From f374e445bf143d6ddd9c236eb4db6c0d0ed20103 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Tue, 15 May 2007 13:15:34 +1000
Subject: [PATCH] multichan becomes AsyncQueue and AsyncProtocol

r1965 | dcl | 2007-05-15 13:15:34 +1000 (Tue, 15 May 2007) | 2 lines
---
 .../config/motors/motor_configuration.tcl     | 104 +++++-----------
 site_ansto/instrument/hipd/config/plc/plc.tcl |   2 +-
 .../config/motors/motor_configuration.tcl     | 114 +++++-------------
 site_ansto/instrument/hrpd/config/plc/plc.tcl |   2 +-
 .../config/motors/motor_configuration.tcl     |  28 ++---
 .../reflectometer/config/plc/plc.tcl          |   2 +-
 .../rsd/config/motors/motor_configuration.tcl |  88 +++-----------
 7 files changed, 98 insertions(+), 242 deletions(-)

diff --git a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
index 71e17818..835fa33a 100644
--- a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.14 $
-# $Date: 2007-05-11 07:34:24 $
+# $Revision: 1.15 $
+# $Date: 2007-05-15 03:15:00 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -26,10 +26,10 @@ set dmc2280_controller3(port) pmc3-$animal
 set dmc2280_controller4(host) mc4-$animal
 set dmc2280_controller4(port) pmc4-$animal
 
-MakeMultiChan mc1 $dmc2280_controller1(host) $dmc2280_controller1(port)
-MakeMultiChan mc2 $dmc2280_controller2(host) $dmc2280_controller2(port)
-MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
-MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)
+MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
+MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
+MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 
 #Measured absolute encoder reading at home position
 set mphi_Home 7613516
@@ -109,9 +109,7 @@ set move_count 10
 
 # Monochromator phi, Tilt 1, upper
 Motor mphi $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis A\
   units degrees\
   hardlowerlim -5\
@@ -132,9 +130,7 @@ mphi long_name phi
 
 # Monochromator chi, Tilt 2, lower
 Motor mchi $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis B\
   units degrees\
   hardlowerlim 85\
@@ -155,9 +151,7 @@ mchi long_name chi
 
 # Monochromator Trans 1, upper
 Motor my $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis C\
   units mm\
   hardlowerlim -10\
@@ -178,9 +172,7 @@ my long_name translate_y
 
 # Monochromator Trans 2, lower
 Motor mx $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis D\
   units mm\
   hardlowerlim -10\
@@ -201,9 +193,7 @@ mx long_name translate_x
 
 # Monochromator omega, rotate
 Motor mom $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis E\
   units degrees\
   hardlowerlim -5\
@@ -224,9 +214,7 @@ mom long_name rotate
 
 # Monochromator two-theta, flight-tube rotate
 Motor mtth $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis F\
   units degrees\
   hardlowerlim 45\
@@ -265,9 +253,7 @@ mtth long_name takeoff_angle
 
 # Sample Tilt 1, upper, phi
 Motor sphi $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis A\
   units degrees\
   hardlowerlim -15\
@@ -288,9 +274,7 @@ sphi long_name phi
 
 # Sample Tilt 2, lower, chi
 Motor schi $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis B\
   units degrees\
   hardlowerlim 75\
@@ -311,9 +295,7 @@ schi long_name chi
 
 # Sample Trans 1, upper, y
 Motor sy $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis C\
   units mm\
   hardlowerlim -20\
@@ -334,9 +316,7 @@ sy long_name translate_y
 
 # Sample Trans2, lower, x
 Motor sx $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis D\
   units mm\
   hardlowerlim -20\
@@ -357,9 +337,7 @@ sx long_name translate_x
 
 # Sample Omega, rotate
 Motor som $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis E\
   units degrees\
   hardlowerlim -54\
@@ -379,9 +357,7 @@ som long_name rotate
 
 # Sample two-theta, detector rotate
 Motor stth $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis F\
   units degrees\
   hardlowerlim -120\
@@ -404,9 +380,7 @@ stth long_name azimuthal_angle
 
 # Oscillating Collimator Translation
 Motor oct $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis G\
   units degrees\
   hardlowerlim -2\
@@ -435,9 +409,7 @@ oct long_name oct
 
 # Monochromator Focusing (HOPG)
 #Motor mf1 $motor_driver_type [params \
-#  multichan mc3\
-#  host $dmc2280_controller3(host)\
-#  port $dmc2280_controller3(port)\
+#  asyncqueue mc3\
 #  axis A\
 #  units degrees\
 #  hardlowerlim xxxx\
@@ -458,9 +430,7 @@ oct long_name oct
 
 # Monochromator Focusing (Ge)
 Motor mf2 $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis A\
   units degrees\
   hardlowerlim 0\
@@ -480,9 +450,7 @@ mf2 long_name mf2
 
 # Slit 1, right
 Motor ss1r $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis E\
   units mm\
   hardlowerlim $ss1r_LoRange\
@@ -501,9 +469,7 @@ ss1r long_name right
 
 # Slit 1, left
 Motor ss1l $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis F\
   units mm\
   hardlowerlim $ss1l_LoRange\
@@ -522,9 +488,7 @@ ss1l long_name left
 
 # Slit 1, up
 Motor ss1u $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis G\
   units mm\
   hardlowerlim $ss1u_LoRange\
@@ -543,9 +507,7 @@ ss1u long_name top
 
 # Slit 1, down
 Motor ss1d $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis H\
   units mm\
   hardlowerlim $ss1d_LoRange\
@@ -571,9 +533,7 @@ ss1d long_name bottom
 
 # Slit 2, right
 Motor ss2r $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis E\
   units mm\
   hardlowerlim $ss2r_LoRange\
@@ -592,9 +552,7 @@ ss2r long_name right
 
 # Slit 2, left
 Motor ss2l $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis F\
   units mm\
   hardlowerlim $ss2l_LoRange\
@@ -613,9 +571,7 @@ ss2l long_name left
 
 # Slit 2, up
 Motor ss2u $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis G\
   units mm\
   hardlowerlim $ss2u_LoRange\
@@ -634,9 +590,7 @@ ss2u long_name top
 
 # Slit 2, down
 Motor ss2d $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis H\
   units mm\
   hardlowerlim $ss2d_LoRange\
diff --git a/site_ansto/instrument/hipd/config/plc/plc.tcl b/site_ansto/instrument/hipd/config/plc/plc.tcl
index 6d9bdff6..252bc63f 100644
--- a/site_ansto/instrument/hipd/config/plc/plc.tcl
+++ b/site_ansto/instrument/hipd/config/plc/plc.tcl
@@ -1,4 +1,4 @@
-MakeMultiChan plc_chan 137.157.204.65 30001
+MakeAsyncQueue plc_chan SafetyPLC 137.157.204.65 30001
 MakeSafetyPLC plc plc_chan 0
 
 source $cfPath(plc)/plc_common_1.tcl
diff --git a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
index 73e20373..baed4d71 100644
--- a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.16 $
-# $Date: 2007-05-10 03:24:28 $
+# $Revision: 1.17 $
+# $Date: 2007-05-15 03:15:00 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $
 
 # START MOTOR CONFIGURATION
 
@@ -26,10 +26,10 @@ set dmc2280_controller3(port) pmc3-$animal
 set dmc2280_controller4(host) mc4-$animal
 set dmc2280_controller4(port) pmc4-$animal
 
-MakeMultiChan mc1 $dmc2280_controller1(host) $dmc2280_controller1(port)
-MakeMultiChan mc2 $dmc2280_controller2(host) $dmc2280_controller2(port)
-MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
-MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)
+MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
+MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
+MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 
 #Measured absolute encoder reading at home position
 set mphi_Home 7413209
@@ -110,9 +110,7 @@ set move_count 10
 
 # Monochromator phi, Tilt 1, upper
 Motor mphi $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis A\
   units degrees\
   hardlowerlim -15\
@@ -133,9 +131,7 @@ mphi long_name phi
 
 # Monochromator chi, Tilt 2, lower
 Motor mchi $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis B\
   units degrees\
   hardlowerlim 75\
@@ -156,9 +152,7 @@ mchi long_name chi
 
 # Monochromator Trans 1, upper
 Motor my $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis C\
   units mm\
   hardlowerlim -20\
@@ -179,9 +173,7 @@ my long_name translate_y
 
 # Monochromator Trans 2, lower
 Motor mx $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis D\
   units mm\
   hardlowerlim -20\
@@ -202,9 +194,7 @@ mx long_name translate_x
 
 # Monochromator omega, rotate
 Motor mom $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis E\
   units degrees\
   hardlowerlim -10\
@@ -225,9 +215,7 @@ mom long_name omega
 
 # Monochromator two-theta, flight-tube rotate
 Motor mtth $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis F\
   units degrees\
   hardlowerlim 87\
@@ -258,9 +246,7 @@ mtth long_name takeoff_angle
 
 # Primary Collimator Translation X
 Motor pcx $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis G\
   units mm\
   hardlowerlim 0\
@@ -281,9 +267,7 @@ pcx long_name primary_collimator_translation
 
 # Primary Collimator Rotation
 Motor pcr $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis H\
   units degrees\
   hardlowerlim -10\
@@ -310,9 +294,7 @@ pcr long_name primary_collimator_rotation
 
 # Sample Tilt 1, upper, phi
 Motor sphi $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis A\
   units degrees\
   hardlowerlim -20\
@@ -333,9 +315,7 @@ sphi long_name phi
 
 # Sample Tilt 2, lower, chi
 Motor schi $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis B\
   units degrees\
   hardlowerlim 70\
@@ -356,9 +336,7 @@ schi long_name chi
 
 # Sample Trans 1, upper, y
 Motor sy $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis C\
   units mm\
   hardlowerlim -20\
@@ -379,9 +357,7 @@ sy long_name translate_y
 
 # Sample Trans2, lower, x
 Motor sx $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis D\
   units mm\
   hardlowerlim -20\
@@ -402,9 +378,7 @@ sx long_name translate_x
 
 # Sample Omega, rotate
 Motor som $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis E\
   units degrees\
   hardlowerlim -142\
@@ -425,9 +399,7 @@ som long_name rotate
 
 # Sample two-theta, detector rotate
 Motor stth $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis F\
   units degrees\
   hardlowerlim 0\
@@ -458,9 +430,7 @@ stth long_name azimuthal_angle
 
 # Monochromator Focusing (Ge)
 #Motor mf1 $motor_driver_type [params \
-#  multichan mc3\
-#  host $dmc2280_controller3(host)\
-#  port $dmc2280_controller3(port)\
+#  asyncqueue mc3\
 #  axis A\
 #  units degrees\
 #  maxSpeed xxxx\
@@ -477,9 +447,7 @@ stth long_name azimuthal_angle
 
 # Slit 1, right
 Motor ss1r $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis E\
   units mm\
   hardlowerlim $ss1r_LoRange\
@@ -498,9 +466,7 @@ ss1r long_name right
 
 # Slit 1, left
 Motor ss1l $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis F\
   units mm\
   hardlowerlim $ss1l_LoRange\
@@ -519,9 +485,7 @@ ss1l long_name left
 
 # Slit 1, up
 Motor ss1u $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis G\
   units mm\
   hardlowerlim $ss1u_LoRange\
@@ -540,9 +504,7 @@ ss1u long_name top
 
 # Slit 1, down
 Motor ss1d $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis H\
   units mm\
   hardlowerlim $ss1d_LoRange\
@@ -569,9 +531,7 @@ ss1d long_name bottom
 # Little is known about the Eulerian Cradle
 ## Eulerian-phi
 #Motor ephi $motor_driver_type [params \
-#  multichan mc4\
-#  host $dmc2280_controller4(host)\
-#  port $dmc2280_controller4(port)\
+#  asyncqueue mc4\
 #  axis A\
 #  units degrees\
 #  maxSpeed xxxx\
@@ -584,9 +544,7 @@ ss1d long_name bottom
 #setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
 
 #Motor echi $motor_driver_type [params \
-#  multichan mc4\
-#  host $dmc2280_controller4(host)\
-#  port $dmc2280_controller4(port)\
+#  asyncqueue mc4\
 #  axis B\
 #  units degrees\
 #  maxSpeed xxxx\
@@ -600,9 +558,7 @@ ss1d long_name bottom
 
 # Slit 2, right
 Motor ss2r $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis E\
   units mm\
   hardlowerlim $ss2r_LoRange\
@@ -621,9 +577,7 @@ ss2r long_name right
 
 # Slit 2, left
 Motor ss2l $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis F\
   units mm\
   hardlowerlim $ss2l_LoRange\
@@ -642,9 +596,7 @@ ss2l long_name left
 
 # Slit 2, up
 Motor ss2u $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis G\
   units mm\
   hardlowerlim $ss2u_LoRange\
@@ -663,9 +615,7 @@ ss2u long_name top
 
 # Slit 2, down
 Motor ss2d $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis H\
   units mm\
   hardlowerlim $ss2d_LoRange\
diff --git a/site_ansto/instrument/hrpd/config/plc/plc.tcl b/site_ansto/instrument/hrpd/config/plc/plc.tcl
index a3d03111..80ff9dfb 100644
--- a/site_ansto/instrument/hrpd/config/plc/plc.tcl
+++ b/site_ansto/instrument/hrpd/config/plc/plc.tcl
@@ -1,4 +1,4 @@
-MakeMultiChan plc_chan 137.157.204.65 30002
+MakeAsyncQueue plc_chan SafetyPLC 137.157.204.65 30002
 MakeSafetyPLC plc plc_chan 0
 
 source $cfPath(plc)/plc_common_1.tcl
diff --git a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
index 0d2b5c55..39fa2ae2 100644
--- a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.14 $
-# $Date: 2007-05-15 02:47:58 $
+# $Revision: 1.15 $
+# $Date: 2007-05-15 03:15:00 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -14,22 +14,22 @@ if {$sim_mode == "true"} {
 }
 
 # Setup addresses of Galil DMC2280 controllers.
-set controller1(host) mc1-$animal
-set controller1(port) pmc1-$animal
+set dmc2280_controller1(host) mc1-$animal
+set dmc2280_controller1(port) pmc1-$animal
 
-set controller2(host) mc2-$animal
-set controller2(port) pmc2-$animal
+set dmc2280_controller2(host) mc2-$animal
+set dmc2280_controller2(port) pmc2-$animal
 
-set controller3(host) mc3-$animal
-set controller3(port) pmc3-$animal
+set dmc2280_controller3(host) mc3-$animal
+set dmc2280_controller3(port) pmc3-$animal
 
-set controller4(host) mc4-$animal
-set controller4(port) pmc4-$animal
+set dmc2280_controller4(host) mc4-$animal
+set dmc2280_controller4(port) pmc4-$animal
 
-MakeAsyncQueue mc1 DMC2280 $controller1(host) $controller1(port)
-MakeAsyncQueue mc2 DMC2280 $controller2(host) $controller2(port)
-MakeAsyncQueue mc3 DMC2280 $controller3(host) $controller3(port)
-MakeAsyncQueue mc4 DMC2280 $controller4(host) $controller4(port)
+MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
+MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
+MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 
 #Measured absolute encoder reading at home position
 
diff --git a/site_ansto/instrument/reflectometer/config/plc/plc.tcl b/site_ansto/instrument/reflectometer/config/plc/plc.tcl
index be8208d2..017d5680 100644
--- a/site_ansto/instrument/reflectometer/config/plc/plc.tcl
+++ b/site_ansto/instrument/reflectometer/config/plc/plc.tcl
@@ -1,4 +1,4 @@
-#MakeMultiChan plc_chan 137.157.204.65 30002
+#MakeAsyncQueue plc_chan SafetyPLC 137.157.204.65 30002
 #MakeSafetyPLC plc plc_chan 0
 
 source $cfPath(plc)/plc_common_1.tcl
diff --git a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
index 4f0eff40..90b4ecca 100644
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.2 $
-# $Date: 2007-05-10 06:12:25 $
+# $Revision: 1.3 $
+# $Date: 2007-05-15 03:15:00 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $
 
 # START MOTOR CONFIGURATION
 
@@ -26,10 +26,10 @@ set dmc2280_controller3(port) pmc3-$animal
 set dmc2280_controller4(host) mc4-$animal
 set dmc2280_controller4(port) pmc4-$animal
 
-MakeMultiChan mc1 $dmc2280_controller1(host) $dmc2280_controller1(port)
-MakeMultiChan mc2 $dmc2280_controller2(host) $dmc2280_controller2(port)
-MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
-MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)
+MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
+MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
+MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 
 #Measured absolute encoder reading at home position
 set mphi_Home 7500000
@@ -55,9 +55,7 @@ set move_count 10
 
 # Monochromator phi, Tilt 1, upper
 Motor mphi $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis A\
   units degrees\
   hardlowerlim -5\
@@ -78,9 +76,7 @@ mphi long_name phi
 
 # Monochromator chi, Tilt 2, lower
 Motor mchi $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis B\
   units degrees\
   hardlowerlim 85\
@@ -101,9 +97,7 @@ mchi long_name chi
 
 # Monochromator Trans 1, upper
 Motor my $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis C\
   units mm\
   hardlowerlim -10\
@@ -124,9 +118,7 @@ my long_name translate_y
 
 # Monochromator Trans 2, lower
 Motor mx $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis D\
   units mm\
   hardlowerlim -10\
@@ -147,9 +139,7 @@ mx long_name translate_x
 
 # Monochromator omega, rotate
 Motor mom $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis E\
   units degrees\
   hardlowerlim -5\
@@ -170,9 +160,7 @@ mom long_name rotate
 
 # Monochromator two-theta, flight-tube rotate
 Motor mtth $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis F\
   units degrees\
   hardlowerlim 45\
@@ -211,9 +199,7 @@ mtth long_name takeoff_angle
 
 # Sample Trans, vertical, first stage
 Motor sz1 $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis A\
   units mm\
   hardlowerlim 0\
@@ -230,9 +216,7 @@ sz1 long_name vertical_translation
 
 # Sample Trans, vertical, second stage
 Motor sz2 $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis B\
   units mm\
   hardlowerlim 0\
@@ -249,9 +233,7 @@ sz2 long_name vertical_translation
 
 # Sample Trans 1, upper, y
 Motor sy $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis C\
   units mm\
   hardlowerlim -20\
@@ -272,9 +254,7 @@ sy long_name translate_y
 
 # Sample Trans2, lower, x
 Motor sx $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis D\
   units mm\
   hardlowerlim -20\
@@ -295,9 +275,7 @@ sx long_name translate_x
 
 # Sample Omega, rotate
 Motor som $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis E\
   units degrees\
   hardlowerlim -54\
@@ -317,9 +295,7 @@ som long_name rotate
 
 # Sample two-theta, detector rotate
 Motor stth $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis F\
   units degrees\
   hardlowerlim -120\
@@ -350,9 +326,7 @@ stth long_name azimuthal_angle
 
 # Monochromator Focusing (HOPG)
 #Motor mf1 $motor_driver_type [params \
-#  multichan mc3\
-#  host $dmc2280_controller3(host)\
-#  port $dmc2280_controller3(port)\
+#  asyncqueue mc3\
 #  axis A\
 #  units degrees\
 #  hardlowerlim xxxx\
@@ -373,8 +347,6 @@ stth long_name azimuthal_angle
 
 # Monochromator Focusing (Ge)
 Motor mf2 $motor_driver_type [params \
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
   axis B\
   units degrees\
   hardlowerlim 0\
@@ -394,8 +366,6 @@ mf2 long_name mf2
 
 ## Eulerian-chi
 #Motor echi $motor_driver_type [params \
-#	host $dmc2280_controller3(host)\
-#	port $dmc2280_controller3(port)\
 #	axis G\
 #        units degrees\
 #        maxSpeed 1\
@@ -408,8 +378,6 @@ mf2 long_name mf2
 
 ## Eulerian-phi
 #Motor ephi $motor_driver_type [params \
-#	host $dmc2280_controller3(host)\
-#	port $dmc2280_controller3(port)\
 #	axis H\
 #        units degrees\
 #        maxSpeed 1\
@@ -429,8 +397,6 @@ mf2 long_name mf2
 
 # Primary Slit, horizontal offset, 0-30mm
 Motor psho $motor_driver_type [params \
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
   axis A\
   units mm\
   hardlowerlim 0\
@@ -446,8 +412,6 @@ setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30
 
 # Primary Slit, position 0-150mm
 Motor psp $motor_driver_type [params \
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
   axis B\
   units mm\
   hardlowerlim 0\
@@ -463,8 +427,6 @@ setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
 
 # Primary Slit, width, 0-30mm
 Motor psw $motor_driver_type [params \
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
   axis C\
   units mm\
   hardlowerlim 0\
@@ -480,8 +442,6 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
 
 ## Primary Slit, height, 0-30mm
 #Motor psh $motor_driver_type [params \
-#	host $dmc2280_controller4(host)\
-#	port $dmc2280_controller4(port)\
 #        axis D\
 #        units mm\
 #        hardlowerlim 0\
@@ -499,8 +459,6 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
 
 # Secondary Slit, horizontal offset
 Motor ssho $motor_driver_type [params \
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
   axis E\
   units mm\
   hardlowerlim 0\
@@ -516,8 +474,6 @@ setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30
 
 # Secondary Slit, position
 Motor ssp $motor_driver_type [params \
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
   axis F\
   units mm\
   hardlowerlim 0\
@@ -533,8 +489,6 @@ setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
 
 # Secondary Slit, width
 Motor ssw $motor_driver_type [params \
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
   axis G\
   units mm\
   hardlowerlim 0\
@@ -550,8 +504,6 @@ setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30
 
 ## Secondary Slit, height
 #Motor ssh $motor_driver_type [params \
-#  host $dmc2280_controller4(host)\
-#  port $dmc2280_controller4(port)\
 #  axis H\
 #  units mm\
 #  hardlowerlim 0\