diff --git a/site_ansto/instrument/lyrebird/config/motors/motor_configuration.tcl b/site_ansto/instrument/lyrebird/config/motors/motor_configuration.tcl
index 938974e7..aadde4be 100644
--- a/site_ansto/instrument/lyrebird/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/lyrebird/config/motors/motor_configuration.tcl
@@ -120,9 +120,9 @@ Motor mtilt $motor_driver_type [params \
   units degrees\
   hardlowerlim -5\
   hardupperlim 5\
-  maxSpeed 5000\
-  maxAccel 2048\
-  maxDecel 2048\
+  maxSpeed 1.2207\
+  maxAccel 0.5\
+  maxDecel 0.5\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samchi_Home\
@@ -142,9 +142,9 @@ Motor mtrans $motor_driver_type [params \
   units degrees\
   hardlowerlim -10\
   hardupperlim 195\
-  maxSpeed 20000\
-  maxAccel 2048\
-  maxDecel 2048\
+  maxSpeed 4.8828\
+  maxAccel 0.5\
+  maxDecel 0.5\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samphi_Home\
@@ -165,9 +165,9 @@ Motor m2 $motor_driver_type [params \
   units degrees\
   hardlowerlim -32.5\
   hardupperlim 53\
-  maxSpeed 75000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 9.1553\
+  maxAccel 3.0518\
+  maxDecel 3.0518\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samx_Home\
@@ -187,9 +187,9 @@ Motor a2 $motor_driver_type [params \
   units degrees\
   hardlowerlim -55\
   hardupperlim 55\
-  maxSpeed 100000\
-  maxAccel 32768\
-  maxDecel 32768\
+  maxSpeed 12.2070\
+  maxAccel 4\
+  maxDecel 4\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samy_Home\
@@ -210,9 +210,9 @@ Motor sgu $motor_driver_type [params \
   units degrees\
   hardlowerlim -18\
   hardupperlim 19\
-  maxSpeed 12500\
-  maxAccel 32768\
-  maxDecel 32768\
+  maxSpeed 1.5259\
+  maxAccel 4\
+  maxDecel 4\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samz_Home\
@@ -232,9 +232,9 @@ Motor sgl $motor_driver_type [params \
   units degrees\
   hardlowerlim -18\
   hardupperlim 18\
-  maxSpeed 25000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 3.0518\
+  maxAccel 3.0518\
+  maxDecel 3.0518\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -254,9 +254,9 @@ Motor stu $motor_driver_type [params \
   units degrees\
   hardlowerlim -15\
   hardupperlim 15\
-  maxSpeed 30000\
-  maxAccel 32768\
-  maxDecel 32768\
+  maxSpeed 3.6621\
+  maxAccel 4\
+  maxDecel 4\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -276,9 +276,9 @@ Motor stl $motor_driver_type [params \
   units degrees\
   hardlowerlim -15\
   hardupperlim 15\
-  maxSpeed 30000\
-  maxAccel 32768\
-  maxDecel 32768\
+  maxSpeed 3.6621\
+  maxAccel 4\
+  maxDecel 4\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -298,9 +298,9 @@ Motor s1 $motor_driver_type [params \
   units degrees\
   hardlowerlim -185\
   hardupperlim 124\
-  maxSpeed 25000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 3.0518\
+  maxAccel 3.0518\
+  maxDecel 3.0518\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -320,9 +320,9 @@ Motor s2 $motor_driver_type [params \
   units degrees\
   hardlowerlim -128\
   hardupperlim 3\
-  maxSpeed 100000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 12.2070\
+  maxAccel 3.0518\
+  maxDecel 3.0518\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -342,9 +342,9 @@ Motor ahfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -360\
   hardupperlim 360\
-  maxSpeed 2000\
-  maxAccel 1000\
-  maxDecel 1000\
+  maxSpeed 0.2441\
+  maxAccel 0.1221\
+  maxDecel 0.1221\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -364,9 +364,9 @@ Motor avfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 3.6621\
+  maxAccel 7.3242\
+  maxDecel 7.3242\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -386,9 +386,9 @@ Motor mvfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 240\
-  maxSpeed 25000\
-  maxAccel 8192\
-  maxDecel 4096\
+  maxSpeed 6.1035\
+  maxAccel 2\
+  maxDecel 2\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -408,9 +408,9 @@ Motor mhfocus $motor_driver_type [params \
   units degrees\
   hardlowerlim -180\
   hardupperlim 275\
-  maxSpeed 25000\
-  maxAccel 8192\
-  maxDecel 4096\
+  maxSpeed 6.1035\
+  maxAccel 2\
+  maxDecel 1\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -430,9 +430,9 @@ Motor m1 $motor_driver_type [params \
   units degrees\
   hardlowerlim 5\
   hardupperlim 40\
-  maxSpeed 75000\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 18.3105\
+  maxAccel 6.1035\
+  maxDecel 6.1035\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -452,9 +452,9 @@ Motor atilt $motor_driver_type [params \
   units degrees\
   hardlowerlim -5\
   hardupperlim 5\
-  maxSpeed 100000\
-  maxAccel 32768\
-  maxDecel 32768\
+  maxSpeed 12.2070\
+  maxAccel 4\
+  maxDecel 4\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -474,9 +474,9 @@ Motor atrans $motor_driver_type [params \
   units degrees\
   hardlowerlim -1\
   hardupperlim 22\
-  maxSpeed 100000\
-  maxAccel 32768\
-  maxDecel 32768\
+  maxSpeed 12.2070\
+  maxAccel 4\
+  maxDecel 4\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -496,9 +496,9 @@ Motor a1 $motor_driver_type [params \
   units degrees\
   hardlowerlim -5.1\
   hardupperlim 30\
-  maxSpeed 50000\
-  maxAccel 32768\
-  maxDecel 32768\
+  maxSpeed 6.1035\
+  maxAccel 4\
+  maxDecel 4\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -518,9 +518,9 @@ Motor VS_left $motor_driver_type [params \
   units mm\
   hardlowerlim 2\
   hardupperlim 35\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 1.5259\
+  maxAccel 3.0518\
+  maxDecel 3.0518\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -540,9 +540,9 @@ Motor VS_right $motor_driver_type [params \
   units mm\
   hardlowerlim -35\
   hardupperlim -2\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 1.5259\
+  maxAccel 3.0518\
+  maxDecel 3.0518\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -562,9 +562,9 @@ Motor mfilter $motor_driver_type [params \
   units degrees\
   hardlowerlim 0\
   hardupperlim 360\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 3.6621\
+  maxAccel 7.3242\
+  maxDecel 7.3242\
   stepsPerX 8192\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -584,9 +584,9 @@ Motor collimator $motor_driver_type [params \
   units mm\
   hardlowerlim -112\
   hardupperlim 112\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
+  maxSpeed 3.0518\
+  maxAccel 6.1035\
+  maxDecel 6.1035\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -606,9 +606,9 @@ Motor ps_right $motor_driver_type [params \
   units mm\
   hardlowerlim -27\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -628,9 +628,9 @@ Motor ps_left $motor_driver_type [params \
   units mm\
   hardlowerlim -27\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -650,9 +650,9 @@ Motor ps_top $motor_driver_type [params \
   units mm\
   hardlowerlim -200\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -672,9 +672,9 @@ Motor ps_bottom $motor_driver_type [params \
   units mm\
   hardlowerlim -200\
   hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -694,9 +694,9 @@ Motor pa_right $motor_driver_type [params \
   units mm\
   hardlowerlim -26\
   hardupperlim 2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -716,9 +716,9 @@ Motor pa_left $motor_driver_type [params \
   units mm\
   hardlowerlim -26\
   hardupperlim 2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -738,9 +738,9 @@ Motor pa_top $motor_driver_type [params \
   units mm\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\
@@ -760,9 +760,9 @@ Motor pa_bottom $motor_driver_type [params \
   units mm\
   hardlowerlim -200\
   hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
+  maxSpeed 7.3242\
+  maxAccel 14.6484\
+  maxDecel 14.6484\
   stepsPerX 4096\
   absEnc 1\
   absEncHome $samthet_Home\