port pmc1-dingo\
+    axis D\
+    units degree\
+    hardlowerlim -722\
+    hardupperlim 722\
+    maxSpeed 2.0\
+    maxAccel 1\
+    maxDecel 1\
+    stepsPerX $stthStepRate\
+    absEnc 1\
+    absEncHome $stth_Home\
+    nopowersave 1\
+    cntsPerX 93206.75556 ]
+  stth speed 0.5
+  stth accel 0.1
+  stth decel 0.1
+  stth part sample
+  stth long_name stth
+  stth softlowerlim 0.01
+  stth softupperlim 359.99
+  stth home 0
+  #stth bias_bits 25
+  #stth bias_bias -33432264
+  stth rotary_bits 25
+  stth creep_offset 0.05
+}
 
 # mc1: detection Z-stage Translation
 # Gearbox 5:1, Gear ratio 16:1, pitch 4mm
@@ -199,40 +207,81 @@ dz softlowerlim 0
 dz softupperlim 170
 dz home 0
 
-# mc1:H Sample rotation axis
-# Resolver 2,048 counts per degree
-# Motor 12,500 steps per degree
-# Positive steps are CCW viewed from above
-set soma_Home  9867748
-#set somaStepRate [expr -$motorrate*100.0]
-set somaStepRate 12500
-Motor soma $motor_driver_type [params \
-  asyncqueue mc1\
-  host mc1-dingo\
-  port pmc1-dingo\
-  axis H\
-  units degree\
-  hardlowerlim -722\
-  hardupperlim 722\
-  maxSpeed 12\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $somaStepRate\
-  absEnc 1\
-  absEncHome $soma_Home\
-  nopowersave 1\
-  cntsPerX 2048 ]
-soma speed 0.1
-soma accel 0.1
-soma decel 0.1
-soma part sample
-soma long_name soma
-soma softlowerlim -1
-soma softupperlim 361
-soma home 0
-#soma bias_bits 25
-#soma rotary_bits 25
-soma creep_offset 0.05
+if {[string equal -nocase ${sample_stage_rotate} "soma"]} {
+  # mc1:H Sample rotation axis
+  # Resolver 2,048 counts per degree
+  # Motor 12,500 steps per degree
+  # Positive steps are CCW viewed from above
+  set soma_Home  9867748
+  #set somaStepRate [expr -$motorrate*100.0]
+  set somaStepRate 12500
+  Motor soma $motor_driver_type [params \
+    asyncqueue mc1\
+    host mc1-dingo\
+    port pmc1-dingo\
+    axis H\
+    units degree\
+    hardlowerlim -722\
+    hardupperlim 722\
+    maxSpeed 12\
+    maxAccel 1\
+    maxDecel 1\
+    stepsPerX $somaStepRate\
+    absEnc 1\
+    absEncHome $soma_Home\
+    nopowersave 1\
+    cntsPerX 2048 ]
+  soma speed 0.1
+  soma accel 0.1
+  soma decel 0.1
+  soma part sample
+  soma long_name soma
+  soma softlowerlim -1
+  soma softupperlim 361
+  soma home 0
+  #soma bias_bits 25
+  #soma rotary_bits 25
+  soma creep_offset 0.05
+}
+
+if {[string equal -nocase ${sample_stage_rotate} "somb"]} {
+  # mc1:D,H Sample rotation axis
+  # Resolver 4,096 counts per degree
+  # Motor 10*25,000 steps per degree
+  # Positive steps are CCW viewed from above
+  set somb_Home [expr 2**23]
+  #set sombStepRate [expr -$motorrate*100.0]
+  set sombStepRate [expr 10 * 25000]
+  Motor somb $motor_driver_type [params \
+    asyncqueue mc1\
+    host mc1-dingo\
+    port pmc1-dingo\
+    axis D\
+    encoderaxis H\
+    units degree\
+    hardlowerlim -722\
+    hardupperlim 722\
+    maxSpeed 0.4\
+    maxAccel 1\
+    maxDecel 1\
+    stepsPerX $sombStepRate\
+    absEnc 1\
+    absEncHome $somb_Home\
+    nopowersave 1\
+    cntsPerX 4096 ]
+  somb speed 0.1
+  somb accel 0.1
+  somb decel 0.1
+  somb part sample
+  somb long_name somb
+  somb softlowerlim -1
+  somb softupperlim 361
+  somb home 0
+  somb bias_bits 24
+  somb bias_bias [expr 2**23]
+  #somb rotary_bits 25
+  somb creep_offset 0.05
+}
 
 
 ############################
@@ -243,7 +292,7 @@ soma creep_offset 0.05
 #
 
 # mc2: Camera translation axis along beam
-# Gearbox ?, Gear ratio ?, 
+# Gearbox ?, Gear ratio ?,
 set dy_Home     8847069
 set dyStepRate  [expr 25000.0/2.0]
 Motor dy $motor_driver_type [params \
diff --git a/site_ansto/instrument/dingo/util/sics_config.ini b/site_ansto/instrument/dingo/util/sics_config.ini
index c20c920f..017056c5 100644
--- a/site_ansto/instrument/dingo/util/sics_config.ini
+++ b/site_ansto/instrument/dingo/util/sics_config.ini
@@ -124,6 +124,28 @@ terminator = \r\n
 tol1 = 1.0
 tol2 = 1.0
 
+[ls336_05]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_06]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
 [ls336_11]
 desc = "Lakeshore 336 temperature controller"
 driver = "ls336"
@@ -207,3 +229,10 @@ imptype = multimeter
 ip = 10.157.205.37
 port = 4001
 
+[soma]
+desc = "This is alternative Sample Omega A"
+imptype = motion_axis
+
+[somb]
+desc = "This is alternative Sample Omega B"
+imptype = motion_axis
diff --git a/site_ansto/instrument/hipd/config/commands/cfcommands.tcl b/site_ansto/instrument/hipd/config/commands/cfcommands.tcl
index d2980113..0c5ae243 100644
--- a/site_ansto/instrument/hipd/config/commands/cfcommands.tcl
+++ b/site_ansto/instrument/hipd/config/commands/cfcommands.tcl
@@ -1,166 +1,230 @@
-# cf commands for driving sample environment
-# ajs feb 2015
-
-# cf namespace
-# assumes tc1 and tc2 are the cf8 336 and 340 lakeshores for now
-
-namespace eval cf {
-  variable wall_lag 10
-  variable wall_max 300
-  variable sample_tolerance 5
-  variable wall_tolerance 5
-  variable wall_set true
-  variable base_set true
-  variable base_control true
-  variable wall_control true
-
-  proc UseWall {_wall_set _wall_control} {
-    variable wall_set
-    variable wall_control
-    if {$_wall_set == false} {set wall_set false} else {set wall_set true}
-    if {$_wall_control == false} {set wall_control false} else {set wall_control true}
-  }
-
-  proc UseBase {_base_set _base_control} {
-    variable base_set
-    variable base_control
-    if {$_base_set == false} {set base_set false} else {set base_set true}
-    if {$_base_control == false} {set base_control false} else {set base_control true}
-  }
-
-
-  proc WallParams {_wall_lag _wall_max _wall_tolerance} {
-    variable wall_lag
-    variable wall_max
-    variable wall_tolerance
-    set wall_lag $_wall_lag
-    set wall_max $_wall_max
-    set wall_tolerance $_wall_tolerance
-    hset /sample/tc2/control/tolerance1 $wall_tolerance
-  }
-
-  proc TempSet {temp} {
-    variable wall_lag
-    variable wall_max
-    variable base_set
-    variable wall_set
-    set tempc [expr {$temp - $wall_lag}]
-    if {$tempc < 4} {set tempc 4}
-    if {$tempc > $wall_max} {set tempc $wall_max}
-    hset /sample/tc1/sensor/setpoint1 $temp
-    if {$base_set} {hset /sample/tc1/sensor/setpoint2 $tempc}
-    if {$wall_set} {hset /sample/tc2/sensor/setpoint1 $tempc}
-  }
-
-  proc TempDrive {temp} {
-    variable wall_lag
-    variable wall_max
-    variable base_control
-    variable wall_control
-    TempSet $temp
-    set tempc [expr {$temp - $wall_lag}]
-    if {$tempc < 4} {set tempc 4}
-    if {$tempc > $wall_max} {set tempc $wall_max}
-    set drstr "drive tc1_driveable \$temp"
-    if {$base_control} {append drstr " tc1_driveable2 \$tempc"}
-    if {$wall_control} {append drstr " tc2_driveable \$tempc"}
-    eval $drstr
-  }
-
-  proc Tolerance {sample} {
-    hset /sample/tc1/control/tolerance1 $sample
-    hset /sample/tc1/control/tolerance2 $sample	
-  }
-
-  proc MakeCold {} {
-    variable sample_tolerance
-    variable wall_tolerance
-    Tolerance 20
-    hset /sample/tc2/control/tolerance1 20
-    hset /sample/tc2/sensor/setpoint1 4
-    TempDrive 4
-    Tolerance $sample_tolerance
-    hset /sample/tc2/control/tolerance1 $wall_tolerance
-    wait 300
-  }
-
-
-  proc TempRun {temp delay numsteps oscno} {
-    TempDrive $temp
-    wait $delay
-    newfile HISTOGRAM_XY
-    for {set i 0} {$i < $numsteps} {incr i} {
-      oct oscillate_count $oscno
-      oct oscillate start
-      hmm countblock
-      save $i
-    }
-  }
-
-  proc RampRun {start step fin oscno delay} {
-    histmem mode unlimited
-    newfile HISTOGRAM_XY
-    set loopvar 1
-    set i 0
-    while {$loopvar} {
-      set j [expr {$i*$step+$start}]
-      if {$j> $fin && $step > 0} {break}
-      if {$j< $fin && $step < 0} {break}
-      TempSet $j
-      wait $delay
-      oct oscillate_count $oscno
-      oct oscillate start
-      hmm countblock
-      save $i
-      incr i
-    }
-  }
-
-  proc StepRun {start step fin oscno delay} {
-    histmem mode unlimited
-    newfile HISTOGRAM_XY
-    set loopvar 1
-    set i 0
-    while {$loopvar} {
-      set j [expr {$i*$step+$start}]
-      if {$j> $fin && $step > 0} {break}
-      if {$j< $fin && $step < 0} {break}
-      TempDrive $j
-      wait $delay
-      oct oscillate_count $oscno
-      oct oscillate start
-      hmm countblock
-      save $i
-      incr i
-    }
-  }
-
-  proc HeaterOn {} {
-    variable base_set
-    variable wall_set
-
-    hset /sample/tc1/heater/heaterRange_1 4
-    if {$base_set} {hset /sample/tc1/heater/heaterRange_2 4}
-    if {$wall_set} {hset /sample/tc2/heater/heaterRange 5}
-  }
-
-  proc GetTemp {} {
-    variable base_set
-    set t1top [hget /sample/tc1/sensor/sensorValueA]
-    broadcast "sample top : $t1top"
-    if {$base_set} {
-      set t1base [hget /sample/tc1/sensor/sensorValueB]
-      broadcast "sample base: $t1base"
-    }
-    set t1wall [hget /sample/tc2/sensor/sensorValueA]
-    broadcast "sample wall: $t1wall"
-  }
-
-
-
-  namespace export *
-  namespace ensemble create
-}
-
-publish cf user
-
+# cf commands for driving sample environment
+# ajs feb 2015
+
+# cf namespace
+# assumes tc1 and tc2 are the cf8 336 and 340 lakeshores for now
+
+namespace eval cf {
+  variable wall_lag 10
+  variable wall_max 200
+  variable sample_tolerance 5
+  variable wall_tolerance 5
+  variable wall_set true
+  variable base_set true
+  variable base_control true
+  variable wall_control true
+
+  proc UseWall {_wall_set _wall_control} {
+    variable wall_set
+    variable wall_control
+    if {$_wall_set == false} {set wall_set false} else {set wall_set true}
+    if {$_wall_control == false} {set wall_control false} else {set wall_control true}
+  }
+
+  proc UseBase {_base_set _base_control} {
+    variable base_set
+    variable base_control
+    if {$_base_set == false} {set base_set false} else {set base_set true}
+    if {$_base_control == false} {set base_control false} else {set base_control true}
+  }
+
+proc RampOn {rate} {
+  variable base_set
+  variable wall_set
+
+  hset /sample/tc1/control/ramp_Loop_1 1,$rate
+  if {$base_set} {hset /sample/tc1/control/ramp_Loop_2 1,$rate}
+  if {$wall_set} {hset /sample/tc2/control/ramp_Loop_1 1,$rate}
+  wait 5
+}
+
+proc RampOff {} {
+  variable base_set
+  variable wall_set
+
+  hset /sample/tc1/control/ramp_Loop_1 0,5
+  if {$base_set} {hset /sample/tc1/control/ramp_Loop_2 0,5}
+  if {$wall_set} {hset /sample/tc2/control/ramp_Loop_1 0,5}
+  wait 5
+
+}
+
+
+  proc WallParams {_wall_lag _wall_max _wall_tolerance} {
+    variable wall_lag
+    variable wall_max
+    variable wall_tolerance
+    set wall_lag $_wall_lag
+    set wall_max $_wall_max
+    set wall_tolerance $_wall_tolerance
+    hset /sample/tc2/control/tolerance1 $wall_tolerance
+  }
+
+  proc TempSet {temp} {
+    variable wall_lag
+    variable wall_max
+    variable base_set
+    variable wall_set
+    set tempc [expr {$temp - $wall_lag}]
+    if {$tempc < 4} {set tempc 4}
+    if {$tempc > $wall_max} {set tempc $wall_max}
+    hset /sample/tc1/sensor/setpoint1 $temp
+    if {$base_set} {hset /sample/tc1/sensor/setpoint2 $temp}
+    if {$wall_set} {hset /sample/tc2/sensor/setpoint1 $tempc}
+  }
+
+  proc TempDrive {temp} {
+    variable wall_lag
+    variable wall_max
+    variable base_control
+    variable wall_control
+    TempSet $temp
+    set tempc [expr {$temp - $wall_lag}]
+    if {$tempc < 4} {set tempc 4}
+    if {$tempc > $wall_max} {set tempc $wall_max}
+    set drstr "drive tc1_driveable \$temp"
+    if {$base_control} {append drstr " tc1_driveable2 \$temp"}
+    if {$wall_control} {append drstr " tc2_driveable \$tempc"}
+    eval $drstr
+  }
+
+  proc Tolerance {sample} {
+    hset /sample/tc1/control/tolerance1 $sample
+    hset /sample/tc1/control/tolerance2 $sample
+  }
+
+  proc MakeCold {} {
+    variable sample_tolerance
+    variable wall_tolerance
+    Tolerance 20
+    hset /sample/tc2/control/tolerance1 20
+    hset /sample/tc2/sensor/setpoint1 4
+    TempDrive 4
+    Tolerance $sample_tolerance
+    hset /sample/tc2/control/tolerance1 $wall_tolerance
+    wait 300
+  }
+
+
+  proc TempRun {temp delay numsteps oscno} {
+    RampOff
+    TempDrive $temp
+    wait $delay
+    newfile HISTOGRAM_XY
+    for {set i 0} {$i < $numsteps} {incr i} {
+      oct oscillate_count $oscno
+      oct oscillate start
+      hmm countblock
+      save $i
+    }
+  }
+
+  proc StepRun {start step fin oscno delay} {
+    RampOff
+    histmem mode unlimited
+    newfile HISTOGRAM_XY
+    set loopvar 1
+    set i 0
+    while {$loopvar} {
+      set j [expr {$i*$step+$start}]
+      if {$j> $fin && $step > 0} {break}
+      if {$j< $fin && $step < 0} {break}
+      TempSet $j
+      wait $delay
+      oct oscillate_count $oscno
+      oct oscillate start
+      hmm countblock
+      save $i
+      incr i
+    }
+  }
+
+  proc StepWaitRun {start step fin oscno delay} {
+    RampOff
+    histmem mode unlimited
+    newfile HISTOGRAM_XY
+    set loopvar 1
+    set i 0
+    while {$loopvar} {
+      set j [expr {$i*$step+$start}]
+      if {$j> $fin && $step > 0} {break}
+      if {$j< $fin && $step < 0} {break}
+      TempDrive $j
+      wait $delay
+      oct oscillate_count $oscno
+      oct oscillate start
+      hmm countblock
+      save $i
+      incr i
+    }
+  }
+
+
+  proc RampRun {start rate fin oscno} {
+
+    RampOff
+    TempSet $start
+    wait 5
+    set tim1 [clock seconds]
+    set tlength [expr abs($start-$fin)/($rate/60.0)]
+    broadcast $rate $tlength
+    RampOn $rate
+    wait 5
+    TempSet $fin
+    set bool 0
+    set i 0
+    histmem mode unlimited
+    newfile HISTOGRAM_XY
+    while {$bool==0} {
+      oct oscillate_count $oscno
+      oct oscillate start
+      hmm countblock
+      save $i
+      incr i
+      set tim2 [expr [clock seconds]-$tim1]
+      broadcast $tim2
+      if {$tim2>$tlength} {set bool 1}
+    }
+    RampOff
+
+  }
+
+  proc HeaterOn {} {
+    variable base_set
+    variable wall_set
+
+    hset /sample/tc1/heater/heaterRange_1 4
+    if {$base_set} {hset /sample/tc1/heater/heaterRange_2 4}
+    if {$wall_set} {hset /sample/tc2/heater/heaterRange 5}
+  }
+
+  proc HeaterOff {} {
+    variable base_set
+    variable wall_set
+
+    hset /sample/tc1/heater/heaterRange_1 0
+    if {$base_set} {hset /sample/tc1/heater/heaterRange_2 0}
+    if {$wall_set} {hset /sample/tc2/heater/heaterRange 0}
+  }
+
+  proc GetTemp {} {
+    variable base_set
+    set t1top [hget /sample/tc1/sensor/sensorValueA]
+    broadcast "sample top : $t1top"
+
+    if {$base_set} {
+      set t1base [hget /sample/tc1/sensor/sensorValueB]
+      broadcast "sample base: $t1base"
+    }
+    set t1wall [hget /sample/tc2/sensor/sensorValueA]
+    broadcast "sample wall: $t1wall"
+  }
+
+
+
+  namespace export *
+  namespace ensemble create
+}
+
+publish cf user
+
diff --git a/site_ansto/instrument/hipd/config/hmm/hmm_configuration.tcl b/site_ansto/instrument/hipd/config/hmm/hmm_configuration.tcl
index 45c94986..58300baa 100644
--- a/site_ansto/instrument/hipd/config/hmm/hmm_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/hmm/hmm_configuration.tcl
@@ -28,7 +28,7 @@ proc ::histogram_memory::init_OAT_TABLE {args} {
       hmm configure fat_frame_source INTERNAL
 
 
-      set resolution "double_x"
+#      set resolution "double_x"
 
       switch $resolution {
       "hires" {
diff --git a/site_ansto/instrument/hipd/wombat_configuration.tcl b/site_ansto/instrument/hipd/wombat_configuration.tcl
index de8b4b05..ad6d5dda 100644
--- a/site_ansto/instrument/hipd/wombat_configuration.tcl
+++ b/site_ansto/instrument/hipd/wombat_configuration.tcl
@@ -97,7 +97,7 @@ SetVoltScale 1000.0
 # LS336 02 at 205.29
 # add_sct_ls336 tc2 10.157.205.30 7777 "\r\n" 1.0 1.0
 # add_sct_ls336 tc1 10.157.205.31 7777 "\r\n" 1.0 1.0
-# add_sct_ls340 tc3 137.157.201.86 4001 "\r\n" 1.0 1.0
+# add_sct_ls340 tc3 137.157.201.86 4002 "\r\n" 1.0 1.0
 
 server_init
 ###########################################
diff --git a/site_ansto/instrument/reflectometer/config/hmm/hmm_configuration.tcl b/site_ansto/instrument/reflectometer/config/hmm/hmm_configuration.tcl
index 747c6986..8dc46750 100644
--- a/site_ansto/instrument/reflectometer/config/hmm/hmm_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/config/hmm/hmm_configuration.tcl
@@ -19,7 +19,8 @@ proc ::histogram_memory::init_OAT_TABLE {} {
     hmm configure fat_frame_source EXTERNAL
 
 #      OAT_TABLE -set X { -210.5 -209.5 } NXC 421 Y { -110.5 -109.5 } NYC 221 T { 0 40 } NTC 1000
-      OAT_TABLE -set X { 56.5 -56.5 } NXC 1 Y { 110.5 109.5 } NYC 221 T { 0 40 } NTC 1000
+#      OAT_TABLE -set X { 56.5 -56.5 } NXC 1 Y { 110.5 109.5 } NYC 221 T { 0 40 } NTC 1000
+      OAT_TABLE -set X { 60.5 -60.5 } NXC 1 Y { 110.5 109.5 } NYC 221 T { 0 40 } NTC 1000
   } message ] {
     if {$::errorCode=="NONE"} {return $message}
     return -code error $message
diff --git a/site_ansto/instrument/reflectometer/platypus_configuration.tcl b/site_ansto/instrument/reflectometer/platypus_configuration.tcl
index 2c1892aa..c7db025a 100644
--- a/site_ansto/instrument/reflectometer/platypus_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/platypus_configuration.tcl
@@ -27,6 +27,7 @@ fileeval $cfPath(plc)/plc.tcl
 fileeval $cfPath(counter)/counter.tcl
 fileeval $cfPath(environment)/sct_syr.tcl
 fileeval $cfPath(environment)/syringe_pump_sct.tcl
+fileeval $cfPath(environment)/isotech_ps_sct.tcl
 fileeval $cfPath(environment)/knauer_pump_sct.tcl
 fileeval $cfPath(environment)/sct_mvp.tcl
 fileeval $cfPath(environment)/mvp_valve_sct.tcl
@@ -40,6 +41,7 @@ fileeval $cfPath(environment)/temperature/sct_lakeshore_336.tcl
 fileeval $cfPath(environment)/temperature/ls336_sct.tcl
 fileeval $cfPath(environment)/temperature/sct_lakeshore_340.tcl
 fileeval $cfPath(environment)/temperature/ls340_sct.tcl
+fileeval $cfPath(environment)/temperature/julabo_lh45_sct.tcl
 fileeval $cfPath(environment)/temperature/julabo_lh45_gen_sct.tcl
 fileeval $cfPath(environment)/temperature/oxford_mercury_sct.tcl
 fileeval $cfPath(hmm)/hmm_configuration.tcl
diff --git a/site_ansto/instrument/sans/config/motors/positmotor_configuration.tcl b/site_ansto/instrument/sans/config/motors/positmotor_configuration.tcl
index 860d8b07..5b3f1425 100644
--- a/site_ansto/instrument/sans/config/motors/positmotor_configuration.tcl
+++ b/site_ansto/instrument/sans/config/motors/positmotor_configuration.tcl
@@ -47,11 +47,21 @@ set 10sample_table {
  10 -214.5996
 }
 
+set  5sample_table {
+  1  120
+  2  60
+  3  0
+  4 -60 
+  5 -120
+}
+
 if { [ info exists ::config_dict ] } {
   if { [ dict exists $::config_dict sample_stage implementation ] } {
     set implementation [ dict get $::config_dict sample_stage implementation ]
     if {$implementation == "normal_sample_stage"} {
       # Don't make posit motor
+    } elseif {$implementation == "5_pos_sample_tumbler"} {
+      mkPosit sct_mc1 sampleNum float samx sample $5sample_table
     } elseif {$implementation == "10_pos_sample_stage"} {
       mkPosit sct_mc1 sampleNum float samx sample $10sample_table
     } elseif {$implementation == "20_pos_sample_stage"} {
diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index b8f46acd..b60e16d4 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -510,7 +510,7 @@ Motor m1 $motor_driver_type [params \
   maxDecel 0.25\
   stepsPerX 100000\
   absEnc 1\
-  absEncHome 16189898\
+  absEncHome 16190612\
   cntsPerX -2048]
 m1 part crystal
 m1 long_name m1