diff --git a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
index 90b4ecca..127ccca2 100644
--- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.3 $
-# $Date: 2007-05-15 03:15:00 $
+# $Revision: 1.4 $
+# $Date: 2007-06-01 06:54:25 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -32,12 +32,12 @@ 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
-set mchi_Home 7500000
-set my_Home 7500000
-set mx_Home 7500000
-set mom_Home 7500000
-set mtth_Home 7500000
+set mphi_Home 7855195
+set mchi_Home 7492685
+set my_Home 7439031
+set mx_Home 7902480
+set mom_Home 28473123
+set mtth_Home 11574431
 set sy_Home 7500000
 set sx_Home 7500000
 set som_Home 7500000
@@ -51,15 +51,15 @@ set move_count 10
 # Motor Controller 1
 ############################
 #:TP at HOME
-#
+# :TP 7855195, 7508171, 7439031, 7902480, 28473123, 11574431, 0, 0
 
 # Monochromator phi, Tilt 1, upper
 Motor mphi $motor_driver_type [params \
   asyncqueue mc1\
   axis A\
   units degrees\
-  hardlowerlim -5\
-  hardupperlim 5\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -67,7 +67,7 @@ Motor mphi $motor_driver_type [params \
   absEnc 1\
   absEncHome $mphi_Home\
   cntsPerX -8192]
-setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
+setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20
 mphi speed 1
 mphi movecount $move_count
 mphi precision 0.01
@@ -79,8 +79,8 @@ Motor mchi $motor_driver_type [params \
   asyncqueue mc1\
   axis B\
   units degrees\
-  hardlowerlim 85\
-  hardupperlim 95\
+  hardlowerlim 70\
+  hardupperlim 115\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -88,7 +88,7 @@ Motor mchi $motor_driver_type [params \
   absEnc 1\
   absEncHome $mchi_Home\
   cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
+setHomeandRange -motor mchi -home 90 -lowrange 20 -uprange 20
 mchi speed 1
 mchi movecount $move_count
 mchi precision 0.01
@@ -100,8 +100,8 @@ Motor my $motor_driver_type [params \
   asyncqueue mc1\
   axis C\
   units mm\
-  hardlowerlim -10\
-  hardupperlim 10\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -121,8 +121,8 @@ Motor mx $motor_driver_type [params \
   asyncqueue mc1\
   axis D\
   units mm\
-  hardlowerlim -10\
-  hardupperlim 10\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -151,7 +151,7 @@ Motor mom $motor_driver_type [params \
   absEnc 1\
   absEncHome $mom_Home\
   cntsPerX -4096]
-setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
+setHomeandRange -motor mom -home 0 -lowrange 5 -uprange 95
 mom speed 1
 mom movecount $move_count
 mom precision 0.01
@@ -347,6 +347,7 @@ stth long_name azimuthal_angle
 
 # Monochromator Focusing (Ge)
 Motor mf2 $motor_driver_type [params \
+  asyncqueue mc3\
   axis B\
   units degrees\
   hardlowerlim 0\
@@ -358,7 +359,7 @@ Motor mf2 $motor_driver_type [params \
   absEnc 1\
   absEncHome 1400\
   cntsPerX 14600]
-setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
+setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 1
 mf2 speed 0.1
 mf2 precision 0.01
 mf2 part monochromator
@@ -366,7 +367,8 @@ mf2 long_name mf2
 
 ## Eulerian-chi
 #Motor echi $motor_driver_type [params \
-#	axis G\
+#        asyncqueue mc3\
+#        axis G\
 #        units degrees\
 #        maxSpeed 1\
 #        maxAccel 1\
@@ -378,12 +380,13 @@ mf2 long_name mf2
 
 ## Eulerian-phi
 #Motor ephi $motor_driver_type [params \
-#	axis H\
+#        asyncqueue mc3\
+#        axis H\
 #        units degrees\
 #        maxSpeed 1\
 #        maxAccel 1\
 #        maxDecel 1\
-#	stepsPerX 25000]
+#        stepsPerX 25000]
 #setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
 #ephi speed 1
 #ephi precision 0.01
@@ -397,6 +400,7 @@ mf2 long_name mf2
 
 # Primary Slit, horizontal offset, 0-30mm
 Motor psho $motor_driver_type [params \
+  asyncqueue mc4\
   axis A\
   units mm\
   hardlowerlim 0\
@@ -412,6 +416,7 @@ setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30
 
 # Primary Slit, position 0-150mm
 Motor psp $motor_driver_type [params \
+  asyncqueue mc4\
   axis B\
   units mm\
   hardlowerlim 0\
@@ -427,6 +432,7 @@ setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
 
 # Primary Slit, width, 0-30mm
 Motor psw $motor_driver_type [params \
+  asyncqueue mc4\
   axis C\
   units mm\
   hardlowerlim 0\
@@ -442,15 +448,16 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
 
 ## Primary Slit, height, 0-30mm
 #Motor psh $motor_driver_type [params \
-#        axis D\
-#        units mm\
-#        hardlowerlim 0\
-#        hardupperlim 30\
-#        maxSpeed 1\
-#        maxAccel 1\
-#        maxDecel 1\
-#	stepsPerX -20125\
-#        motorHome 542093]
+#  asyncqueue mc4\
+#  axis D\
+#  units mm\
+#  hardlowerlim 0\
+#  hardupperlim 30\
+#  maxSpeed 1\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX -20125\
+#  motorHome 542093]
 #psh part aperture.primary
 #psh part long_name height
 #setHomeandRange -motor psh  -home 0 -lowrange 0 -uprange 30 
@@ -459,6 +466,7 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
 
 # Secondary Slit, horizontal offset
 Motor ssho $motor_driver_type [params \
+  asyncqueue mc4\
   axis E\
   units mm\
   hardlowerlim 0\
@@ -474,6 +482,7 @@ setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30
 
 # Secondary Slit, position
 Motor ssp $motor_driver_type [params \
+  asyncqueue mc4\
   axis F\
   units mm\
   hardlowerlim 0\
@@ -489,6 +498,7 @@ setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
 
 # Secondary Slit, width
 Motor ssw $motor_driver_type [params \
+  asyncqueue mc4\
   axis G\
   units mm\
   hardlowerlim 0\
@@ -504,6 +514,7 @@ setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30
 
 ## Secondary Slit, height
 #Motor ssh $motor_driver_type [params \
+#  asyncqueue mc4\
 #  axis H\
 #  units mm\
 #  hardlowerlim 0\