diff --git a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
index 735164a0..29a12959 100644
--- a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
@@ -1,7 +1,8 @@
-# $Revision: 1.22 $
-# $Date: 2008-07-01 07:02:26 $
+# 1.17.2.5
+# 2008/05/16 05:25:24
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: ffr
+source $cfPath(anticollider)/anticollider.tcl
 
 # START MOTOR CONFIGURATION
 
@@ -44,7 +45,7 @@ set sy_Home 7557524
 set sx_Home 7557304
 set som_Home 17214054
 set stth_Home 2896180
-set oct_Home 7788750
+set oct_Home 7743768
 
 #Measured or computed slit motor steps per millimetre
 # 125 steps * 161:1 gears = 20125
@@ -222,7 +223,7 @@ Motor mtth $motor_driver_type [params \
   axis F\
   units degrees\
   hardlowerlim 45\
-  hardupperlim 100\
+  hardupperlim 120.5\
   maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
@@ -234,7 +235,7 @@ Motor mtth $motor_driver_type [params \
   absEncHome $mtth_Home\
   cntsPerX -93207]
 mtth softlowerlim 45
-mtth softupperlim 100
+mtth softupperlim 120
 mtth home 90
 mtth speed 0.2
 mtth movecount $move_count
@@ -388,7 +389,7 @@ Motor oct $motor_driver_type [params \
   axis G\
   units degrees\
   hardlowerlim -2\
-  hardupperlim 2\
+  hardupperlim 6\
   maxSpeed 0.5\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -397,7 +398,7 @@ Motor oct $motor_driver_type [params \
   absEncHome $oct_Home\
   cntsPerX -465]
 oct softlowerlim -2
-oct softupperlim 2
+oct softupperlim 6
 oct home 0
 oct speed 0.5
 oct precision 0.01
@@ -442,10 +443,10 @@ Motor mf2 $motor_driver_type [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -22000\
+  stepsPerX 22000\
   absEnc 1\
-  absEncHome 1400\
-  cntsPerX 14600]
+  absEncHome 350\
+  cntsPerX 14000]
 setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 1
 mf2 speed 0.1
 mf2 precision 0.01
diff --git a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
index 0aaa2a89..fbfc9ea8 100644
--- a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.29 $
-# $Date: 2008-06-11 23:05:36 $
+# 1.24.2.3
+# 2008/04/24 00:22:01
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: dcl
 
 # START MOTOR CONFIGURATION
 
@@ -39,7 +39,7 @@ set m1ro_home 134658
 set bat_home 8308518
 set st3vt_home 8742250
 set st4vt_home 8806900
-set sth_home 23511400
+set sth_home 23541737
 #set sphi_home 7548440 - victim of the NaN
 set sphi_home 7450470
 set sx_home 8574000
diff --git a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
index 50f0f377..d014504a 100644
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.27 $
-# $Date: 2008-06-04 07:00:46 $
+# 1.19.2.4.2.1
+# 2008/06/09 23:04:14
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: dcl $
+# Last revision by: ffr
 
 # START MOTOR CONFIGURATION
 
@@ -213,8 +213,8 @@ Motor mtth $motor_driver_type [params \
   asyncqueue mc1\
   axis F\
   units degrees\
-  hardlowerlim 45\
-  hardupperlim 100\
+  hardlowerlim 40\
+  hardupperlim 121\
   maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
@@ -225,8 +225,8 @@ Motor mtth $motor_driver_type [params \
   absEnc 1\
   absEncHome $mtth_Home\
   cntsPerX [expr (1<<25)/360.0]]
-mtth softlowerlim 45
-mtth softupperlim 100
+mtth softlowerlim 40
+mtth softupperlim 121
 mtth home 90
 mtth speed 0.2
 mtth movecount $move_count
@@ -543,6 +543,7 @@ Motor psho $motor_driver_type [params \
   absenc 1\
   absenchome $psho_home\
   cntsPerX 8192]
+psho Backlash_offset -0.3
 psho part aperture.primary
 psho long_name horizontal_offset
 setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30 
@@ -561,6 +562,7 @@ Motor psp $motor_driver_type [params \
   absenc 1\
   absenchome $psp_home\
   cntsPerX -8192]
+psp Backlash_offset -0.3
 psp part aperture.primary
 psp long_name position
 setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
@@ -579,6 +581,7 @@ Motor psw $motor_driver_type [params \
   absenc 1\
   absenchome $psw_home\
   cntsPerX -8192]
+psw Backlash_offset 0.3  
 psw part aperture.primary
 psw long_name width
 setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 
@@ -599,6 +602,7 @@ Motor ssho $motor_driver_type [params \
   absenc 1\
   absenchome $ssho_home\
   cntsPerX 8192]
+ssho Backlash_offset -0.3  
 ssho part aperture.secondary
 ssho long_name horizontal_offset
 setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30 
@@ -617,6 +621,7 @@ Motor ssp $motor_driver_type [params \
   absenc 1\
   absenchome $ssp_home\
   cntsPerX -8192]
+ssp Backlash_offset -0.3  
 ssp part aperture.secondary
 ssp long_name position
 setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
@@ -635,6 +640,7 @@ Motor ssw $motor_driver_type [params \
   absenc 1\
   absenchome $ssw_home\
   cntsPerX -8192]
+ssw Backlash_offset 0.3  
 ssw part aperture.secondary
 ssw long_name width
 setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30
diff --git a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
index d9c1d4e7..3474fd93 100644
--- a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.19 $
-# $Date: 2008-07-01 07:02:26 $
+# $Revision: 1.20 $
+# $Date: 2008-07-18 02:39:35 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -31,8 +31,25 @@ if {$sim_mode == "true"} {
   MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 }
 
-#Measured absolute encoder reading at home position
+# Beam stop gearing and signs (BS1=largest)
+#  4,5 160:1
+# 1,2,3 110:1
+# MOTS need 400 steps per rev = 50000 steps per rev
+set bs_steps_per_rev 50000.0
+set bs1gear 160
+set bs2gear 160
+set bs3gear 110
+set bs4gear 110
+set bs5gear 110
 
+set bs45_gear 110.0
+set bs123_gear 160.0
+#set bs45_gear 160.0
+#set bs123_gear 110.0
+set bs124sign -1
+set bs35sign 1
+
+#Measured absolute encoder reading at home position
 set samchi_Home 7808328
 set samphi_Home 7675008
 set samx_Home 7414223
@@ -678,7 +695,7 @@ Motor srce $motor_driver_type [params \
   units degrees\
   hardlowerlim -10\
   hardupperlim 340\
-  maxSpeed 10\
+  maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX [expr 25000.0/6.0]\
@@ -689,7 +706,7 @@ Motor srce $motor_driver_type [params \
 srce part collimator
 srce long_name srce
 setHomeandRange -motor srce -home 0 -lowrange 10 -uprange 340
-srce speed 5
+srce speed 1
 srce posit_1 $srce_Home
 srce posit_2 [expr $srce_Home - (1 * 5 * 8192)]
 srce posit_3 [expr $srce_Home - (2 * 5 * 8192)]
@@ -823,19 +840,19 @@ Motor bs5 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis C\
+  axis G\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX -25000\
+  stepsPerX [expr $bs35sign*$bs_steps_per_rev*$bs5gear/360.0]\
   motorHome $bs5_Home]
 bs5 part detector
 bs5 long_name bs5
 bs5 softlowerlim 0
-bs5 softupperlim 1
+bs5 softupperlim 90
 bs5 home 0
 
 # beam stop disk 4
@@ -843,19 +860,19 @@ Motor bs4 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis D\
+  axis F\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX -25000\
+  stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs4gear/360.0]\
   motorHome $bs4_Home]
 bs4 part detector
 bs4 long_name bs4
 bs4 softlowerlim 0
-bs4 softupperlim 1
+bs4 softupperlim 90
 bs4 home 0
 
 # beam stop disk 3
@@ -866,16 +883,16 @@ Motor bs3 $motor_driver_type [params \
   axis E\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX 25000\
+  stepsPerX [expr $bs35sign*$bs_steps_per_rev*$bs3gear/360.0]\
   motorHome $bs3_Home]
 bs3 part detector
 bs3 long_name bs3
 bs3 softlowerlim 0
-bs3 softupperlim 1
+bs3 softupperlim 90
 bs3 home 0
 
 # beam stop disk 2
@@ -883,19 +900,19 @@ Motor bs2 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis F\
+  axis D\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX -25000\
+  stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs2gear/360.0]\
   motorHome $bs2_Home]
 bs2 part detector
 bs2 long_name bs2
 bs2 softlowerlim 0
-bs2 softupperlim 1
+bs2 softupperlim 90
 bs2 home 0
 
 # beam stop disk 1 (smallest)
@@ -903,19 +920,19 @@ Motor bs1 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis G\
+  axis C\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX 25000\
+  stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs1gear/360.0]\
   motorHome $bs1_Home]
 bs1 part detector
 bs1 long_name bs1
 bs1 softlowerlim 0
-bs1 softupperlim 1
+bs1 softupperlim 90
 bs1 home 0
 
 # Polarizer Rotation