diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index c6436fe8..ad57a29a 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -106,9 +106,9 @@ Motor mtilt $motor_driver_type [params \
   units degrees\
   hardlowerlim -5\
   hardupperlim 5\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 80235\
@@ -131,9 +131,9 @@ Motor mtrans $motor_driver_type [params \
   units mm\
   hardlowerlim -10\
   hardupperlim 195\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 743791\
@@ -153,9 +153,9 @@ Motor m2 $motor_driver_type [params \
   units degrees\
   hardlowerlim -32.5\
   hardupperlim 53\
-  maxSpeed 50000\
-  maxAccel 5000\
-  maxDecel 5000\
+  maxSpeed 4\
+  maxAccel 0.4\
+  maxDecel 0.4\
   stepsPerX 12500\
   absEnc 1\
   absEncHome 183787\
@@ -175,9 +175,9 @@ Motor a2 $motor_driver_type [params \
   units degrees\
   hardlowerlim -55\
   hardupperlim 55\
-  maxSpeed 100000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 8\
+  maxAccel 2\
+  maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
   absEncHome 16093721\
@@ -205,9 +205,9 @@ Motor sgu $motor_driver_type [params \
   units degrees\
   hardlowerlim -18\
   hardupperlim 19\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 7745445\
@@ -227,9 +227,9 @@ Motor sgl $motor_driver_type [params \
   units degrees\
   hardlowerlim -18\
   hardupperlim 18\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 7499341\
@@ -249,9 +249,9 @@ Motor stu $motor_driver_type [params \
   units mm\
   hardlowerlim -15\
   hardupperlim 15\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 7392945\
@@ -271,9 +271,9 @@ Motor stl $motor_driver_type [params \
   units mm\
   hardlowerlim -15\
   hardupperlim 15\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 7582758\
@@ -293,9 +293,9 @@ Motor s1 $motor_driver_type [params \
   units degrees\
   hardlowerlim -185\
   hardupperlim 124\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 4\
+  maxAccel 2\
+  maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
   absEncHome 10138002\
@@ -315,9 +315,9 @@ Motor s2 $motor_driver_type [params \
   units degrees\
   hardlowerlim -128\
   hardupperlim 3\
-  maxSpeed 100000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 8\
+  maxAccel 2\
+  maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
   absEncHome 17827565\
@@ -337,9 +337,9 @@ Motor ahfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -360\
   hardupperlim 360\
-  maxSpeed 25000\
-  maxAccel 12500\
-  maxDecel 12500\
+  maxSpeed 1\
+  maxAccel 0.5\
+  maxDecel 0.5\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 8361542\
@@ -359,9 +359,9 @@ Motor avfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 25000\
-  maxAccel 12500\
-  maxDecel 12500\
+  maxSpeed 1\
+  maxAccel 0.5\
+  maxDecel 0.5\
   stepsPerX 25000\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -381,9 +381,9 @@ Motor mvfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 240\
-  maxSpeed 12500\
-  maxAccel 6000\
-  maxDecel 6000\
+  maxSpeed 0.5\
+  maxAccel 0.24\
+  maxDecel 0.24\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 542614\
@@ -403,9 +403,9 @@ Motor mhfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -180\
   hardupperlim 275\
-  maxSpeed 12500\
-  maxAccel 6000\
-  maxDecel 6000\
+  maxSpeed 0.5\
+  maxAccel 0.24\
+  maxDecel 0.24\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 5860595\
@@ -425,9 +425,9 @@ Motor m1 $motor_driver_type [params \
   units degrees\
   hardlowerlim 5\
   hardupperlim 40\
-  maxSpeed 100000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 8\
+  maxAccel 2\
+  maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
   absEncHome 16293938\
@@ -447,9 +447,9 @@ Motor atilt $motor_driver_type [params \
   units degrees\
   hardlowerlim -5\
   hardupperlim 5\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 7909774\
@@ -469,9 +469,9 @@ Motor atrans $motor_driver_type [params \
   units mm\
   hardlowerlim -1\
   hardupperlim 22\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 2\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 23726439\
@@ -491,9 +491,9 @@ Motor a1 $motor_driver_type [params \
   units degrees\
   hardlowerlim -5.1\
   hardupperlim 30\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 4\
+  maxAccel 2\
+  maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
   absEncHome 24771579\
@@ -513,9 +513,9 @@ Motor VS_left $motor_driver_type [params \
   units mm\
   hardlowerlim 2\
   hardupperlim 35\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 0.5\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 14574349\
@@ -535,9 +535,9 @@ Motor VS_right $motor_driver_type [params \
   units mm\
   hardlowerlim -35\
   hardupperlim -2\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 0.5\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 16251954\
@@ -557,9 +557,9 @@ Motor mfilter $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 360\
-  maxSpeed 50000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 4\
+  maxAccel 2\
+  maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -579,9 +579,9 @@ Motor collimator $motor_driver_type [params \
   units mm\
   hardlowerlim -112\
   hardupperlim 112\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 0.5\
+  maxAccel 1\
+  maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -601,9 +601,9 @@ Motor ps_right $motor_driver_type [params \
   units degrees\
   hardlowerlim -27\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\
@@ -623,9 +623,9 @@ Motor ps_left $motor_driver_type [params \
   units degrees\
   hardlowerlim -27\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\
@@ -645,9 +645,9 @@ Motor ps_top $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\
@@ -667,9 +667,9 @@ Motor ps_bottom $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\
@@ -689,9 +689,9 @@ Motor pa_right $motor_driver_type [params \
   units degrees\
   hardlowerlim -26\
   hardupperlim 2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\
@@ -711,9 +711,9 @@ Motor pa_left $motor_driver_type [params \
   units degrees\
   hardlowerlim -26\
   hardupperlim 2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\
@@ -733,9 +733,9 @@ Motor pa_top $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\
@@ -755,9 +755,9 @@ Motor pa_bottom $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 1.2\
+  maxAccel 2.4\
+  maxDecel 2.4\
   stepsPerX 25000\
   absEnc 1\
   absEncHome 0\