diff --git a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
index 127ccca2..12c790bf 100644
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.4 $
-# $Date: 2007-06-01 06:54:25 $
+# $Revision: 1.5 $
+# $Date: 2007-06-05 01:56:59 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -32,12 +32,12 @@ MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
 MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 
 #Measured absolute encoder reading at home position
-set mphi_Home 7855195
-set mchi_Home 7492685
-set my_Home 7439031
-set mx_Home 7902480
-set mom_Home 28473123
-set mtth_Home 11574431
+set mphi_Home 7830625
+set mchi_Home 7492855
+set my_Home 7432174
+set mx_Home 7894708
+set mom_Home 28473827
+set mtth_Home 11465496
 set sy_Home 7500000
 set sx_Home 7500000
 set som_Home 7500000
@@ -51,15 +51,15 @@ set move_count 10
 # Motor Controller 1
 ############################
 #:TP at HOME
-# :TP 7855195, 7508171, 7439031, 7902480, 28473123, 11574431, 0, 0
+# :TP 7830625, 7492855, 7432174, 7894708, 28473827, 11465496, 0, 0
 
 # Monochromator phi, Tilt 1, upper
 Motor mphi $motor_driver_type [params \
   asyncqueue mc1\
   axis A\
   units degrees\
-  hardlowerlim -20\
-  hardupperlim 20\
+  hardlowerlim -5\
+  hardupperlim 5\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -67,7 +67,7 @@ Motor mphi $motor_driver_type [params \
   absEnc 1\
   absEncHome $mphi_Home\
   cntsPerX -8192]
-setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20
+setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
 mphi speed 1
 mphi movecount $move_count
 mphi precision 0.01
@@ -79,8 +79,8 @@ Motor mchi $motor_driver_type [params \
   asyncqueue mc1\
   axis B\
   units degrees\
-  hardlowerlim 70\
-  hardupperlim 115\
+  hardlowerlim 85\
+  hardupperlim 95\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -88,7 +88,7 @@ Motor mchi $motor_driver_type [params \
   absEnc 1\
   absEncHome $mchi_Home\
   cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 20 -uprange 20
+setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5
 mchi speed 1
 mchi movecount $move_count
 mchi precision 0.01
@@ -100,8 +100,8 @@ Motor my $motor_driver_type [params \
   asyncqueue mc1\
   axis C\
   units mm\
-  hardlowerlim -20\
-  hardupperlim 20\
+  hardlowerlim -10\
+  hardupperlim 10\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -109,7 +109,7 @@ Motor my $motor_driver_type [params \
   absEnc 1\
   absEncHome $my_Home\
   cntsPerX 8192]
-setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
+setHomeandRange -motor my -home 0 -lowrange 10 -uprange 10
 my speed 1
 my movecount $move_count
 my precision 0.01
@@ -121,8 +121,8 @@ Motor mx $motor_driver_type [params \
   asyncqueue mc1\
   axis D\
   units mm\
-  hardlowerlim -20\
-  hardupperlim 20\
+  hardlowerlim -10\
+  hardupperlim 10\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -130,7 +130,7 @@ Motor mx $motor_driver_type [params \
   absEnc 1\
   absEncHome $mx_Home\
   cntsPerX -8192]
-setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
+setHomeandRange -motor mx -home 0 -lowrange 10 -uprange 10
 mx speed 1
 mx movecount $move_count
 mx precision 0.01
@@ -147,10 +147,10 @@ Motor mom $motor_driver_type [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -12500\
+  stepsPerX 12500\
   absEnc 1\
   absEncHome $mom_Home\
-  cntsPerX -4096]
+  cntsPerX 4096]
 setHomeandRange -motor mom -home 0 -lowrange 5 -uprange 95
 mom speed 1
 mom movecount $move_count
@@ -186,6 +186,8 @@ mtth precision 0.01
 mtth maxretry 20
 mtth failafter 100
 mtth blockage_check_interval 5
+mtth blockage_thresh 0.10
+mtth blockage_ratio 400
 mtth part crystal
 mtth long_name takeoff_angle