diff --git a/site_ansto/instrument/hipd/motor_configuration.tcl b/site_ansto/instrument/hipd/motor_configuration.tcl
index 52ce3633..9c1bb468 100644
--- a/site_ansto/instrument/hipd/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/motor_configuration.tcl
@@ -1,3 +1,10 @@
+# $Revision: 1.4 $
+# $Date: 2006-12-12 21:03:10 $
+# Author: Ferdi Franceschini (ffr@ansto.gov.au)
+# Last revision by: $Author: dcl $
+
+# START MOTOR CONFIGURATION
+
 # Setup addresses of Galil DMC2280 controllers.
 set dmc2280_controller1(host) mc1-wombat
 set dmc2280_controller1(port) pmc1-wombat
@@ -21,6 +28,14 @@ set dmc2280_controller4(port) pmc4-wombat
 #  dmc_close dmc2280_controller4
 #}
 
+############################
+# Motor Controller 1
+# Motor Controller 1
+# Motor Controller 1
+############################
+#:TP at HOME
+#
+
 # Monochromator phi, Tilt 1, upper
 Motor mphi DMC2280 [params \
   host $dmc2280_controller1(host)\
@@ -36,7 +51,7 @@ Motor mphi DMC2280 [params \
   cntsPerX -8192]
 setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
 mphi speed 1
-mphi precision 0.001
+mphi precision 0.01
 
 # Monochromator chi, Tilt 2, lower
 Motor mchi DMC2280 [params \
@@ -51,9 +66,9 @@ Motor mchi DMC2280 [params \
   absEnc 1\
   absEncHome 7818915\
   cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15 
+setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
 mchi speed 1
-mchi precision 0.001
+mchi precision 0.01
 
 # Monochromator Trans 1, upper
 Motor my DMC2280 [params \
@@ -81,10 +96,10 @@ Motor mx DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX -25000\
   absEnc 1\
   absEncHome 7562793\
-  cntsPerX 8192]
+  cntsPerX -8192]
 setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
 mx speed 1
 mx precision 0.01
@@ -101,7 +116,7 @@ Motor mom DMC2280 [params \
   stepsPerX -12500\
   absEnc 1\
   absEncHome 17694127\
-  cntsPerX -8192]
+  cntsPerX -4096]
 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
 mom speed 1
 mom precision 0.01
@@ -115,20 +130,31 @@ Motor mtth DMC2280 [params \
   maxSpeed 0.5\
   maxAccel 0.2\
   maxDecel 0.2\
-  stepsPerX 25000\
+  stepsPerX [expr 25000*18]\
   absEnc 1\
   absEncHome 10299428\
   cntsPerX 93207]
-mtth hardlowerlim 85
-mtth hardupperlim 155
-mtth softlowerlim 85
-mtth softupperlim 155
-mtth home 120
+mtth hardlowerlim 86
+mtth hardupperlim 137
+mtth softlowerlim 86
+mtth softupperlim 137
+mtth home 90
 mtth speed 0.5
-mtth precision 0.01
+mtth accel 0.01
+mtth decel 0.01
+mtth precision 0.02
+mtth maxretry 10
+mtth failafter 10
 
+############################
+# Motor Controller 2
+# Motor Controller 2
+# Motor Controller 2
+############################
+#:TP at HOME
+#
 
-# Sample Tilt 1, upper
+# Sample Tilt 1, upper, phi
 Motor sphi DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
@@ -137,15 +163,15 @@ Motor sphi DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX -25000\
   absEnc 1\
   absEncHome 7934290\
-  cntsPerX 8192]
+  cntsPerX -8192]
 setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
 sphi speed 1
 sphi precision 0.01
 
-# Sample Tilt 2, lower
+# Sample Tilt 2, lower, chi
 Motor schi DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
@@ -162,7 +188,7 @@ setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
 schi speed 1
 schi precision 0.01
 
-# Sample Trans 1 (upper)
+# Sample Trans 1, upper, y
 Motor sy DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
@@ -175,11 +201,11 @@ Motor sy DMC2280 [params \
   absEnc 1\
   absEncHome 7562793\
   cntsPerX 8192]
-setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20 
+setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
 sy speed 1
 sy precision 0.01
 
-# Sample Trans2 (lower)
+# Sample Trans2, lower, x
 Motor sx DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
@@ -188,11 +214,11 @@ Motor sx DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX -25000\
   absEnc 1\
   absEncHome 7562793\
-  cntsPerX 8192]
-setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20 
+  cntsPerX -8192]
+setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
 sx speed 1
 sx precision 0.01
 
@@ -205,10 +231,10 @@ Motor som DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -12500\
+  stepsPerX 12500\
   absEnc 1\
   absEncHome 17694127\
-  cntsPerX -8192]
+  cntsPerX 4096]
 setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
 som speed 1
 som precision 0.01
@@ -219,31 +245,41 @@ Motor stth DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis F\
   units degrees\
-  maxSpeed 0.2\
+  maxSpeed 0.5\
   maxAccel 0.2\
   maxDecel 0.2\
   stepsPerX 125000\
   absEnc 1\
   absEncHome 6559259\
   cntsPerX 93207]
-stth hardlowerlim 85
-stth hardupperlim 155
-stth softlowerlim 85
-stth softupperlim 155
-stth home 87.635 
+stth hardlowerlim -60
+stth hardupperlim 60
+stth softlowerlim -60
+stth softupperlim 60
+stth home 0
 stth speed 0.5
 stth precision 0.01
 
 #Default upper and lower ranges for vertical slits
-set vertSlitLowRange 25
-set vertSlitUpRange 95
+set vertSlitLowRange 20
+set vertSlitUpRange 100
 
 #Default upper and lower ranges for horizontal slits
-set horSlitLowRange 20
-set horSlitUpRange 25
+set horSlitLowRange 15
+set horSlitUpRange 35
 
-# Monochromator radius, focus
-#Motor mr DMC2280 [params \
+#Measured or computed slit motor steps per millimetre
+set slitStepRate 20180
+
+############################
+# Motor Controller 3
+# Motor Controller 3
+# Motor Controller 3
+############################
+#
+
+# Monochromator Focusing (HOPG)
+#Motor mf1 DMC2280 [params \
 #  host $dmc2280_controller3(host)\
 #  port $dmc2280_controller3(port)\
 #  axis A\
@@ -255,35 +291,55 @@ set horSlitUpRange 25
 #  absEnc 1\
 #  absEncHome xxxx\
 #  cntsPerX xxxx]
-#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 360
-#mr speed 1
-#mr precision 0.01
+#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
+#mf1 speed 1
+#mf1 precision 0.01
 
-Motor ss1u DMC2280 [params \
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
-  axis E\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX -20125\
-  motorHome 2040518]
-setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
-
-Motor ss1d DMC2280 [params \
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
-  axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX -20125\
-  motorHome 2040518]
-setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+# Monochromator Focusing (Ge)
+#Motor mf2 DMC2280 [params \
+#  host $dmc2280_controller3(host)\
+#  port $dmc2280_controller3(port)\
+#  axis B\
+#  units degrees\
+#  maxSpeed xxxx\
+#  maxAccel xxxx\
+#  maxDecel xxxx\
+#  stepsPerX xxxx\
+#  absEnc 1\
+#  absEncHome xxxx\
+#  cntsPerX xxxx]
+#setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
+#mf2 speed 1
+#mf2 precision 0.01
 
+# Slit 1, right
 Motor ss1r DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis E\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -$slitStepRate\
+  motorHome [expr 54.5/2*$slitStepRate]]
+setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+
+# Slit 1, left
+Motor ss1l DMC2280 [params \
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis F\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -$slitStepRate\
+  motorHome [expr 54.5/2*$slitStepRate]]
+setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+
+# Slit 1, up
+Motor ss1u DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
   axis G\
@@ -291,11 +347,12 @@ Motor ss1r DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -20125\
-  motorHome 542093]
-setHomeandRange -motor ss1r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+  stepsPerX -$slitStepRate\
+  motorHome [expr 207.5/2*$slitStepRate]]
+setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
-Motor ss1l DMC2280 [params \
+# Slit 1, down
+Motor ss1d DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
   axis H\
@@ -303,11 +360,19 @@ Motor ss1l DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -20125\
-  motorHome 542093]
-setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+  stepsPerX -$slitStepRate\
+  motorHome [expr 207.5/2*$slitStepRate]]
+setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
-Motor ss2u DMC2280 [params \
+############################
+# Motor Controller 4
+# Motor Controller 4
+# Motor Controller 4
+############################
+#
+
+# Slit 2, right
+Motor ss2r DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
   axis E\
@@ -315,11 +380,12 @@ Motor ss2u DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -20125\
-  motorHome 2043085]
-setHomeandRange -motor ss2u  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+  stepsPerX -$slitStepRate\
+  motorHome [expr 52.25/2*$slitStepRate]]
+setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
-Motor ss2d DMC2280 [params \
+# Slit 2, left
+Motor ss2l DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
   axis F\
@@ -327,11 +393,12 @@ Motor ss2d DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -20125\
-  motorHome 2043085]
-setHomeandRange -motor ss2d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+  stepsPerX -$slitStepRate\
+  motorHome [expr 52.25/2*$slitStepRate]]
+setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
-Motor ss2r DMC2280 [params \
+# Slit 2, up
+Motor ss2u DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
   axis G\
@@ -339,11 +406,12 @@ Motor ss2r DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -20125\
-  motorHome 500000]
-setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+  stepsPerX -$slitStepRate\
+  motorHome [expr 204.1/2*$slitStepRate]]
+setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
-Motor ss2l DMC2280 [params \
+# Slit 2, down
+Motor ss2d DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
   axis H\
@@ -351,9 +419,9 @@ Motor ss2l DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -20125\
-  motorHome 500000]
-setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+  stepsPerX -$slitStepRate\
+  motorHome [expr 204.1/2*$slitStepRate]]
+setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
 proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
@@ -383,7 +451,7 @@ publish ss1widthscript user
 
 #-------------------------------------------------------
 proc ss1readwidth {} {
-  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] 
+  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
 }
 publish ss1readwidth user
 MakeConfigurableMotor ss1hg
@@ -394,7 +462,7 @@ ss1hg readscript ss1readwidth
 proc ss1horoffsetscript {val} {
   set SR [SplitReply [ss1r]]
   set SL [SplitReply [ss1l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] 
+  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1R [expr $SR + $diff]
   set newD1L [expr $SL - $diff]
@@ -405,7 +473,7 @@ publish ss1horoffsetscript user
 #-------------------------------------------------------
 proc ss1readhoroffset {} {
   set SR [SplitReply [ss1r]]
-  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ] 
+  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
 }
 publish ss1readhoroffset user
 
@@ -426,7 +494,7 @@ publish ss1heightscript user
 
 #-------------------------------------------------------
 proc ss1readheight {} {
-  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]] 
+  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
 }
 publish ss1readheight user
 
@@ -439,7 +507,7 @@ ss1vg readscript ss1readheight
 proc ss1vertoffsetscript {val} {
   set SU [SplitReply [ss1u]]
   set SD [SplitReply [ss1d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
+  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1U [expr $SU + $diff]
   set newD1D [expr $SD - $diff]
@@ -450,7 +518,7 @@ publish ss1vertoffsetscript user
 #-------------------------------------------------------
 proc ss1readvertoffset {} {
   set SU [SplitReply [ss1u]]
-  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ] 
+  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
 }
 publish ss1readvertoffset user
 
@@ -473,7 +541,7 @@ publish ss2widthscript user
 
 #-------------------------------------------------------
 proc ss2readwidth {} {
-  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]] 
+  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
 }
 publish ss2readwidth user
 MakeConfigurableMotor ss2hg
@@ -484,7 +552,7 @@ ss2hg readscript ss2readwidth
 proc ss2horoffsetscript {val} {
   set SR [SplitReply [ss2r]]
   set SL [SplitReply [ss2l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] 
+  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1R [expr $SR + $diff]
   set newD1L [expr $SL - $diff]
@@ -495,7 +563,7 @@ publish ss2horoffsetscript user
 #-------------------------------------------------------
 proc ss2readhoroffset {} {
   set SR [SplitReply [ss2r]]
-  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ] 
+  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
 }
 publish ss2readhoroffset user
 
@@ -516,7 +584,7 @@ publish ss2heightscript user
 
 #-------------------------------------------------------
 proc ss2readheight {} {
-  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]] 
+  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
 }
 publish ss2readheight user
 
@@ -529,7 +597,7 @@ ss2vg readscript ss2readheight
 proc ss2vertoffsetscript {val} {
   set SU [SplitReply [ss2u]]
   set SD [SplitReply [ss2d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
+  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1U [expr $SU + $diff]
   set newD1D [expr $SD - $diff]
@@ -540,7 +608,7 @@ publish ss2vertoffsetscript user
 #-------------------------------------------------------
 proc ss2readvertoffset {} {
   set SU [SplitReply [ss2u]]
-  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ] 
+  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
 }
 publish ss2readvertoffset user