Update Bilby motor configuration. Adds tank and sample stage.

Also changed some names as requested by Anna.
2014-05-16 13:54:12 +10:00
parent 0ae4d40470
commit 668cbcc3ed
6 changed files with 913 additions and 723 deletions
--- a/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
+++ b/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
@ -15,8 +15,10 @@ ap1_maxaccel,2.8125
 ap1_maxdecel,2.8125
 ap1_maxspeed,2.8125
 ap1_mc,mc1
+ap1_part,collimator
 ap1_rev_enc_lim,73952
 ap1_steps_per_x,35555.5555555556
+ap1_units,degrees
 ap2_100X40,93637
 ap2_40X40,85637
 ap2_axis,B
@ -34,8 +36,10 @@ ap2_maxaccel,2.8125
 ap2_maxdecel,2.8125
 ap2_maxspeed,2.8125
 ap2_mc,mc1
+ap2_part,collimator
 ap2_rev_enc_lim,54293
 ap2_steps_per_x,35555.5555555556
+ap2_units,degrees
 ap3_100X40,49584
 ap3_40X40,41532
 ap3_axis,C
@ -53,8 +57,10 @@ ap3_maxaccel,2.8125
 ap3_maxdecel,2.8125
 ap3_maxspeed,2.8125
 ap3_mc,mc1
+ap3_part,collimator
 ap3_rev_enc_lim,13644
 ap3_steps_per_x,35555.5555555556
+ap3_units,degrees
 ap4_100X40,43506
 ap4_40X40,35490
 ap4_axis,D
@ -72,8 +78,10 @@ ap4_maxaccel,2.8125
 ap4_maxdecel,2.8125
 ap4_maxspeed,2.8125
 ap4_mc,mc1
+ap4_part,collimator
 ap4_rev_enc_lim,5666
 ap4_steps_per_x,35555.5555555556
+ap4_units,degrees
 ap5_100X40,109480
 ap5_40X40,101476
 ap5_axis,E
@ -91,8 +99,10 @@ ap5_maxaccel,2.8125
 ap5_maxdecel,2.8125
 ap5_maxspeed,2.8125
 ap5_mc,mc1
+ap5_part,collimator
 ap5_rev_enc_lim,72824
 ap5_steps_per_x,35555.5555555556
+ap5_units,degrees
 ap6_100X40,110499
 ap6_40X40,102419
 ap6_axis,F
@ -110,8 +120,10 @@ ap6_maxaccel,2.8125
 ap6_maxdecel,2.8125
 ap6_maxspeed,2.8125
 ap6_mc,mc1
+ap6_part,collimator
 ap6_rev_enc_lim,72115
 ap6_steps_per_x,35555.5555555556
+ap6_units,degrees
 ap7_100X40,110371
 ap7_40X40,102343
 ap7_axis,G
@ -129,8 +141,10 @@ ap7_maxaccel,2.8125
 ap7_maxdecel,2.8125
 ap7_maxspeed,2.8125
 ap7_mc,mc1
+ap7_part,collimator
 ap7_rev_enc_lim,74299
 ap7_steps_per_x,35555.5555555556
+ap7_units,degrees
 ap8_100X40,46069
 ap8_40X40,38027
 ap8_axis,H
@ -148,8 +162,10 @@ ap8_maxaccel,2.8125
 ap8_maxdecel,2.8125
 ap8_maxspeed,2.8125
 ap8_mc,mc1
+ap8_part,collimator
 ap8_rev_enc_lim,6791
 ap8_steps_per_x,35555.5555555556
+ap8_units,degrees
 att_axis,A
 att_axis_number,25
 att_cnts_per_x,-1365.33333333333
@ -162,6 +178,7 @@ att_maxaccel,3.6
 att_maxdecel,3.6
 att_maxspeed,3.6
 att_mc,mc4
+att_part,instrument
 att_pos1,33373433
 att_pos2,33291514
 att_pos3,33209595
@ -169,6 +186,7 @@ att_pos4,33127674
 att_pos5,33045750
 att_rev_enc_lim,33021197
 att_steps_per_x,-4166.66666666667
+att_units,mm
 bs3_axis,C
 bs3_axis_number,43
 bs3_cnts_per_x,728.177777777778
@ -181,192 +199,92 @@ bs3_maxaccel,5.625
 bs3_maxdecel,5.625
 bs3_maxspeed,5.625
 bs3_mc,mc6
+bs3_part,detector
 bs3_rev_enc_lim,351548
 bs3_steps_per_x,2222.22222222222
-cdd_axis,F
-cdd_axis_number,62
-cdd_cnts_per_x,32768
-cdd_description,CURTAIN DETECTOR BOTTOM TRANSLATION
-cdd_dflt_accel_steps,25000
-cdd_dflt_decel_steps,25000
-cdd_dflt_speed_steps,150000
-cdd_fwd_enc_lim,15618875
-cdd_maxaccel,8
-cdd_maxdecel,8
-cdd_maxspeed,8
-cdd_mc,mc8
-cdd_rev_enc_lim,4159255
-cdd_steps_per_x,100000
-cdl_axis,C
-cdl_axis_number,59
-cdl_cnts_per_x,32768
-cdl_description,CURTAIN DETECTOR WEST TRANSLATION
-cdl_dflt_accel_steps,25000
-cdl_dflt_decel_steps,25000
-cdl_dflt_speed_steps,150000
-cdl_fwd_enc_lim,17466632
-cdl_maxaccel,8
-cdl_maxdecel,8
-cdl_maxspeed,8
-cdl_mc,mc8
-cdl_rev_enc_lim,5769621
-cdl_steps_per_x,100000
-cdr_axis,D
-cdr_axis_number,60
-cdr_cnts_per_x,32768
-cdr_description,CURTAIN DETECTOR EAST TRANSLATION
-cdr_dflt_accel_steps,25000
-cdr_dflt_decel_steps,25000
-cdr_dflt_speed_steps,150000
-cdr_fwd_enc_lim,16104612
-cdr_maxaccel,8
-cdr_maxdecel,8
-cdr_maxspeed,8
-cdr_mc,mc8
-cdr_rev_enc_lim,4371043
-cdr_steps_per_x,100000
-cdu_axis,E
-cdu_axis_number,61
-cdu_cnts_per_x,32768
-cdu_description,CURTAIN DETECTOR TOP TRANSLATION
-cdu_dflt_accel_steps,25000
-cdu_dflt_decel_steps,25000
-cdu_dflt_speed_steps,150000
-cdu_fwd_enc_lim,33499670
-cdu_maxaccel,8
-cdu_maxdecel,8
-cdu_maxspeed,8
-cdu_mc,mc8
-cdu_rev_enc_lim,21804679
-cdu_steps_per_x,100000
-col1_axis,A
-col1_axis_number,9
-col1_cnts_per_x,2048
-col1_description,Collimator Trans (Col SEG 1) VH
-col1_dflt_accel_steps,50000
-col1_dflt_decel_steps,50000
-col1_dflt_speed_steps,100000
-col1_empty,541261
-col1_fwd_enc_lim,557470
-col1_guide,262369
-col1_maxaccel,0.833333333333333
-col1_maxdecel,0.833333333333333
-col1_maxspeed,0.833333333333333
-col1_mc,mc2
-col1_rev_enc_lim,3902
-col1_steps_per_x,150000
-col2_axis,B
-col2_axis_number,10
-col2_cnts_per_x,2048
-col2_description,Collimator Trans (Col SEG 2) VH
-col2_dflt_accel_steps,50000
-col2_dflt_decel_steps,50000
-col2_dflt_speed_steps,100000
-col2_empty,546816
-col2_fwd_enc_lim,564598
-col2_guide,273591
-col2_maxaccel,0.833333333333333
-col2_maxdecel,0.833333333333333
-col2_maxspeed,0.833333333333333
-col2_mc,mc2
-col2_rev_enc_lim,9598
-col2_steps_per_x,150000
-col3_axis,C
-col3_axis_number,11
-col3_cnts_per_x,2048
-col3_description,Collimator Trans (Col SEG 3) VH
-col3_dflt_accel_steps,50000
-col3_dflt_decel_steps,50000
-col3_dflt_speed_steps,100000
-col3_empty,558462
-col3_fwd_enc_lim,578556
-col3_guide,287471
-col3_maxaccel,0.833333333333333
-col3_maxdecel,0.833333333333333
-col3_maxspeed,0.833333333333333
-col3_mc,mc2
-col3_rev_enc_lim,29466
-col3_steps_per_x,150000
-col4_axis,D
-col4_axis_number,12
-col4_cnts_per_x,4096
-col4_description,Collimator Trans (Col SEG 4) VH
-col4_dflt_accel_steps,50000
-col4_dflt_decel_steps,50000
-col4_dflt_speed_steps,100000
-col4_empty,1062105
-col4_fwd_enc_lim,1116447
-col4_guide,539261
-col4_maxaccel,0.833333333333333
-col4_maxdecel,0.833333333333333
-col4_maxspeed,0.833333333333333
-col4_mc,mc2
-col4_rev_enc_lim,12861
-col4_steps_per_x,150000
-col5_axis,E
-col5_axis_number,13
-col5_cnts_per_x,2048
-col5_description,Collimator Trans (Col SEG 5) VH
-col5_dflt_accel_steps,50000
-col5_dflt_decel_steps,50000
-col5_dflt_speed_steps,100000
-col5_empty,904072
-col5_fwd_enc_lim,928235
-col5_guide,644380
-col5_maxaccel,0.833333333333333
-col5_maxdecel,0.833333333333333
-col5_maxspeed,0.833333333333333
-col5_mc,mc2
-col5_rev_enc_lim,377801
-col5_steps_per_x,150000
-col6_axis,F
-col6_axis_number,14
-col6_cnts_per_x,2048
-col6_description,Collimator Trans (Col SEG 6) VH
-col6_dflt_accel_steps,50000
-col6_dflt_decel_steps,50000
-col6_dflt_speed_steps,100000
-col6_empty,721132
-col6_fwd_enc_lim,747130
-col6_guide,457285
-col6_maxaccel,0.833333333333333
-col6_maxdecel,0.833333333333333
-col6_maxspeed,0.833333333333333
-col6_mc,mc2
-col6_rev_enc_lim,191508
-col6_steps_per_x,150000
-col7_axis,G
-col7_axis_number,15
-col7_cnts_per_x,2048
-col7_description,Collimator Trans (Col SEG 7) VH
-col7_dflt_accel_steps,50000
-col7_dflt_decel_steps,50000
-col7_dflt_speed_steps,100000
-col7_empty,555984
-col7_fwd_enc_lim,577633
-col7_guide,288216
-col7_maxaccel,0.833333333333333
-col7_maxdecel,0.833333333333333
-col7_maxspeed,0.833333333333333
-col7_mc,mc2
-col7_rev_enc_lim,24810
-col7_steps_per_x,150000
-col8_axis,H
-col8_axis_number,16
-col8_cnts_per_x,2048
-col8_description,Collimator Trans (Col SEG 8) VH
-col8_dflt_accel_steps,50000
-col8_dflt_decel_steps,50000
-col8_dflt_speed_steps,100000
-col8_empty,538544
-col8_fwd_enc_lim,561091
-col8_guide,273474
-col8_maxaccel,0.833333333333333
-col8_maxdecel,0.833333333333333
-col8_maxspeed,0.833333333333333
-col8_mc,mc2
-col8_rev_enc_lim,12893
-col8_steps_per_x,150000
+bs3_units,mm
+curtaind_axis,F
+curtaind_axis_number,62
+curtaind_cnts_per_x,32768
+curtaind_description,CURTAIN DETECTOR BOTTOM TRANSLATION
+curtaind_dflt_accel_steps,25000
+curtaind_dflt_decel_steps,25000
+curtaind_dflt_speed_steps,150000
+curtaind_fwd_enc_lim,15618875
+curtaind_maxaccel,8
+curtaind_maxdecel,8
+curtaind_maxspeed,8
+curtaind_mc,mc8
+curtaind_part,detector
+curtaind_rev_enc_lim,4159255
+curtaind_steps_per_x,100000
+curtaind_units,mm
+curtainl_axis,C
+curtainl_axis_number,59
+curtainl_cnts_per_x,32768
+curtainl_description,CURTAIN DETECTOR WEST TRANSLATION
+curtainl_dflt_accel_steps,25000
+curtainl_dflt_decel_steps,25000
+curtainl_dflt_speed_steps,150000
+curtainl_fwd_enc_lim,17466632
+curtainl_maxaccel,8
+curtainl_maxdecel,8
+curtainl_maxspeed,8
+curtainl_mc,mc8
+curtainl_part,detector
+curtainl_rev_enc_lim,5769621
+curtainl_steps_per_x,100000
+curtainl_units,mm
+curtainr_axis,D
+curtainr_axis_number,60
+curtainr_cnts_per_x,32768
+curtainr_description,CURTAIN DETECTOR EAST TRANSLATION
+curtainr_dflt_accel_steps,25000
+curtainr_dflt_decel_steps,25000
+curtainr_dflt_speed_steps,150000
+curtainr_fwd_enc_lim,16104612
+curtainr_maxaccel,8
+curtainr_maxdecel,8
+curtainr_maxspeed,8
+curtainr_mc,mc8
+curtainr_part,detector
+curtainr_rev_enc_lim,4371043
+curtainr_steps_per_x,100000
+curtainr_units,mm
+curtainu_axis,E
+curtainu_axis_number,61
+curtainu_cnts_per_x,32768
+curtainu_description,CURTAIN DETECTOR TOP TRANSLATION
+curtainu_dflt_accel_steps,25000
+curtainu_dflt_decel_steps,25000
+curtainu_dflt_speed_steps,150000
+curtainu_fwd_enc_lim,33499670
+curtainu_maxaccel,8
+curtainu_maxdecel,8
+curtainu_maxspeed,8
+curtainu_mc,mc8
+curtainu_part,detector
+curtainu_rev_enc_lim,21804679
+curtainu_steps_per_x,100000
+curtainu_units,mm
+cutoff_axis,B
+cutoff_axis_number,26
+cutoff_cnts_per_x,-12288
+cutoff_description,SDH Box
+cutoff_dflt_accel_steps,15000
+cutoff_dflt_decel_steps,0
+cutoff_dflt_speed_steps,50000
+cutoff_fwd_enc_lim,1189505
+cutoff_maxaccel,0
+cutoff_maxdecel,0
+cutoff_maxspeed,0
+cutoff_mc,mc4
+cutoff_part,instrument
+cutoff_pos1,1535698
+cutoff_pos2,3747542
+cutoff_rev_enc_lim,4166803
+cutoff_steps_per_x,37500
+cutoff_units,mm
 det_axis,B
 det_axis_number,58
 det_cnts_per_x,524.288
@ -379,18 +297,223 @@ det_maxaccel,25
 det_maxdecel,25
 det_maxspeed,25
 det_mc,mc8
+det_part,detector
 det_rev_enc_lim,0
 det_steps_per_x,3900
-sdh_5a_in,1535698
-sdh_5b_in,3747542
-sdh_axis,B
-sdh_axis_number,26
-sdh_cnts_per_x,-12288
-sdh_description,SDH Box
-sdh_fwd_enc_lim,1189505
-sdh_mc,mc4
-sdh_rev_enc_lim,4166803
-sdh_steps_per_x,37500
+det_units,mm
+pc1_axis,A
+pc1_axis_number,9
+pc1_cnts_per_x,2048
+pc1_description,Collimator Trans (Col SEG 1) VH
+pc1_dflt_accel_steps,50000
+pc1_dflt_decel_steps,50000
+pc1_dflt_speed_steps,100000
+pc1_empty,541261
+pc1_fwd_enc_lim,557470
+pc1_guide,262369
+pc1_maxaccel,0.833333333333333
+pc1_maxdecel,0.833333333333333
+pc1_maxspeed,0.833333333333333
+pc1_mc,mc2
+pc1_part,collimator
+pc1_rev_enc_lim,3902
+pc1_steps_per_x,150000
+pc1_units,mm
+pc2_axis,B
+pc2_axis_number,10
+pc2_cnts_per_x,2048
+pc2_description,Collimator Trans (Col SEG 2) VH
+pc2_dflt_accel_steps,50000
+pc2_dflt_decel_steps,50000
+pc2_dflt_speed_steps,100000
+pc2_empty,546816
+pc2_fwd_enc_lim,564598
+pc2_guide,273591
+pc2_maxaccel,0.833333333333333
+pc2_maxdecel,0.833333333333333
+pc2_maxspeed,0.833333333333333
+pc2_mc,mc2
+pc2_part,collimator
+pc2_rev_enc_lim,9598
+pc2_steps_per_x,150000
+pc2_units,mm
+pc3_axis,C
+pc3_axis_number,11
+pc3_cnts_per_x,2048
+pc3_description,Collimator Trans (Col SEG 3) VH
+pc3_dflt_accel_steps,50000
+pc3_dflt_decel_steps,50000
+pc3_dflt_speed_steps,100000
+pc3_empty,558462
+pc3_fwd_enc_lim,578556
+pc3_guide,287471
+pc3_maxaccel,0.833333333333333
+pc3_maxdecel,0.833333333333333
+pc3_maxspeed,0.833333333333333
+pc3_mc,mc2
+pc3_part,collimator
+pc3_rev_enc_lim,29466
+pc3_steps_per_x,150000
+pc3_units,mm
+pc4_axis,D
+pc4_axis_number,12
+pc4_cnts_per_x,4096
+pc4_description,Collimator Trans (Col SEG 4) VH
+pc4_dflt_accel_steps,50000
+pc4_dflt_decel_steps,50000
+pc4_dflt_speed_steps,100000
+pc4_empty,1062105
+pc4_fwd_enc_lim,1116447
+pc4_guide,539261
+pc4_maxaccel,0.833333333333333
+pc4_maxdecel,0.833333333333333
+pc4_maxspeed,0.833333333333333
+pc4_mc,mc2
+pc4_part,collimator
+pc4_rev_enc_lim,12861
+pc4_steps_per_x,150000
+pc4_units,mm
+pc5_axis,E
+pc5_axis_number,13
+pc5_cnts_per_x,2048
+pc5_description,Collimator Trans (Col SEG 5) VH
+pc5_dflt_accel_steps,50000
+pc5_dflt_decel_steps,50000
+pc5_dflt_speed_steps,100000
+pc5_empty,904072
+pc5_fwd_enc_lim,928235
+pc5_guide,644380
+pc5_maxaccel,0.833333333333333
+pc5_maxdecel,0.833333333333333
+pc5_maxspeed,0.833333333333333
+pc5_mc,mc2
+pc5_part,collimator
+pc5_rev_enc_lim,377801
+pc5_steps_per_x,150000
+pc5_units,mm
+pc6_axis,F
+pc6_axis_number,14
+pc6_cnts_per_x,2048
+pc6_description,Collimator Trans (Col SEG 6) VH
+pc6_dflt_accel_steps,50000
+pc6_dflt_decel_steps,50000
+pc6_dflt_speed_steps,100000
+pc6_empty,721132
+pc6_fwd_enc_lim,747130
+pc6_guide,457285
+pc6_maxaccel,0.833333333333333
+pc6_maxdecel,0.833333333333333
+pc6_maxspeed,0.833333333333333
+pc6_mc,mc2
+pc6_part,collimator
+pc6_rev_enc_lim,191508
+pc6_steps_per_x,150000
+pc6_units,mm
+pc7_axis,G
+pc7_axis_number,15
+pc7_cnts_per_x,2048
+pc7_description,Collimator Trans (Col SEG 7) VH
+pc7_dflt_accel_steps,50000
+pc7_dflt_decel_steps,50000
+pc7_dflt_speed_steps,100000
+pc7_empty,555984
+pc7_fwd_enc_lim,577633
+pc7_guide,288216
+pc7_maxaccel,0.833333333333333
+pc7_maxdecel,0.833333333333333
+pc7_maxspeed,0.833333333333333
+pc7_mc,mc2
+pc7_part,collimator
+pc7_rev_enc_lim,24810
+pc7_steps_per_x,150000
+pc7_units,mm
+pc8_axis,H
+pc8_axis_number,16
+pc8_cnts_per_x,2048
+pc8_description,Collimator Trans (Col SEG 8) VH
+pc8_dflt_accel_steps,50000
+pc8_dflt_decel_steps,50000
+pc8_dflt_speed_steps,100000
+pc8_empty,538544
+pc8_fwd_enc_lim,561091
+pc8_guide,273474
+pc8_maxaccel,0.833333333333333
+pc8_maxdecel,0.833333333333333
+pc8_maxspeed,0.833333333333333
+pc8_mc,mc2
+pc8_part,collimator
+pc8_rev_enc_lim,12893
+pc8_steps_per_x,150000
+pc8_units,mm
+samphi_axis_number,33
+samphi_maxaccel,0
+samphi_maxdecel,0
+samphi_part,sample
+samphi_units,degrees
+samx_axis,D
+samx_axis_number,36
+samx_cnts_per_x,819.2
+samx_description,SAMPLE X
+samx_dflt_accel_steps,50000
+samx_dflt_decel_steps,50000
+samx_dflt_speed_steps,150000
+samx_fwd_enc_lim,871514
+samx_maxaccel,3.75
+samx_maxdecel,3.75
+samx_maxspeed,3.75
+samx_mc,mc5
+samx_part,sample
+samx_rev_enc_lim,41841
+samx_steps_per_x,40000
+samx_units,mm
+samy_axis,E
+samy_axis_number,37
+samy_cnts_per_x,819.2
+samy_description,SAMPLE Y
+samy_dflt_accel_steps,50000
+samy_dflt_decel_steps,50000
+samy_dflt_speed_steps,150000
+samy_fwd_enc_lim,1312327
+samy_maxaccel,3.75
+samy_maxdecel,3.75
+samy_maxspeed,3.75
+samy_mc,mc5
+samy_part,sample
+samy_rev_enc_lim,82584
+samy_steps_per_x,40000
+samy_units,mm
+samz_axis,B
+samz_axis_number,34
+samz_cnts_per_x,434.599097936269
+samz_description,SAMPLE Z
+samz_dflt_accel_steps,150000
+samz_dflt_decel_steps,150000
+samz_dflt_speed_steps,200000
+samz_fwd_enc_lim,538234
+samz_maxaccel,1.25
+samz_maxdecel,1.25
+samz_maxspeed,1.25
+samz_mc,mc5
+samz_part,sample
+samz_rev_enc_lim,755970
+samz_steps_per_x,200000
+samz_units,mm
+som_axis,C
+som_axis_number,35
+som_cnts_per_x,66.3703703703704
+som_description,SAMPLE ROTATION
+som_dflt_accel_steps,50000
+som_dflt_decel_steps,50000
+som_dflt_speed_steps,150000
+som_fwd_enc_lim,33286183
+som_maxaccel,3.85714285714286
+som_maxdecel,3.85714285714286
+som_maxspeed,3.85714285714286
+som_mc,mc5
+som_part,sample
+som_rev_enc_lim,33309055
+som_steps_per_x,38888.8888888889
+som_units,degrees
 ss1d_axis,D
 ss1d_axis_number,20
 ss1d_cnts_per_x,-16384
@ -403,8 +526,10 @@ ss1d_maxaccel,1
 ss1d_maxdecel,1
 ss1d_maxspeed,1
 ss1d_mc,mc3
+ss1d_part,collimator
 ss1d_rev_enc_lim,33398312
 ss1d_steps_per_x,50000
+ss1d_units,mm
 ss1l_axis,A
 ss1l_axis_number,17
 ss1l_cnts_per_x,16384
@ -417,8 +542,10 @@ ss1l_maxaccel,1
 ss1l_maxdecel,1
 ss1l_maxspeed,1
 ss1l_mc,mc3
+ss1l_part,collimator
 ss1l_rev_enc_lim,32637740
 ss1l_steps_per_x,-50000
+ss1l_units,mm
 ss1r_axis,C
 ss1r_axis_number,19
 ss1r_cnts_per_x,16384
@ -431,8 +558,10 @@ ss1r_maxaccel,1
 ss1r_maxdecel,1
 ss1r_maxspeed,1
 ss1r_mc,mc3
+ss1r_part,collimator
 ss1r_rev_enc_lim,33421848
 ss1r_steps_per_x,-50000
+ss1r_units,mm
 ss1u_axis,B
 ss1u_axis_number,18
 ss1u_cnts_per_x,-16384
@ -445,8 +574,21 @@ ss1u_maxaccel,1
 ss1u_maxdecel,1
 ss1u_maxspeed,1
 ss1u_mc,mc3
+ss1u_part,collimator
 ss1u_rev_enc_lim,33297987
 ss1u_steps_per_x,50000
+ss1u_units,mm
+tank_absenchome,12876702
+tank_axis,H
+tank_axis_number,64
+tank_cnts_per_x,6553.6
+tank_description,ENTIRE DETECTOR TANK Y TRANS
+tank_fwd_enc_lim,12876702
+tank_home,2202.89
+tank_mc,mc8
+tank_part,instrument
+tank_rev_enc_lim,5525532
+tank_units,mm
 vs_axis,D
 vs_axis_number,28
 vs_cnts_per_x,-12288
@ -455,10 +597,12 @@ vs_dflt_accel_steps,15000
 vs_dflt_decel_steps,50000
 vs_dflt_speed_steps,50000
 vs_fwd_enc_lim,406690
-vs_glass_in,741128
 vs_maxaccel,1.33333333333333
 vs_maxdecel,1.33333333333333
 vs_maxspeed,1.33333333333333
 vs_mc,mc4
+vs_part,instrument
+vs_pos1,741128
 vs_rev_enc_lim,3789130
 vs_steps_per_x,37500
+vs_units,mm
--- a/site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
+++ b/site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
@ -1,15 +1,13 @@
 #### SICS motor driver configuration ####
-# Generated by: ../../../util/genmotconf.tcl Bilby_motion_control_commissioning_checklist.csv hdb_info.csv sicsmot_attlist.csv userdef_attlist.csv
+# Generated by: ../../../util/genmotconf.tcl Bilby_motion_control_commissioning_checklist.csv sicsmot_attlist.csv userdef_attlist.csv
 # Generated from the following files,
 # file1: Bilby_motion_control_commissioning_checklist.csv
-# file2: hdb_info.csv
-# file3: sicsmot_attlist.csv
-# file4: userdef_attlist.csv
+# file2: sicsmot_attlist.csv
+# file3: userdef_attlist.csv

 # Load motor driver configuration parameters
 set flist [list\
              {Bilby_motion_control_commissioning_checklist.csv}\
-              {hdb_info.csv}\
              {sicsmot_attlist.csv}\
              {userdef_attlist.csv}\
          ]
@ -41,6 +39,7 @@ if {$sim_mode == false} {
  MakeAsyncQueue mc2 DMC2280 [dict get $::MOTOR_HOSTPORT MC2 HOST] [dict get $::MOTOR_HOSTPORT MC2 PORT]
  MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
  MakeAsyncQueue mc4 DMC2280 [dict get $::MOTOR_HOSTPORT MC4 HOST] [dict get $::MOTOR_HOSTPORT MC4 PORT]
+  MakeAsyncQueue mc5 DMC2280 [dict get $::MOTOR_HOSTPORT MC5 HOST] [dict get $::MOTOR_HOSTPORT MC5 PORT]
  MakeAsyncQueue mc6 DMC2280 [dict get $::MOTOR_HOSTPORT MC6 HOST] [dict get $::MOTOR_HOSTPORT MC6 PORT]
  MakeAsyncQueue mc8 DMC2280 [dict get $::MOTOR_HOSTPORT MC8 HOST] [dict get $::MOTOR_HOSTPORT MC8 PORT]
 }
@ -350,333 +349,137 @@ bs3 speed $bs3_speed
 bs3 accel $bs3_accel
 bs3 decel $bs3_decel

-# cdd configuration
+# curtaind configuration
 # CURTAIN DETECTOR BOTTOM TRANSLATION
 # Axis number 62
-Motor cdd $motor_driver_type [params\
+Motor curtaind $motor_driver_type [params\
  asyncqueue mc8\
  axis F\
-  units $cdd_units\
-  hardlowerlim $cdd_rev_lim\
-  hardupperlim $cdd_fwd_lim\
-  maxSpeed $cdd_maxspeed\
-  maxAccel $cdd_maxaccel\
-  maxDecel $cdd_maxdecel\
-  stepsPerX $cdd_steps_per_x\
+  units $curtaind_units\
+  hardlowerlim $curtaind_rev_lim\
+  hardupperlim $curtaind_fwd_lim\
+  maxSpeed $curtaind_maxspeed\
+  maxAccel $curtaind_maxaccel\
+  maxDecel $curtaind_maxdecel\
+  stepsPerX $curtaind_steps_per_x\
  posit_count 0\
  absEnc 1\
-  absEncHome $cdd_absenchome\
-  cntsPerX $cdd_cnts_per_x]
-cdd softlowerlim $cdd_rev_lim
-cdd softupperlim $cdd_fwd_lim
-cdd home $cdd_home
-cdd part $cdd_part
-cdd long_name cdd
-cdd speed $cdd_speed
-cdd accel $cdd_accel
-cdd decel $cdd_decel
+  absEncHome $curtaind_absenchome\
+  cntsPerX $curtaind_cnts_per_x]
+curtaind softlowerlim $curtaind_rev_lim
+curtaind softupperlim $curtaind_fwd_lim
+curtaind home $curtaind_home
+curtaind part $curtaind_part
+curtaind long_name curtaind
+curtaind speed $curtaind_speed
+curtaind accel $curtaind_accel
+curtaind decel $curtaind_decel

-# cdl configuration
+# curtainl configuration
 # CURTAIN DETECTOR WEST TRANSLATION
 # Axis number 59
-Motor cdl $motor_driver_type [params\
+Motor curtainl $motor_driver_type [params\
  asyncqueue mc8\
  axis C\
-  units $cdl_units\
-  hardlowerlim $cdl_rev_lim\
-  hardupperlim $cdl_fwd_lim\
-  maxSpeed $cdl_maxspeed\
-  maxAccel $cdl_maxaccel\
-  maxDecel $cdl_maxdecel\
-  stepsPerX $cdl_steps_per_x\
+  units $curtainl_units\
+  hardlowerlim $curtainl_rev_lim\
+  hardupperlim $curtainl_fwd_lim\
+  maxSpeed $curtainl_maxspeed\
+  maxAccel $curtainl_maxaccel\
+  maxDecel $curtainl_maxdecel\
+  stepsPerX $curtainl_steps_per_x\
  posit_count 0\
  absEnc 1\
-  absEncHome $cdl_absenchome\
-  cntsPerX $cdl_cnts_per_x]
-cdl softlowerlim $cdl_rev_lim
-cdl softupperlim $cdl_fwd_lim
-cdl home $cdl_home
-cdl part $cdl_part
-cdl long_name cdl
-cdl speed $cdl_speed
-cdl accel $cdl_accel
-cdl decel $cdl_decel
+  absEncHome $curtainl_absenchome\
+  cntsPerX $curtainl_cnts_per_x]
+curtainl softlowerlim $curtainl_rev_lim
+curtainl softupperlim $curtainl_fwd_lim
+curtainl home $curtainl_home
+curtainl part $curtainl_part
+curtainl long_name curtainl
+curtainl speed $curtainl_speed
+curtainl accel $curtainl_accel
+curtainl decel $curtainl_decel

-# cdr configuration
+# curtainr configuration
 # CURTAIN DETECTOR EAST TRANSLATION
 # Axis number 60
-Motor cdr $motor_driver_type [params\
+Motor curtainr $motor_driver_type [params\
  asyncqueue mc8\
  axis D\
-  units $cdr_units\
-  hardlowerlim $cdr_rev_lim\
-  hardupperlim $cdr_fwd_lim\
-  maxSpeed $cdr_maxspeed\
-  maxAccel $cdr_maxaccel\
-  maxDecel $cdr_maxdecel\
-  stepsPerX $cdr_steps_per_x\
+  units $curtainr_units\
+  hardlowerlim $curtainr_rev_lim\
+  hardupperlim $curtainr_fwd_lim\
+  maxSpeed $curtainr_maxspeed\
+  maxAccel $curtainr_maxaccel\
+  maxDecel $curtainr_maxdecel\
+  stepsPerX $curtainr_steps_per_x\
  posit_count 0\
  absEnc 1\
-  absEncHome $cdr_absenchome\
-  cntsPerX $cdr_cnts_per_x]
-cdr softlowerlim $cdr_rev_lim
-cdr softupperlim $cdr_fwd_lim
-cdr home $cdr_home
-cdr part $cdr_part
-cdr long_name cdr
-cdr speed $cdr_speed
-cdr accel $cdr_accel
-cdr decel $cdr_decel
+  absEncHome $curtainr_absenchome\
+  cntsPerX $curtainr_cnts_per_x]
+curtainr softlowerlim $curtainr_rev_lim
+curtainr softupperlim $curtainr_fwd_lim
+curtainr home $curtainr_home
+curtainr part $curtainr_part
+curtainr long_name curtainr
+curtainr speed $curtainr_speed
+curtainr accel $curtainr_accel
+curtainr decel $curtainr_decel

-# cdu configuration
+# curtainu configuration
 # CURTAIN DETECTOR TOP TRANSLATION
 # Axis number 61
-Motor cdu $motor_driver_type [params\
+Motor curtainu $motor_driver_type [params\
  asyncqueue mc8\
  axis E\
-  units $cdu_units\
-  hardlowerlim $cdu_rev_lim\
-  hardupperlim $cdu_fwd_lim\
-  maxSpeed $cdu_maxspeed\
-  maxAccel $cdu_maxaccel\
-  maxDecel $cdu_maxdecel\
-  stepsPerX $cdu_steps_per_x\
+  units $curtainu_units\
+  hardlowerlim $curtainu_rev_lim\
+  hardupperlim $curtainu_fwd_lim\
+  maxSpeed $curtainu_maxspeed\
+  maxAccel $curtainu_maxaccel\
+  maxDecel $curtainu_maxdecel\
+  stepsPerX $curtainu_steps_per_x\
  posit_count 0\
  absEnc 1\
-  absEncHome $cdu_absenchome\
-  cntsPerX $cdu_cnts_per_x]
-cdu softlowerlim $cdu_rev_lim
-cdu softupperlim $cdu_fwd_lim
-cdu home $cdu_home
-cdu part $cdu_part
-cdu long_name cdu
-cdu speed $cdu_speed
-cdu accel $cdu_accel
-cdu decel $cdu_decel
+  absEncHome $curtainu_absenchome\
+  cntsPerX $curtainu_cnts_per_x]
+curtainu softlowerlim $curtainu_rev_lim
+curtainu softupperlim $curtainu_fwd_lim
+curtainu home $curtainu_home
+curtainu part $curtainu_part
+curtainu long_name curtainu
+curtainu speed $curtainu_speed
+curtainu accel $curtainu_accel
+curtainu decel $curtainu_decel

-# col1 configuration
-# Collimator Trans (Col SEG 1) VH
-# Axis number 9
-Motor col1 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis A\
-  units $col1_units\
-  hardlowerlim $col1_rev_lim\
-  hardupperlim $col1_fwd_lim\
-  maxSpeed $col1_maxspeed\
-  maxAccel $col1_maxaccel\
-  maxDecel $col1_maxdecel\
-  stepsPerX $col1_steps_per_x\
-  posit_count 2\
-  posit_1 $col1_guide\
-  posit_2 $col1_empty\
-  absEnc 1\
-  absEncHome $col1_absenchome\
-  cntsPerX $col1_cnts_per_x]
-col1 softlowerlim $col1_rev_lim
-col1 softupperlim $col1_fwd_lim
-col1 home $col1_home
-col1 part $col1_part
-col1 long_name col1
-col1 speed $col1_speed
-col1 accel $col1_accel
-col1 decel $col1_decel
-
-# col2 configuration
-# Collimator Trans (Col SEG 2) VH
-# Axis number 10
-Motor col2 $motor_driver_type [params\
-  asyncqueue mc2\
+# cutoff configuration
+# SDH Box
+# Axis number 26
+Motor cutoff $motor_driver_type [params\
+  asyncqueue mc4\
  axis B\
-  units $col2_units\
-  hardlowerlim $col2_rev_lim\
-  hardupperlim $col2_fwd_lim\
-  maxSpeed $col2_maxspeed\
-  maxAccel $col2_maxaccel\
-  maxDecel $col2_maxdecel\
-  stepsPerX $col2_steps_per_x\
+  units $cutoff_units\
+  hardlowerlim $cutoff_rev_lim\
+  hardupperlim $cutoff_fwd_lim\
+  maxSpeed $cutoff_maxspeed\
+  maxAccel $cutoff_maxaccel\
+  maxDecel $cutoff_maxdecel\
+  stepsPerX $cutoff_steps_per_x\
  posit_count 2\
-  posit_1 $col2_guide\
-  posit_2 $col2_empty\
+  posit_1 $cutoff_pos2\
+  posit_2 $cutoff_pos1\
  absEnc 1\
-  absEncHome $col2_absenchome\
-  cntsPerX $col2_cnts_per_x]
-col2 softlowerlim $col2_rev_lim
-col2 softupperlim $col2_fwd_lim
-col2 home $col2_home
-col2 part $col2_part
-col2 long_name col2
-col2 speed $col2_speed
-col2 accel $col2_accel
-col2 decel $col2_decel
-
-# col3 configuration
-# Collimator Trans (Col SEG 3) VH
-# Axis number 11
-Motor col3 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis C\
-  units $col3_units\
-  hardlowerlim $col3_rev_lim\
-  hardupperlim $col3_fwd_lim\
-  maxSpeed $col3_maxspeed\
-  maxAccel $col3_maxaccel\
-  maxDecel $col3_maxdecel\
-  stepsPerX $col3_steps_per_x\
-  posit_count 2\
-  posit_1 $col3_guide\
-  posit_2 $col3_empty\
-  absEnc 1\
-  absEncHome $col3_absenchome\
-  cntsPerX $col3_cnts_per_x]
-col3 softlowerlim $col3_rev_lim
-col3 softupperlim $col3_fwd_lim
-col3 home $col3_home
-col3 part $col3_part
-col3 long_name col3
-col3 speed $col3_speed
-col3 accel $col3_accel
-col3 decel $col3_decel
-
-# col4 configuration
-# Collimator Trans (Col SEG 4) VH
-# Axis number 12
-Motor col4 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis D\
-  units $col4_units\
-  hardlowerlim $col4_rev_lim\
-  hardupperlim $col4_fwd_lim\
-  maxSpeed $col4_maxspeed\
-  maxAccel $col4_maxaccel\
-  maxDecel $col4_maxdecel\
-  stepsPerX $col4_steps_per_x\
-  posit_count 2\
-  posit_1 $col4_guide\
-  posit_2 $col4_empty\
-  absEnc 1\
-  absEncHome $col4_absenchome\
-  cntsPerX $col4_cnts_per_x]
-col4 softlowerlim $col4_rev_lim
-col4 softupperlim $col4_fwd_lim
-col4 home $col4_home
-col4 part $col4_part
-col4 long_name col4
-col4 speed $col4_speed
-col4 accel $col4_accel
-col4 decel $col4_decel
-
-# col5 configuration
-# Collimator Trans (Col SEG 5) VH
-# Axis number 13
-Motor col5 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis E\
-  units $col5_units\
-  hardlowerlim $col5_rev_lim\
-  hardupperlim $col5_fwd_lim\
-  maxSpeed $col5_maxspeed\
-  maxAccel $col5_maxaccel\
-  maxDecel $col5_maxdecel\
-  stepsPerX $col5_steps_per_x\
-  posit_count 2\
-  posit_1 $col5_guide\
-  posit_2 $col5_empty\
-  absEnc 1\
-  absEncHome $col5_absenchome\
-  cntsPerX $col5_cnts_per_x]
-col5 softlowerlim $col5_rev_lim
-col5 softupperlim $col5_fwd_lim
-col5 home $col5_home
-col5 part $col5_part
-col5 long_name col5
-col5 speed $col5_speed
-col5 accel $col5_accel
-col5 decel $col5_decel
-
-# col6 configuration
-# Collimator Trans (Col SEG 6) VH
-# Axis number 14
-Motor col6 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis F\
-  units $col6_units\
-  hardlowerlim $col6_rev_lim\
-  hardupperlim $col6_fwd_lim\
-  maxSpeed $col6_maxspeed\
-  maxAccel $col6_maxaccel\
-  maxDecel $col6_maxdecel\
-  stepsPerX $col6_steps_per_x\
-  posit_count 2\
-  posit_1 $col6_guide\
-  posit_2 $col6_empty\
-  absEnc 1\
-  absEncHome $col6_absenchome\
-  cntsPerX $col6_cnts_per_x]
-col6 softlowerlim $col6_rev_lim
-col6 softupperlim $col6_fwd_lim
-col6 home $col6_home
-col6 part $col6_part
-col6 long_name col6
-col6 speed $col6_speed
-col6 accel $col6_accel
-col6 decel $col6_decel
-
-# col7 configuration
-# Collimator Trans (Col SEG 7) VH
-# Axis number 15
-Motor col7 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis G\
-  units $col7_units\
-  hardlowerlim $col7_rev_lim\
-  hardupperlim $col7_fwd_lim\
-  maxSpeed $col7_maxspeed\
-  maxAccel $col7_maxaccel\
-  maxDecel $col7_maxdecel\
-  stepsPerX $col7_steps_per_x\
-  posit_count 2\
-  posit_1 $col7_guide\
-  posit_2 $col7_empty\
-  absEnc 1\
-  absEncHome $col7_absenchome\
-  cntsPerX $col7_cnts_per_x]
-col7 softlowerlim $col7_rev_lim
-col7 softupperlim $col7_fwd_lim
-col7 home $col7_home
-col7 part $col7_part
-col7 long_name col7
-col7 speed $col7_speed
-col7 accel $col7_accel
-col7 decel $col7_decel
-
-# col8 configuration
-# Collimator Trans (Col SEG 8) VH
-# Axis number 16
-Motor col8 $motor_driver_type [params\
-  asyncqueue mc2\
-  axis H\
-  units $col8_units\
-  hardlowerlim $col8_rev_lim\
-  hardupperlim $col8_fwd_lim\
-  maxSpeed $col8_maxspeed\
-  maxAccel $col8_maxaccel\
-  maxDecel $col8_maxdecel\
-  stepsPerX $col8_steps_per_x\
-  posit_count 2\
-  posit_1 $col8_guide\
-  posit_2 $col8_empty\
-  absEnc 1\
-  absEncHome $col8_absenchome\
-  cntsPerX $col8_cnts_per_x]
-col8 softlowerlim $col8_rev_lim
-col8 softupperlim $col8_fwd_lim
-col8 home $col8_home
-col8 part $col8_part
-col8 long_name col8
-col8 speed $col8_speed
-col8 accel $col8_accel
-col8 decel $col8_decel
+  absEncHome $cutoff_absenchome\
+  cntsPerX $cutoff_cnts_per_x]
+cutoff softlowerlim $cutoff_rev_lim
+cutoff softupperlim $cutoff_fwd_lim
+cutoff home $cutoff_home
+cutoff part $cutoff_part
+cutoff long_name cutoff
+cutoff speed $cutoff_speed
+cutoff accel $cutoff_accel
+cutoff decel $cutoff_decel

 # det configuration
 # CURTAIN DETECTOR CARRIAGE Y TRANS
@ -704,30 +507,333 @@ det speed $det_speed
 det accel $det_accel
 det decel $det_decel

-# sdh configuration
-# SDH Box
-# Axis number 26
-Motor sdh $motor_driver_type [params\
-  asyncqueue mc4\
-  axis B\
-  units $sdh_units\
-  hardlowerlim $sdh_rev_lim\
-  hardupperlim $sdh_fwd_lim\
-  maxSpeed $sdh_maxspeed\
-  maxAccel $sdh_maxaccel\
-  maxDecel $sdh_maxdecel\
-  stepsPerX $sdh_steps_per_x\
+# pc1 configuration
+# Collimator Trans (Col SEG 1) VH
+# Axis number 9
+Motor pc1 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis A\
+  units $pc1_units\
+  hardlowerlim $pc1_rev_lim\
+  hardupperlim $pc1_fwd_lim\
+  maxSpeed $pc1_maxspeed\
+  maxAccel $pc1_maxaccel\
+  maxDecel $pc1_maxdecel\
+  stepsPerX $pc1_steps_per_x\
  posit_count 2\
-  posit_1 $sdh_5b_in\
-  posit_2 $sdh_5a_in\
+  posit_1 $pc1_guide\
+  posit_2 $pc1_empty\
  absEnc 1\
-  absEncHome $sdh_absenchome\
-  cntsPerX $sdh_cnts_per_x]
-sdh softlowerlim $sdh_rev_lim
-sdh softupperlim $sdh_fwd_lim
-sdh home $sdh_home
-sdh part $sdh_part
-sdh long_name sdh
+  absEncHome $pc1_absenchome\
+  cntsPerX $pc1_cnts_per_x]
+pc1 softlowerlim $pc1_rev_lim
+pc1 softupperlim $pc1_fwd_lim
+pc1 home $pc1_home
+pc1 part $pc1_part
+pc1 long_name pc1
+pc1 speed $pc1_speed
+pc1 accel $pc1_accel
+pc1 decel $pc1_decel
+
+# pc2 configuration
+# Collimator Trans (Col SEG 2) VH
+# Axis number 10
+Motor pc2 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis B\
+  units $pc2_units\
+  hardlowerlim $pc2_rev_lim\
+  hardupperlim $pc2_fwd_lim\
+  maxSpeed $pc2_maxspeed\
+  maxAccel $pc2_maxaccel\
+  maxDecel $pc2_maxdecel\
+  stepsPerX $pc2_steps_per_x\
+  posit_count 2\
+  posit_1 $pc2_guide\
+  posit_2 $pc2_empty\
+  absEnc 1\
+  absEncHome $pc2_absenchome\
+  cntsPerX $pc2_cnts_per_x]
+pc2 softlowerlim $pc2_rev_lim
+pc2 softupperlim $pc2_fwd_lim
+pc2 home $pc2_home
+pc2 part $pc2_part
+pc2 long_name pc2
+pc2 speed $pc2_speed
+pc2 accel $pc2_accel
+pc2 decel $pc2_decel
+
+# pc3 configuration
+# Collimator Trans (Col SEG 3) VH
+# Axis number 11
+Motor pc3 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis C\
+  units $pc3_units\
+  hardlowerlim $pc3_rev_lim\
+  hardupperlim $pc3_fwd_lim\
+  maxSpeed $pc3_maxspeed\
+  maxAccel $pc3_maxaccel\
+  maxDecel $pc3_maxdecel\
+  stepsPerX $pc3_steps_per_x\
+  posit_count 2\
+  posit_1 $pc3_guide\
+  posit_2 $pc3_empty\
+  absEnc 1\
+  absEncHome $pc3_absenchome\
+  cntsPerX $pc3_cnts_per_x]
+pc3 softlowerlim $pc3_rev_lim
+pc3 softupperlim $pc3_fwd_lim
+pc3 home $pc3_home
+pc3 part $pc3_part
+pc3 long_name pc3
+pc3 speed $pc3_speed
+pc3 accel $pc3_accel
+pc3 decel $pc3_decel
+
+# pc4 configuration
+# Collimator Trans (Col SEG 4) VH
+# Axis number 12
+Motor pc4 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis D\
+  units $pc4_units\
+  hardlowerlim $pc4_rev_lim\
+  hardupperlim $pc4_fwd_lim\
+  maxSpeed $pc4_maxspeed\
+  maxAccel $pc4_maxaccel\
+  maxDecel $pc4_maxdecel\
+  stepsPerX $pc4_steps_per_x\
+  posit_count 2\
+  posit_1 $pc4_guide\
+  posit_2 $pc4_empty\
+  absEnc 1\
+  absEncHome $pc4_absenchome\
+  cntsPerX $pc4_cnts_per_x]
+pc4 softlowerlim $pc4_rev_lim
+pc4 softupperlim $pc4_fwd_lim
+pc4 home $pc4_home
+pc4 part $pc4_part
+pc4 long_name pc4
+pc4 speed $pc4_speed
+pc4 accel $pc4_accel
+pc4 decel $pc4_decel
+
+# pc5 configuration
+# Collimator Trans (Col SEG 5) VH
+# Axis number 13
+Motor pc5 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis E\
+  units $pc5_units\
+  hardlowerlim $pc5_rev_lim\
+  hardupperlim $pc5_fwd_lim\
+  maxSpeed $pc5_maxspeed\
+  maxAccel $pc5_maxaccel\
+  maxDecel $pc5_maxdecel\
+  stepsPerX $pc5_steps_per_x\
+  posit_count 2\
+  posit_1 $pc5_guide\
+  posit_2 $pc5_empty\
+  absEnc 1\
+  absEncHome $pc5_absenchome\
+  cntsPerX $pc5_cnts_per_x]
+pc5 softlowerlim $pc5_rev_lim
+pc5 softupperlim $pc5_fwd_lim
+pc5 home $pc5_home
+pc5 part $pc5_part
+pc5 long_name pc5
+pc5 speed $pc5_speed
+pc5 accel $pc5_accel
+pc5 decel $pc5_decel
+
+# pc6 configuration
+# Collimator Trans (Col SEG 6) VH
+# Axis number 14
+Motor pc6 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis F\
+  units $pc6_units\
+  hardlowerlim $pc6_rev_lim\
+  hardupperlim $pc6_fwd_lim\
+  maxSpeed $pc6_maxspeed\
+  maxAccel $pc6_maxaccel\
+  maxDecel $pc6_maxdecel\
+  stepsPerX $pc6_steps_per_x\
+  posit_count 2\
+  posit_1 $pc6_guide\
+  posit_2 $pc6_empty\
+  absEnc 1\
+  absEncHome $pc6_absenchome\
+  cntsPerX $pc6_cnts_per_x]
+pc6 softlowerlim $pc6_rev_lim
+pc6 softupperlim $pc6_fwd_lim
+pc6 home $pc6_home
+pc6 part $pc6_part
+pc6 long_name pc6
+pc6 speed $pc6_speed
+pc6 accel $pc6_accel
+pc6 decel $pc6_decel
+
+# pc7 configuration
+# Collimator Trans (Col SEG 7) VH
+# Axis number 15
+Motor pc7 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis G\
+  units $pc7_units\
+  hardlowerlim $pc7_rev_lim\
+  hardupperlim $pc7_fwd_lim\
+  maxSpeed $pc7_maxspeed\
+  maxAccel $pc7_maxaccel\
+  maxDecel $pc7_maxdecel\
+  stepsPerX $pc7_steps_per_x\
+  posit_count 2\
+  posit_1 $pc7_guide\
+  posit_2 $pc7_empty\
+  absEnc 1\
+  absEncHome $pc7_absenchome\
+  cntsPerX $pc7_cnts_per_x]
+pc7 softlowerlim $pc7_rev_lim
+pc7 softupperlim $pc7_fwd_lim
+pc7 home $pc7_home
+pc7 part $pc7_part
+pc7 long_name pc7
+pc7 speed $pc7_speed
+pc7 accel $pc7_accel
+pc7 decel $pc7_decel
+
+# pc8 configuration
+# Collimator Trans (Col SEG 8) VH
+# Axis number 16
+Motor pc8 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis H\
+  units $pc8_units\
+  hardlowerlim $pc8_rev_lim\
+  hardupperlim $pc8_fwd_lim\
+  maxSpeed $pc8_maxspeed\
+  maxAccel $pc8_maxaccel\
+  maxDecel $pc8_maxdecel\
+  stepsPerX $pc8_steps_per_x\
+  posit_count 2\
+  posit_1 $pc8_guide\
+  posit_2 $pc8_empty\
+  absEnc 1\
+  absEncHome $pc8_absenchome\
+  cntsPerX $pc8_cnts_per_x]
+pc8 softlowerlim $pc8_rev_lim
+pc8 softupperlim $pc8_fwd_lim
+pc8 home $pc8_home
+pc8 part $pc8_part
+pc8 long_name pc8
+pc8 speed $pc8_speed
+pc8 accel $pc8_accel
+pc8 decel $pc8_decel
+
+# samx configuration
+# SAMPLE X
+# Axis number 36
+Motor samx $motor_driver_type [params\
+  asyncqueue mc5\
+  axis D\
+  units $samx_units\
+  hardlowerlim $samx_rev_lim\
+  hardupperlim $samx_fwd_lim\
+  maxSpeed $samx_maxspeed\
+  maxAccel $samx_maxaccel\
+  maxDecel $samx_maxdecel\
+  stepsPerX $samx_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $samx_absenchome\
+  cntsPerX $samx_cnts_per_x]
+samx softlowerlim $samx_rev_lim
+samx softupperlim $samx_fwd_lim
+samx home $samx_home
+samx part $samx_part
+samx long_name samx
+samx speed $samx_speed
+samx accel $samx_accel
+samx decel $samx_decel
+
+# samy configuration
+# SAMPLE Y
+# Axis number 37
+Motor samy $motor_driver_type [params\
+  asyncqueue mc5\
+  axis E\
+  units $samy_units\
+  hardlowerlim $samy_rev_lim\
+  hardupperlim $samy_fwd_lim\
+  maxSpeed $samy_maxspeed\
+  maxAccel $samy_maxaccel\
+  maxDecel $samy_maxdecel\
+  stepsPerX $samy_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $samy_absenchome\
+  cntsPerX $samy_cnts_per_x]
+samy softlowerlim $samy_rev_lim
+samy softupperlim $samy_fwd_lim
+samy home $samy_home
+samy part $samy_part
+samy long_name samy
+samy speed $samy_speed
+samy accel $samy_accel
+samy decel $samy_decel
+
+# samz configuration
+# SAMPLE Z
+# Axis number 34
+Motor samz $motor_driver_type [params\
+  asyncqueue mc5\
+  axis B\
+  units $samz_units\
+  hardlowerlim $samz_rev_lim\
+  hardupperlim $samz_fwd_lim\
+  maxSpeed $samz_maxspeed\
+  maxAccel $samz_maxaccel\
+  maxDecel $samz_maxdecel\
+  stepsPerX $samz_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $samz_absenchome\
+  cntsPerX $samz_cnts_per_x]
+samz softlowerlim $samz_rev_lim
+samz softupperlim $samz_fwd_lim
+samz home $samz_home
+samz part $samz_part
+samz long_name samz
+samz speed $samz_speed
+samz accel $samz_accel
+samz decel $samz_decel
+
+# som configuration
+# SAMPLE ROTATION
+# Axis number 35
+Motor som $motor_driver_type [params\
+  asyncqueue mc5\
+  axis C\
+  units $som_units\
+  hardlowerlim $som_rev_lim\
+  hardupperlim $som_fwd_lim\
+  maxSpeed $som_maxspeed\
+  maxAccel $som_maxaccel\
+  maxDecel $som_maxdecel\
+  stepsPerX $som_steps_per_x\
+  posit_count 0\
+  absEnc 1\
+  absEncHome $som_absenchome\
+  cntsPerX $som_cnts_per_x]
+som softlowerlim $som_rev_lim
+som softupperlim $som_fwd_lim
+som home $som_home
+som part $som_part
+som long_name som
+som speed $som_speed
+som accel $som_accel
+som decel $som_decel

 # ss1d configuration
 # Slit System 1 - Z DOWN
@ -847,7 +953,7 @@ Motor vs $motor_driver_type [params\
  maxDecel $vs_maxdecel\
  stepsPerX $vs_steps_per_x\
  posit_count 1\
-  posit_1 $vs_glass_in\
+  posit_1 $vs_pos1\
  absEnc 1\
  absEncHome $vs_absenchome\
  cntsPerX $vs_cnts_per_x]
--- a/site_ansto/instrument/bilby/config/motors/hdb_info.csv
+++ b/site_ansto/instrument/bilby/config/motors/hdb_info.csv
@ -1,88 +0,0 @@
-ap1_part,collimator
-ap1_units,degrees
-ap2_part,collimator
-ap2_units,degrees
-ap3_part,collimator
-ap3_units,degrees
-ap4_part,collimator
-ap4_units,degrees
-ap5_part,collimator
-ap5_units,degrees
-ap6_part,collimator
-ap6_units,degrees
-ap7_part,collimator
-ap7_units,degrees
-ap8_part,collimator
-ap8_units,degrees
-att_part,instrument
-att_units,mm
-bs1_part,detector
-bs1_units,degrees
-bs2_part,detector
-bs2_units,degrees
-bs3_part,detector
-bs3_units,degrees
-cdd_part,detector
-cdd_units,mm
-cdl_part,detector
-cdl_units,mm
-cdr_part,detector
-cdr_units,mm
-cdu_part,detector
-cdu_units,mm
-col1_part,collimator
-col1_units,mm
-col2_part,collimator
-col2_units,mm
-col3_part,collimator
-col3_units,mm
-col4_part,collimator
-col4_units,mm
-col5_part,collimator
-col5_units,mm
-col6_part,collimator
-col6_units,mm
-col7_part,collimator
-col7_units,mm
-col8_part,collimator
-col8_units,mm
-det_part,detector
-det_units,mm
-mdy_part,detector
-mdy_units,mm
-mirr1_part,disk_chopper
-mirr1_units,xxx
-mirr2_part,disk_chopper
-mirr2_units,xxx
-sap_part,sample
-sap_units,mm
-schi_part,sample
-schi_units,degrees
-sdh_part,instrument
-sdh_units,mm
-som_part,sample
-som_units,degrees
-sphi_part,sample
-sphi_units,degrees
-ss1d_part,collimator
-ss1d_units,mm
-ss1l_part,collimator
-ss1l_units,mm
-ss1r_part,collimator
-ss1r_units,mm
-ss1u_part,collimator
-ss1u_units,mm
-ss2d_part,collimator
-ss2d_units,mm
-ss2l_part,collimator
-ss2l_units,mm
-ss2r_part,collimator
-ss2r_units,mm
-ss2u_part,collimator
-ss2u_units,mm
-sx_part,sample
-sx_units,mm
-sy_part,sample
-sy_units,mm
-vs_part,instrument
-vs_units,mm
--- a/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl
@ -10,7 +10,7 @@ add_tank tank aqadapter mc8
 # Define "proc motor_set_sobj_attributes {}" if we need to define extra sicslist attributes for some motors.

 for {set n 1} {$n <= 8} {incr n} {
-  make_coll_motor_1 c$n c$n col$n count
+  make_coll_motor_1 c$n c$n pc$n count
  make_coll_motor_1 a$n a$n ap$n  count
 }

--- a/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv
+++ b/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv
@ -68,90 +68,41 @@ bs3_fwd_lim,-69.6162
 bs3_home,0.0000
 bs3_rev_lim,0.0000
 bs3_speed,5.6250
-cdd_absenchome,4159255.0000
-cdd_accel,0.2500
-cdd_decel,0.2500
-cdd_fwd_lim,349.7198
-cdd_home,0.0000
-cdd_rev_lim,0.0000
-cdd_speed,1.5000
-cdl_absenchome,5769621.0000
-cdl_accel,0.2500
-cdl_decel,0.2500
-cdl_fwd_lim,356.9644
-cdl_home,0.0000
-cdl_rev_lim,0.0000
-cdl_speed,1.5000
-cdr_absenchome,4371043.0000
-cdr_accel,0.2500
-cdr_decel,0.2500
-cdr_fwd_lim,358.0801
-cdr_home,0.0000
-cdr_rev_lim,0.0000
-cdr_speed,1.5000
-cdu_absenchome,21804679.0000
-cdu_accel,0.2500
-cdu_decel,0.2500
-cdu_fwd_lim,356.9028
-cdu_home,0.0000
-cdu_rev_lim,0.0000
-cdu_speed,1.5000
-col1_absenchome,3902.0000
-col1_accel,0.3333
-col1_decel,0.3333
-col1_fwd_lim,270.2969
-col1_home,0.0000
-col1_rev_lim,0.0000
-col1_speed,0.6667
-col2_absenchome,9598.0000
-col2_accel,0.3333
-col2_decel,0.3333
-col2_fwd_lim,270.9961
-col2_home,0.0000
-col2_rev_lim,0.0000
-col2_speed,0.6667
-col3_absenchome,29466.0000
-col3_accel,0.3333
-col3_decel,0.3333
-col3_fwd_lim,268.1104
-col3_home,0.0000
-col3_rev_lim,0.0000
-col3_speed,0.6667
-col4_absenchome,12861.0000
-col4_accel,0.3333
-col4_decel,0.3333
-col4_fwd_lim,269.4302
-col4_home,0.0000
-col4_rev_lim,0.0000
-col4_speed,0.6667
-col5_absenchome,377801.0000
-col5_accel,0.3333
-col5_decel,0.3333
-col5_fwd_lim,268.7666
-col5_home,0.0000
-col5_rev_lim,0.0000
-col5_speed,0.6667
-col6_absenchome,191508.0000
-col6_accel,0.3333
-col6_decel,0.3333
-col6_fwd_lim,271.2998
-col6_home,0.0000
-col6_rev_lim,0.0000
-col6_speed,0.6667
-col7_absenchome,24810.0000
-col7_accel,0.3333
-col7_decel,0.3333
-col7_fwd_lim,269.9331
-col7_home,0.0000
-col7_rev_lim,0.0000
-col7_speed,0.6667
-col8_absenchome,12893.0000
-col8_accel,0.3333
-col8_decel,0.3333
-col8_fwd_lim,267.6748
-col8_home,0.0000
-col8_rev_lim,0.0000
-col8_speed,0.6667
+curtaind_absenchome,4159255.0000
+curtaind_accel,0.2500
+curtaind_decel,0.2500
+curtaind_fwd_lim,349.7198
+curtaind_home,0.0000
+curtaind_rev_lim,0.0000
+curtaind_speed,1.5000
+curtainl_absenchome,5769621.0000
+curtainl_accel,0.2500
+curtainl_decel,0.2500
+curtainl_fwd_lim,356.9644
+curtainl_home,0.0000
+curtainl_rev_lim,0.0000
+curtainl_speed,1.5000
+curtainr_absenchome,4371043.0000
+curtainr_accel,0.2500
+curtainr_decel,0.2500
+curtainr_fwd_lim,358.0801
+curtainr_home,0.0000
+curtainr_rev_lim,0.0000
+curtainr_speed,1.5000
+curtainu_absenchome,21804679.0000
+curtainu_accel,0.2500
+curtainu_decel,0.2500
+curtainu_fwd_lim,356.9028
+curtainu_home,0.0000
+curtainu_rev_lim,0.0000
+curtainu_speed,1.5000
+cutoff_absenchome,4166803.0000
+cutoff_accel,0.4000
+cutoff_decel,0.0000
+cutoff_fwd_lim,242.2931
+cutoff_home,0.0000
+cutoff_rev_lim,0.0000
+cutoff_speed,1.3333
 det_absenchome,0.0000
 det_accel,6.4103
 det_decel,6.4103
@ -159,13 +110,90 @@ det_fwd_lim,0.0000
 det_home,0.0000
 det_rev_lim,0.0000
 det_speed,25.6410
-sdh_absenchome,4166803.0000
-sdh_fwd_lim,242.2931
-sdh_home,0.0000
-sdh_maxaccel,1.0000
-sdh_maxdecel,1.0000
-sdh_maxspeed,1.0000
-sdh_rev_lim,0.0000
+pc1_absenchome,3902.0000
+pc1_accel,0.3333
+pc1_decel,0.3333
+pc1_fwd_lim,270.2969
+pc1_home,0.0000
+pc1_rev_lim,0.0000
+pc1_speed,0.6667
+pc2_absenchome,9598.0000
+pc2_accel,0.3333
+pc2_decel,0.3333
+pc2_fwd_lim,270.9961
+pc2_home,0.0000
+pc2_rev_lim,0.0000
+pc2_speed,0.6667
+pc3_absenchome,29466.0000
+pc3_accel,0.3333
+pc3_decel,0.3333
+pc3_fwd_lim,268.1104
+pc3_home,0.0000
+pc3_rev_lim,0.0000
+pc3_speed,0.6667
+pc4_absenchome,12861.0000
+pc4_accel,0.3333
+pc4_decel,0.3333
+pc4_fwd_lim,269.4302
+pc4_home,0.0000
+pc4_rev_lim,0.0000
+pc4_speed,0.6667
+pc5_absenchome,377801.0000
+pc5_accel,0.3333
+pc5_decel,0.3333
+pc5_fwd_lim,268.7666
+pc5_home,0.0000
+pc5_rev_lim,0.0000
+pc5_speed,0.6667
+pc6_absenchome,191508.0000
+pc6_accel,0.3333
+pc6_decel,0.3333
+pc6_fwd_lim,271.2998
+pc6_home,0.0000
+pc6_rev_lim,0.0000
+pc6_speed,0.6667
+pc7_absenchome,24810.0000
+pc7_accel,0.3333
+pc7_decel,0.3333
+pc7_fwd_lim,269.9331
+pc7_home,0.0000
+pc7_rev_lim,0.0000
+pc7_speed,0.6667
+pc8_absenchome,12893.0000
+pc8_accel,0.3333
+pc8_decel,0.3333
+pc8_fwd_lim,267.6748
+pc8_home,0.0000
+pc8_rev_lim,0.0000
+pc8_speed,0.6667
+samx_absenchome,41841.0000
+samx_accel,1.2500
+samx_decel,1.2500
+samx_fwd_lim,1012.7844
+samx_home,0.0000
+samx_rev_lim,0.0000
+samx_speed,3.7500
+samy_absenchome,82584.0000
+samy_accel,1.2500
+samy_decel,1.2500
+samy_fwd_lim,1501.1511
+samy_home,0.0000
+samy_rev_lim,0.0000
+samy_speed,3.7500
+samz_absenchome,755970.0000
+samz_accel,0.7500
+samz_decel,0.7500
+samz_fwd_lim,-501.0043
+samz_home,0.0000
+samz_rev_lim,0.0000
+samz_speed,1.0000
+som_absenchome,33309055.0000
+som_accel,1.2857
+som_decel,1.2857
+som_fwd_lim,-344.6116
+som_home,0.0000
+som_rev_lim,0.0000
+som_speed,3.8571
 ss1d_absenchome,33398312.0000
 ss1d_accel,0.5000
 ss1d_decel,0.5000
--- a/site_ansto/instrument/bilby/config/motors/userdef_attlist.csv
+++ b/site_ansto/instrument/bilby/config/motors/userdef_attlist.csv
@ -1,24 +1,24 @@
-col1_maxaccel,0.75
-col1_maxdecel,0.75
-col1_maxspeed,0.75
-col2_maxaccel,0.75
-col2_maxdecel,0.75
-col2_maxspeed,0.75
-col3_maxaccel,0.75
-col3_maxdecel,0.75
-col3_maxspeed,0.75
-col4_maxaccel,0.75
-col4_maxdecel,0.75
-col4_maxspeed,0.75
-col5_maxaccel,0.75
-col5_maxdecel,0.75
-col5_maxspeed,0.75
-col6_maxaccel,0.75
-col6_maxdecel,0.75
-col6_maxspeed,0.75
-col7_maxaccel,0.75
-col7_maxdecel,0.75
-col7_maxspeed,0.75
-col8_maxaccel,0.75
-col8_maxdecel,0.75
-col8_maxspeed,0.75
+pc1_maxaccel,0.75
+pc1_maxdecel,0.75
+pc1_maxspeed,0.75
+pc2_maxaccel,0.75
+pc2_maxdecel,0.75
+pc2_maxspeed,0.75
+pc3_maxaccel,0.75
+pc3_maxdecel,0.75
+pc3_maxspeed,0.75
+pc4_maxaccel,0.75
+pc4_maxdecel,0.75
+pc4_maxspeed,0.75
+pc5_maxaccel,0.75
+pc5_maxdecel,0.75
+pc5_maxspeed,0.75
+pc6_maxaccel,0.75
+pc6_maxdecel,0.75
+pc6_maxspeed,0.75
+pc7_maxaccel,0.75
+pc7_maxdecel,0.75
+pc7_maxspeed,0.75
+pc8_maxaccel,0.75
+pc8_maxdecel,0.75
+pc8_maxspeed,0.75