diff --git a/MTEST01-MTN-HW-TEST_startup.script b/MTEST01-MTN-HW-TEST_startup.script
index 2d347aa..6df0528 100644
--- a/MTEST01-MTN-HW-TEST_startup.script
+++ b/MTEST01-MTN-HW-TEST_startup.script
@@ -9,8 +9,13 @@ require ecmccomp
 ##############################################################################
 ## Configure hardware
 
-epicsEnvSet("DRV_SLAVE",            "10")
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
+epicsEnvSet("DRV_SLAVE_1",            "10")
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE_1), HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+
+
+epicsEnvSet("DRV_SLAVE_2",            "11")
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE_2), HW_DESC=EL7041-0052"
 ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
 
 epicsEnvSet("BO_SLAVE",            "9")
@@ -31,9 +36,21 @@ ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput01,1)"
 ##############################################################################
 ## AXIS 1
 #
-epicsEnvSet("DEV",      "$(IOC)")
+epicsEnvSet("DEV",       "$(IOC)")
+epicsEnvSet("DRV_SLAVE", "$(DRV_SLAVE_1)")
+epicsEnvSet("AX_ID",     "1")
 ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml"
 
+
+##############################################################################
+## AXIS 2
+#
+epicsEnvSet("DEV",       "$(IOC)")
+epicsEnvSet("DRV_SLAVE", "$(DRV_SLAVE_2)")
+epicsEnvSet("AX_ID",     "2")
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml"
+
+
 ##############################################################################
 ############# Configure diagnostics:
 
diff --git a/README.md b/README.md
index ec7fe31..3cbc96e 100644
--- a/README.md
+++ b/README.md
@@ -1,35 +1,92 @@
 # Cfgs for testing hardware in motion lab
 Some basic instructions on how to start an ecmc IOC.
 
-## Connect to server in motion lab
+## Edir startup scripts
 ```
-ssh sls-sioc-ecat01
+ssh slslc
 ```
 # Goto startup script folder
 ```
 cd /ioc/sls-sioc-ecat01/ecmc_hw_test
 ```
-## Run open loop stepper ioc
+## Edit cfg
 First make sure that slave numbers for drive and encoder is correct in MTEST01-MTN-HW-TEST_startup.script.
 
+Install the ioc
 ```
 make install
 ```
-
-## Check biss c encoder
-Open other terminal and check the PVs with camon (update slave numbers if needed):
+## Connect to server in motion lab and restart ioc
 ```
-camon sls-sioc-ecat01:m0s014-Enc01-PosAct sls-sioc-ecat01:m0s014-Enc02-PosAct
+ssh sls-sioc-ecat01
+```
+Connect to ioc:
+```
+telnet localhost 50001
+```
+restart ioc: press Ctrl-X
+
+to end telnet session without stopping ioc: press Ctrl-D
+
+## iocsh commands
+List all records for slave 3:
+```
+dbgrep *s003*
+```
+List all records for Axis1:
+```
+dbgrep *Axis1*
 ```
 
-## open simple GUI for motion
+Read PV;
+```
+dbgf <name>
+```
+Write PV:
+```
+dbpf <name> <value>
+```
+
+# Panels (GUI)
+Login to pc15094 (to pc beside motion lab table)
+```
+ssh pc15094
+```
+
+## open simple GUI for motion Axis1
 
 Open new terminal and execute:
 ```
 caqtdm -macro "IOC=MTEST01-MTN-HW-TEST,SYS=MTEST01-MTN-HW-TEST,Axis=Axis1" ecmcAxisExpert_v1.ui
 ```
 
+## open simple GUI for motion Axis2
+
+Open new terminal and execute:
+```
+caqtdm -macro "IOC=MTEST01-MTN-HW-TEST,SYS=MTEST01-MTN-HW-TEST,Axis=Axis2" ecmcAxisExpert_v1.ui
+```
+
 If PV's is not connected (white fields in panel) then try to execute in terminal and then relaunch the panel:
 ```
 ca office network
 ```
+## Check biss c encoder values
+Open other terminal and check the PVs with camon (update slave numbers if needed):
+This should be done from other PC (same as running panels).
+
+Monitor:
+```
+camon sls-sioc-ecat01:m0s014-Enc01-PosAct sls-sioc-ecat01:m0s014-Enc02-PosAct
+```
+
+To read single value:
+```
+caget <pvname>
+```
+
+To write single value:
+```
+caput <pvname> <value>
+```
+
diff --git a/cfg/axis_open_loop.yaml b/cfg/axis_open_loop.yaml
index 170e199..9bea499 100644
--- a/cfg/axis_open_loop.yaml
+++ b/cfg/axis_open_loop.yaml
@@ -1,5 +1,5 @@
 axis:
-  id: 1                                               # Axis id
+  id: $(AX_ID)                                        # Axis id
   type: joint                                         # this is for future selection of axis type
   # mode: CSV                                         # supported mode, CSV and CSP, defaults CSV
   # parameters: 'axisPar'                             # Additional params to motor record driver
@@ -17,10 +17,10 @@ axis:
   #     positioning: true                             # Allow positioning
 
 epics:
-  name: Axis1                                         # Axis anme
+  name: Axis$(AX_ID)                                  # Axis name
   precision: 3                                        # Decimal count
   description: very important motor axis              # Axis description
-  unit: deg                                            # Unit
+  unit: deg                                           # Unit
   # motorRecord:
   #   enable: true
   #   description: This is MR
@@ -131,9 +131,9 @@ trajectory:
 
 input:
   limit:
-    forward: ec0.s$(DRV_SLAVE).driveStatus01.12       # Ethercat entry for low limit switch input
+    forward: ec0.s$(DRV_SLAVE).driveStatus01.11       # Ethercat entry for low limit switch input
   #  forwardPolarity: 0                               # Polarity of forward limit switch
-    backward: ec0.s$(DRV_SLAVE).driveStatus01.11      # Ethercat entry for high limit switch input
+    backward: ec0.s$(DRV_SLAVE).driveStatus01.12      # Ethercat entry for high limit switch input
   #  backwardPolarity: 0                              # Polarity of forward limit switch
   home: 'ec0.s$(DRV_SLAVE).ONE.0'                     # Ethercat entry for home switch
   # homePolarity: 0                                   # Polarity of home switch