diff --git a/site_ansto/instrument/hipd/motor_configuration.tcl b/site_ansto/instrument/hipd/motor_configuration.tcl
index aa843ef1..a49878d4 100644
--- a/site_ansto/instrument/hipd/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.5 $
-# $Date: 2007-01-18 03:16:56 $
+# $Revision: 1.6 $
+# $Date: 2007-01-29 20:57:24 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -20,18 +20,23 @@ set dmc2280_controller4(host) mc4-$animal
 set dmc2280_controller4(port) pmc4-$animal
 
 #Measured absolute encoder reading at home position
-set mphi_Home 7414753
-set mchi_Home 7818915
-set my_Home 7781680
-set mx_Home 7562793
-set mom_Home 17694127
-set mtth_Home 10299428
-set sphi_Home 7934290
-set schi_Home 7581355
-set sy_Home 7562793
-set sx_Home 7562793
-set som_Home 17694127
-set stth_Home 6559259
+# 7613185, 7504518, 6770094, 7463036, 8901369, 19927837, 22369621, 22369621
+# 7613516, 7503905, 6767221, 7464891
+set mphi_Home 7613516
+set mchi_Home 7503905
+set my_Home 6767221
+set mx_Home 7464891
+set mom_Home 8901369
+set mtth_Home 19927837
+# 7938155, 7585392, 7556982, 7563854, 17214054, 22369621, 22369621, 22369621
+# 7937974, 7585956, 7557524, 7557304, 16992893,  1497938,  7788744, 22369621
+set sphi_Home 7937974
+set schi_Home 7585956
+set sy_Home 7557524
+set sx_Home 7557304
+set som_Home 17214054
+set stth_Home 8488515
+set oct_Home 7788750
 
 #Measured or computed slit motor steps per millimetre
 # 125 steps * 161:1 gears = 20125
@@ -41,7 +46,7 @@ set slitStepRate  20125
 set ss1h_Gap       52.5
 set ss1v_Gap      205.9
 set ss2h_Gap       51.3
-set ss2v_Gap      203.3
+set ss2v_Gap      203.8
 
 set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
 set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
@@ -91,7 +96,7 @@ Motor mphi DMC2280 [params \
   absEnc 1\
   absEncHome $mphi_Home\
   cntsPerX -8192]
-setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
+setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
 mphi speed 1
 mphi precision 0.01
 
@@ -108,7 +113,7 @@ Motor mchi DMC2280 [params \
   absEnc 1\
   absEncHome $mchi_Home\
   cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
+setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5
 mchi speed 1
 mchi precision 0.01
 
@@ -125,7 +130,7 @@ Motor my DMC2280 [params \
   absEnc 1\
   absEncHome $my_Home\
   cntsPerX 8192]
-setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
+setHomeandRange -motor my -home 0 -lowrange 10 -uprange 10
 my speed 1
 my precision 0.01
 
@@ -142,7 +147,7 @@ Motor mx DMC2280 [params \
   absEnc 1\
   absEncHome $mx_Home\
   cntsPerX -8192]
-setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
+setHomeandRange -motor mx -home 0 -lowrange 10 -uprange 10
 mx speed 1
 mx precision 0.01
 
@@ -175,6 +180,7 @@ Motor mtth DMC2280 [params \
   stepsPerX [expr 25000*18]\
   absEnc 1\
   absEncHome $mtth_Home\
+  motoffdelay 5000\
   cntsPerX -93207]
 mtth hardlowerlim 45
 mtth hardupperlim 100
@@ -207,7 +213,7 @@ Motor sphi DMC2280 [params \
   absEnc 1\
   absEncHome $sphi_Home\
   cntsPerX -8192]
-setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
+setHomeandRange -motor sphi -home 0 -lowrange 15 -uprange 15
 sphi speed 1
 sphi precision 0.01
 
@@ -224,7 +230,7 @@ Motor schi DMC2280 [params \
   absEnc 1\
   absEncHome $schi_Home\
   cntsPerX 8192]
-setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
+setHomeandRange -motor schi -home 90 -lowrange 15 -uprange 15
 schi speed 1
 schi precision 0.01
 
@@ -275,7 +281,7 @@ Motor som DMC2280 [params \
   absEnc 1\
   absEncHome $som_Home\
   cntsPerX 4096]
-setHomeandRange -motor som -home 0 -lowrange 90 -uprange 90
+setHomeandRange -motor som -home 0 -lowrange 54 -uprange 120
 som speed 1
 som precision 0.01
 
@@ -293,13 +299,34 @@ Motor stth DMC2280 [params \
   absEncHome $stth_Home\
   cntsPerX -93207]
 stth hardlowerlim -60
-stth hardupperlim 60
+stth hardupperlim 84
 stth softlowerlim -60
-stth softupperlim 60
+stth softupperlim 80
 stth home 0
 stth speed 0.5
 stth precision 0.01
 
+# Oscillating Collimator Translation
+Motor oct DMC2280 [params \
+  host $dmc2280_controller2(host)\
+  port $dmc2280_controller2(port)\
+  axis G\
+  units degrees\
+  maxSpeed 0.5\
+  maxAccel 0.1\
+  maxDecel 0.1\
+  stepsPerX 56762\
+  absEnc 1\
+  absEncHome $oct_Home\
+  cntsPerX -465]
+oct hardlowerlim -2
+oct hardupperlim 2
+oct softlowerlim -2
+oct softupperlim 2
+oct home 0
+oct speed 0.5
+oct precision 0.01
+
 ############################
 # Motor Controller 3
 # Motor Controller 3