diff --git a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
index d18de676..45e7b380 100644
--- a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
@@ -95,9 +95,52 @@ set slit2HGroup second/horizontal
 # hnotify messages to a reasonable level
 set move_count 10
 
-fileeval $cfPath(motors)/tilt_configuration.tcl
-#fileeval $cfPath(motors)/small_omega.tcl
-#fileeval $cfPath(motors)/euler_configuration.tcl
+##########################################
+# Set axis_config as follows to use different axis configurations
+# 0: tilt stage configuration
+# 1: eulerian cradle
+# 2: small omega
+# 3: Oxford magnet sample stick
+set axis_config 0
+
+if { [ info exists ::config_dict ] } {
+  if { [ dict exists $::config_dict sample_stage implementation ] } {
+    set implementation [ dict get $::config_dict sample_stage implementation ]
+    if {$implementation == "normal_sample_stage"} {
+      set axis_config 0
+    } elseif {$implementation == "eularian_cradle"} {
+      set axis_config 1
+    } elseif {$implementation == "small_omega"} {
+      set axis_config 2
+    } elseif {$implementation == "12tmagnet_sample_insert"} {
+      set axis_config 3
+    } else {
+      set axis_config 0
+    }
+  }
+}
+
+switch $axis_config {
+  0 {
+    set sample_stage_rotate "som"
+    fileeval $cfPath(motors)/tilt_configuration.tcl
+  }
+  1 {
+    set sample_stage_rotate "som"
+    fileeval $cfPath(motors)/euler_configuration.tcl
+  }
+  2 {
+    set sample_stage_rotate "som"
+    fileeval $cfPath(motors)/small_omega_config.tcl
+  }
+  3 {
+  # Rename the sample stage som to somss because
+  # som now controls the magnet sample stick
+    set sample_stage_rotate "somss"
+    fileeval $cfPath(motors)/magnet_configuration.tcl
+  }
+}
+
 ############################
 # Motor Controller 1
 # Motor Controller 1
@@ -359,7 +402,7 @@ scr long_name secondary_collimator_rotation
 ############################
 
 # Sample Omega, rotate
-Motor som $motor_driver_type [params \
+Motor $sample_stage_rotate $motor_driver_type [params \
   asyncqueue mc2\
   axis E\
   units degrees\
@@ -372,12 +415,12 @@ Motor som $motor_driver_type [params \
   absEnc 1\
   absEncHome $som_Home\
   cntsPerX 4096]
-setHomeandRange -motor som -home 0 -lowrange 169 -uprange 167
-som speed 1
-som movecount $move_count
-som precision 0.01
-som part sample
-som long_name rotate
+setHomeandRange -motor $sample_stage_rotate -home 0 -lowrange 169 -uprange 167
+$sample_stage_rotate speed 1
+$sample_stage_rotate movecount $move_count
+$sample_stage_rotate precision 0.01
+$sample_stage_rotate part sample
+$sample_stage_rotate long_name rotate
 
 # Sample two-theta, detector rotate
 Motor stth $motor_driver_type [params \
diff --git a/site_ansto/instrument/hrpd/util/sics_config.ini b/site_ansto/instrument/hrpd/util/sics_config.ini
index 7c378da0..23c74376 100644
--- a/site_ansto/instrument/hrpd/util/sics_config.ini
+++ b/site_ansto/instrument/hrpd/util/sics_config.ini
@@ -1,171 +1,295 @@
-[12tmagnet]
-desc = "12 Tesla Oxford Magnet"
-driver = "12tmagnet"
+[12tmagnet_setup]
+cascade = B1:12tmagnet_oxford,sample_stage:12tmagnet_sample_insert,T1:mercury_scpi_01
 enabled = False
-group = environment:magnet
-id = 27
+[CF1]
+cascade = T1:CF1_ls340,sample_stage:normal_sample_stage
+enabled = False
+[CF8]
+cascade = T1:ls336_01,T2:ls340_11,sample_stage:normal_sample_stage
+enabled = False
+[Default]
+cascade = sample_stage:normal_sample_stage
+enabled = True
+[B1]
+datype = B
+enabled = False
+id = 1
+implementation = none
+name = magnet1
+optype = magnetic_field
+[Function_Generator]
+datype = V
+enabled = False
+id = 1
+implementation = none
+name = pulser
+optype = function_generator
+[I1]
+datype = I
+enabled = False
+id = 1
+implementation = none
+name = curr1
+optype = multimeter
+[I2]
+datype = I
+enabled = False
+id = 2
+implementation = none
+name = curr2
+optype = multimeter
+[T1]
+datype = T
+enabled = False
+id = 1
+implementation = none
+name = tc1
+optype = temperature
+[T2]
+datype = T
+enabled = False
+id = 2
+implementation = none
+name = tc2
+optype = temperature
+[T3]
+datype = T
+enabled = False
+id = 3
+implementation = none
+name = tc3
+optype = temperature
+[T4]
+datype = T
+enabled = False
+id = 4
+implementation = none
+name = tc4
+optype = temperature
+[T5]
+datype = T
+enabled = False
+id = 5
+implementation = none
+name = tc5
+optype = temperature
+[T6]
+datype = T
+enabled = False
+id = 6
+implementation = none
+name = tc6
+optype = temperature
+[V1]
+datype = V
+enabled = False
+id = 1
+implementation = none
+name = volts1
+optype = multimeter
+[V2]
+datype = V
+enabled = False
+id = 2
+implementation = none
+name = volts2
+optype = multimeter
+[sample_stage]
+enabled = Always
+implementation = normal_sample_stage
+name = sample_stage
+optype = motion_axis
+[12tmagnet_oxford]
+desc = "12 Tesla Oxford Magnet"
+driver = "oxford_labview"
+imptype = magnetic_field
 ip = 10.157.205.3
-name = magnetic
 port = 55001
-type = B
 
 [12tmagnet_sample_insert]
-desc = "REVIEW THIS -> som will be redefined as the sample insert rotation. Sample stage will be renamed to somss"
-enabled = False
-group = motors
+desc = "som will be redefined as the magnet sample insert rotation. Sample stage will be renamed to somss"
+imptype = motion_axis
 
-[12tmagnet_setup]
-cascade = 12tmagnet,12tmagnet_sample_insert,mercury_scpi
-enabled = False
-group = 0setup
-
-[ls336_1]
-desc = "tc1: Lakeshore 336 temperature controller"
-driver = "ls336"
-enabled = False
-group = environment:temperature
-id = 1
-ip = 10.157.205.28
-name = tc1
-port = 7777
-terminator = \r\n
-tol1 = 1.0
-tol2 = 1.0
-type = T
-
-[ls336_11]
-desc = "tc11: Lakeshore 336 temperature controller"
-driver = "ls336"
-enabled = False
-group = environment:temperature
-id = 11
-ip = 10.157.205.27
-name = tc11
-port = 7777
-terminator = \r\n
-tol1 = 1.0
-tol2 = 1.0
-type = T
-
-[ls336_12]
-desc = "tc12: Lakeshore 336 temperature controller"
-driver = "ls336"
-enabled = False
-group = environment:temperature
-id = 12
-ip = 10.157.205.31
-name = tc12
-port = 7777
-terminator = \r\n
-tol1 = 1.0
-tol2 = 1.0
-type = T
-
-[ls336_2]
-desc = "tc2: Lakeshore 336 temperature controller"
-driver = "ls336"
-enabled = False
-group = environment:temperature
-id = 2
-ip = 10.157.205.29
-name = tc2
-port = 7777
-terminator = \r\n
-tol1 = 1.0
-tol2 = 1.0
-type = T
-
-[ls336_4]
-desc = "tc4: Lakeshore 336 temperature controller"
-driver = "ls336"
-enabled = False
-group = environment:temperature
-id = 4
-ip = 10.157.205.30
-name = tc4
-port = 7777
-terminator = \r\n
-tol1 = 1.0
-tol2 = 1.0
-type = T
-
-[ls336_5]
-desc = "tc5: Lakeshore 336 temperature controller"
-driver = "ls336"
-enabled = False
-group = environment:temperature
-id = 5
-ip = 137.157.201.21
-name = tc5
-port = 7777
-terminator = \r\n
-tol1 = 1.0
-tol2 = 1.0
-type = T
-
-[ls336_6]
-desc = "tc6: Lakeshore 336 temperature controller"
-driver = "ls336"
-enabled = False
-group = environment:temperature
-id = 6
-ip = 137.157.201.21
-name = tc6
-port = 7777
-terminator = \r\n
-tol1 = 1.0
-tol2 = 1.0
-type = T
-
-[ls340_1]
-desc = "tc13: Lakeshore 340 temperature controller"
+[CF1_ls340]
+desc = "cf1: Bottom loading cryofurnace"
 driver = "ls340"
-enabled = False
-group = environment:temperature
-id = 13
-ip = ca5-echidna
-name = tc13
+imptype = temperature
+ip = 10.157.205.43
 port = 4001
 terminator = \r\n
 tol1 = 1.0
 tol2 = 1.0
-type = T
 
-[ls340_2]
-desc = "tc14: Lakeshore 340 temperature controller"
+[agilent_33220A]
+asyncqueue = sct
+desc = "Function Generator"
+driver = agilent_33220A
+imptype = function_generator
+ip = 10.157.205.16
+port = 5025
+
+[eularian_cradle]
+desc = "Load the Eulerian cradle configuration"
+imptype = motion_axis
+
+[ls336_01]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.28
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_02]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.29
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_04]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.30
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_05]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_06]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_11]
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.27
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_12]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 10.157.205.31
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls340_01]
+asyncqueue = sct
+desc = "Lakeshore 340 temperature controller"
 driver = "ls340"
-enabled = False
-group = environment:temperature
-id = 14
-ip = ca5-echidna
-name = tc14
+imptype = temperature
+ip = 137.157.201.86
+port = 4001
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls340_02]
+asyncqueue = sct
+desc = "Lakeshore 340 temperature controller"
+driver = "ls340"
+imptype = temperature
+ip = 137.157.201.86
 port = 4002
 terminator = \r\n
 tol1 = 1.0
 tol2 = 1.0
-type = T
 
-[mercury_scpi]
-desc = "tc25: Oxford Mercury temperature controller in Mercury mode"
+[ls340_11]
+desc = "Lakeshore 340 temperature controller"
+driver = "ls340"
+imptype = temperature
+ip = 137.157.201.86
+port = 4001
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[mercury_scpi_01]
+desc = "Oxford Mercury temperature controller in Mercury mode"
 driver = "mercury_scpi"
-enabled = False
-group = environment:temperature
-id = 25
+imptype = temperature
 ip = 10.157.205.5
-name = tc25
-offifon = mercury_itc500
+permlink = LT
 port = 7020
-terminator = \r
-tol = 2.0
-type = T
+terminator = \r\n
+tol = 1.0
+valve_tol = 2
+
+[mercury_scpi_02]
+desc = "Oxford Mercury temperature controller in Mercury mode"
+driver = "mercury_scpi"
+imptype = temperature
+ip = 10.157.205.47
+permlink = LT
+port = 7020
+terminator = \r\n
+tol = 1.0
+valve_tol = 2
+
+[normal_sample_stage]
+desc = "This is the default sample stage configuration with xy translation and phi and chi tilt stages"
+imptype = motion_axis
+
+[protek_01]
+asyncqueue = sct
+desc = "Protek Multimeter"
+driver = "protekmm"
+imptype = multimeter
+ip = 10.157.205.36
+port = 4001
+
+[protek_02]
+asyncqueue = sct
+desc = "Protek Multimeter"
+driver = "protekmm"
+imptype = multimeter
+ip = 10.157.205.37
+port = 4001
+
+[small_omega]
+desc = "Load the small omega configuration"
+imptype = motion_axis
 
 [west4100]
-desc = "tc26: Blue furnace temperature controller"
+desc = "Blue furnace temperature controller"
+dev_id = 1
 driver = "west4100"
-enabled = False
-group = environment:temperature
-id = 26
+imptype = temperature
 ip = 10.157.205.19
-name = tc26
-type = T