diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
index 2203f7a2..7cce941a 100644
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -33,26 +33,46 @@ if {$sim_mode == "true"} {
   MakeAsyncQueue mc5 DMC2280 $dmc2280_controller5(host) $dmc2280_controller5(port)
 }
 
+
+# Computed Monochromator step rates (steps per degree) of focusing and Rotation
+# Rotate rate  25000 steps * 8:1 gears = 200000
+set monoRotateStepRate 200000
+# Focusing rate 25000 steps * 6:1 gears = 150000
+set monoFocusStepRate  150000   
+# Rotation stage raTE 25000 steps * 120:1 gears = 3000000 
+set monoRotationStateStepRate 3000000
+
 #Measured absolute encoder reading at home position
-set samchi_Home 7808328
-set samphi_Home 7675008
-set samx_Home 7420441
-set samy_Home 7101486
-set samz_Home 9944901
-set samthet_Home 23004075
-set det_Home 7055209
-set detoff_Home 6857213
+set dummy_Home    0
 
-set srce_Home 7281463
-set apx_Home 12965422
-set apz_Home 7500000
-set att_Home 24782942
+set ftz_Home      0
+set ptz_Home      0
+set pom_Home      0
+set stth_Home     0
+set mtth_Home     0
 
+set sv1_Home      0 
+set sh1_Home      0
+set sv2_Home      0
+set sh2_Home      0
+set gom_Home      0
+set scor_Home     0
 
+set mra_Home      0
+set moma_Home     0
+set mrb_Home      0
+set momb_Home     0
+set mrc_Home      0
+set momc_Home     0
+
+set mphi_Home     0
+set nchi_Home     0
+set mx_Home       0
+set my_Home       0
+set mom_Home      0
+
+set bsr_Home      0
 
-#Measured or computed step/count rates for collimator translation
-set coll_StepsPerX [expr -25000.0/6.0]
-set coll_CntsPerX [expr 8192.0/6.0]
 
 # set movecount high to reduce the frequency of
 # hnotify messages to a reasonable level
@@ -71,7 +91,7 @@ Motor dummy_motor asim [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
-  axis C\
+  axis A\
   units mm\
   hardlowerlim -500\
   hardupperlim 500\
@@ -80,7 +100,7 @@ Motor dummy_motor asim [params \
   maxDecel 5\
   stepsPerX [expr 25000.0/5.0]\
   absEnc 1\
-  absEncHome $samx_Home\
+  absEncHome $dummy_Home\
   cntsPerX [expr 8192.0/5.0]]
 dummy_motor part instrument
 dummy_motor long_name dummy_motor
@@ -89,96 +109,116 @@ dummy_motor softupperlim 500
 dummy_motor home 0
 
 #if $use_tiltstage {
-# mc1: Monochromator crystal selection rotation/Tilt
-Motor mtilt $motor_driver_type [params \
+# mc1: Beryllium / Graphite filter  shared - Z translation slide
+Motor ftz $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
-  axis A\
-  units degrees\
-  hardlowerlim -5\
-  hardupperlim 5\
+  axis C\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 500\
   maxSpeed 5000\
   maxAccel 2048\
   maxDecel 2048\
   stepsPerX 4096\
   absEnc 1\
-  absEncHome $samchi_Home\
+  absEncHome $ftz_Home\
   cntsPerX 4096]
-mtilt part sample
-mtilt long_name mtilt
-mtilt softlowerlim -5
-mtilt softupperlim 5
-mtilt home 0
+ftz part crystal
+ftz long_name ftz
+ftz softlowerlim 0
+ftz softupperlim 500
+ftz home 0
 #}
 
-set atest mtilt
-
-# mc1: Monochromator Linear (Translate)
-Motor mtrans $motor_driver_type [params \
+# mc1: Polariser & Spin Flipper - Z translation slide
+Motor ptz $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
-  axis B\
-  units degrees\
-  hardlowerlim -10\
-  hardupperlim 195\
+  axis D\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 500\
   maxSpeed 20000\
   maxAccel 2048\
   maxDecel 2048\
   stepsPerX 4096\
   absEnc 1\
-  absEncHome $samphi_Home\
+  absEncHome $ptz_Home\
   cntsPerX 4096]
-mtrans part sample
-mtrans long_name mtrans
-mtrans softlowerlim -10
-mtrans softupperlim 195
-mtrans home 0
+ptz part crystal
+ptz long_name ptz
+ptz softlowerlim 0
+ptz softupperlim 500
+ptz home 0
 
-# mc1: Fight Tube Rotate
-Motor m2 $motor_driver_type [params \
+# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
+Motor pom $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
-  axis F\
+  axis E\
   units degrees\
-  hardlowerlim -32.5\
-  hardupperlim 53\
+  hardlowerlim 0\
+  hardupperlim 2\
   maxSpeed 75000\
   maxAccel 25000\
   maxDecel 25000\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samx_Home\
+  absEncHome $pom_Home\
   cntsPerX 4096]
-m2 part sample
-m2 long_name m2
-m2 softlowerlim -32.5
-m2 softupperlim 53
-m2 home 0
+pom part crystal
+pom long_name pom
+pom softlowerlim 0
+pom softupperlim 2
+pom home 0
 
-# mc1: Detector Rotate
-Motor a2 $motor_driver_type [params \
+# mc1: Sample/Detector Chamber Rotation (Detector)
+Motor stth $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
-  axis H\
+  axis F\
   units degrees\
-  hardlowerlim -55\
-  hardupperlim 55\
+  hardlowerlim -125\
+  hardupperlim 8\
+  maxSpeed 75000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $stth_Home\
+  cntsPerX 4096]
+stth part detector
+stth long_name stth
+stth softlowerlim -125
+stth softupperlim 8
+stth home 0
+
+# mc1: Instrument Drive System (Main Drive)
+Motor mtth $motor_driver_type [params \
+  asyncqueue mc1\
+  host mc1-pelican\
+  port pmc1-pelican\
+  axis G\
+  units mm\
+  hardlowerlim 40\
+  hardupperlim 140\
   maxSpeed 100000\
   maxAccel 32768\
   maxDecel 32768\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samy_Home\
+  absEncHome $mtth_Home\
   cntsPerX 4096]
-a2 part sample
-a2 long_name a2
-a2 softlowerlim -55
-a2 softupperlim 55
-a2 home 0
+mtth part detector
+mtth long_name mtth
+mtth softlowerlim 40
+mtth softupperlim 140
+mtth home 0
 
 
 ############################
@@ -188,250 +228,287 @@ a2 home 0
 ############################
 # 
 
-# mc2: Sample Tilt 1
-Motor sgu $motor_driver_type [params \
+# mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
+Motor sv1 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis A\
-  units degrees\
-  hardlowerlim -18\
-  hardupperlim 19\
+  units mm\
+  hardlowerlim -2\
+  hardupperlim 60\
   maxSpeed 12500\
   maxAccel 32768\
   maxDecel 32768\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samz_Home\
+  absEncHome $sv1_Home\
   cntsPerX 4096]
-sgu part sample
-sgu long_name sgu
-sgu softlowerlim -18
-sgu softupperlim 19
-sgu home 0
+sv1 part aperture
+sv1 long_name sv1
+sv1 softlowerlim -2
+sv1 softupperlim 60
+sv1 home 0
 
-# mc2: Sample Tilt 2
-Motor sgl $motor_driver_type [params \
+# mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
+Motor sh1 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis B\
-  units degrees\
-  hardlowerlim -18\
-  hardupperlim 18\
+  units mm\
+  hardlowerlim -2\
+  hardupperlim 50\
   maxSpeed 25000\
   maxAccel 25000\
   maxDecel 25000\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $sh1_Home\
   cntsPerX 4096]
-sgl part sample
-sgl long_name sgl
-sgl softlowerlim -18
-sgl softupperlim 18
-sgl home 0
+sh1 part aperture
+sh1 long_name sh1
+sh1 softlowerlim -2
+sh1 softupperlim 50
+sh1 home 0
 
-# mc2: Sample Up Tanslation
-Motor stu $motor_driver_type [params \
+# mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
+Motor sv2 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis C\
-  units degrees\
-  hardlowerlim -15\
-  hardupperlim 15\
+  units mm\
+  hardlowerlim -2\
+  hardupperlim 40\
   maxSpeed 30000\
   maxAccel 32768\
   maxDecel 32768\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $sv2_Home\
   cntsPerX 4096]
-stu part sample
-stu long_name stu
-stu softlowerlim -15
-stu softupperlim 15
-stu home 0
+sv2 part aperture
+sv2 long_name sv2
+sv2 softlowerlim -2
+sv2 softupperlim 40
+sv2 home 0
 
-# mc2: Sample Lower Tanslation
-Motor stl $motor_driver_type [params \
+# mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
+Motor sh2 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis D\
-  units degrees\
-  hardlowerlim -15\
-  hardupperlim 15\
+  units mm\
+  hardlowerlim -2\
+  hardupperlim 30\
   maxSpeed 30000\
   maxAccel 32768\
   maxDecel 32768\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $sh2_Home\
   cntsPerX 4096]
-stl part sample
-stl long_name stl
-stl softlowerlim -15
-stl softupperlim 15
-stl home 0
+sh2 part aperture
+sh2 long_name sh2
+sh2 softlowerlim -2
+sh2 softupperlim 30
+sh2 home 0
 
-# mc2: Sample Rotate
-Motor s1 $motor_driver_type [params \
+# mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
+Motor gom $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis E\
   units degrees\
-  hardlowerlim -185\
-  hardupperlim 124\
+  hardlowerlim 0\
+  hardupperlim 15\
   maxSpeed 25000\
   maxAccel 25000\
   maxDecel 25000\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $gom_Home\
   cntsPerX 4096]
-s1 part sample
-s1 long_name s1
-s1 softlowerlim -185
-s1 softupperlim 124
-s1 home 0
+gom part sample
+gom long_name gom
+gom softlowerlim 0
+gom softupperlim 15
+gom home 0
 
-# mc2: Analyser Detector Rotate -- Sample Scattering Angle
-Motor s2 $motor_driver_type [params \
+# mc2: Sample rotation correction - 10 deg rotation
+Motor scor $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis F\
   units degrees\
-  hardlowerlim -128\
-  hardupperlim 3\
+  hardlowerlim 0\
+  hardupperlim 360\
   maxSpeed 100000\
   maxAccel 25000\
   maxDecel 25000\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $scor_Home\
   cntsPerX 4096]
-s2 part sample
-s2 long_name s2
-s2 softlowerlim -128
-s2 softupperlim 3
-s2 home 0
+scor part sample
+scor long_name scor
+scor softlowerlim 0
+scor softupperlim 360
+scor home 0
 
-# mc2: Analyser Horizontal Focus
-Motor ahfocus $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-pelican\
-  port pmc2-pelican\
-  axis G\
-  units degrees\
-  hardlowerlim -360\
-  hardupperlim 360\
-  maxSpeed 2000\
-  maxAccel 1000\
-  maxDecel 1000\
-  stepsPerX 8192\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-ahfocus part sample
-ahfocus long_name ahfocus
-ahfocus softlowerlim -360
-ahfocus softupperlim 360
-ahfocus home 0
+############################
+# Motor Controller 3
+# Motor Controller 3
+# Motor Controller 3
+############################
+# 
 
-# mc2: Analyser Vertical Focus
-Motor avfocus $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-pelican\
-  port pmc2-pelican\
-  axis H\
-  units degrees\
-  hardlowerlim -200\
-  hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 8192\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-avfocus part sample
-avfocus long_name avfocus
-avfocus softlowerlim -200
-avfocus softupperlim 0
-avfocus home 0
-
-# mc3: Monochromator Vertical Focus
-Motor mvfocus $motor_driver_type [params \
+# mc3: Monochromator Focusing 1 - Focus 
+Motor mra $motor_driver_type [params \
   asyncqueue mc3\
   host mc3-pelican\
   port pmc3-pelican\
   axis A\
   units degrees\
   hardlowerlim 0\
-  hardupperlim 240\
+  hardupperlim 5\
   maxSpeed 25000\
   maxAccel 8192\
   maxDecel 4096\
-  stepsPerX 4096\
+  stepsPerX $monoFocusStepRate\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $mra_Home\
   cntsPerX 4096]
-mvfocus part sample
-mvfocus long_name mvfocus
-mvfocus softlowerlim 0
-mvfocus softupperlim 240
-mvfocus home 0
+mra part crystal 
+mra long_name mra
+mra softlowerlim 0
+mra softupperlim 5
+mra home 0
 
-# mc3: Monochromator Horizontal Focus
-Motor mhfocus $motor_driver_type [params \
+# mc3: Monochromator Focusing 1 - Rotation
+Motor moma $motor_driver_type [params \
   asyncqueue mc3\
   host mc3-pelican\
   port pmc3-pelican\
   axis B\
   units degrees\
-  hardlowerlim -180\
-  hardupperlim 275\
+  hardlowerlim 0\
+  hardupperlim 70\
   maxSpeed 25000\
   maxAccel 8192\
   maxDecel 4096\
-  stepsPerX 4096\
+  stepsPerX $monoRotateStepRate\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $moma_Home\
   cntsPerX 4096]
-mhfocus part sample
-mhfocus long_name mhfocus
-mhfocus softlowerlim 0
-mhfocus softupperlim 240
-mhfocus home 0
+moma part crystal
+moma long_name moma
+moma softlowerlim 0
+moma softupperlim 70
+moma home 20
 
-# mc3: Monochromator Rotate
-Motor m1 $motor_driver_type [params \
+# mc3: Monochromator Focusing 2 - Focus
+Motor mrb $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-pelican\
+  port pmc3-pelican\
+  axis C\
+  units degrees\
+  hardlowerlim 0\
+  hardupperlim 5\
+  maxSpeed 75000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX $monoFocusStepRate\
+  absEnc 1\
+  absEncHome $mrb_Home\
+  cntsPerX 4096]
+mrb part crystal
+mrb long_name mrb
+mrb softlowerlim 0
+mrb softupperlim 5
+mrb home 0
+
+# mc3: Monochromator Focusing 2 - Rotation
+Motor momb $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-pelican\
+  port pmc3-pelican\
+  axis D\
+  units degree\
+  hardlowerlim 0\
+  hardupperlim 70\
+  maxSpeed 75000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX $monoRotateStepRate\
+  absEnc 1\
+  absEncHome $momb_Home\
+  cntsPerX 4096]
+momb part crystal
+momb long_name momb
+momb softlowerlim 0
+momb softupperlim 70
+momb home 0
+
+# mc3: Monochromator Focusing 3 - Focus
+Motor mrc $motor_driver_type [params \
   asyncqueue mc3\
   host mc3-pelican\
   port pmc3-pelican\
   axis E\
   units degrees\
-  hardlowerlim 5\
-  hardupperlim 40\
+  hardlowerlim 0\
+  hardupperlim 5\
   maxSpeed 75000\
   maxAccel 25000\
   maxDecel 25000\
-  stepsPerX 4096\
+  stepsPerX $monoFocusStepRate\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $mrc_Home\
   cntsPerX 4096]
-m1 part sample
-m1 long_name m1
-m1 softlowerlim 5
-m1 softupperlim 40
-m1 home 0
+mrc part crystal
+mrc long_name mrc
+mrc softlowerlim 0
+mrc softupperlim 5
+mrc home 0
 
-# mc4: Analyzer Tilt 1 -- Two-theta Angle
-Motor atilt $motor_driver_type [params \
+# mc3: Monochromator Focusing 3 - Rotation
+Motor momc $motor_driver_type [params \
+  asyncqueue mc3\
+  host mc3-pelican\
+  port pmc3-pelican\
+  axis D\
+  units degree\
+  hardlowerlim 0\
+  hardupperlim 70\
+  maxSpeed 75000\
+  maxAccel 25000\
+  maxDecel 25000\
+  stepsPerX $monoRotateStepRate\
+  absEnc 1\
+  absEncHome $momc_Home\
+  cntsPerX 4096]
+momc part crystal
+momc long_name momc
+momc softlowerlim 0
+momc softupperlim 70
+momc home 0
+
+
+############################
+# Motor Controller 4
+# Motor Controller 4
+# Motor Controller 4
+############################
+# 
+
+# mc4: Monochromator crystal stages tilt stage - G270
+Motor mphi $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-pelican\
   port pmc4-pelican\
@@ -444,321 +521,132 @@ Motor atilt $motor_driver_type [params \
   maxDecel 32768\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $mphi_Home\
   cntsPerX 4096]
-atilt part sample
-atilt long_name atilt
-atilt softlowerlim -5
-atilt softupperlim 5
-atilt home 0
+mphi part crystal 
+mphi long_name mphi
+mphi softlowerlim -5
+mphi softupperlim 5
+mphi home 0
 
-# mc4: Analyzer Translate
-Motor atrans $motor_driver_type [params \
+# mc4: Monochromator crystal stages tilt stage - G350
+Motor nchi $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-pelican\
   port pmc4-pelican\
-  axis C\
+  axis B\
   units degrees\
-  hardlowerlim -1\
-  hardupperlim 22\
+  hardlowerlim -5\
+  hardupperlim 5\
   maxSpeed 100000\
   maxAccel 32768\
   maxDecel 32768\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $nchi_Home\
   cntsPerX 4096]
-atrans part sample
-atrans long_name atrans
-atrans softlowerlim -1
-atrans softupperlim 22
-atrans home 0
+nchi part crystal
+nchi long_name nchi
+nchi softlowerlim -5
+nchi softupperlim 5
+nchi home 0
 
-# mc4: Analyzer Rotate
-Motor a1 $motor_driver_type [params \
+# mc4: Monochromator crystal stages Linear stage X - T250
+Motor mx $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-pelican\
   port pmc4-pelican\
-  axis D\
-  units degrees\
-  hardlowerlim -5.1\
-  hardupperlim 30\
-  maxSpeed 50000\
+  axis C\
+  units mm\
+  hardlowerlim -5\
+  hardupperlim 5\
+  maxSpeed 100000\
   maxAccel 32768\
   maxDecel 32768\
   stepsPerX 8192\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $mx_Home\
   cntsPerX 4096]
-a1 part sample
-a1 long_name a1
-a1 softlowerlim -5.1
-a1 softupperlim 30
-a1 home 0
+mx part crystal
+mx long_name mx
+mx softlowerlim -5
+mx softupperlim 5
+mx home 0
 
-# mc4: Virtural Source Left Translation
-Motor VS_left $motor_driver_type [params \
+# mc4: Monochromator crystal stages Linear stage Y - T250
+Motor my $motor_driver_type [params \
+  asyncqueue mc4\
+  host mc4-pelican\
+  port pmc4-pelican\
+  axis D\
+  units mm\
+  hardlowerlim -50\
+  hardupperlim 50\
+  maxSpeed 100000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX 8192\
+  absEnc 1\
+  absEncHome $my_Home\
+  cntsPerX 4096]
+mx part crystal
+mx long_name my
+mx softlowerlim -50
+mx softupperlim 50
+mx home 0
+
+# mc4: Monochromator crystal stages  Rotation stage - R275 
+Motor mom $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-pelican\
   port pmc4-pelican\
   axis E\
-  units mm\
-  hardlowerlim 2\
-  hardupperlim 35\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
-  stepsPerX 8192\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-VS_left part sample
-VS_left long_name VS_left
-VS_left softlowerlim 2
-VS_left softupperlim 35
-VS_left home 0
-
-# mc4: Virtural Source Right Translation
-Motor VS_right $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-pelican\
-  port pmc4-pelican\
-  axis F\
-  units mm\
-  hardlowerlim -35\
-  hardupperlim -2\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
-  stepsPerX 8192\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-VS_right part sample
-VS_right long_name VS_right
-VS_right softlowerlim -35
-VS_right softupperlim -2
-VS_right home 0
-
-# mc4: Filter Rotate
-Motor mfilter $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-pelican\
-  port pmc4-pelican\
-  axis G\
   units degrees\
-  hardlowerlim 0\
-  hardupperlim 360\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 8192\
+  hardlowerlim 20\
+  hardupperlim 70\
+  maxSpeed 50000\
+  maxAccel 32768\
+  maxDecel 32768\
+  stepsPerX $monoRotationStateStepRate\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $mom_Home\
   cntsPerX 4096]
-mfilter part sample
-mfilter long_name mfilter
-mfilter softlowerlim 0
-mfilter softupperlim 360
-mfilter home 0
+mom part crystal
+mom long_name mom
+mom softlowerlim 20
+mom softupperlim 70
+mom home 0
 
-# mc4: Primary collimator Translate
-Motor collimator $motor_driver_type [params \
-  asyncqueue mc4\
-  host mc4-pelican\
-  port pmc4-pelican\
-  axis H\
-  units mm\
-  hardlowerlim -112\
-  hardupperlim 112\
-  maxSpeed 12500\
-  maxAccel 25000\
-  maxDecel 25000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-mfilter part sample
-mfilter long_name collimator
-mfilter softlowerlim -112
-mfilter softupperlim 112
-mfilter home 0
 
-# mc5: Pre-sample right aperture -- Slit s1 right Blade
-Motor ps_right $motor_driver_type [params \
-  asyncqueue mc5\
-  host mc5-pelican\
-  port pmc5-pelican\
-  axis A\
-  units mm\
-  hardlowerlim -27\
-  hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-ps_right part sample
-ps_right long_name ps_right
-ps_right softlowerlim -27
-ps_right softupperlim -2
-ps_right home 0
+############################
+# Motor Controller 5
+# Motor Controller 5
+# Motor Controller 5
+############################
+# 
 
-# mc5: Pre-sample left aperture -- Slit s1 left Blade
-Motor ps_left $motor_driver_type [params \
-  asyncqueue mc5\
-  host mc5-pelican\
-  port pmc5-pelican\
-  axis B\
-  units mm\
-  hardlowerlim -27\
-  hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-ps_left part sample
-ps_left long_name ps_left
-ps_left softlowerlim -27
-ps_left softupperlim -2
-ps_left home 0
-
-# mc5: Pre-sample top aperture -- Slit s1 top Blade
-Motor ps_top $motor_driver_type [params \
+# mc5: Beam Stop Stage - Rotation
+Motor bsr $motor_driver_type [params \
   asyncqueue mc5\
   host mc5-pelican\
   port pmc5-pelican\
   axis C\
-  units mm\
-  hardlowerlim -200\
-  hardupperlim -2\
+  units degrees\
+  hardlowerlim 0\
+  hardupperlim 180\
   maxSpeed 30000\
   maxAccel 60000\
   maxDecel 60000\
   stepsPerX 4096\
   absEnc 1\
-  absEncHome $samthet_Home\
+  absEncHome $bsr_Home\
   cntsPerX 4096]
-ps_top part sample
-ps_top long_name ps_top
-ps_top softlowerlim -200
-ps_top softupperlim -2
-ps_top home 0
+bsr part sample
+bsr long_name bsr
+bsr softlowerlim 0
+bsr softupperlim 180
+bsr home 0
 
-# mc5: Pre-sample bottom aperture -- Slit s1 bottom Blade
-Motor ps_bottom $motor_driver_type [params \
-  asyncqueue mc5\
-  host mc5-pelican\
-  port pmc5-pelican\
-  axis D\
-  units mm\
-  hardlowerlim -200\
-  hardupperlim -2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-ps_bottom part sample
-ps_bottom long_name ps_bottom
-ps_bottom softlowerlim -200
-ps_bottom softupperlim -2
-ps_bottom home 0
-
-# mc5: Pre-sample right aperture -- Slit s2 right Blade
-Motor pa_right $motor_driver_type [params \
-  asyncqueue mc5\
-  host mc5-pelican\
-  port pmc5-pelican\
-  axis E\
-  units mm\
-  hardlowerlim -26\
-  hardupperlim 2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-pa_right part sample
-pa_right long_name pa_right
-pa_right softlowerlim -26
-pa_right softupperlim 2
-pa_right home 0
-
-# mc5: Pre-sample left aperture -- Slit s2 left Blade
-Motor pa_left $motor_driver_type [params \
-  asyncqueue mc5\
-  host mc5-pelican\
-  port pmc5-pelican\
-  axis F\
-  units mm\
-  hardlowerlim -26\
-  hardupperlim 2\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-pa_left part sample
-pa_left long_name pa_left
-pa_left softlowerlim -26
-pa_left softupperlim 2
-pa_left home 0
-
-# mc5: Pre-sample top aperture -- Slit s2 top Blade
-Motor pa_top $motor_driver_type [params \
-  asyncqueue mc5\
-  host mc5-pelican\
-  port pmc5-pelican\
-  axis G\
-  units mm\
-  hardlowerlim -200\
-  hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-pa_left part sample
-pa_left long_name pa_top
-pa_left softlowerlim -200
-pa_left softupperlim 0   
-pa_left home 0
-
-# mc5: Pre-sample bottom aperture -- Slit s2 bottom Blade
-Motor pa_bottom $motor_driver_type [params \
-  asyncqueue mc5\
-  host mc5-pelican\
-  port pmc5-pelican\
-  axis H\
-  units mm\
-  hardlowerlim -200\
-  hardupperlim 0\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
-  absEnc 1\
-  absEncHome $samthet_Home\
-  cntsPerX 4096]
-pa_bottom part sample
-pa_bottom long_name pa_bottom
-pa_bottom softlowerlim -200
-pa_bottom softupperlim 0  
-pa_bottom home 0
 
 proc motor_set_sobj_attributes {} {
 }