diff --git a/site_ansto/instrument/hipd/motor_configuration.tcl b/site_ansto/instrument/hipd/motor_configuration.tcl
index a2aa25a4..7ebcc4e4 100644
--- a/site_ansto/instrument/hipd/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/motor_configuration.tcl
@@ -21,6 +21,74 @@ set dmc2280_controller4(port) pmc4-wombat
 #  dmc_close dmc2280_controller4
 #}
 
+# Monochromator phi, Tilt 1, upper
+Motor mphi DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis A\
+ units degrees\
+ maxSpeed 1\
+ maxAccel 1\
+ maxDecel 1\
+	stepsPerX -25000\
+	absEnc 1\
+	absEncHome 7414753\
+	cntsPerX -8192]
+setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
+mphi speed 1
+mphi precision 0.01
+
+# Monochromator chi, Tilt 2, lower
+Motor mchi DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis B\
+ units degrees\
+ maxSpeed 1\
+ maxAccel 1\
+ maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7818915\
+	cntsPerX 8192]
+setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5 
+mchi speed 1
+mchi precision 0.01
+
+# Monochromator Trans 1, upper
+Motor my DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis C\
+ units mm\
+ maxSpeed 1\
+ maxAccel 1\
+ maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7781680\
+	cntsPerX 8192]
+setHomeandRange -motor my -home 0 -lowrange 5 -uprange 5
+my speed 1
+my precision 0.01
+
+# Monochromator Trans 2, lower
+Motor mx DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis D\
+ units mm\
+ maxSpeed 1\
+ maxAccel 1\
+ maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7562793\
+	cntsPerX 8192]
+setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
+mx speed 1
+mx precision 0.01
+
 # Monochromator omega, rotate
 Motor mom DMC2280 [params \
 	host $dmc2280_controller1(host)\
@@ -67,90 +135,73 @@ MakeConfigurableMotor mth
 mth readscript mthGet
 mth drivescript mthSet
 
-# Monochromator chi, Tilt 2, lower
-Motor mchi DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis B\
- units degrees\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7818915\
-	cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5 
-mchi speed 1
-mchi precision 0.01
-
-# Monochromator phi, Tilt 1, upper
-Motor mphi DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
+# Sample Tilt 1, upper
+Motor sphi DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
 	axis A\
- units degrees\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX -25000\
-	absEnc 1\
-	absEncHome 7414753\
-	cntsPerX -8192]
-setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
-mphi speed 1
-mphi precision 0.01
-
-# Monochromator Trans 1, upper
-Motor mz DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis C\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
 	stepsPerX 25000\
 	absEnc 1\
-	absEncHome 7781680\
+	absEncHome 7934290\
 	cntsPerX 8192]
-setHomeandRange -motor mz -home 0 -lowrange 5 -uprange 5
-mz speed 1
-mz precision 0.01
+setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
+sphi speed 1
+sphi precision 0.01
 
-# Monochromator Trans 2, lower
-Motor mx DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis D\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
+# Sample Tilt 2, lower
+Motor schi DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis B\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7581355\
+	cntsPerX 8192]
+setHomeandRange -motor schi -home 90 -lowrange 5 -uprange 5
+schi speed 1
+schi precision 0.01
+
+# Sample Trans 1 (upper)
+Motor sy DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis C\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
 	stepsPerX 25000\
 	absEnc 1\
 	absEncHome 7562793\
 	cntsPerX 8192]
-setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
-mx speed 1
-mx precision 0.01
+setHomeandRange -motor sy -home 0 -lowrange 5 -uprange 5 
+sy speed 1
+sy precision 0.01
 
-# Monochromator radius, focus
-#Motor mr DMC2280 [params \
-#	host $dmc2280_controller1(host)\
-#	port $dmc2280_controller1(port)\
-#	axis xxxx\
-# units xxxx\
-# maxSpeed xxxx\
-# maxAccel xxxx\
-# maxDecel xxxx\
-#	stepsPerX xxxx\
-#	absEnc 1\
-#	absEncHome xxxx\
-#	cntsPerX xxxx]
-#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 0
-#mr speed 1
-#mr precision 0.01
+# Sample Trans2 (lower)
+Motor sx DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis D\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7562793\
+	cntsPerX 8192]
+setHomeandRange -motor sx -home 0 -lowrange 5 -uprange 5 
+sx speed 1
+sx precision 0.01
 
 # Sample Omega, rotate
 Motor som DMC2280 [params \
@@ -194,74 +245,6 @@ MakeConfigurableMotor sth
 sth readscript sthGet
 sth drivescript sthSet
 
-# Sample Tilt 2, lower
-Motor schi DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis B\
-  units degrees\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7581355\
-	cntsPerX 8192]
-setHomeandRange -motor schi -home 90 -lowrange 5 -uprange 5
-schi speed 1
-schi precision 0.01
-
-# Sample Tilt 1, upper
-Motor sphi DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis A\
-  units degrees\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7934290\
-	cntsPerX 8192]
-setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
-sphi speed 1
-sphi precision 0.01
-
-# Sample Trans 1 (upper)
-Motor sz DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis C\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7562793\
-	cntsPerX 8192]
-setHomeandRange -motor sz -home 0 -lowrange 5 -uprange 5 
-sz speed 1
-sz precision 0.01
-
-# Sample Trans2 (lower)
-Motor sx DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis D\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7562793\
-	cntsPerX 8192]
-setHomeandRange -motor sx -home 0 -lowrange 5 -uprange 5 
-sx speed 1
-sx precision 0.01
-
 #Default upper and lower ranges for vertical slits
 set vertSlitLowRange 25
 set vertSlitUpRange 95
@@ -270,10 +253,27 @@ set vertSlitUpRange 95
 set horSlitLowRange 20
 set horSlitUpRange 25
 
+# Monochromator radius, focus
+#Motor mr DMC2280 [params \
+#	host $dmc2280_controller3(host)\
+#	port $dmc2280_controller3(port)\
+#	axis A\
+# units xxxx\
+# maxSpeed xxxx\
+# maxAccel xxxx\
+# maxDecel xxxx\
+#	stepsPerX xxxx\
+#	absEnc 1\
+#	absEncHome xxxx\
+#	cntsPerX xxxx]
+#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 0
+#mr speed 1
+#mr precision 0.01
+
 Motor ss1u DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
-	axis G\
+	axis E\
   units mm\
   maxSpeed 1\
   maxAccel 1\
@@ -285,7 +285,7 @@ setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSl
 Motor ss1d DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
-	axis H\
+	axis F\
   units mm\
   maxSpeed 1\
   maxAccel 1\
@@ -294,22 +294,10 @@ Motor ss1d DMC2280 [params \
   motorHome 2040518]
 setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
 
-Motor ss1l DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis E\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX -20125\
-  motorHome 542093]
-setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
-
 Motor ss1r DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
-	axis F\
+	axis G\
   units mm\
   maxSpeed 1\
   maxAccel 1\
@@ -318,10 +306,22 @@ Motor ss1r DMC2280 [params \
   motorHome 542093]
 setHomeandRange -motor ss1r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
+Motor ss1l DMC2280 [params \
+	host $dmc2280_controller3(host)\
+	port $dmc2280_controller3(port)\
+	axis H\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX -20125\
+  motorHome 542093]
+setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+
 Motor ss2u DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis G\
+	axis E\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -333,7 +333,7 @@ setHomeandRange -motor ss2u  -home 0 -lowrange $vertSlitLowRange -uprange $vertS
 Motor ss2d DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis H\
+	axis F\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -342,22 +342,10 @@ Motor ss2d DMC2280 [params \
   motorHome 2043085]
 setHomeandRange -motor ss2d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
 
-Motor ss2l DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis E\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-  motorHome 500000]
-setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
-
 Motor ss2r DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis F\
+	axis G\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -366,6 +354,18 @@ Motor ss2r DMC2280 [params \
   motorHome 500000]
 setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
+Motor ss2l DMC2280 [params \
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+	axis H\
+	units mm\
+	maxSpeed 1\
+	maxAccel 1\
+	maxDecel 1\
+	stepsPerX -20125\
+  motorHome 500000]
+setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+
 #--------------------------------------------------------
 proc ss1widthscript {val} {
 	set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
diff --git a/site_ansto/instrument/hrpd/motor_configuration.tcl b/site_ansto/instrument/hrpd/motor_configuration.tcl
index f7d4dee5..3b6f3bd8 100644
--- a/site_ansto/instrument/hrpd/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/motor_configuration.tcl
@@ -1,32 +1,4 @@
 # START MOTOR CONFIGURATION
-#xxxx WHICH CONTROLLER DO ECHI AND EPHI BELONG TO
-#Motor echi DMC2280 [params \
-#	host xxxx\
-#	port xxxx\
-#	axis A\
-# units xxxx\
-# maxSpeed xxxx\
-# maxAccel xxxx\
-# maxDecel xxxx\
-#	stepsPerX xxxx\
-#	absEnc 1\
-#	absEncHome xxxx\
-#	cntsPerX xxxx]
-#setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
-
-#Motor ephi DMC2280 [params \
-#	host xxxx\
-#	port xxxx\
-#	axis xxxx\
-# units xxxx\
-# maxSpeed xxxx\
-# maxAccel xxxx\
-# maxDecel xxxx\
-#	stepsPerX xxxx\
-#	absEnc 1\
-#	absEncHome xxxx\
-#	cntsPerX xxxx]
-#setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
 
 # Setup addresses of Galil DMC2280 controllers.
 set dmc2280_controller1(host) mc1-echidna
@@ -51,6 +23,74 @@ set dmc2280_controller4(port) pmc4-echidna
 #  dmc_close dmc2280_controller4
 #}
 
+# Monochromator phi, Tilt 1, upper
+Motor mphi DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis A\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX -25000\
+	absEnc 1\
+	absEncHome 7414753\
+	cntsPerX -8192]
+setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
+mphi speed 1
+mphi precision 0.01
+
+# Monochromator chi, Tilt 2, lower
+Motor mchi DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis B\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7818915\
+	cntsPerX 8192]
+setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5 
+mchi speed 1
+mchi precision 0.01
+
+# Monochromator Trans 1, upper
+Motor my DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis C\
+ units mm\
+ maxSpeed 1\
+ maxAccel 1\
+ maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7781680\
+	cntsPerX 8192]
+setHomeandRange -motor my -home 0 -lowrange 5 -uprange 5
+my speed 1
+my precision 0.01
+
+# Monochromator Trans 2, lower
+Motor mx DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
+	axis D\
+ units mm\
+ maxSpeed 1\
+ maxAccel 1\
+ maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7562793\
+	cntsPerX 8192]
+setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
+mx speed 1
+mx precision 0.01
+
 # Monochromator omega, rotate
 Motor mom DMC2280 [params \
 	host $dmc2280_controller1(host)\
@@ -89,104 +129,11 @@ mtth home 87.635
 mtth speed 0.5
 mtth precision 0.01
 
-proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
-proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
-publish mthSet user
-publish mthGet user
-MakeConfigurableMotor mth
-mth readscript mthGet
-mth drivescript mthSet
-
-# Monochromator chi, Tilt 2, lower
-Motor mchi DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis B\
-  units degrees\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7818915\
-	cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5 
-mchi speed 1
-mchi precision 0.01
-
-# Monochromator phi, Tilt 1, upper
-Motor mphi DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis A\
-  units degrees\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX -25000\
-	absEnc 1\
-	absEncHome 7414753\
-	cntsPerX -8192]
-setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
-mphi speed 1
-mphi precision 0.01
-
-# Monochromator Trans 1, upper
-Motor mz DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis C\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7781680\
-	cntsPerX 8192]
-setHomeandRange -motor mz -home 0 -lowrange 5 -uprange 5
-mz speed 1
-mz precision 0.01
-
-# Monochromator Trans 2, lower
-Motor mx DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis D\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7562793\
-	cntsPerX 8192]
-setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
-mx speed 1
-mx precision 0.01
-
-# Monochromator radius, focus
-#Motor mr DMC2280 [params \
-#	host $dmc2280_controller3(host)\
-#	port $dmc2280_controller3(port)\
-#	axis A\
-#  units xxxx\
-#  maxSpeed xxxx\
-#  maxAccel xxxx\
-#  maxDecel xxxx\
-#	stepsPerX xxxx\
-#	absEnc 1\
-#	absEncHome xxxx\
-#	cntsPerX xxxx]
-#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 0
-#mr speed 1
-#mr precision 0.01
-
 # Primary Collimator 1
 #Motor pc1 DMC2280 [params \
 #	host $dmc2280_controller1(host)\
 #	port $dmc2280_controller1(port)\
-#	axis F\
+#	axis G\
 # units xxxx\
 # maxSpeed xxxx\
 # maxAccel xxxx\
@@ -200,7 +147,7 @@ mx precision 0.01
 #Motor pc2 DMC2280 [params \
 #	host $dmc2280_controller1(host)\
 #	port $dmc2280_controller1(port)\
-#	axis G\
+#	axis H\
 # units xxxx\
 # maxSpeed xxxx\
 # maxAccel xxxx\
@@ -210,6 +157,74 @@ mx precision 0.01
 #pc2 speed 1
 #pc2 precision 0.01
 
+# Sample Tilt 1, upper
+Motor sphi DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis A\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX -25000\
+	absEnc 1\
+	absEncHome 7924166\
+	cntsPerX -8192]
+setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
+sphi speed 1
+sphi precision 0.01
+
+# Sample Tilt 2, lower
+Motor schi DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis B\
+  units degrees\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7543198\
+	cntsPerX 8192]
+setHomeandRange -motor schi -home 90 -lowrange 5 -uprange 5
+schi speed 1
+schi precision 0.01
+
+# Sample Trans 1 (upper)
+Motor sy DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis C\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 7625856\
+	cntsPerX 8192]
+setHomeandRange -motor sy -home 0 -lowrange 5 -uprange 5 
+sy speed 1
+sy precision 0.01
+
+# Sample Trans2 (lower)
+Motor sx DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis D\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX 25000\
+	absEnc 1\
+	absEncHome 24034020\
+	cntsPerX 8192]
+setHomeandRange -motor sx -home 0 -lowrange 5 -uprange 5 
+sx speed 1
+sx precision 0.01
+
 # Sample Omega, rotate
 Motor som DMC2280 [params \
 	host $dmc2280_controller2(host)\
@@ -244,82 +259,6 @@ setHomeandRange -motor stth -home 120 -lowrange 15 -uprange 15
 stth speed 0.5
 stth precision 0.01
 
-proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
-proc sthSet {val} { return "stth=[SplitReply [stth]]"}
-publish sthGet user
-publish sthSet user
-MakeConfigurableMotor sth
-sth readscript sthGet
-sth drivescript sthSet
-
-# Sample Tilt 2, lower
-Motor schi DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis B\
-  units degrees\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7543198\
-	cntsPerX 8192]
-setHomeandRange -motor schi -home 90 -lowrange 5 -uprange 5
-schi speed 1
-schi precision 0.01
-
-# Sample Tilt 1, upper
-Motor sphi DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis A\
-  units degrees\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX -25000\
-	absEnc 1\
-	absEncHome 7924166\
-	cntsPerX -8192]
-setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
-sphi speed 1
-sphi precision 0.01
-
-# Sample Trans 1 (upper)
-Motor sz DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis C\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7625856\
-	cntsPerX 8192]
-setHomeandRange -motor sz -home 0 -lowrange 5 -uprange 5 
-sz speed 1
-sz precision 0.01
-
-# Sample Trans2 (lower)
-Motor sx DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis D\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 24034020\
-	cntsPerX 8192]
-setHomeandRange -motor sx -home 0 -lowrange 5 -uprange 5 
-sx speed 1
-sx precision 0.01
-
 #Default upper and lower ranges for vertical slits
 set vertSlitLowRange 25
 set vertSlitUpRange 95
@@ -328,10 +267,27 @@ set vertSlitUpRange 95
 set horSlitLowRange 20
 set horSlitUpRange 25
 
+# Monochromator radius, focus
+#Motor mr DMC2280 [params \
+#	host $dmc2280_controller3(host)\
+#	port $dmc2280_controller3(port)\
+#	axis A\
+#  units xxxx\
+#  maxSpeed xxxx\
+#  maxAccel xxxx\
+#  maxDecel xxxx\
+#	stepsPerX xxxx\
+#	absEnc 1\
+#	absEncHome xxxx\
+#	cntsPerX xxxx]
+#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 0
+#mr speed 1
+#mr precision 0.01
+
 Motor ss1u DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
-	axis G\
+	axis E\
   units mm\
   maxSpeed 1\
   maxAccel 1\
@@ -343,7 +299,7 @@ setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSl
 Motor ss1d DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
-	axis H\
+	axis F\
   units mm\
   maxSpeed 1\
   maxAccel 1\
@@ -352,22 +308,10 @@ Motor ss1d DMC2280 [params \
   motorHome 2100893]
 setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
 
-Motor ss1l DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis E\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX -20125\
-  motorHome 592406]
-setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
-
 Motor ss1r DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
-	axis F\
+	axis G\
   units mm\
   maxSpeed 1\
   maxAccel 1\
@@ -376,10 +320,51 @@ Motor ss1r DMC2280 [params \
   motorHome 592406]
 setHomeandRange -motor ss1r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
+Motor ss1l DMC2280 [params \
+	host $dmc2280_controller3(host)\
+	port $dmc2280_controller3(port)\
+	axis H\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+	stepsPerX -20125\
+  motorHome 592406]
+setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+
+#xxxx WHICH CONTROLLER DO ECHI AND EPHI BELONG TO
+#Motor echi DMC2280 [params \
+#	host $dmc2280_controller4(host)\
+#	port $dmc2280_controller4(port)\
+#	axis A\
+# units xxxx\
+# maxSpeed xxxx\
+# maxAccel xxxx\
+# maxDecel xxxx\
+#	stepsPerX xxxx\
+#	absEnc 1\
+#	absEncHome xxxx\
+#	cntsPerX xxxx]
+#setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
+
+#Motor ephi DMC2280 [params \
+#	host $dmc2280_controller4(host)\
+#	port $dmc2280_controller4(port)\
+#	axis B\
+# units xxxx\
+# maxSpeed xxxx\
+# maxAccel xxxx\
+# maxDecel xxxx\
+#	stepsPerX xxxx\
+#	absEnc 1\
+#	absEncHome xxxx\
+#	cntsPerX xxxx]
+#setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
+
 Motor ss2u DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis G\
+	axis E\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -391,7 +376,7 @@ setHomeandRange -motor ss2u  -home 0 -lowrange $vertSlitLowRange -uprange $vertS
 Motor ss2d DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis H\
+	axis F\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -400,10 +385,22 @@ Motor ss2d DMC2280 [params \
   motorHome 2053148]
 setHomeandRange -motor ss2d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
 
+Motor ss2r DMC2280 [params \
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+	axis G\
+	units mm\
+	maxSpeed 1\
+	maxAccel 1\
+	maxDecel 1\
+	stepsPerX -20125\
+  motorHome 530188]
+setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+
 Motor ss2l DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis E\
+	axis H\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -412,17 +409,21 @@ Motor ss2l DMC2280 [params \
   motorHome 530188]
 setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
-Motor ss2r DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis F\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-  motorHome 530188]
-setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
+proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
+publish mthSet user
+publish mthGet user
+MakeConfigurableMotor mth
+mth readscript mthGet
+mth drivescript mthSet
+
+proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
+proc sthSet {val} { return "stth=[SplitReply [stth]]"}
+publish sthGet user
+publish sthSet user
+MakeConfigurableMotor sth
+sth readscript sthGet
+sth drivescript sthSet
 
 #--------------------------------------------------------
 proc ss1widthscript {val} {
diff --git a/site_ansto/instrument/rsd/motor_configuration.tcl b/site_ansto/instrument/rsd/motor_configuration.tcl
index 0985cdf7..dbed5a93 100644
--- a/site_ansto/instrument/rsd/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/motor_configuration.tcl
@@ -21,41 +21,19 @@ set dmc2280_controller4(port) pmc4-kowari
 #  dmc_close dmc2280_controller4
 #}
 
-# Monochromator omega, rotate
-Motor mom DMC2280 [params \
+# Monochromator phi, Tilt 1, upper
+Motor mphi DMC2280 [params \
 	host $dmc2280_controller1(host)\
-        port $dmc2280_controller1(port)\
-        axis E\
+	port $dmc2280_controller1(port)\
+	axis A\
         units degrees\
         maxSpeed 1\
         maxAccel 1\
         maxDecel 1\
-        stepsPerX -12500]
-setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
-mom speed 1
-mom precision 0.01
-
-# Monochromator two-theta, flight-tube rotate
-Motor mtth DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis F\
-        units degrees\
-        maxSpeed 0.5\
-        maxAccel 0.2\
-        maxDecel 0.2\
-	stepsPerX 25000]
-setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
-mtth speed 0.5
-mtth precision 0.01
-
-proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
-proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
-publish mthSet user
-publish mthGet user
-MakeConfigurableMotor mth
-mth readscript mthGet
-mth drivescript mthSet
+	stepsPerX -25000]
+setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20
+mphi speed 1
+mphi precision 0.01
 
 # Monochromator chi, Tilt 2, lower
 Motor mchi DMC2280 [params \
@@ -71,20 +49,6 @@ setHomeandRange -motor mchi -home 90 -lowrange 20 -uprange 20
 mchi speed 1
 mchi precision 0.01
 
-# Monochromator phi, Tilt 1, upper
-Motor mphi DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis A\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -25000]
-setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20
-mphi speed 1
-mphi precision 0.01
-
 # Monochromator Trans 1, upper
 Motor my DMC2280 [params \
 	host $dmc2280_controller1(host)\
@@ -113,69 +77,47 @@ setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
 mx speed 1
 mx precision 0.01
 
-# Sample Omega, rotate
-Motor som DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis E\
+# Monochromator omega, rotate
+Motor mom DMC2280 [params \
+	host $dmc2280_controller1(host)\
+        port $dmc2280_controller1(port)\
+        axis E\
         units degrees\
         maxSpeed 1\
         maxAccel 1\
         maxDecel 1\
-	stepsPerX -12500]
-setHomeandRange -motor som -home 0 -lowrange 0 -uprange 360
-som speed 1
-som precision 0.01
+        stepsPerX -12500]
+setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
+mom speed 1
+mom precision 0.01
 
-# Sample two-theta, detector rotate
-Motor stth DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
+# Monochromator two-theta, flight-tube rotate
+Motor mtth DMC2280 [params \
+	host $dmc2280_controller1(host)\
+	port $dmc2280_controller1(port)\
 	axis F\
         units degrees\
-        maxSpeed 0.2\
+        maxSpeed 0.5\
         maxAccel 0.2\
         maxDecel 0.2\
-	stepsPerX 125000]
-setHomeandRange -motor stth -home 90 -lowrange 15 -uprange 15
-stth speed 0.5
-stth precision 0.01
+	stepsPerX 25000]
+setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
+mtth speed 0.5
+mtth precision 0.01
 
-proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
-proc sthSet {val} { return "stth=[SplitReply [stth]]"}
-publish sthSet user
-publish sthGet user
-MakeConfigurableMotor sth
-sth readscript sthGet
-sth drivescript sthSet
-
-# Eulerian-chi
-Motor echi DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis B\
-        units degrees\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-        stepsPerX 25000]
-setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
-echi speed 1
-echi precision 0.01
-
-# Eulerian-phi
-Motor ephi DMC2280 [params \
+# Sample Trans3 (vertical)
+Motor sz DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
 	axis A\
-        units degrees\
+        units mm\
         maxSpeed 1\
         maxAccel 1\
         maxDecel 1\
 	stepsPerX 25000]
-setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
-ephi speed 1
-ephi precision 0.01
+setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 700 
+sz speed 1
+sz precision 0.01
 
 # Sample Trans 1 (upper)
 Motor sy DMC2280 [params \
@@ -205,27 +147,110 @@ setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250
 sx speed 1
 sx precision 0.01
 
-# Sample Trans3 (vertical)
-Motor sz DMC2280 [params \
+# Sample Omega, rotate
+Motor som DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
-	axis G\
-        units mm\
+	axis E\
+        units degrees\
+        maxSpeed 1\
+        maxAccel 1\
+        maxDecel 1\
+	stepsPerX -12500]
+setHomeandRange -motor som -home 0 -lowrange 0 -uprange 360
+som speed 1
+som precision 0.01
+
+# Sample two-theta, detector rotate
+Motor stth DMC2280 [params \
+	host $dmc2280_controller2(host)\
+	port $dmc2280_controller2(port)\
+	axis F\
+        units degrees\
+        maxSpeed 0.2\
+        maxAccel 0.2\
+        maxDecel 0.2\
+	stepsPerX 125000]
+setHomeandRange -motor stth -home 90 -lowrange 15 -uprange 15
+stth speed 0.5
+stth precision 0.01
+
+# Monochromator Focusing (HOPG)
+Motor mf1 DMC2280 [params \
+	host $dmc2280_controller3(host)\
+	port $dmc2280_controller3(port)\
+	axis A\
+        units degrees\
+        maxSpeed 1\
+        maxAccel 1\
+        maxDecel 1\
+        stepsPerX 25000]
+setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
+mf1 speed 1
+mf1 precision 0.01
+
+# Monochromator Fucusing (Ge)
+Motor mf2 DMC2280 [params \
+	host $dmc2280_controller3(host)\
+	port $dmc2280_controller3(port)\
+	axis B\
+        units degrees\
         maxSpeed 1\
         maxAccel 1\
         maxDecel 1\
 	stepsPerX 25000]
-setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 700 
-sz speed 1
-sz precision 0.01
+setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
+mf2 speed 1
+mf2 precision 0.01
+
+## Eulerian-chi
+#Motor echi DMC2280 [params \
+#	host $dmc2280_controller3(host)\
+#	port $dmc2280_controller3(port)\
+#	axis G\
+#        units degrees\
+#        maxSpeed 1\
+#        maxAccel 1\
+#        maxDecel 1\
+#        stepsPerX 25000]
+#setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
+#echi speed 1
+#echi precision 0.01
+
+## Eulerian-phi
+#Motor ephi DMC2280 [params \
+#	host $dmc2280_controller3(host)\
+#	port $dmc2280_controller3(port)\
+#	axis H\
+#        units degrees\
+#        maxSpeed 1\
+#        maxAccel 1\
+#        maxDecel 1\
+#	stepsPerX 25000]
+#setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
+#ephi speed 1
+#ephi precision 0.01
 
 #--------------------------------------------------------
 
+# Primary Slit, horizontal offset, 0-30mm
+Motor psho DMC2280 [params \
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+	axis A\
+        units mm\
+        maxSpeed 1\
+        maxAccel 1\
+        maxDecel 1\
+	stepsPerX -20125\
+        motorHome 542093]
+setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30 
+
 # Primary Slit, position 0-150mm
 Motor psp DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-        axis E\
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+        axis B\
         units mm\
         maxSpeed 1\
         maxAccel 1\
@@ -236,9 +261,9 @@ setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
 
 # Primary Slit, width, 0-30mm
 Motor psw DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-        axis F\
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+        axis C\
         units mm\
         maxSpeed 1\
         maxAccel 1\
@@ -247,39 +272,39 @@ Motor psw DMC2280 [params \
         motorHome 2040518]
 setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 
 
-# Primary Slit, height, 0-30mm
-Motor psh DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-        axis G\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -20125\
-        motorHome 542093]
-setHomeandRange -motor psh  -home 0 -lowrange 0 -uprange 30 
-
-# Primary Slit, horizontal offset, 0-30mm
-Motor psho DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis H\
-        units mm\
-        maxSpeed 1\
-        maxAccel 1\
-        maxDecel 1\
-	stepsPerX -20125\
-        motorHome 542093]
-setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30 
+## Primary Slit, height, 0-30mm
+#Motor psh DMC2280 [params \
+#	host $dmc2280_controller4(host)\
+#	port $dmc2280_controller4(port)\
+#        axis D\
+#        units mm\
+#        maxSpeed 1\
+#        maxAccel 1\
+#        maxDecel 1\
+#	stepsPerX -20125\
+#        motorHome 542093]
+#setHomeandRange -motor psh  -home 0 -lowrange 0 -uprange 30 
 
 #--------------------------------------------------------
 
+# Secondary Slit, horizontal offset
+Motor ssho DMC2280 [params \
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+	axis E\
+	units mm\
+	maxSpeed 1\
+	maxAccel 1\
+	maxDecel 1\
+	stepsPerX -20125\
+        motorHome 500000]
+setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30 
+
 # Secondary Slit, position
 Motor ssp DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis E\
+	axis F\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -292,7 +317,7 @@ setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
 Motor ssw DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
-	axis F\
+	axis G\
 	units mm\
 	maxSpeed 1\
 	maxAccel 1\
@@ -301,31 +326,36 @@ Motor ssw DMC2280 [params \
         motorHome 2043085]
 setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30
 
-# Secondary Slit, height
-Motor ssh DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis G\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-        motorHome 500000]
-setHomeandRange -motor ssh  -home 0 -lowrange 0 -uprange 30 
+## Secondary Slit, height
+#Motor ssh DMC2280 [params \
+#	host $dmc2280_controller4(host)\
+#	port $dmc2280_controller4(port)\
+#	axis H\
+#	units mm\
+#	maxSpeed 1\
+#	maxAccel 1\
+#	maxDecel 1\
+#	stepsPerX -20125\
+#        motorHome 500000]
+#setHomeandRange -motor ssh  -home 0 -lowrange 0 -uprange 30 
 
-# Secondary Slit, horizontal offset
-Motor ssho DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis H\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-        motorHome 500000]
-setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30 
+#--------------------------------------------------------
+
+proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
+proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
+publish mthSet user
+publish mthGet user
+MakeConfigurableMotor mth
+mth readscript mthGet
+mth drivescript mthSet
+
+proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
+proc sthSet {val} { return "stth=[SplitReply [stth]]"}
+publish sthSet user
+publish sthGet user
+MakeConfigurableMotor sth
+sth readscript sthGet
+sth drivescript sthSet
 
 #--------------------------------------------------------