diff --git a/el7031/cfg/axis_open_loop.yaml b/el7031/cfg/axis_open_loop.yaml
index 52fa497..a383898 100644
--- a/el7031/cfg/axis_open_loop.yaml
+++ b/el7031/cfg/axis_open_loop.yaml
@@ -11,7 +11,7 @@ epics:
       fieldInit: 'RTRY=0,FOFF=Frozen'                 # Extra config for Motor record
 
 drive:
-  numerator: 57600                                     # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s)
+  numerator: 3600                                     # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s)
   denominator: 32768                                  # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit)
   type: 0                                             # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
   setpoint: ec0.s$(DRV_SID).velocitySetpoint01        # Velocity setpoint if CSV. Position setpoint if CSP
diff --git a/el7031/startup_local_hw.cmd b/el7031/startup_local_hw.cmd
index 0748500..5cf66bf 100644
--- a/el7031/startup_local_hw.cmd
+++ b/el7031/startup_local_hw.cmd
@@ -6,7 +6,7 @@ require ecmccomp
 
 # 0:11 - EL7031    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=11,HW_DESC=EL7031"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=500, U_NOM_MV=24000, R_COIL_MOHM=8000,SPEED_RANGE=5'"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=24000, R_COIL_MOHM=8000'"
 epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis_open_loop.yaml,    DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01" 
 
@@ -15,12 +15,12 @@ ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x7,0,2)"
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x8,0,2)"
 
 # 8010:05 EMF
-#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,100,2)"
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,2000,2)"
 ##- Kp
-#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,40,2)"
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,80,2)"
 #
 ##- Ki
-#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,4,2)"
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,10,2)"
 
 #- ###########################################################################
 #- Go Active
diff --git a/el7041-0052/startup_local_hw.cmd b/el7041-0052/startup_local_hw.cmd
index 79707f4..399629b 100644
--- a/el7041-0052/startup_local_hw.cmd
+++ b/el7041-0052/startup_local_hw.cmd
@@ -1,21 +1,28 @@
 ##############################################################################
 ## Example config for open loop only
 
-require ecmccfg "ENG_MODE=1"
+require ecmccfg "ENG_MODE=1,MASTER_ID=1"
 require ecmccomp
 
-# 0:11 - EL7031    1Ch Stepper
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=11,HW_DESC=EL7031"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=24000, R_COIL_MOHM=1230,SPEED_RANGE=2'"
-epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis_open_loop.yaml,    DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01" 
-
 # 0:13 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=13,HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000, R_COIL_MOHM=1230,SPEED_RANGE=2'"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000, R_COIL_MOHM=8000,SPEED_RANGE=2'"
 epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
 
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis_open_loop.yaml,    DEV=${IOC}, AX_NAME=M2, AXIS_ID=2, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis_open_loop.yaml,    DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01"
+
+
+#- Disable boosts.. Nicer current control
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x7,0,2)"
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x8,0,2)"
+
+# 8010:05 EMF
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,2000,2)"
+##- Kp
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,80,2)"
+#
+##- Ki
+#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,10,2)"
 
 #- ###########################################################################
 #- go active
diff --git a/readme.md b/readme.md
index 0a0e35c..41ca51c 100644
--- a/readme.md
+++ b/readme.md
@@ -10,5 +10,40 @@ Current:
 * MAX_CURR 1.0 A
 * STD_CURR 0.2 A
 
-# Drives
+Mechanics: 
+* Oriental Motor PKE244A
+* No mechanics, no damper
 
+# Pics
+
+## EL7031
+### Current boost 0
+* sc0 , 1720deg/s 
+* sc1,  720
+* sc2, 0.1 deg/s
+
+### Current boost 100 default
+* sc3 , 1720deg/s 
+* sc4,  720
+* sc5, 0.1 deg/s
+
+### Current boost 500
+* sc6 , 720deg/s  OBS!!! different velo
+* sc7,  1720
+* sc8, 0.1 deg/s
+
+## EL7041-0052
+### Current boost 0
+sc9, 720 deg/s
+sc10 1720
+sc11, 0.1
+
+### Current boost 100 default
+sc12, 720 deg/s
+sc13 1720
+sc14, 0.1
+
+### Current boost 500
+sc15, 720 deg/s
+sc16 1720
+sc17, 0.1