Merged in-situ modifications for Release 2.5 candidate 5

r2895 | ffr | 2010-04-29 16:02:15 +1000 (Thu, 29 Apr 2010) | 2 lines
2010-04-29 16:02:15 +10:00
parent a2ca46ab67
commit e6e3c3be52
24 changed files with 478 additions and 363 deletions
--- a/site_ansto/instrument/config/environment/magneticField/sct_bruker_BEC1.tcl
+++ b/site_ansto/instrument/config/environment/magneticField/sct_bruker_BEC1.tcl
@@ -3,6 +3,8 @@
 # MakeSICSObj $obj SCT_<class>
 #  The MakeSICSObj cmd adds a /sics/$obj node.  NOTE the /sics node is not browsable.

+#include <tcl.h>
+
 ##
 # /*--------------------------------------------------------------------------
 # 	     B R U K E R   B - E C 1    D R I V E R
@@ -19,6 +21,11 @@
 # ----------------------------------------------------------------------------*/

 # Notes
+# Uses the astvelsel protocol handler (from ./site_ansto/hardsup/sct_velselprot.c)
+# instead of the standard script context handler. This is necessary because replies
+# from the device have no terminator while queries to the device need a line terminator
+# (CR 0x0D). am2010-04-07
+#
 # Hdb nodes which report data readings should have a "get" script attached to the
 # "read" property of the node.  This ensures that we can update the reading on demand
 # which is necessary for logging data.
@@ -35,7 +42,7 @@

 # Bugs, limitations, changes:
 # - checks whether the reply from the device matches the query - if not, it discards the reply.
-# - added LSB_Err byte 1 interpretation (water failure). Added help notes
+# - added lsb_err byte 1 interpretation (water failure). Added help notes
 #   for the user for the status byte text nodes.
 # - MAJOR PROBLEM: Although the driver seems to be doing just about everything
 #   right, the BEC1 device shuts itself off (changes to DCpower=0) and goes
@@ -56,7 +63,8 @@
 # - proc drivestatus now sets a retval variable that is returned. Default
 #   action for drivable when paused is lazy instead of pause to avoid
 #   stopping the histogram server.
-
+# - source code syntax checked with nagelfar - removed a couple of potential
+#   problems, 20100121
 ##
 # @brief Handle exceptions caught by a 'catch' command.
 # Note: You must use 'error' not 'return -code error' to
@@ -104,7 +112,8 @@ namespace eval ::scobj::bruker_BEC1 {
    # if necessary. If commands come in too fast, the DCpower may switch itself off.
    set bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS 50
    # set a start value for the time of the last command send to or read from the device
-    set bruker_BEC1_timeLastCommand [clock clicks -milliseconds]
+    #set bruker_BEC1_timeLastCommand 0
+    #set bruker_BEC1_timeLastCommand [clock clicks -milliseconds]

    # Some global variables that are useful as default initilisation values or for tracking
    # Name of the scriptcontext object created from calling this driver - an instrument may use more than one
@@ -203,19 +212,13 @@ proc bruker_BEC1_init {sct_controller tc_root} {
 # @param idx         indicates which control loop or which input channel
 #                     the command belongs to
 # @return nextState  The next function to call after this one (typically 'rdValue')
+
 proc getValue {tc_root nextState cmd expectedLen} {
  set catch_status [ catch {
    set ::scobj::bruker_BEC1::bruker_BEC1_lastQueryCmd "$cmd"
-    set tNow [clock clicks -milliseconds]
-    #set diff1 [expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand]
-    while {[expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand] < $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS} {
-      set tNow [clock clicks -milliseconds]
-    }
-    #set diff2 [expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand]
+    after $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS
    sct send $cmd
     # puts "sct send !$cmd!"
-    set ::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand $tNow
-    #puts "diff1:$diff1, diff2:$diff2 $cmd"
    return $nextState
  } message ]
  handle_exception $catch_status $message "in getValue(). Last query command: $::scobj::bruker_BEC1::bruker_BEC1_lastQueryCmd"
@@ -297,7 +300,7 @@ proc getValue {tc_root nextState cmd expectedLen} {
                set data [ExtractValue $orgdata $::scobj::bruker_BEC1::bruker_BEC1_lastQueryCmd]
                #puts "rdValue: Interpreting status byte information: $::scobj::bruker_BEC1::bruker_BEC1_lastQueryCmd"
                #pwrCtrl EthernetAddrHex   1 0 1 0 text	spy   {ETH/}	  {rdValue}	{}	       {setValue} {}\
-                hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrCtrl/EthernetAddrDec "UNKNOWN"
+                hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrctrl/EthernetAddrDec "UNKNOWN"
              }
            }
          }
@@ -306,7 +309,7 @@ proc getValue {tc_root nextState cmd expectedLen} {
      return idle
    } message ]
    handle_exception $catch_status $message "in rdValue(). Last query command: $::scobj::bruker_BEC1::bruker_BEC1_lastQueryCmd"
-}
+  }



@@ -314,7 +317,7 @@ proc getValue {tc_root nextState cmd expectedLen} {

 ##
 # @brief Does what rdValue() does plus it checks if the current is in tolerance.
-# inTolerance is the default nextState after getValue() for read node pwrCtrl/DC_power.
+# inTolerance is the default nextState after getValue() for read node pwrctrl/dc_power.
 # If the device is switched off, current is reported to be in tolerance so that
 # slow return to ambient conditions can be carried out
 # @return idle        Always returns system state idle - command sequence completed.
@@ -328,8 +331,8 @@ proc inTolerance {expectedLength} {
      return idle
    }
    set catch_status [ catch {
-      set oldval [sct oldval]
-       # puts "inTolerance(): data=$data   oldval=$oldval"
+      set oldvalue [sct oldval]
+       # puts "inTolerance(): data=$data   oldval=$oldvalue"
      switch -glob -- $data {
        "ASCERR:*" {
          puts "ASCERR in inTolerance: Last query command: $::scobj::bruker_BEC1::bruker_BEC1_lastQueryCmd"
@@ -345,8 +348,8 @@ proc inTolerance {expectedLength} {
            return idle
          }
          set data [ExtractValue $data $::scobj::bruker_BEC1::bruker_BEC1_lastQueryCmd]
-          if {$data  != $oldval} {
-            if {$oldval == "UNKNOWN"} {
+          if {$data  != $oldvalue} {
+            if {$oldvalue == "UNKNOWN"} {
              sct utime timecheck
            }
            sct oldval $data
@@ -360,27 +363,27 @@ proc inTolerance {expectedLength} {
      # is within tolerance of the corresponding setpoint
      if {$data == 0 } {
         # DC power switched off
-         hset $tc_root/emon/monMode "idle"
-         hset $tc_root/emon/isInTolerance "inTolerance"
+         hset $tc_root/emon/mon_mode "idle"
+         hset $tc_root/emon/is_in_tolerance "inTolerance"
         hset $tc_root/status "idle"
      } else {
        set intol [checktol $tc_root]
        if {$intol==0} { sct utime timecheck }
-        set nodename $tc_root/sensor/NominalOutpCurrent
+        set nodename $tc_root/sensor/nominal_outp_current
        set setpt [hval $nodename]
-        set nodename $tc_root/sensor/DesiredCurrent
-        set NominalOutpCurrent  [hval $nodename]
+        set nodename $tc_root/sensor/desired_current
+        set nominal_outp_current  [hval $nodename]
         # puts "inTolerance(): comparing sensor/setpoint=$setpt with actual sensorValue=$temp"
-        set diff [expr abs($setpt - $NominalOutpCurrent)]
+        set diff [expr {abs($setpt - $NominalOutpCurrent)}]
        if {$diff > $::scobj::bruker_BEC1::bruker_BEC1_driveTolerance} {
-          # ERROR: node /sics/ma1/emon/monMode not found. Last query command: DCP/
-          set nodename $tc_root/emon/monMode
+          # ERROR: node /sics/ma1/emon/mon_mode not found. Last query command: DCP/
+          set nodename $tc_root/emon/mon_mode
          hset $nodename "drive"
          hset $tc_root/status "busy"
        } else {
-          set nodename $tc_root/sensor/NominalOutpCurrent
+          set nodename $tc_root/sensor/nominal_outp_current
          hsetprop $nodename driving 0
-          set nodename $tc_root/emon/monMode
+          set nodename $tc_root/emon/mon_mode
          hset $nodename "monitor"
          hset $tc_root/status "idle"
        }
@@ -407,18 +410,14 @@ proc setValue {tc_root nextState cmd } {
  set catch_status [ catch {
    set par [sct target]
    set ::scobj::bruker_BEC1::bruker_BEC1_lastWriteCmd "$cmd$par"
-    set tNow [clock clicks -milliseconds]
-    while {[expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand] < $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS} {
-      set tNow [clock clicks -milliseconds]
-    }
+    after $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS
    sct send "$cmd$par"
-    set ::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand $tNow
    if { 0 == [string compare -length 4  $cmd "RST=0"] } {
      # Reset error messages - also update the node displaying the last error
      set ::scobj::bruker_BEC1::bruker_BEC1_errMsg  "none"
      set ::scobj::bruker_BEC1::bruker_BEC1_errMsg2 "none"
-      hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/lastErrorMsg  $::scobj::bruker_BEC1::bruker_BEC1_errMsg
-      hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/lastErrorMsg2 $::scobj::bruker_BEC1::bruker_BEC1_errMsg2
+      hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/last_error_msg  $::scobj::bruker_BEC1::bruker_BEC1_errMsg
+      hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/last_error_msg2 $::scobj::bruker_BEC1::bruker_BEC1_errMsg2
    }
    return $nextState
  } message ]
@@ -456,11 +455,7 @@ proc setDesiredField {tc_root nextState cmd} {
      hsetprop $nodename driving 1
    }
    #puts "setDesiredField(wrStatus=$wrStatus): sct send $cmd$par"
-    set tNow [clock clicks -milliseconds]
-    #set diff1 [expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand]
-    while {[expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand] < $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS} {
-      set tNow [clock clicks -milliseconds]
-    }
+    after $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS
    sct send "$cmd$par"
    return $nextState
  } message ]
@@ -485,17 +480,12 @@ proc setDesiredCurrent {tc_root nextState cmd} {
    if {$wrStatus == "start"} {
      # Called by drive adapter
      # puts "setDesiredCurrent(): driving set to 1"
-      set nodename $tc_root/sensor/NominalOutpCurrent
+      set nodename $tc_root/sensor/nominal_outp_current
      hsetprop $nodename driving 1
    }
    #puts "setDesiredCurrent(wrStatus=$wrStatus): sct send $cmd$par"
-    set tNow [clock clicks -milliseconds]
-    #set diff1 [expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand]
-    while {[expr $tNow - $::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand] < $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS} {
-      set tNow [clock clicks -milliseconds]
-    }
+    after $::scobj::bruker_BEC1::bruker_BEC1_MIN_TIME_BETWEEN_COMMANDS
    sct send "$cmd$par"
-    set ::scobj::bruker_BEC1::bruker_BEC1_timeLastCommand $tNow
    return $nextState
  } message ]
  handle_exception $catch_status $message "in setDesiredCurrent(). Last write command: $::scobj::bruker_BEC1::bruker_BEC1_lastWriteCmd"
@@ -512,7 +502,7 @@ proc setDesiredCurrent {tc_root nextState cmd} {
 proc drivestatus {tc_root} {
  #   broadcast "DEBUG: in drivestatus. Last write command: $::scobj::bruker_BEC1::bruker_BEC1_lastWriteCmd"
  set catch_status [ catch {
-    if [sct driving] {
+    if {[sct driving]} {
      set retval busy
    } else {
      set retval idle
@@ -529,8 +519,8 @@ proc drivestatus {tc_root} {
 # @return idle      Indicates that the device is ready for the next command
  proc halt {tc_root} {
    # stop driving at current field strength or current
-    set sensorValue $tc_root/sensor/DesiredCurrent
-    set nodename $tc_root/sensor/NominalOutpCurrent
+    set sensorValue $tc_root/sensor/desired_current
+    set nodename $tc_root/sensor/nominal_outp_current
    hset $nodename [hval $sensorValue]
    hsetprop $nodename driving 0
    return idle
@@ -571,7 +561,7 @@ proc ExtractValue {response lastQueryCmd} {
          "E01*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "FUNCTION ERROR - Function not supported, $response"}
          "E02*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "ARGUMENT ERROR - command argument contains unexpected characters, $response"}
          "E03*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "PORT NOT AVAILABLE, $response"}
-          "E04*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "LOCAL ERROR - access denied, check LocalRemoteState setting, $response"}
+          "E04*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "LOCAL ERROR - access denied, check local_remote_state setting, $response"}
          "E05*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "RANGE ERROR - the arguments are out of the allowed range, $response"}
          "E06*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "MODE ERROR - access denied, external reference active, $response"}
          "E07*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "ERROR PENDING, $response"}
@@ -579,9 +569,9 @@ proc ExtractValue {response lastQueryCmd} {
          "E99*" {set ::scobj::bruker_BEC1::bruker_BEC1_errMsg "NO TCP/IP COMMUNICATION, $response"}
        }
        set extractedValue $::scobj::bruker_BEC1::bruker_BEC1_errValue
-        # update the node lastErrorMsg
-        hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/lastErrorMsg  $::scobj::bruker_BEC1::bruker_BEC1_errMsg
-        hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/lastErrorMsg2 $::scobj::bruker_BEC1::bruker_BEC1_errMsg2
+        # update the node last_error_msg
+        hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/last_error_msg  $::scobj::bruker_BEC1::bruker_BEC1_errMsg
+        hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/emon/last_error_msg2 $::scobj::bruker_BEC1::bruker_BEC1_errMsg2
      #if { 0 != [string compare -length 4  $lastQueryCmd "POL/"] \
      #    || $::scobj::bruker_BEC1::bruker_BEC1_polarityUnitAbsent == false} {
      #}
@@ -662,11 +652,14 @@ proc decodeErrByte {errByte errList} {
  #puts "decodeErrByte: errByte:$errByte"
  set catch_status [ catch {
    # convert to decimal for calculations
-    set decErrByte [expr 0x$errByte]
+    set hexvar "0x$errByte"
+    set decErrByte [expr  {$hexvar}]
+    # puts "errByte=$errByte, hexvar=$hexvar, decErrByte=$decErrByte"
    foreach {hexVal errText} $errList {
       #puts "errByte:$errByte hexVal:$hexVal errText:$errText"
      # convert to decimal for calculations
-      set decVal [expr 0x$hexVal]
+      set hexvar "0x$hexVal"
+      set decVal [expr { $hexvar }]
       #puts "decErrByte:$decErrByte decVal:$decVal errText:$errText"
      if { $decErrByte >= $decVal } {
        if {[string length $errorText] > 1} {
@@ -674,11 +667,11 @@ proc decodeErrByte {errByte errList} {
        } else {
          set errorText $errText
        }
-        set decErrByte [expr $decErrByte - $decVal]
+        set decErrByte [expr {$decErrByte - $decVal}]
      }
    }
    if {2 > [string length $errText]} {
-      set $errorText "Unknown error"
+      set errorText "Unknown error"
    }
    return $errorText
  } message ]
@@ -696,10 +689,10 @@ proc extractStatusByte {statusByteString whichByte} {
  set catch_status [ catch {
    set statusByte "UNKNOWN"
    set statusByteStringLength [string length $statusByteString]
-        set offset [expr $whichByte*2]
+        set offset [expr {$whichByte*2}]
        # allow for an initial offset of 4 char for 'STA/'
 	incr offset 4
-    set statusByte [string range $statusByteString $offset [expr $offset+1]]
+    set statusByte [string range $statusByteString $offset [expr {$offset+1}]]
    #puts "ExtractValue(): response:$response, extractedValue:$extractedValue"
    return $statusByte
  } message ]
@@ -787,13 +780,13 @@ proc analyseStatusByte {statusByteString} {
    }
    #puts "LSB_ErrByte    :x$tmp_LSB_ErrByte: $LSB_ErrByteTxt"
    #puts "MSB_ErrByte    :x$tmp_MSB_ErrByte: $MSB_ErrByteTxt"
-    #puts "PwrSupplyStatus:x$tmp_PwrSupplyStatusByte: $PwrSupplyStatusByteTxt"
+    #puts "pwr_supply_status:x$tmp_PwrSupplyStatusByte: $PwrSupplyStatusByteTxt"
    #puts "StateMachine   :x$tmp_StateMachineStatusByte: $StateMachineStatusTxt"

-    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrCtrl/LSB_Err            "x$tmp_LSB_ErrByte: $LSB_ErrByteTxt"
-    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrCtrl/MSB_Err            "x$tmp_MSB_ErrByte: $MSB_ErrByteTxt"
-    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrCtrl/PwrSupplyStatus    "x$tmp_PwrSupplyStatusByte: $PwrSupplyStatusByteTxt"
-    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrCtrl/StateMachineStatus "x$tmp_StateMachineStatusByte: $StateMachineStatusByteTxt"
+    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrctrl/lsb_err            "x$tmp_LSB_ErrByte: $LSB_ErrByteTxt"
+    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrctrl/msb_err            "x$tmp_MSB_ErrByte: $MSB_ErrByteTxt"
+    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrctrl/pwr_supply_status    "x$tmp_PwrSupplyStatusByte: $PwrSupplyStatusByteTxt"
+    hset $::scobj::bruker_BEC1::bruker_BEC1_path2nodes/pwrctrl/state_machine_status "x$tmp_StateMachineStatusByte: $StateMachineStatusByteTxt"
    return "Ok"
  } message ]
  handle_exception $catch_status $message "in analyseStatusByte(). statusByteString: $statusByteString"
@@ -829,7 +822,7 @@ proc getValFromString {s element separator} {
    # startIdx points to the first non-blank character of the value we are interested in
    set returnval ""
    if {$startIdx < 0} {
-      return returnval
+      return $returnval
    }
    set endIdx [string first $separator $s $startIdx]
    incr endIdx -1
@@ -843,7 +836,7 @@ proc getValFromString {s element separator} {
    }
     #puts "getValFromString $s, $element, $separator,\n returns: $returnval"
    return $returnval
-  }
+}



@@ -854,18 +847,18 @@ proc getValFromString {s element separator} {
 proc checktol {tc_root} {
  set catch_status [ catch {
    set retVal 0
-    set sensorValue $tc_root/sensor/DesiredCurrent
-    set NominalOutpCurrent [hval $sensorValue]
-    set isetp $tc_root/sensor/NominalOutpCurrent
+    set sensorValue $tc_root/sensor/desired_current
+    set nominal_outp_current [hval $sensorValue]
+    set isetp $tc_root/sensor/nominal_outp_current
    set setpt [hval $isetp]
    set tol   [hval $tc_root/emon/tolerance]
-    set loField [expr $setpt - $tol]
-    set hiField [expr $setpt + $tol]
+    set loField [expr {$setpt - $tol}]
+    set hiField [expr {$setpt + $tol}]
    if { $NominalOutpCurrent < $loField || $NominalOutpCurrent > $hiField} {
-      hset $tc_root/emon/isInTolerance "outsideTolerance"
+      hset $tc_root/emon/is_in_tolerance "outsideTolerance"
      set retVal 0
    } else {
-      hset $tc_root/emon/isInTolerance "inTolerance"
+      hset $tc_root/emon/is_in_tolerance "inTolerance"
      set retVal 1
    }
    return $retVal
@@ -926,23 +919,23 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
  set helptext "No help available"
  #puts "helpNotes4user $scobj_hpath/$cmdGroup varName"
  switch -glob $varName {
-   "LocalRemoteState*" {
+   "local_remote_state*" {
      set h1 {REM: «n» Query or Set local/remote state.}
      set h2 {«n» 0:local (local and remote comands allowed).}
      set h3 {«n» 1:remote state (only remote commands allowed).}
      set helptext $h1$CRLF$h2$CRLF$h3
    }
-   "DC_power*" {
+   "dc_power*" {
      set h1 {DCP  «off/on» DC power }
      set h2 { 0:off, 1:on}
      set helptext $h1$CRLF$h2
    }
-   "DesiredCurrent*" {
+   "desired_current*" {
      set h1 {CUR «nn.nn» Read and set DAC current}
      set h2 {«nn.nn» DAC current in Amperes}
      set helptext $h1$CRLF$h2
    }
-   "PwrCtrlFrom*" {
+   "pwr_ctrl_from*" {
      set h1 {EXT: «n» Query / Set source of reference for power supply control}
      set h2 {«EXT:0» internal reference, DAC}
      set h3 {«EXT:1» external reference voltage}
@@ -963,17 +956,17 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
      set h3 {«POL:1» Set negative polarity}
      set helptext $h1$CRLF$h2$CRLF$h3
   }
-   "ActualDAC_Field*" {
+   "actual_dac_field*" {
      set h1 {FLD  «nn.nn» Query/Set magnetic field strength }
      set h2 {«nn.nn» magnetic field strength in Teslas (setpoint)}
      set helptext $h1$CRLF$h2
    }
-   "NominalOutpCurrent*" {
+   "nominal_outp_current*" {
      set h1 {CHN  «nn.nn» Query nominal output current.}
      set h2 {«nn.nn» Nominal output current in Amperes}
      set helptext $h1$CRLF$h2
    }
-   "OutputVoltage*" {
+   "output_voltage*" {
      set h1 {CHV  «nn.nn» Query output voltage.}
      set h2 { «nn.nn» Output voltage in Volts.}
      set helptext $h1$CRLF$h2
@@ -983,13 +976,13 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
      set h2 {Returned: Load resistance in Ohms.}
      set helptext $h1$CRLF$h2
    }
-   "MeasuredField*" {
+   "measured_field*" {
      set h1 {CHF/ Query measured magnetic field. }
      set h2 {Returned: Measured magnetic field in Teslas.}
      set h3 {}
      set helptext $h1$CRLF$h2$CRLF$h3
    }
-   "ResetErrorMsg*" {
+   "reset_error_msg*" {
      set h1 {RST:  «0» Reset error messages. }
      set h2 { «0» Send zero to reset error messages.}
      set helptext $h1$CRLF$h2
@@ -999,25 +992,25 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
      set h2 {Returned: status byte in hexadecimal format. Note: DC power must be ON}
      set helptext $h1$CRLF$h2
    }
-    "LSB_Err*" {
+    "lsb_err*" {
      set h1 {Interpretation of the first 2 hexadecimal characters of the StatusByte string.}
      set h2 {LSB (lower status byte) contains interlock status conditions}
      set h3 {such as water or partial power failure.}
      set helptext $h1$CRLF$h2$CRLF$h3
    }
-    "MSB_Err*" {
+    "msb_err*" {
      set h1 {Interpretation of the hexadecimal characters 3 and 4 of the StatusByte string.}
      set h2 {MSB (machine status byte) contains interlock status conditions}
      set h3 {such as an overcurrent condition.}
      set helptext $h1$CRLF$h2$CRLF$h3
    }
-    "PwrSupplyStatus*" {
+    "pwr_supply_status*" {
      set h1 {Interpretation of the hexadecimal characters 5 and 6 of the StatusByte string.}
      set h2 {Contains information about the power supply status}
      set h3 {such as DC power on or off.}
      set helptext $h1$CRLF$h2$CRLF$h3
    }
-    "StateMachineStatus*" {
+    "state_machine_status*" {
      set h1 {Interpretation of the hexadecimal characters 7 and 8 of the StatusByte string.}
      set h2 {Contains information about the power supply State Machines}
      set h3 {such as the Inrush or Test DAC states.}
@@ -1031,7 +1024,7 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
      set h2 {Returned: ethernet address in hexadecimal numbers.}
      set helptext $h1$CRLF$h2
    }
-    "isInTolerance*" {
+    "is_in_tolerance*" {
      set h1 {A flag that indicates whether the actual magnetic field strength is within tolerance}
      set h2 {of the setpoint field strength.}
      set helptext $h1$CRLF$h2
@@ -1045,7 +1038,7 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
      set h1 {Tolerance specifies the magnetic field strength tolerance in Tesla applicable to the setpoint.}
      set helptext $h1
    }
-    "monMode*" {
+    "mon_mode*" {
      set h1 {A flag that indicates whether the magnet's current is being actively changed to}
      set h2 {drive the magnetic field towards the setpoint or whether the current is stable}
      set h3 {with the magnetic field in tolerance with the setpoint.}
@@ -1056,8 +1049,8 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
      set h2 {The default action is always 'pause'.}
      set helptext $h1$CRLF$h2
    }
-    "lastErrorMsg*" {
-      set helptext {lastErrorMsg and lastErrorMsg2 display the last 2 error messages received from the device.}
+    "last_error_msg*" {
+      set helptext {last_error_msg and last_error_msg2 display the last 2 error messages received from the device.}
    }
    default {
      set helptext {Sorry mate. No help available.}
@@ -1089,11 +1082,11 @@ proc helpNotes4user {scobj_hpath cmdGroup varName} {
 # @param wrCmd          actual device write command to be sent to the device
 # @param wrFunc         Function to be called to send the wrCmd to the device, typically setValue()
 # @param allowedValues  allowed values for the node data - does not permit other
-# @param klass          Nexus class name (?)
+# @param klasse         Nexus class name (?)
 # @return               OK
 proc createNode {scobj_hpath sct_controller cmdGroup varName readable writable\
  pollEnabled drivable replyLen dataType permission rdCmd rdFunc wrCmd\
-  wrFunc allowedValues klass} {
+  wrFunc allowedValues klasse} {
   #puts "createing node for: $scobj_hpath $cmdGroup $varName $readable $writable $pollEnabled $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc"
  set catch_status [ catch {
    set ns ::scobj::bruker_BEC1
@@ -1145,11 +1138,11 @@ proc createNode {scobj_hpath sct_controller cmdGroup varName readable writable\
 ##
 # @brief mk_sct_bruker_BEC1() creates a scriptcontext object for a Bruker BEC1 power supply (for 1T magnet)
 # @param sct_controller name of the bruker_BEC1 scriptcontext object (typically sct_bruker_BEC1_tc1 or tc2)
-# @param klass          Nexus class name (?), typically 'environment'
+# @param klasse         Nexus class name (?), typically 'environment'
 # @param tempobj        short name for the magnet power supply scriptcontext object (typ. ma1 or ma2)
 # @param tol            magentic field strength tolerance in Tesla (typ. 1)
 # @return               nothing (well, the sct object)
-proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {
+proc mk_sct_bruker_BEC1 {sct_controller klasse tempobj tol} {
  set catch_status [ catch {
      set ns ::scobj::bruker_BEC1
      set ::scobj::bruker_BEC1::bruker_BEC1_sct_obj_name $tempobj
@@ -1159,10 +1152,10 @@ proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {
       #set LF "\n"

      set ::scobj::bruker_BEC1::bruker_BEC1_tolerance $tol
-      set ::scobj::bruker_BEC1::bruker_BEC1_driveTolerance [expr $tol * $::scobj::bruker_BEC1::bruker_BEC1_tolerance]
+      set ::scobj::bruker_BEC1::bruker_BEC1_driveTolerance [expr {$tol * $::scobj::bruker_BEC1::bruker_BEC1_tolerance}]

      MakeSICSObj $tempobj SCT_OBJECT
-      sicslist setatt $tempobj klass $klass
+      sicslist setatt $tempobj klass $klasse
      sicslist setatt $tempobj long_name $tempobj
      # Create a base node for all the state machines of this sics object
      set scobj_hpath /sics/$tempobj
@@ -1189,18 +1182,18 @@ proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {
      # wrFunc         Function to be called to send the wrCmd to the device, typically setValue()
      # allowedValues  allowed values for the node data - does not permit other
      set deviceCommandToplevel {\
-        sensor  MeasuredField      1 0 1 0 13 float spy   {CHF/}	  {rdValue}	{}	       {setValue} {}\
-        sensor  ActualDAC_Field    1 1 1 0 16 float user  {FLD/}	  {rdValue}	{FLD=}         {setValue} {}\
-        sensor  DesiredCurrent     1 1 1 1 15 float user  {CUR/}	  {rdValue}	{CUR=}         {setDesiredCurrent} {}\
-        sensor  NominalOutpCurrent 1 0 1 0 13 float spy   {CHN/}	  {rdValue}	{}	       {setDesiredCurrent} {}\
+        sensor  measured_field       1 0 1 0 13 float spy   {CHF/}	  {rdValue}	{}	       {setValue} {}\
+        sensor  actual_dac_field     1 1 1 0 16 float user  {FLD/}	  {rdValue}	{FLD=}         {setValue} {}\
+        sensor  desired_current      1 1 1 1 15 float user  {CUR/}	  {rdValue}	{CUR=}         {setDesiredCurrent} {}\
+        sensor  nominal_outp_current 1 0 1 0 13 float spy   {CHN/}	  {rdValue}	{}	       {setDesiredCurrent} {}\
      }
      set deviceCommand {\
-        pwrCtrl DC_power           1 1 1 0  7 int   user  {DCP/}	  {inTolerance}	{DCP=}         {setValue} {0,1}\
-        pwrCtrl PwrCtrlFrom        1 1 1 0  7 int   user  {EXT/}	  {rdValue}	{EXT=}         {setValue} {0,1,2}\
-        pwrCtrl LocalRemoteState   1 1 1 0  7 int   user  {REM/}	  {rdValue}	{REM=}         {setValue} {0,1}\
-        pwrCtrl OutputVoltage      1 0 1 0 12 float spy   {CHV/}	  {rdValue}	{}	       {setValue} {}\
-        pwrCtrl ResetErrorMsg      0 1 0 0  7 int   user  {} 	          {rdValue}	{RST=}         {setValue} {0}\
-        pwrCtrl statusByte         1 1 1 0 13 text  user  {STA/}	  {rdValue}	{STA=}         {setValue} {0}\
+        pwrctrl dc_power           1 1 1 0  7 int   user  {DCP/}	  {inTolerance}	{DCP=}         {setValue} {0,1}\
+        pwrctrl pwr_ctrl_from      1 1 1 0  7 int   user  {EXT/}	  {rdValue}	{EXT=}         {setValue} {0,1,2}\
+        pwrctrl local_remote_state 1 1 1 0  7 int   user  {REM/}	  {rdValue}	{REM=}         {setValue} {0,1}\
+        pwrctrl output_voltage     1 0 1 0 12 float spy   {CHV/}	  {rdValue}	{}	       {setValue} {}\
+        pwrctrl reset_error_msg    0 1 0 0  7 int   user  {} 	          {rdValue}	{RST=}         {setValue} {0}\
+        pwrctrl statusByte         1 1 1 0 13 text  user  {STA/}	  {rdValue}	{STA=}         {setValue} {0}\
      }
 	    # it seems these functions are not supported by our device
        #pwrCtrl EthernetAddrHex    1 0 1 0 text	 spy   {ETH/}	  {rdValue}	{}	       {setValue} {}\
@@ -1210,26 +1203,26 @@ proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {

      hfactory $scobj_hpath/sensor plain spy none
      foreach {cmdGroup varName readable writable pollEnabled drivable replyLen dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommandToplevel {
-        createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $pollEnabled $drivable $replyLen $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
+        createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $pollEnabled $drivable $replyLen $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klasse
      }

      # create a base node for each commandGroup element - these are all polled
      hfactory $scobj_hpath/emon    plain spy none
-      hfactory $scobj_hpath/pwrCtrl plain spy none
+      hfactory $scobj_hpath/pwrctrl plain spy none

      foreach {cmdGroup varName readable writable pollEnabled drivable replyLen dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand {
-        createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $pollEnabled $drivable $replyLen $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
+        createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $pollEnabled $drivable $replyLen $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klasse
      }

      # Create state machines for the following required nodes that do not correspond
      # to device commands.
-      hfactory $scobj_hpath/emon/lastErrorMsg plain user text
-      #hsetprop $scobj_hpath/emon/lastErrorMsg values *any*
-      hset $scobj_hpath/emon/lastErrorMsg $::scobj::bruker_BEC1::bruker_BEC1_errMsg
-      helpNotes4user $scobj_hpath "emon" "lastErrorMsg"
-      hfactory $scobj_hpath/emon/lastErrorMsg2 plain user text
-      hset $scobj_hpath/emon/lastErrorMsg2 $::scobj::bruker_BEC1::bruker_BEC1_errMsg2
-      helpNotes4user $scobj_hpath "emon" "lastErrorMsg2"
+      hfactory $scobj_hpath/emon/last_error_msg plain user text
+      #hsetprop $scobj_hpath/emon/last_error_msg values *any*
+      hset $scobj_hpath/emon/last_error_msg $::scobj::bruker_BEC1::bruker_BEC1_errMsg
+      helpNotes4user $scobj_hpath "emon" "last_error_msg"
+      hfactory $scobj_hpath/emon/last_error_msg2 plain user text
+      hset $scobj_hpath/emon/last_error_msg2 $::scobj::bruker_BEC1::bruker_BEC1_errMsg2
+      helpNotes4user $scobj_hpath "emon" "last_error_msg2"

      #hfactory $scobj_hpath/emon/statusText plain user text
      #hset $scobj_hpath/emon/statusText $::scobj::bruker_BEC1::bruker_BEC1_statusText
@@ -1240,10 +1233,10 @@ proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {
      hset $scobj_hpath/emon/apply_tolerance 1
      helpNotes4user $scobj_hpath "emon" "apply_tolerance"

-      hfactory $scobj_hpath/emon/isInTolerance plain spy text
-      hsetprop $scobj_hpath/emon/isInTolerance values idle,drive,monitor,error
-      hset $scobj_hpath/emon/isInTolerance "inTolerance"
-      helpNotes4user $scobj_hpath "emon" "isInTolerance"
+      hfactory $scobj_hpath/emon/is_in_tolerance plain spy text
+      hsetprop $scobj_hpath/emon/is_in_tolerance values idle,drive,monitor,error
+      hset $scobj_hpath/emon/is_in_tolerance "inTolerance"
+      helpNotes4user $scobj_hpath "emon" "is_in_tolerance"

      hfactory $scobj_hpath/emon/tolerance plain user float
      hsetprop $scobj_hpath/emon/tolerance units $::scobj::bruker_BEC1::bruker_BEC1_magneticFiledUnits
@@ -1252,34 +1245,34 @@ proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {
      helpNotes4user $scobj_hpath "emon" "tolerance"

      # environment monitoring flags: shows if setpoints (field, current) are in tolerance
-      hfactory $scobj_hpath/emon/monMode plain user text
-      hsetprop $scobj_hpath/emon/monMode values idle,drive,monitor,error
-      hset $scobj_hpath/emon/monMode "idle"
-      helpNotes4user $scobj_hpath "emon" "monMode"
+      hfactory $scobj_hpath/emon/mon_mode plain user text
+      hsetprop $scobj_hpath/emon/mon_mode values idle,drive,monitor,error
+      hset $scobj_hpath/emon/mon_mode "idle"
+      helpNotes4user $scobj_hpath "emon" "mon_mode"

      hfactory $scobj_hpath/emon/errhandler plain spy text
      hset $scobj_hpath/emon/errhandler "lazy"
      helpNotes4user $scobj_hpath "emon" "errhandler"

-      hfactory $scobj_hpath/pwrCtrl/LSB_Err plain spy text
-      hset $scobj_hpath/pwrCtrl/LSB_Err "UNKNOWN"
-      helpNotes4user $scobj_hpath "pwrCtrl" "LSB_Err"
+      hfactory $scobj_hpath/pwrctrl/lsb_err plain spy text
+      hset $scobj_hpath/pwrctrl/lsb_err "UNKNOWN"
+      helpNotes4user $scobj_hpath "pwrctrl" "lsb_err"

-      hfactory $scobj_hpath/pwrCtrl/MSB_Err plain spy text
-      hset $scobj_hpath/pwrCtrl/MSB_Err "UNKNOWN"
-      helpNotes4user $scobj_hpath "pwrCtrl" "MSB_Err"
+      hfactory $scobj_hpath/pwrctrl/msb_err plain spy text
+      hset $scobj_hpath/pwrctrl/msb_err "UNKNOWN"
+      helpNotes4user $scobj_hpath "pwrctrl" "msb_err"

-      hfactory $scobj_hpath/pwrCtrl/PwrSupplyStatus plain spy text
-      hset $scobj_hpath/pwrCtrl/PwrSupplyStatus "UNKNOWN"
-      helpNotes4user $scobj_hpath "pwrCtrl" "PwrSupplyStatus"
+      hfactory $scobj_hpath/pwrctrl/pwr_supply_status plain spy text
+      hset $scobj_hpath/pwrctrl/pwr_supply_status "UNKNOWN"
+      helpNotes4user $scobj_hpath "pwrctrl" "pwr_supply_status"

-      hfactory $scobj_hpath/pwrCtrl/StateMachineStatus plain spy text
-      hset $scobj_hpath/pwrCtrl/StateMachineStatus "UNKNOWN"
-      helpNotes4user $scobj_hpath "pwrCtrl" "StateMachineStatus"
+      hfactory $scobj_hpath/pwrctrl/state_machine_status plain spy text
+      hset $scobj_hpath/pwrctrl/state_machine_status "UNKNOWN"
+      helpNotes4user $scobj_hpath "pwrctrl" "state_machine_status"

-      #hfactory $scobj_hpath/pwrCtrl/EthernetAddrDec plain user text
-      #hset $scobj_hpath/pwrCtrl/EthernetAddrDec "UNKNOWN"
-      #helpNotes4user $scobj_hpath "pwrCtrl" "EthernetAddrDec"
+      #hfactory $scobj_hpath/pwrctrl/EthernetAddrDec plain user text
+      #hset $scobj_hpath/pwrctrl/EthernetAddrDec "UNKNOWN"
+      #helpNotes4user $scobj_hpath "pwrctrl" "EthernetAddrDec"

      hfactory $scobj_hpath/status plain spy text
      hsetprop $scobj_hpath/status values busy,idle
@@ -1293,19 +1286,19 @@ proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {
      # Note: node names longer than 8 characters cause eror messages - avoid
      set nxProperties "
        $scobj_hpath sensor                     NXsensor    spy
-        $scobj_hpath sensor/MeasuredField       sensor      user
-        $scobj_hpath sensor/ActualDAC_Field     sensor      user
-        $scobj_hpath sensor/DesiredCurrent      sensor      user
-        $scobj_hpath sensor/NominalOutpCurrent  sensor      user
+        $scobj_hpath sensor/measured_field       sensor      user
+        $scobj_hpath sensor/actual_dac_field     sensor      user
+        $scobj_hpath sensor/desired_current      sensor      user
+        $scobj_hpath sensor/nominal_outp_current  sensor      user
      "
      set aliasProperties "
-        $scobj_hpath MeasuredField      sensor      _sensor_MeasuredField
-        $scobj_hpath ActualDAC_Field    sensor      _sensor_ActualDAC_Field
-        $scobj_hpath DesiredCurrent     sensor      _sensor_DesiredCurrent
-        $scobj_hpath NominalOutpCurrent sensor      _sensor_NominalOutpCurrent
+        $scobj_hpath measured_field      sensor      _sensor_MeasuredField
+        $scobj_hpath actual_dac_field    sensor      _sensor_ActualDAC_Field
+        $scobj_hpath desired_current     sensor      _sensor_DesiredCurrent
+        $scobj_hpath nominal_outp_current sensor      _sensor_NominalOutpCurrent
      "
-      foreach {rootpath hpath klass priv} $nxProperties {
-        hsetprop $rootpath/$hpath klass $klass
+      foreach {rootpath hpath klasse priv} $nxProperties {
+        hsetprop $rootpath/$hpath klass $klasse
        hsetprop $rootpath/$hpath privilege $priv
        hsetprop $rootpath/$hpath control true
        hsetprop $rootpath/$hpath data true
@@ -1324,21 +1317,23 @@ proc mk_sct_bruker_BEC1 {sct_controller klass tempobj tol} {
      # for generating the GumTree interface and saving data for script context objects (hdf file)
      # @param scobj, name of script context object (path to a node)
      # @param par, optional parameter (name of the node variable)
-      ::scobj::hinitprops $tempobj/sensor NominalOutpCurrent
+      ::scobj::hinitprops $tempobj/sensor nominal_outp_current
+      hsetprop $scobj_hpath/pwrctrl/statusByte control false

-      ansto_makesctdrive ${tempobj}_driveable  $scobj_hpath/sensor/DesiredCurrent $scobj_hpath/sensor/NominalOutpCurrent $sct_controller
+      ansto_makesctdrive ${tempobj}_driveable  $scobj_hpath/sensor/desired_current $scobj_hpath/sensor/nominal_outp_current $sct_controller

      # initialise the device
      bruker_BEC1_init $sct_controller $scobj_hpath
-      puts "Bruker BEC1 power supply for 1-Tesla magnet ready at /sample/$tempobj (Driver 20091209)"
+      puts "Bruker BEC1 power supply for 1-Tesla magnet ready at /sample/$tempobj (Driver 2010-04-07)"
    } message ]
    handle_exception $catch_status $message "In subroutine mk_sct_bruker_BEC1()."
-  }
-  namespace export mk_sct_bruker_BEC1
-  # endproc mk_sct_bruker_BEC1 sct_controller klass tempobj tol bruker_BEC1_LSmodel
+}
+namespace export mk_sct_bruker_BEC1
+# endproc mk_sct_bruker_BEC1 sct_controller klasse tempobj tol bruker_BEC1_LSmodel
 }
 # end of namespace mk_sct_bruker_BEC1

+
 ##
 # @brief add_bruker_BEC1() adds a scriptcontext object for a Bruker BEC1 power supply (1T magnet)
 # and makes it available to SICServer
@@ -1351,15 +1346,16 @@ proc add_bruker_BEC1 {name IP port {_tol 0.1}  } {
  # Don't create a magnet controller for the script validator, this may cause the
  # the BEC1 to lock up.
  # NOTE: This is placed outside the catch block because "return" raises an exception
-  if [SplitReply [environment_simulation]] {
+  if {[SplitReply [environment_simulation]]} {
    return
  }
  set catch_status [ catch {
-    puts "\nadd_bruker_BEC1: makesctcontroller $name std ${IP}:$port for Bruker BEC1 1-Tesla magnet power supply"
-    # Command terminator for Bruker unit is only carriage return without linefeed '\r'
-    makesctcontroller sct_bruker_BEC1_$name std ${IP}:$port "\r"
+    puts "\nadd_bruker_BEC1: makesctcontroller $name astvelsel ${IP}:$port for Bruker BEC1 1-Tesla magnet power supply"
+    # Command terminator for Bruker unit is always carriage return without linefeed '\r'
+    makesctcontroller sct_bruker_BEC1_$name astvelsel ${IP}:$port "\r"
+     # proc mk_sct_bruker_BEC1 (sct_controller klasse tempobj tol)
    mk_sct_bruker_BEC1 sct_bruker_BEC1_$name environment $name $_tol
-    makesctemon $name /sics/$name/emon/monMode /sics/$name/emon/isInTolerance /sics/$name/emon/errhandler
+    makesctemon $name /sics/$name/emon/mon_mode /sics/$name/emon/is_in_tolerance /sics/$name/emon/errhandler
  } message ]
  handle_exception $catch_status $message "In subroutine add_bruker_BEC1()."
 }
--- a/site_ansto/instrument/config/environment/temperature/sct_eurotherm_2000.tcl
+++ b/site_ansto/instrument/config/environment/temperature/sct_eurotherm_2000.tcl
@@ -8,7 +8,7 @@ namespace eval ::scobj::et2000 {
 # /tempcont/setpoint
 # /tempcont/sensor/value
  proc debug_log {args} {
-    set fd [open "/home/dcl/et2000.log" a]
+    set fd [open "/tmp/et2000.log" a]
    puts $fd $args
    close $fd
  }
@@ -317,6 +317,7 @@ debug_log "halt $tc_root"

      hsetprop $scobj_hpath privilege spy
      ::scobj::hinitprops $tempobj setpoint
+      hsetprop $scobj_hpath/setpoint data true
      if {[SplitReply [environment_simulation]]=="false"} {
        ansto_makesctdrive ${tempobj}_driveable $scobj_hpath/setpoint $scobj_hpath/sensor/value $sct_controller
      }
@@ -335,7 +336,7 @@ debug_log "halt $tc_root"
 # @param port, the IP protocol port number of the device (502 for modbus)
 # @param _tol (optional), this is the initial tolerance setting
 proc add_et2000 {name IP port dev_id {_tol 5.0}} {
-  set fd [open "/home/dcl/et2000.log" a]
+  set fd [open "/tmp/et2000.log" a]
  if {[SplitReply [environment_simulation]]=="false"} {
    puts $fd "makesctcontroller sct_et2000 modbus ${IP}:$port"
    makesctcontroller sct_et2000 modbus ${IP}:$port
@@ -348,11 +349,11 @@ proc add_et2000 {name IP port dev_id {_tol 5.0}} {
 }

 puts stdout "file evaluation of sct_eurotherm_2000.tcl"
-set fd [open "/home/dcl/et2000.log" w]
+set fd [open "/tmp/et2000.log" w]
 puts $fd "file evaluation of sct_eurotherm_2000.tcl"
 close $fd

 namespace import ::scobj::et2000::*

-add_et2000 et2000 137.157.201.213 502 1 5
+#add_et2000 et2000 137.157.201.213 502 1 5
 #add_et2000 et2000 localhost 30502 1 5
--- a/site_ansto/instrument/config/hipadaba/common_instrument_dictionary.tcl
+++ b/site_ansto/instrument/config/hipadaba/common_instrument_dictionary.tcl
@@ -38,6 +38,12 @@ set instrument_dictionary [subst {
    datatype @none
    property {data true control true nxsave true klass parameters type part}
  }
+  instrument/reduce {
+    privilege spy
+    sobj {@any reduce}
+    datatype @none
+    property {data true control true nxsave true klass reduce type part}
+  }
  instrument/parameters/parameters_group {
    privilege spy
    datatype @none
--- a/site_ansto/instrument/config/hipadaba/instdict_specification.tcl
+++ b/site_ansto/instrument/config/hipadaba/instdict_specification.tcl
@@ -11,7 +11,7 @@ set boolean {true false}
 #}

 # SICS OBJECTS MUST PROVIDE THE FOLLOWING INFORMATION
-set sobj_klass_list {@none aperture attenuator collimator command crystal data detector disk_chopper entry environment experiment graphics instrument slits monitor monochromator parameter plc sample scan sensor source user}
+set sobj_klass_list {@none aperture attenuator collimator command crystal data detector disk_chopper entry environment experiment graphics instrument slits monitor monochromator parameter plc reduce sample scan sensor source user}
 set sobj_sicstype_list {chopperadapter environment_controller sicsvariable macro motor configurablevirtualmotor singlecounter histmem nxscript sicsdata scanobject sct_object}
 # Different kinds of things are added to the hdb in different ways.
 # command: This is something a client can run with hset /a/b/c start, it may have parameters and feedback.
--- a/site_ansto/instrument/config/hmm/hmm_configuration_common_1.tcl
+++ b/site_ansto/instrument/config/hmm/hmm_configuration_common_1.tcl
@@ -42,12 +42,6 @@ namespace eval histogram_memory {
      set ic_count_methods [concat [list time unlimited period count frame] $::counter::isc_beam_monitor_list ]
      if {$histmem_simulation == "true"} {
          MakeHM hmm SIM
- #        MakeHM hmm_xy SIM
- #        MakeHM hmm_xt SIM
- #        MakeHM hmm_yt SIM
- #        MakeHM hmm_x SIM
- #        MakeHM hmm_y SIM
- #        MakeHM hmm_t SIM
          hmm configure daq Stopped
          hmm configure statuscheck false
          hmm configure num_events_filled_to_histo 12345
@@ -230,19 +224,6 @@ namespace eval histogram_memory {
 ##         Scan Callback Procedures         ##
 ##############################################
 ##############################################
-if {0} {
-#XXX REMOVE
-  proc init {} {
-  }
-  proc graphics_hpath_setup {parent} {
-  }
-  proc commands_hpath_setup {parent} {
-  }
-  proc instrument_hpath_setup {parent} {
-  }
-  proc experiment_hpath_setup {parent} {
-  }
-}
  proc set_sobj_attributes {} {
    if [ catch {
      # SICS commands
--- a/site_ansto/instrument/config/hmm/sct_orhvps_common.tcl
+++ b/site_ansto/instrument/config/hmm/sct_orhvps_common.tcl
@@ -43,10 +43,10 @@ proc ::scobj::dethvps::rdValue {vPath} {
    "ASCERR:*" {
      sct geterror $data
      if {$currSuperState == $RAMPBUSY || $currSuperState == $RAMPSTART} {
-        broadcast "ERROR: $data, dhv1 stopped ramping detector voltage"
+        broadcast "DHVERROR: $data, dhv1 stopped ramping detector voltage"
        statemon stop dhv1
      } else {
-#       broadcast "ERROR: $data"
+#       broadcast "DHVERROR: $data"
      }
      if {$currSuperState != $RAMPIDLE} {
        sct ramping $RAMPIDLE
@@ -85,7 +85,7 @@ proc ::scobj::dethvps::rdValue {vPath} {
      return idle
    }
    default {
-      broadcast "ERROR: dhv1([info level 0]) sct ramping = [sct ramping], STOPPING"
+      broadcast "DHVERROR: dhv1([info level 0]) sct ramping = [sct ramping], STOPPING"
      sct ramping $RAMPIDLE
      statemon stop dhv1
      return idle
@@ -107,8 +107,8 @@ proc ::scobj::dethvps::setValue {nextSubState} {
  set par [sct target]
  set maxV [sct max]
  if {$par < 0 || $par > $maxV} {
-    broadcast "ERROR: dhv1 target must be between 0 and $maxV"
-    sct seterror "ERROR: dhv1 target must be between 0 and $maxV"
+    broadcast "DHVERROR: dhv1 target must be between 0 and $maxV"
+    sct seterror "DHVERROR: dhv1 target must be between 0 and $maxV"
    return idle
  }
  set currSuperState [sct ramping]
@@ -147,10 +147,10 @@ proc ::scobj::dethvps::getACK {} {
        "ASCERR:*" {
          sct seterror $data
          if {$currSuperState == $RAMPBUSY || $currSuperState == $RAMPSTART} {
-            broadcast "ERROR: $data, dhv1 stopped ramping detector voltage"
+            broadcast "DHVERROR: $data, dhv1 stopped ramping detector voltage"
            statemon stop dhv1
          } else {
-#           broadcast "ERROR: $data"
+#           broadcast "DHVERROR: $data"
          }
          if {$currSuperState != $RAMPSTOP} {
            sct ramping $RAMPSTOP
@@ -198,8 +198,8 @@ proc ::scobj::dethvps::ramping {cmd} {
      }
      default {
        sct ramping $RAMPSTOP
-        broadcast "ERROR: dhv1, Invalid ramp step: $rampstep STOPPING"
-        sct seterror "ERROR: dhv1, Invalid ramp step: $rampstep"
+        broadcast "DHVERROR: dhv1, Invalid ramp step: $rampstep STOPPING"
+        sct seterror "DHVERROR: dhv1, Invalid ramp step: $rampstep"
        return idle
      }
    }
@@ -235,8 +235,8 @@ proc ::scobj::dethvps::drvCmd {} {
        hset $potValPath 0
      }
      default {
-        clientput "ERROR: Unknown command $cmd"
-        sct seterror "ERROR: Unknown command $cmd"
+        clientput "DHVERROR: Unknown command $cmd"
+        sct seterror "DHVERROR: Unknown command $cmd"
        return idle
      }
    }
@@ -304,7 +304,7 @@ proc ::scobj::dethvps::dhv1 {{CMD getVoltage} {val ""} } {
        if {[SplitReply [config myrights]] == 0} {
          hsetprop $qsObjPath $CMD $val
        } else {
-          error "ERROR: $CMD can only be initialised from a configuration file"
+          error "DHVERROR: $CMD can only be initialised from a configuration file"
        }
      } else {
        return "dhv1.$CMD = [hgetpropval $qsObjPath $CMD]"
--- a/site_ansto/instrument/config/scan/scan_common_1.tcl
+++ b/site_ansto/instrument/config/scan/scan_common_1.tcl
@@ -242,6 +242,7 @@ proc ::scan::hmm_scan_finish {sobj uobj} {
    ::histogram_memory::stop
    ::scan::runscan_cmd -set feedback status IDLE
    run_mode "normal"
+    set ::histogram_memory::histmem_axes(SVAR) "/instrument/run_number"
    # Make sure that the next save command doesn't overwrite our scan data.
    # and clear any data links
    ::nexus::newfile clear data
@@ -260,6 +261,7 @@ proc ::scan::bm_scan_finish {sobj uobj} {
    variable reset_position
    ::scan::hdb_bmonscan -set feedback status IDLE
    run_mode "normal"
+    set ::histogram_memory::histmem_axes(SVAR) "/instrument/run_number"
    # Make sure that the next save command doesn't overwrite our scan data.
    # and clear any data links
    ::nexus::newfile clear data
--- a/site_ansto/instrument/hipd/config/hmm/hmm_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/hmm/hmm_configuration.tcl
@@ -129,8 +129,8 @@ proc ::histogram_memory::isc_initialize {} {
    ::histogram_memory::init_OAT_TABLE res "std_968x128"
    ::histogram_memory::upload_config Filler_defaults

-    ::nexus::data alias ::histogram_memory::vertical_axis ::histogram_memory::y_pixel_offset
-    ::nexus::data alias ::histogram_memory::horizontal_axis ::histogram_memory::x_pixel_angular_offset
+    set ::histogram_memory::histmem_axes(HOR) /instrument/detector/x_pixel_angular_offset
+    set ::histogram_memory::histmem_axes(VER) /instrument/detector/y_pixel_offset
  } message ] {
    if {$::errorCode=="NONE"} {return $message}
    return -code error $message
--- a/site_ansto/instrument/hipd/config/motors/euler_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/motors/euler_configuration.tcl
@@ -10,7 +10,7 @@ Motor eom $motor_driver_type [params \
  axis A\
  units degrees\
  hardlowerlim -45\
-  hardupperlim 60\
+  hardupperlim 80\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
@@ -18,7 +18,7 @@ Motor eom $motor_driver_type [params \
  absEnc 1\
  absEncHome $eom_Home\
  cntsPerX -8192]
-setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 55
+setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 80
 eom speed 1
 eom movecount $move_count
 eom precision 0.01
--- a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
@@ -406,8 +406,8 @@ ss1r softlowerlim $ss1r_LoRange
 ss1r softupperlim $ss1r_HiRange
 ss1r home 0
 ss1r movecount $move_count
-ss1r part slits.first
-ss1r long_name right
+ss1r part slits
+ss1r long_name first_right

 # Slit 1, left
 Motor ss1l $motor_driver_type [params \
@@ -425,8 +425,8 @@ ss1l softlowerlim $ss1l_LoRange
 ss1l softupperlim $ss1l_HiRange
 ss1l home 0
 ss1l movecount $move_count
-ss1l part slits.first
-ss1l long_name left
+ss1l part slits
+ss1l long_name first_left

 # Slit 1, up
 Motor ss1u $motor_driver_type [params \
@@ -444,8 +444,8 @@ ss1u softlowerlim $ss1u_LoRange
 ss1u softupperlim $ss1u_HiRange
 ss1u home 0
 ss1u movecount $move_count
-ss1u part slits.first
-ss1u long_name top
+ss1u part slits
+ss1u long_name first_top

 # Slit 1, down
 Motor ss1d $motor_driver_type [params \
@@ -463,8 +463,8 @@ ss1d softlowerlim $ss1d_LoRange
 ss1d softupperlim $ss1d_HiRange
 ss1d home 0
 ss1d movecount $move_count
-ss1d part slits.first
-ss1d long_name bottom
+ss1d part slits
+ss1d long_name first_bottom

 ############################
 # Motor Controller 4
@@ -495,8 +495,8 @@ ss2r softlowerlim $ss2r_LoRange
 ss2r softupperlim $ss2r_HiRange
 ss2r home 0
 ss2r movecount $move_count
-ss2r part slits.second
-ss2r long_name right
+ss2r part slits
+ss2r long_name second_right

 # Slit 2, left
 Motor ss2l $motor_driver_type [params \
@@ -514,8 +514,8 @@ ss2l softlowerlim $ss2l_LoRange
 ss2l softupperlim $ss2l_HiRange
 ss2l home 0
 ss2l movecount $move_count
-ss2l part slits.second
-ss2l long_name left
+ss2l part slits
+ss2l long_name second_left

 # Slit 2, up
 Motor ss2u $motor_driver_type [params \
@@ -533,8 +533,8 @@ ss2u softlowerlim $ss2u_LoRange
 ss2u softupperlim $ss2u_HiRange
 ss2u home 0
 ss2u movecount $move_count
-ss2u part slits.second
-ss2u long_name top
+ss2u part slits
+ss2u long_name second_top

 # Slit 2, down
 Motor ss2d $motor_driver_type [params \
@@ -552,8 +552,8 @@ ss2d softlowerlim $ss2d_LoRange
 ss2d softupperlim $ss2d_HiRange
 ss2d home 0
 ss2d movecount $move_count
-ss2d part slits.second
-ss2d long_name bottom
+ss2d part slits
+ss2d long_name second_bottom
 }

 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
--- a/site_ansto/instrument/hipd/wombat_configuration.tcl
+++ b/site_ansto/instrument/hipd/wombat_configuration.tcl
@@ -1,3 +1,4 @@
+
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)

 # Required by server_config.tcl 
@@ -30,6 +31,8 @@ fileeval $cfPath(hmm)/hmm_configuration.tcl
 fileeval $cfPath(nexus)/nxscripts.tcl
 fileeval $cfPath(scan)/scan.tcl
 fileeval $cfPath(commands)/commands.tcl
+fileeval $cfPath(commands)/pulser.tcl
+fileeval $cfPath(commands)/hvcommands.tcl
 fileeval $cfPath(anticollider)/anticollider.tcl
 fileeval $cfPath(hmm)/hmm_rapid.tcl
 source gumxml.tcl
@@ -41,14 +44,17 @@ source gumxml.tcl
 # ::environment::temperature::add_ls340 tc2 2

 # New Lakeshore series driver for models 340 and 336 - (tcl-code, version 20090824) - beta status
-# driverName shortName  IP-address portOnMoxa temperatureTolerance LakeshoreModel
+# driverName shortName  IP-address portOnMoxa temperatureTolerance1 Tolerance2 LakeshoreModel
 # ffr 2009-11-11: NOTE I've added a line terminator argument to the ls3xx setup.
 #                 You need to set the line termintator to either "\r\n" for CRLF or "\r" for CR 
-#  add_ls3xx tc1 137.157.201.85 7777 "\r\n" 0.5 336
-# add_ls3xx tc2 137.157.201.85 4002 "\r\n" 0.5 340
+#            name   IP-address  port  term LakeshoreModel  tol1 tol2 
+ add_ls3xx tc1 137.157.201.85 7777 "\r\n"  336 5 5 
+
+# add_ls3xx tc1 137.157.201.86 4001 "\r\" 400 340
+# add_ls3xx tc2 137.157.201.86 4002 "\r" 5 5 340


-#::environment::temperature::add_west400  
+#::environment::temperature::add_west400 137.157.201.88
 server_init
 ###########################################
 # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
--- a/site_ansto/instrument/hrpd/config/environment/robby_configuration.tcl
+++ b/site_ansto/instrument/hrpd/config/environment/robby_configuration.tcl
@@ -3,7 +3,7 @@ namespace eval robot {
 		MakeAsyncProtocol robot
 		MakeAsyncQueue robby robot 137.157.201.26 6000
 		robby delay 500
-		robby timeout 5000
+		robby timeout 50000
 		drive sx 0 sy 0 som 0
 	}
 }
--- a/site_ansto/instrument/hrpd/config/hmm/hmm_configuration.tcl
+++ b/site_ansto/instrument/hrpd/config/hmm/hmm_configuration.tcl
@@ -165,8 +165,8 @@ proc ::histogram_memory::isc_initialize {} {
    ::histogram_memory::init_CAT_TABLE
    ::histogram_memory::upload_config Filler_defaults

-    ::nexus::data alias ::histogram_memory::vertical_axis ::histogram_memory::y_pixel_offset
-    ::nexus::data alias ::histogram_memory::horizontal_axis ::histogram_memory::x_pixel_angular_offset
+    set ::histogram_memory::histmem_axes(HOR) /instrument/detector/x_pixel_angular_offset
+    set ::histogram_memory::histmem_axes(VER) /instrument/detector/y_pixel_offset
  } message ] {
    if {$::errorCode=="NONE"} {return $message}
    return -code error $message
--- a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
@@ -539,8 +539,8 @@ ss1r softlowerlim $ss1r_LoRange
 ss1r softupperlim $ss1r_HiRange
 ss1r home 0
 ss1r movecount $move_count
-ss1r part slits.first
-ss1r long_name right
+ss1r part slits
+ss1r long_name first_right

 # Slit 1, left
 Motor ss1l $motor_driver_type [params \
@@ -558,8 +558,8 @@ ss1l softlowerlim $ss1l_LoRange
 ss1l softupperlim $ss1l_HiRange
 ss1l home 0
 ss1l movecount $move_count
-ss1l part slits.first
-ss1l long_name left
+ss1l part slits
+ss1l long_name first_left

 # Slit 1, up
 Motor ss1u $motor_driver_type [params \
@@ -577,8 +577,8 @@ ss1u softlowerlim $ss1u_LoRange
 ss1u softupperlim $ss1u_HiRange
 ss1u home 0
 ss1u movecount $move_count
-ss1u part slits.first
-ss1u long_name top
+ss1u part slits
+ss1u long_name first_top

 # Slit 1, down
 Motor ss1d $motor_driver_type [params \
@@ -596,8 +596,8 @@ ss1d softlowerlim $ss1d_LoRange
 ss1d softupperlim $ss1d_HiRange
 ss1d home 0
 ss1d movecount $move_count
-ss1d part slits.first
-ss1d long_name bottom
+ss1d part slits
+ss1d long_name first_bottom

 ############################
 # Motor Controller 4
@@ -650,8 +650,8 @@ ss2r softlowerlim $ss2r_LoRange
 ss2r softupperlim $ss2r_HiRange
 ss2r home 0
 ss2r movecount $move_count
-ss2r part slits.second
-ss2r long_name right
+ss2r part slits
+ss2r long_name second_right

 # Slit 2, left
 Motor ss2l $motor_driver_type [params \
@@ -669,8 +669,8 @@ ss2l softlowerlim $ss2l_LoRange
 ss2l softupperlim $ss2l_HiRange
 ss2l home 0
 ss2l movecount $move_count
-ss2l part slits.second
-ss2l long_name left
+ss2l part slits
+ss2l long_name second_left

 # Slit 2, up
 Motor ss2u $motor_driver_type [params \
@@ -688,8 +688,8 @@ ss2u softlowerlim $ss2u_LoRange
 ss2u softupperlim $ss2u_HiRange
 ss2u home 0
 ss2u movecount $move_count
-ss2u part slits.second
-ss2u long_name top
+ss2u part slits
+ss2u long_name second_top

 # Slit 2, down
 Motor ss2d $motor_driver_type [params \
@@ -707,8 +707,8 @@ ss2d softlowerlim $ss2d_LoRange
 ss2d softupperlim $ss2d_HiRange
 ss2d home 0
 ss2d movecount $move_count
-ss2d part slits.second
-ss2d long_name bottom
+ss2d part slits
+ss2d long_name second_bottom

 # Virtual and Simulated Motors
 # ----------------------------
--- a/site_ansto/instrument/hrpd/echidna_configuration.tcl
+++ b/site_ansto/instrument/hrpd/echidna_configuration.tcl
@@ -1,3 +1,4 @@
+
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)

 # Required by server_config.tcl 
@@ -35,16 +36,29 @@ fileeval $cfPath(anticollider)/anticollider.tcl
 fileeval $cfPath(environment)/robby_configuration.tcl
 source gumxml.tcl

-# Old Lakeshore340 driver (c-code)
 # ::environment::temperature::add_ls340 tc1 1
-# ::environment::temperature::add_ls340 tc2 2
-#
-# New sct Lakeshore340 driver (in tcl)
-# ::environment::temperature::add_ls340t tc1 1
-# ::environment::temperature::add_ls340t tc2 2
+###::environment::temperature::add_ls340 tc2 1

-# ::environment::temperature::add_west400 137.157.201.14
-::robot::add_robby
+##
+# New lakeshore driver. BETA status. Data saving not tested
+#add_ls340t tc1 ca5-[instname] 4001
+#add_ls340t tc2 ca5-[instname] 4002
+
+# New Lakeshore series driver for models 340 and 336
+# driverName shortName  IP-address portOnMoxa temperatureTolerance1 Tolerance2 LakeshoreModel
+# ffr 2009-11-11: NOTE I've added a line terminator argument to the ls3xx setup.
+#                 You need to set the line termintator to either "\r\n" for CRLF or "\r" for CR 
+# axm 2010-02-10: NOTE the ls3xx driver versions 2010-01-25 and newer expect 2 tolerance values, 
+#                 one for each control loop.
+#            name   IP-address  port  term  tol1 tol2 LakeshoreModel 
+#   add_ls3xx tc1 137.157.201.23 7777 "\r\n" 2.0  10.0 336
+
+###add_ls3xx tc1 137.157.201.23 7777 "\r\n" 5.0 336
+#add_ls3xx tc1 ca5-[instname] 4001 "\r\n" 0.5 340
+#add_ls3xx tc2 ca5-[instname] 4001 "\r" 0.5 340
+
+::environment::temperature::add_west400 137.157.201.14
+###::robot::add_robby
 server_init
 ###########################################
 # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
--- a/site_ansto/instrument/reflectometer/config/commands/commands.tcl
+++ b/site_ansto/instrument/reflectometer/config/commands/commands.tcl
@@ -36,7 +36,7 @@ namespace eval exp_mode {
    #4=Single
    variable c1ht_pos
    set valid_modes [list SB DB FOC MT POL]
-    set c1ht_pos [list 1057 806.7 557.1 200 0.1]
+    set c1ht_pos [list 1057 806.7 557.1 320 68.9]
    
    command set_mode "text=[join $valid_modes ,] arg " {		;#need to change all softzero's
 	global ::exp_mode::valid_modes 
@@ -64,8 +64,21 @@ namespace eval exp_mode {
 #   the following line does the job.  However, it is duplicated when the mode is set in 
 #   set_omega, so it is commented out for now.
 #	drive ss1u 0 ss1d 0 ss2u 0 ss2d 0 ss3u 0 ss3d 0 ss4u 0 ss4d 0 
-	if {[catch {::exp_mode::set_omega $arg1} errMsg]} {return -code error $errMsg}
-        if {[catch {::exp_mode::set_two_theta $arg2} errMsg]} {return -code error $errMsg}
+#	if {[catch {::exp_mode::set_omega $arg1} errMsg]} {return -code error $errMsg}
+#       if {[catch {::exp_mode::set_two_theta $arg2} errMsg]} {return -code error $errMsg}
+
+        omega $arg1
+        twotheta $arg2
+	
+	if {[catch {
+	    ::exp_mode::set_omega $arg1
+            ::exp_mode::set_two_theta $arg2
+	} errMsg ] } {
+            omega -1
+            twotheta -1 
+            return -code error $errMsg
+        }
+
        return -code ok
    }

@@ -114,6 +127,7 @@ proc ::exp_mode::set_omega { arg } {

    switch $expmode {
      SB {					;#checked ARJN on 081231
+          drive st4vt 0
          if {[catch {::exp_mode::checkMotionAndDrive m1ro [expr -1.*$arg/2.]} errMsg]} {return -code error $errMsg}

          set d1 [expr [SplitReply [slit3_distance]] - [SplitReply [guide1_distance]]]
@@ -148,23 +162,37 @@ proc ::exp_mode::set_omega { arg } {
          if { [catch {checkMotionAndDrive sz $h2} errMsg]} {return -code error $errMsg}
      }
      FOC {
-        if { [catch {checkMotionAndDrive sth $arg} errMsg]}	{return -code error $errMsg}
-        if {[catch {checkMotionAndDrive st3vt 0} errMsg]} {return -code error $errMsg}
+        if { [catch {
+	    checkMotion sth $arg
+            checkMotion st3vt 0
+        } errMsg ] } {
+            return -code error $errMsg
+        }
+        run sth $arg st3vt 0
      }
      MT {
-        if {[catch {checkMotionAndDrive st3vt 0} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive sth $arg} errMsg]}	{return -code error $errMsg}
+        if { [catch {
+	    checkMotion sth $arg
+            checkMotion st3vt 0
+        } errMsg ] } {
+            return -code error $errMsg
+        }
+        run sth $arg st3vt 0
      }
      POL {
-        if {[catch {checkMotionAndDrive st3vt 0} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive sth $arg} errMsg]}	{return -code error $errMsg}
+        if { [catch {
+	    checkMotion sth $arg
+            checkMotion st3vt 0
+        } errMsg ] } {
+            return -code error $errMsg
+        }
+        run sth $arg st3vt 0
      }
      default {
        return -code error "omega driving not specified for that mode"	
      }
    }

-  omega $arg
    return -code ok
 }
 publish ::exp_mode::set_omega user
@@ -236,8 +264,13 @@ proc ::exp_mode::set_two_theta { arg } {
          set h1 [expr $d1 * tan($argrad)]
          set h2 [expr $d2 * tan($argrad)]
          if { [catch {isszst4vtsafe st4vt $h2} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive st4vt $h2} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
+          if  { [catch {
+	      checkMotion st4vt $h2
+              checkMotion dz $h1
+          }  errMsg]} {
+              return -code error $errMsg
+          }          
+          run st4vt $h2 dz $h1
      }
      MT {
          set d1 [SplitReply [dy]]
@@ -245,8 +278,13 @@ proc ::exp_mode::set_two_theta { arg } {
          set h1 [expr $d1 * tan($argrad)]
          set h2 [expr $d2 * tan($argrad)]
          if { [catch {isszst4vtsafe st4vt $h2} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive st4vt $h2} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
+          if  { [catch {
+	      checkMotion st4vt $h2
+              checkMotion dz $h1
+          }  errMsg ] } {
+              return -code error $errMsg
+          }          
+          run st4vt $h2 dz $h1
      }
      POL {
          set d1 [SplitReply [dy]]
@@ -257,17 +295,20 @@ proc ::exp_mode::set_two_theta { arg } {
          set h3 [expr $d3 * tan($argrad)]
          set ang1 [expr $arg + 0.8]
          if { [catch {isszst4vtsafe st4vt $h2} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive st4vt $h2} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive analz $h3} errMsg]} {return -code error $errMsg}
-        if { [catch {checkMotionAndDrive analtilt $ang1} errMsg]} {return -code error $errMsg}
-
+          if  { [catch {
+	      checkMotion st4vt $h2
+              checkMotion dz $h1
+              checkMotion analz $h3
+              checkMotion analtilit $ang1
+          }  errMsg ] } {
+              return -code error $errMsg
+          }          
+          run st4vt $h2 dz $h1 analz $h3 analtilit $ang1
      }
      default {
          return -code error "two_theta not defined for that mode: $expmode"
      }
    }
-  twotheta $arg
    return -code ok
 }
 publish ::exp_mode::set_two_theta user
--- a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
@@ -34,7 +34,8 @@ if {$sim_mode == "true"} {
 #Measured absolute encoder reading at home position

 set bz_home 8142000
-set c1ht_home 8152065
+#set c1ht_home 8152065 - this is wrong, it should be 8265000
+set c1ht_home 8265000
 set m1ro_home 134658
 set bat_home 8308518
 set st3vt_home 5250496
--- a/site_ansto/instrument/reflectometer/config/parameters/parameters.tcl
+++ b/site_ansto/instrument/reflectometer/config/parameters/parameters.tcl
@@ -52,27 +52,31 @@ detector_distance 10000
 detector_base 300
 anal_distance 1808
 anal_base 20
-slit4_distance 5527
+slit4_distance 5331.15
 slit4_base 20
-sample_distance 5129
+sample_distance 5045.4
 sample_base 50
-slit3_distance 4808
+slit3_distance 4744.4
 slit3_base 20
 guide1_distance 2900.4 ;# distance measured to axis of rotation
 guide1_base 
 guide2_distance 3200   ;# distance measured to midpoint of the 2nd compound mirror (i.e. closest to the sample)
 guide2_base
-slit2_distance 1895
+slit2_distance 1909.9
 slit2_base 20
-chopper4_distance 823
+chopper4_distance 808
 chopper4_base 20
-chopper3_distance 370
+chopper4_phase_offset 0.3246
+chopper3_distance 359
 chopper3_base 20
-chopper2_distance 102
+chopper3_phase_offset 0.38500
+chopper2_distance 103
 chopper2_base 20
+chopper2_phase_offset -0.02
 chopper1_distance 0
 chopper1_base 20
-slit1_distance -244
+chopper1_phase_offset -1.857
+slit1_distance -256.1
 slit1_base 20
 mode NONE
 omega -1
--- a/site_ansto/instrument/reflectometer/platypus_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/platypus_configuration.tcl
@@ -38,9 +38,9 @@ source gumxml.tcl
 ::utility::mkVar ::anticollider::protect_detector text manager protect_detector false detector true false
 ::anticollider::protect_detector "true"

-# Driver for Bruker BEC1 power supply (1-Tesla Magnet) - beta
+# Driver for Bruker BEC1 power supply (1-Tesla Magnet)
 # driver   short-name  IP-address  MoxaPort  Tolerance(Amps)
-#add_bruker_BEC1 ma1 137.157.202.145 4003 0.1
+#add_bruker_BEC1 ma1 137.157.202.152 4444 0.1

 server_init
 ###########################################
--- a/site_ansto/instrument/rsd/config/motors/euler_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/euler_configuration.tcl
@@ -4,33 +4,91 @@
 # Home value for Eulerian cradle
 #
 #
+# this is the Huber Eulerian cradle
+#
 set eom_Home 23165406
 set ephi_Home 6647676
 set echi_Home 8919336

+set eom_stepsPerX [expr -25000.0]
+set eom_cntsPerX  [expr   8192.0] 
+
+set ephi_stepsPerX [expr -25000.0/2.0]
+set ephi_cntsPerX  [expr  -8192.0/2.0] 
+
+set echi_stepsPerX [expr  -25000.0/1.0]
+set echi_cntsPerX  [expr  8192.0/1.0] 
+
+
+#
+# this is our own tiny black cradle
+#
+#set eom_Home 23165406
+#set ephi_Home 20947518
+#set echi_Home 24735790
+#
+#set eom_stepsPerX [expr -25000.0]
+#set eom_cntsPerX  [expr   8192.0] 
+#
+#set ephi_stepsPerX [expr -25000.0]
+#set ephi_cntsPerX  [expr   8192.0]
+#
+#set echi_stepsPerX [expr -25000.0]
+#set echi_cntsPerX  [expr   8192.0] 
+
+
 # Sample Tilt 1, euler omega stage -> exchange with ssw further down
+#Motor eom $motor_driver_type [params \
+#  asyncqueue mc4\
+#  axis F\
+#  units degrees\
+#  hardlowerlim -390\
+#  hardupperlim 390\
+#  maxSpeed 1\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX $eom_stepsPerX\
+#  absEnc 1\
+#  absEncHome $eom_Home\
+#  cntsPerX $eom_cntsPer]
+#setHomeandRange -motor eom -home 0 -lowrange -390 -uprange 390
+#eom speed 1
+#eom softlowerlim -390
+#eom softupperlim 390
+#eom movecount $move_count
+#eom precision 0.01
+#eom part sample
+#eom long_name eom
+
+
+#
+# use sample omega until euler omega gets its own cables
+#
+#
+# Sample Omega, rotate
 Motor eom $motor_driver_type [params \
-  asyncqueue mc4\
-  axis F\
+  asyncqueue mc2\
+  axis E\
  units degrees\
-  hardlowerlim -390\
-  hardupperlim 390\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX -25000\
+  hardlowerlim -180\
+  hardupperlim 180\
+  maxSpeed 3\
+  maxAccel 5\
+  maxDecel 5\
+  stepsPerX [expr -25000.0*(383.0/360.0)]\
  absEnc 1\
-  absEncHome $eom_Home\
-  cntsPerX 8192]
-eom speed 1
-eom softlowerlim -390
-eom softupperlim 390
-eom home 0
-eom movecount $move_count
+  absEncHome 26472736\
+  cntsPerX [expr 8192.0*(383.0/360.0)]]
+setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178
+eom Backlash_offset -0.5
+eom speed 2
+eom accel 0.1
+eom decel 0.1
 eom precision 0.01
 eom part sample
 eom long_name eom

+
 # Sample Tilt 2, euler chi stage -> EC1
 Motor echi $motor_driver_type [params \
  asyncqueue mc2\
@@ -38,13 +96,14 @@ Motor echi $motor_driver_type [params \
  units degrees\
  hardlowerlim -390\
  hardupperlim 390\
-  maxSpeed 5\
+  maxSpeed 10\
  maxAccel 3\
  maxDecel 3\
-  stepsPerX [expr -25000 ]\
+  stepsPerX $echi_stepsPerX\
  absEnc 1\
  absEncHome $echi_Home\
-  cntsPerX [expr 8192 ] ]
+  cntsPerX $echi_cntsPerX ]
+setHomeandRange -motor echi -home 0 -lowrange -390 -uprange 390
 echi softlowerlim -10
 echi softupperlim 90
 echi home 0
@@ -61,13 +120,13 @@ Motor ephi $motor_driver_type [params \
  units degrees\
  hardlowerlim -400\
  hardupperlim 400\
-  maxSpeed 3\
+  maxSpeed 10\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX [expr -25000.0/2.0]\
+  stepsPerX $ephi_stepsPerX\
  absEnc 1\
  absEncHome $ephi_Home\
-  cntsPerX [expr -8192.0/2.0]]
+  cntsPerX $ephi_cntsPerX]
 setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
 ephi softlowerlim -400
 ephi softupperlim 400
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -68,7 +68,7 @@ set sz_home 2147456656
 #set sx_Home 9041997
 # value after dismanteling the table
 # parameter sz=419.01 - mtth=79
-set sx_Home 9050918
+set sx_Home 9050281


 #set sy_Home 7230717
@@ -84,7 +84,7 @@ set sx_Home 9050918
 # value after dismanteling the table
 # parameter sz=419.01 - mtth=79
 #set sy_Home 18814870
-set sy_Home 18815280
+set sy_Home 18815689

 # swapped sx with sy after rotation of vertical stage
 set sx_pitch 4.9995324
@@ -116,19 +116,20 @@ set psho_home 7576691
 set psp_home 3977689
 # set home value to be equal to front limit switch 28.01.2009, corr. to 50 mm distance to the stits front edge
 set psp_home 4084134
+set psp_home 4813236

 #set psw_home 2040518
-
 #set psw_home 7784698
-set psw_home 7789698
-
+#set psw_home 7789698
+set psw_home 7785599

 #set ssho_home 500000
 #set ssho_home 7193394
 set ssho_home 6877100
 #set ssp_home 2043085
 #set ssp_home 8701689
-set ssp_home 8701400
+#set ssp_home 8701400
+set ssp_home 9192956

 set move_count 10

@@ -325,7 +326,7 @@ Motor sz $motor_driver_type [params \
  axis A\
  units mm\
  hardlowerlim 0\
-  hardupperlim 460\
+  hardupperlim 500\
  maxSpeed 2\
  maxAccel 1\
  maxDecel 1\
@@ -334,8 +335,8 @@ Motor sz $motor_driver_type [params \
  absenchome $sz_home\
  cntsPerX -[expr (1<<15)/260.165]]
 setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 350
-sz speed 1
-sz softupperlim 460
+sz speed 0.6
+sz softupperlim 500
 sz softlowerlim 0
 sz part sample
 sz backlash_offset -1
@@ -471,7 +472,7 @@ Motor som $motor_driver_type [params \
  axis E\
  units degrees\
  hardlowerlim -180\
-  hardupperlim 185\
+  hardupperlim 180\
  maxSpeed 3\
  maxAccel 5\
  maxDecel 5\
@@ -479,7 +480,7 @@ Motor som $motor_driver_type [params \
  absEnc 1\
  absEncHome $som_Home\
  cntsPerX [expr -8192.0*(383.0/360.0)]]
-setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
+setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178
 som Backlash_offset -0.5
 som speed 2
 som accel 0.1
@@ -493,7 +494,7 @@ Motor stth $motor_driver_type [params \
  asyncqueue mc2\
  axis F\
  units degrees\
-  hardlowerlim 40\
+  hardlowerlim 30\
  hardupperlim 119.6\
  maxSpeed 0.5\
  maxAccel 0.1\
@@ -502,7 +503,7 @@ Motor stth $motor_driver_type [params \
  absEnc 1\
  absEncHome $stth_Home\
  cntsPerX [expr -8192.0/$stth_pitch]]
-stth softlowerlim 40
+stth softlowerlim 30
 stth softupperlim 119.6
 stth home 0
 stth speed 0.2
@@ -607,7 +608,7 @@ Motor psp $motor_driver_type [params \
  axis B\
  units mm\
  hardlowerlim 0\
-  hardupperlim 150\
+  hardupperlim 280\
  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
@@ -619,7 +620,7 @@ psp speed 4
 psp Backlash_offset -0.3
 psp part slits
 psp long_name primary_psp
-setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
+setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 280

 # Primary Slit, width, 0-30mm
 Motor psw $motor_driver_type [params \
@@ -670,7 +671,7 @@ Motor ssp $motor_driver_type [params \
  axis E\
  units mm\
  hardlowerlim 0\
-  hardupperlim 150\
+  hardupperlim 220\
  maxSpeed 4\
  maxAccel 1\
  maxDecel 1\
@@ -682,7 +683,7 @@ ssp speed 4
 ssp Backlash_offset -0.3  
 ssp part slits
 ssp long_name secondary_ssp
-setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
+setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 220

 # Primary Slit, height, 0-30mm
 #Motor psh $motor_driver_type [params \
--- a/site_ansto/instrument/rsd/config/motors/secondary_slit_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/secondary_slit_configuration.tcl
@@ -1,4 +1,4 @@
-set ssw_home 8220625
+set ssw_home 8216527

 # Secondary Slit, width
 Motor ssw $motor_driver_type [params \
--- a/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/sans/config/motors/motor_configuration.tcl
@@ -3,6 +3,9 @@
 # START MOTOR CONFIGURATION
 ::utility::mkVar FastShutter text manager FastShutter false instrument true false

+# SET TO 1 TO USE THE TILT STAGE ie sample phi and chi
+set use_tiltstage 0
+
 set animal quokka
 set sim_mode [SplitReply [motor_simulation]]

@@ -174,7 +177,7 @@ dummy_motor softlowerlim -500
 dummy_motor softupperlim 500
 dummy_motor home 0

-
+if $use_tiltstage {
 # Sample tilt along beam [-20,+20] degrees
 Motor samchi $motor_driver_type [params \
  asyncqueue mc1\
@@ -218,7 +221,7 @@ samphi long_name sample_phi
 samphi softlowerlim -20
 samphi softupperlim 20
 samphi home 0
-
+}
 # Sample translation across beam [0,1000] mm
 Motor samx $motor_driver_type [params \
  asyncqueue mc1\
@@ -724,25 +727,25 @@ apx softupperlim 5
 apx speed 5

 # Sample aperture y
-Motor apz $motor_driver_type [params \
-  asyncqueue mc3\
-  host mc3-quokka\
-  port pmc3-quokka\
-  axis F\
-  units mm\
-  hardlowerlim -10\
-  hardupperlim 10\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome $apz_Home\
-  cntsPerX -8192]
-apz part collimator
-apz long_name apz
-setHomeandRange -motor apz -home 0 -lowrange 0 -uprange 5
-apz speed 1
+#Motor apz $motor_driver_type [params \
+#  asyncqueue mc3\
+#  host mc3-quokka\
+#  port pmc3-quokka\
+#  axis F\
+#  units mm\
+#  hardlowerlim -10\
+#  hardupperlim 10\
+#  maxSpeed 1\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX 25000\
+#  absEnc 1\
+#  absEncHome $apz_Home\
+#  cntsPerX -8192]
+#apz part collimator
+#apz long_name apz
+#setHomeandRange -motor apz -home 0 -lowrange 0 -uprange 5
+#apz speed 1

 # Rotary attenuator
 set att_factor [expr ((1.0 - (1.0)/360.0)*(3000.0/61.0))/360.0]
--- a/site_ansto/instrument/sans/config/parameters/parameters.tcl
+++ b/site_ansto/instrument/sans/config/parameters/parameters.tcl
@@ -7,8 +7,8 @@
 ##
 # Note EndFacePosY and RotApPosY are surveyed positions
 foreach {var lname type priv units klass} {
-  BeamCenterX      BeamCenterX        float user     mm   parameter
-  BeamCenterZ      BeamCenterZ        float user     mm   parameter
+  BeamCenterX      BeamCenterX        float user     mm   reduce
+  BeamCenterZ      BeamCenterZ        float user     mm   reduce
  BeamStop         BeamStop           int   user     none parameter
  BSdiam           BSdiam             float user     mm   parameter
  EApPosY          EApPosY            float user     mm   parameter