diff --git a/Makefile b/Makefile
index 7a4a1db..2ede947 100644
--- a/Makefile
+++ b/Makefile
@@ -9,3 +9,8 @@ EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
 SCRIPTS    += axis_sm.plc_inc
 SCRIPTS    += axis_kin_slit.plc_inc
 SCRIPTS    += axis_kin_mirror.plc_inc
+SCRIPTS    += axis_kin_2DoF.plc_inc
+SCRIPTS    += axis_kin_3DoF.plc_inc
+SCRIPTS    += axis_kin_4DoF.plc_inc
+SCRIPTS    += axis_kin_5DoF.plc_inc
+SCRIPTS    += axis_kin_6DoF.plc_inc
diff --git a/axis_kin_2DoF.plc_inc b/axis_kin_2DoF.plc_inc
new file mode 100644
index 0000000..33ab335
--- /dev/null
+++ b/axis_kin_2DoF.plc_inc
@@ -0,0 +1,13 @@
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2
+var SLAVE_AXES[2] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2
+var MASTER_AXES[2] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
diff --git a/axis_kin_3DoF.plc_inc b/axis_kin_3DoF.plc_inc
new file mode 100644
index 0000000..1b563f3
--- /dev/null
+++ b/axis_kin_3DoF.plc_inc
@@ -0,0 +1,16 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3
+var SLAVE_AXES[3] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3
+var MASTER_AXES[3] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);
diff --git a/axis_kin_4DoF.plc_inc b/axis_kin_4DoF.plc_inc
new file mode 100644
index 0000000..832b40d
--- /dev/null
+++ b/axis_kin_4DoF.plc_inc
@@ -0,0 +1,18 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3, AX_S4
+var SLAVE_AXES[4] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos, ax${AX_S4}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3, AX_M4
+var MASTER_AXES[4] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos, ax${AX_M4}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+ax${AX_M4}.enc.actpos   := dot(FWD4, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);
+ax${AX_S4}.traj.extsetpos := dot(INV4, MASTER_AXES);
diff --git a/axis_kin_5DoF.plc_inc b/axis_kin_5DoF.plc_inc
new file mode 100644
index 0000000..88e38fa
--- /dev/null
+++ b/axis_kin_5DoF.plc_inc
@@ -0,0 +1,20 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3, AX_S4, AX_S5
+var SLAVE_AXES[5] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos, ax${AX_S4}.enc.actpos, ax${AX_S5}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3, AX_M4, AX_M5
+var MASTER_AXES[5] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos, ax${AX_M4}.traj.setpos, ax${AX_M5}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+ax${AX_M4}.enc.actpos   := dot(FWD4, SLAVE_AXES);
+ax${AX_M5}.enc.actpos   := dot(FWD5, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);
+ax${AX_S4}.traj.extsetpos := dot(INV4, MASTER_AXES);
+ax${AX_S5}.traj.extsetpos := dot(INV5, MASTER_AXES);
diff --git a/axis_kin_6DoF.plc_inc b/axis_kin_6DoF.plc_inc
new file mode 100644
index 0000000..94bc37b
--- /dev/null
+++ b/axis_kin_6DoF.plc_inc
@@ -0,0 +1,22 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3, AX_S4, AX_S5, AX_S6
+var SLAVE_AXES[6] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos, ax${AX_S4}.enc.actpos, ax${AX_S5}.enc.actpos, ax${AX_S6}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3, AX_M4, AX_M5, AX_M6
+var MASTER_AXES[6] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos, ax${AX_M4}.traj.setpos, ax${AX_M5}.traj.setpos, ax${AX_M6}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+ax${AX_M4}.enc.actpos   := dot(FWD4, SLAVE_AXES);
+ax${AX_M5}.enc.actpos   := dot(FWD5, SLAVE_AXES);
+ax${AX_M6}.enc.actpos   := dot(FWD6, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);
+ax${AX_S4}.traj.extsetpos := dot(INV4, MASTER_AXES);
+ax${AX_S5}.traj.extsetpos := dot(INV5, MASTER_AXES);
+ax${AX_S6}.traj.extsetpos := dot(INV6, MASTER_AXES);
diff --git a/axis_kin_mirror.plc_inc b/axis_kin_mirror.plc_inc
index 8897c6f..b7a0cbf 100644
--- a/axis_kin_mirror.plc_inc
+++ b/axis_kin_mirror.plc_inc
@@ -16,4 +16,4 @@ ax${AX_Y1}.traj.extsetpos := dot(INV1, VIRT_AXES);
 ax${AX_Y2}.traj.extsetpos := dot(INV2, VIRT_AXES);
 ax${AX_Y3}.traj.extsetpos := dot(INV3, VIRT_AXES);
 ax${AX_X1}.traj.extsetpos := dot(INV4, VIRT_AXES);
-ax${AX_X2}.traj.extsetpos := dot(INV5, VIRT_AXES);
\ No newline at end of file
+ax${AX_X2}.traj.extsetpos := dot(INV5, VIRT_AXES);
diff --git a/example/slit/cfg/EPICSVERSION b/example/slit_equations/cfg/EPICSVERSION
similarity index 100%
rename from example/slit/cfg/EPICSVERSION
rename to example/slit_equations/cfg/EPICSVERSION
diff --git a/example/slit/cfg/axis_ax5_LO.yaml b/example/slit_equations/cfg/axis_ax5_LO.yaml
similarity index 100%
rename from example/slit/cfg/axis_ax5_LO.yaml
rename to example/slit_equations/cfg/axis_ax5_LO.yaml
diff --git a/example/slit/cfg/axis_ax6_HI.yaml b/example/slit_equations/cfg/axis_ax6_HI.yaml
similarity index 100%
rename from example/slit/cfg/axis_ax6_HI.yaml
rename to example/slit_equations/cfg/axis_ax6_HI.yaml
diff --git a/example/slit/cfg/axis_main.plc b/example/slit_equations/cfg/axis_main.plc
similarity index 100%
rename from example/slit/cfg/axis_main.plc
rename to example/slit_equations/cfg/axis_main.plc
diff --git a/example/slit_equations/cfg/axis_main_matrix.plc b/example/slit_equations/cfg/axis_main_matrix.plc
new file mode 100644
index 0000000..c503e95
--- /dev/null
+++ b/example/slit_equations/cfg/axis_main_matrix.plc
@@ -0,0 +1,31 @@
+/* Forward kinematics to calculate virtual axes from real axes
+   | CEN    |  = FWD *   | S1_LO |
+   | GAP    |            | S2_HI |
+   
+   Equations:
+     ax${AX_CEN}.enc.actpos:=(ax${AX_LO}.enc.actpos+ax${AX_HI}.enc.actpos)/2;
+     ax${AX_GAP}.enc.actpos:=ax${AX_HI}.enc.actpos-ax${AX_LO}.enc.actpos;
+*/
+
+var FWD1[2] := {0.5, 0.5};
+var FWD2[2] := { -1,  1 };
+
+/* Inverse kinematics to calculate real axes from virtal axes
+   | S1_LO    |  = INV *   | CEN |
+   | S2_HI    |            | GAP |
+
+   Equations:
+     ax${AX_LO}.traj.extsetpos:=ax${AX_CEN}.traj.setpos-ax${AX_GAP}.traj.setpos/2;
+     ax${AX_HI}.traj.extsetpos:=ax${AX_CEN}.traj.setpos+ax${AX_GAP}.traj.setpos/2;
+*/
+
+var INV1[2] := {  1,   -0.5};
+var INV2[2] := {  1,    0.5};
+
+####### Kinematics for slit system. 
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_kin_2DoF.plc_inc"
+
+####### State machine
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_sm.plc_inc"
diff --git a/example/slit/cfg/axis_vax5_YCEN.yaml b/example/slit_equations/cfg/axis_vax5_YCEN.yaml
similarity index 100%
rename from example/slit/cfg/axis_vax5_YCEN.yaml
rename to example/slit_equations/cfg/axis_vax5_YCEN.yaml
diff --git a/example/slit/cfg/axis_vax6_YGAP.yaml b/example/slit_equations/cfg/axis_vax6_YGAP.yaml
similarity index 100%
rename from example/slit/cfg/axis_vax6_YGAP.yaml
rename to example/slit_equations/cfg/axis_vax6_YGAP.yaml
diff --git a/example/slit/readme.md b/example/slit_equations/readme.md
similarity index 100%
rename from example/slit/readme.md
rename to example/slit_equations/readme.md
diff --git a/example/slit/startup.script b/example/slit_equations/startup.script
similarity index 100%
rename from example/slit/startup.script
rename to example/slit_equations/startup.script
diff --git a/example/slit/startup.script_ecmc b/example/slit_equations/startup.script_ecmc
similarity index 100%
rename from example/slit/startup.script_ecmc
rename to example/slit_equations/startup.script_ecmc
diff --git a/example/slit_equations/startup_matrix.script_ecmc b/example/slit_equations/startup_matrix.script_ecmc
new file mode 100644
index 0000000..96d718b
--- /dev/null
+++ b/example/slit_equations/startup_matrix.script_ecmc
@@ -0,0 +1,85 @@
+#- Configuration scripts
+require ecmccfg,"ENG_MODE=1,EC_RATE=100"
+
+#- Components lib
+require ecmccomp
+
+#- Syncronization configs
+require ecmc_master_slave sandst_a
+
+#- Only output errors
+asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
+
+
+#- ############################################################################
+#- add slaves
+#- list of slaves (4 axis test motion box)
+# Master0
+#   0  0:0   PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
+#   1  0:1   PREOP  +  EL9227-5500 �berstromschutz 24V DC, 2K., max. 10A (Summe), eins
+#   2  0:2   PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#   3  0:3   PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#   4  0:4   PREOP  +  EL3204 4K. Ana. Eingang PT100 (RTD)
+#   5  0:5   PREOP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
+#   6  0:6   PREOP  +  EL1008 8K. Dig. Eingang 24V, 3ms
+#   7  0:7   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#   8  0:8   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#   9  0:9   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#  10  0:10  PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#
+
+# 0:0  - EK1100    EtherCAT coupler
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EK1100"
+
+# 0:1  - EL9227-5500
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL9227-5500"
+
+# 0:2  - EL5042    2Ch BiSS-C Encoder
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL5042"
+
+# 0:3  - EL5042    2Ch BiSS-C Encoder
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL5042"
+
+# 0:4  - EL3204    
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL3204"
+
+# 0:5  - EL2008 
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL2008"
+
+# 0:6  - EL1008    8K. Dig. Eingang 24V, 3ms
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL1008"
+
+# 0:7 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+
+# 0:8 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+
+# 0:9 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+
+# 0:10 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+
+#- #################################################################
+#- Virtual axes
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
+
+#- #################################################################
+#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
+#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main_matrix.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_ID}'"
+
+#- #################################################################
+#- go active
+${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
+${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
+
+#- #############################################################################
+#- reset all errors
+afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
diff --git a/example/slit_matrix/cfg/EPICSVERSION b/example/slit_matrix/cfg/EPICSVERSION
new file mode 100644
index 0000000..2f2974f
--- /dev/null
+++ b/example/slit_matrix/cfg/EPICSVERSION
@@ -0,0 +1 @@
+7.0.7
diff --git a/example/slit_matrix/cfg/axis_ax5_LO.yaml b/example/slit_matrix/cfg/axis_ax5_LO.yaml
new file mode 100644
index 0000000..423b75c
--- /dev/null
+++ b/example/slit_matrix/cfg/axis_ax5_LO.yaml
@@ -0,0 +1,79 @@
+# https://paulscherrerinstitute.github.io/ecmccfg/manual/axis/axisyaml/
+
+axis:
+  id: 5
+  group: realAxes
+  mode: CSV
+  features:
+    allowSrcChangeWhenEnabled: true
+
+epics:
+  name: TR_LO
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Low"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+drive:
+  numerator: 10                 # max velo in EGU/s
+  denominator: 32768            # MAX_INT for a 16-bit register, always this for this stepper drive!
+  type: 0
+  control: ec0.s$(DRV_SLAVE).driveControl01
+  status: ec0.s$(DRV_SLAVE).driveStatus01
+  setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01
+
+encoder:
+  numerator: 1          # 1egu = 1mm
+  denominator: 12800    # Number of ticks when motor moves numerator (=1mm): 1 mm / 50 nm = 20000
+  type: 0               # Type: 0=Incremental, 1=Absolute
+  bits: 16              # Total bit count of encoder raw data
+  absBits: 0          # Absolute bit count (for abs enc) always least significant part of 'bits'
+  absOffset: 0.0000     # Encoder offset in eng units (for absolute encoders)
+  position: ec0.s$(ENC_SLAVE).positionActual$(ENC_CHANNEL)
+
+controller:
+  Kp: 10.00
+  Ki: 0.001
+  Kd: 0.000
+  Kff: 1.00
+
+trajectory:
+  axis:
+    velocity: 1.0
+    acceleration: 1.0
+    deceleration: 1.0
+
+input:
+  limit:
+    forward: ec0.s$(DRV_SLAVE).driveStatus01.12   # 1119994 cnts // 55.9997 mm
+    backward: ec0.s$(DRV_SLAVE).driveStatus01.11  #   98010 cnts //  4.9005 mm
+  home: ec0.s$(DRV_SLAVE).ONE.0                   # unused
+  interlock: ec0.s$(DRV_SLAVE).ONE.0              # unused
+
+softlimits:
+  enable: false
+  backwardEnable: true
+  forwardEnable: true
+  forward: 55.8
+  backward: 5.1
+
+monitoring:
+  lag:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  target:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  velocity:
+    enable: true
+    max: 5
+    time:
+      trajectory: 100
+      drive: 200
+
+plc:
+  enable: true
+  externalCommands: true
diff --git a/example/slit_matrix/cfg/axis_ax6_HI.yaml b/example/slit_matrix/cfg/axis_ax6_HI.yaml
new file mode 100644
index 0000000..4e921f9
--- /dev/null
+++ b/example/slit_matrix/cfg/axis_ax6_HI.yaml
@@ -0,0 +1,79 @@
+# https://paulscherrerinstitute.github.io/ecmccfg/manual/axis/axisyaml/
+
+axis:
+  id: 6
+  group: realAxes
+  mode: CSV
+  features:
+    allowSrcChangeWhenEnabled: true
+
+epics:
+  name: TR_HI
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Hi"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+drive:
+  numerator: 10                # max velo in EGU/s
+  denominator: 32768            # MAX_INT for a 16-bit register, always this for this stepper drive!
+  type: 0
+  control: ec0.s$(DRV_SLAVE).driveControl01
+  status: ec0.s$(DRV_SLAVE).driveStatus01
+  setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01
+
+encoder:
+  numerator: 1          # 1egu = 1mm
+  denominator: 12800    # Number of ticks when motor moves numerator (=1mm): 1 mm / 50 nm = 20000
+  type: 0               # Type: 0=Incremental, 1=Absolute
+  bits: 16              # Total bit count of encoder raw data
+  absBits: 0            # Absolute bit count (for abs enc) always least significant part of 'bits'
+  absOffset: 0.0000     # Encoder offset in eng units (for absolute encoders)
+  position: ec0.s$(ENC_SLAVE).positionActual$(ENC_CHANNEL)
+
+controller:
+  Kp: 2.000
+  Ki: 0.001
+  Kd: 0.000
+  Kff: 1.00
+
+trajectory:
+  axis:
+    velocity: 1.0
+    acceleration: 1.0
+    deceleration: 1.0
+
+input:
+  limit:
+    forward: ec0.s$(DRV_SLAVE).driveStatus01.12   # 1111969 cnts // 55.5984 mm
+    backward: ec0.s$(DRV_SLAVE).driveStatus01.11  #  109007 cnts //  5.4504 mm
+  home: ec0.s$(DRV_SLAVE).ONE.0                   # unused
+  interlock: ec0.s$(DRV_SLAVE).ONE.0              # unused
+
+softlimits:
+  enable: false
+  backwardEnable: true
+  forwardEnable: true
+  forward: 55.4
+  backward: 5.7
+
+monitoring:
+  lag:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  target:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  velocity:
+    enable: true
+    max: 5
+    time:
+      trajectory: 100
+      drive: 200
+
+plc:
+  enable: true
+  externalCommands: true
diff --git a/example/slit_matrix/cfg/axis_main.plc b/example/slit_matrix/cfg/axis_main.plc
new file mode 100755
index 0000000..b241a07
--- /dev/null
+++ b/example/slit_matrix/cfg/axis_main.plc
@@ -0,0 +1,8 @@
+
+####### Kinematics for slit system. 
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_kin_slit.plc_inc"
+
+####### State machine
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_sm.plc_inc"
diff --git a/example/slit_matrix/cfg/axis_main_matrix.plc b/example/slit_matrix/cfg/axis_main_matrix.plc
new file mode 100644
index 0000000..c503e95
--- /dev/null
+++ b/example/slit_matrix/cfg/axis_main_matrix.plc
@@ -0,0 +1,31 @@
+/* Forward kinematics to calculate virtual axes from real axes
+   | CEN    |  = FWD *   | S1_LO |
+   | GAP    |            | S2_HI |
+   
+   Equations:
+     ax${AX_CEN}.enc.actpos:=(ax${AX_LO}.enc.actpos+ax${AX_HI}.enc.actpos)/2;
+     ax${AX_GAP}.enc.actpos:=ax${AX_HI}.enc.actpos-ax${AX_LO}.enc.actpos;
+*/
+
+var FWD1[2] := {0.5, 0.5};
+var FWD2[2] := { -1,  1 };
+
+/* Inverse kinematics to calculate real axes from virtal axes
+   | S1_LO    |  = INV *   | CEN |
+   | S2_HI    |            | GAP |
+
+   Equations:
+     ax${AX_LO}.traj.extsetpos:=ax${AX_CEN}.traj.setpos-ax${AX_GAP}.traj.setpos/2;
+     ax${AX_HI}.traj.extsetpos:=ax${AX_CEN}.traj.setpos+ax${AX_GAP}.traj.setpos/2;
+*/
+
+var INV1[2] := {  1,   -0.5};
+var INV2[2] := {  1,    0.5};
+
+####### Kinematics for slit system. 
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_kin_2DoF.plc_inc"
+
+####### State machine
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_sm.plc_inc"
diff --git a/example/slit_matrix/cfg/axis_vax5_YCEN.yaml b/example/slit_matrix/cfg/axis_vax5_YCEN.yaml
new file mode 100644
index 0000000..b7f707c
--- /dev/null
+++ b/example/slit_matrix/cfg/axis_vax5_YCEN.yaml
@@ -0,0 +1,65 @@
+axis:
+  id: ${AX_ID}
+  group: virtualAxes
+  type: end effector
+
+epics:
+  name: CENTERY
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Center (Virtual)"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+encoder:
+  type: 1
+  source: 1
+  numerator: 1
+  bits: 32
+
+trajectory:
+  axis:
+    velocity: 0.5
+    acceleration: 0.25
+    jerk: 0.25
+
+input:
+  limit:
+    forward: ec0.s0.ONE.0              # unused
+    backward: ec0.s0.ONE.0             # unused
+  home: ec0.s0.ONE.0                   # unused
+  interlock: ec0.s0.ONE.0              # unused
+
+softlimits:
+  enable: false
+  forwardEnable: true
+  backwardEnable: true
+  forward: 52
+  backward: 8
+
+monitoring:
+  lag:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  velocity:
+    enable: yes
+    max: 0.6
+    time:
+      trajectory: 100
+      drive: 100
+      
+plc:
+  enable: true
+  externalCommands: true
+  filter:
+    velocity:
+      enable: false
+      size: 10
+    trajectory:
+      enable: false
+      size: 10
diff --git a/example/slit_matrix/cfg/axis_vax6_YGAP.yaml b/example/slit_matrix/cfg/axis_vax6_YGAP.yaml
new file mode 100644
index 0000000..dc54160
--- /dev/null
+++ b/example/slit_matrix/cfg/axis_vax6_YGAP.yaml
@@ -0,0 +1,65 @@
+axis:
+  id: ${AX_ID}
+  group: virtualAxes
+  type: end effector
+
+epics:
+  name: GAPY
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Gap (Virtual)"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+encoder:
+  type: 1
+  source: 1
+  numerator: 1
+  bits: 32
+
+trajectory:
+  axis:
+    velocity: 0.5
+    acceleration: 0.25
+    jerk: 0.25
+
+input:
+  limit:
+    forward: ec0.s0.ONE.0              # unused
+    backward: ec0.s0.ONE.0             # unused
+  home: ec0.s0.ONE.0                   # unused
+  interlock: ec0.s0.ONE.0              # unused
+
+softlimits:
+  enable: false
+  forwardEnable: true
+  backwardEnable: true
+  forward: 20
+  backward: -20
+
+monitoring:
+  lag:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  velocity:
+    enable: yes
+    max: 0.6
+    time:
+      trajectory: 100
+      drive: 100
+
+plc:
+  enable: true
+  externalCommands: true
+  filter:
+    velocity:
+      enable: false
+      size: 10
+    trajectory:
+      enable: false
+      size: 10
diff --git a/example/slit_matrix/readme.md b/example/slit_matrix/readme.md
new file mode 100644
index 0000000..79ac180
--- /dev/null
+++ b/example/slit_matrix/readme.md
@@ -0,0 +1,19 @@
+# Test ioc for a slit system
+Note: Motor record disabled in this test system
+
+## Changes
+1. Use ecmc/ecmccfg version 9.5.4 or newer.
+2. Divide statemachine and kinematics into separate include files (add INC param to loadPLCFile.cmd needed)
+3. Use extsetpos in kinematics 
+4. Use new axis group functions in statemachine to make it generic (no direct access to axes in statemachine)
+5. Set allow source change when enabled in axis yaml cfg (remove in startup script)
+6. Remove encoder.position in virtual axis (not needed anymore)
+7. Remove filter cfgs in yaml files
+
+## Panel
+```
+caqtdm -macro "IOC=c6025a" ecmcMain.ui
+```
+
+## TODO
+Test with motor record.
diff --git a/example/slit_matrix/startup.script b/example/slit_matrix/startup.script
new file mode 100644
index 0000000..eeb970f
--- /dev/null
+++ b/example/slit_matrix/startup.script
@@ -0,0 +1,11 @@
+# The following lines were generated by "ioc install"
+# Generated at: 2024-08-07 16:32:41.171272
+
+epicsEnvSet IOC c6025a
+epicsEnvSet ENGINEER sandst_a
+< /ioc/startup/startup.script_linux
+
+# ---- ioc/system specific startup script(s)
+< startup.script_ecmc
+
+iocInit
diff --git a/example/slit_matrix/startup.script_ecmc b/example/slit_matrix/startup.script_ecmc
new file mode 100644
index 0000000..2c94811
--- /dev/null
+++ b/example/slit_matrix/startup.script_ecmc
@@ -0,0 +1,85 @@
+#- Configuration scripts
+require ecmccfg,"ENG_MODE=1,EC_RATE=100"
+
+#- Components lib
+require ecmccomp
+
+#- Syncronization configs
+require ecmc_master_slave
+
+#- Only output errors
+asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
+
+
+#- ############################################################################
+#- add slaves
+#- list of slaves (4 axis test motion box)
+# Master0
+#   0  0:0   PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
+#   1  0:1   PREOP  +  EL9227-5500 �berstromschutz 24V DC, 2K., max. 10A (Summe), eins
+#   2  0:2   PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#   3  0:3   PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#   4  0:4   PREOP  +  EL3204 4K. Ana. Eingang PT100 (RTD)
+#   5  0:5   PREOP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
+#   6  0:6   PREOP  +  EL1008 8K. Dig. Eingang 24V, 3ms
+#   7  0:7   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#   8  0:8   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#   9  0:9   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#  10  0:10  PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#
+
+# 0:0  - EK1100    EtherCAT coupler
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EK1100"
+
+# 0:1  - EL9227-5500
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL9227-5500"
+
+# 0:2  - EL5042    2Ch BiSS-C Encoder
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL5042"
+
+# 0:3  - EL5042    2Ch BiSS-C Encoder
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL5042"
+
+# 0:4  - EL3204    
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL3204"
+
+# 0:5  - EL2008 
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL2008"
+
+# 0:6  - EL1008    8K. Dig. Eingang 24V, 3ms
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL1008"
+
+# 0:7 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+
+# 0:8 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+
+# 0:9 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+
+# 0:10 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+
+#- #################################################################
+#- Virtual axes
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
+
+#- #################################################################
+#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
+#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_CEN=12, AX_GAP=13, AX_LO=5, AX_HI=6, GRP_ID_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_ID}'"
+
+#- #################################################################
+#- go active
+${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
+${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
+
+#- #############################################################################
+#- reset all errors
+afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
diff --git a/example/slit_matrix/startup_matrix.script_ecmc b/example/slit_matrix/startup_matrix.script_ecmc
new file mode 100644
index 0000000..96d718b
--- /dev/null
+++ b/example/slit_matrix/startup_matrix.script_ecmc
@@ -0,0 +1,85 @@
+#- Configuration scripts
+require ecmccfg,"ENG_MODE=1,EC_RATE=100"
+
+#- Components lib
+require ecmccomp
+
+#- Syncronization configs
+require ecmc_master_slave sandst_a
+
+#- Only output errors
+asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
+
+
+#- ############################################################################
+#- add slaves
+#- list of slaves (4 axis test motion box)
+# Master0
+#   0  0:0   PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
+#   1  0:1   PREOP  +  EL9227-5500 �berstromschutz 24V DC, 2K., max. 10A (Summe), eins
+#   2  0:2   PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#   3  0:3   PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#   4  0:4   PREOP  +  EL3204 4K. Ana. Eingang PT100 (RTD)
+#   5  0:5   PREOP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
+#   6  0:6   PREOP  +  EL1008 8K. Dig. Eingang 24V, 3ms
+#   7  0:7   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#   8  0:8   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#   9  0:9   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#  10  0:10  PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
+#
+
+# 0:0  - EK1100    EtherCAT coupler
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EK1100"
+
+# 0:1  - EL9227-5500
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL9227-5500"
+
+# 0:2  - EL5042    2Ch BiSS-C Encoder
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL5042"
+
+# 0:3  - EL5042    2Ch BiSS-C Encoder
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL5042"
+
+# 0:4  - EL3204    
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL3204"
+
+# 0:5  - EL2008 
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL2008"
+
+# 0:6  - EL1008    8K. Dig. Eingang 24V, 3ms
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL1008"
+
+# 0:7 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+
+# 0:8 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+
+# 0:9 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+
+# 0:10 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
+
+#- #################################################################
+#- Virtual axes
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
+
+#- #################################################################
+#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
+#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main_matrix.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_ID}'"
+
+#- #################################################################
+#- go active
+${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
+${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
+
+#- #############################################################################
+#- reset all errors
+afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")