diff --git a/README.md b/README.md
index 8a6c254..4897cbc 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,88 @@
 # ecmc_master_slave
-Standard syncronization scripts for ecmc
+Standard syncronization scripts for ecmc. The module provides:
+* Syncronization scripts
+* Generic state machine 
+
+## Syncronization scripts
+Syncronazation can be done both by defining the forward adn inverse kinematcis as equations or by matrices.
+
+The module implement 5 generic syncronazation scripts based on the matrix approach:
+* axis_kin_2DoF.plc_inc  : Kinematics for a 2 Dof system (slits)
+* axis_kin_3DoF.plc_inc  : Kinematics for a 3 Dof system (slits)
+* axis_kin_4DoF.plc_inc  : Kinematics for a 4 Dof system (slits)
+* axis_kin_5DoF.plc_inc  : Kinematics for a 5 Dof system (slits)
+* axis_kin_6DoF.plc_inc  : Kinematics for a 6 Dof system (slits)
+and 2 dedicated:
+* axis_kin_slit.plc_inc    : Dedicated script for a slit system based on equations (including interlocks and softlimits)
+* axis_kin_mirror.plc_inc  : Dedicated script for a 5 DoF mirror based on matrices
+
+### Generic scripts (axis_kin_xDoF.plc_inc)
+
+The generic scripts needs a few macros:
+* AX_S\<index\>  : Axis index for slave axes 1..DoF
+* AX_M\<index\>  : Axis index for master axes 1..DoF
+* FWD\<index\    : Forward kinematics array 1..DoF
+* INV\<index\    : Inverse kinematics array 1..DoF
+
+## State machine
+The state machine makes sure that master and slaved axes cannot run simultaneous. However, several master axes or several slave axes can run at the same time.
+The state machine is implemented in the file axis_sm.plc.inc in this module.
+
+The state machine needs two macros:
+* GRP_ID_MA : Group id for master axes (most often virtual axes)
+* GRP_ID_SA : Group id for slave axes (most often real axes)
+
+The easiest way to create a group is to just add it in the axis yaml configuration:
+```
+axis:
+  id: 5
+  group: realAxes
+```
+
+If the group does not exist, it will be created. The id of the group will be accessible through the environment variable "GRP_\<group_name\>_ID", in this case "GRP_realAxes_ID".
+This macro can the be used when loading the PLC-code.
+
+## Using the scripts
+The easiest way is to generate a main plc file and then use include to access the kinematic and state machine scripts.
+
+Example for a slit system:
+```
+/* 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. 
+include "axis_kin_2DoF.plc_inc"
+
+# State machine
+include "axis_sm.plc_inc"
+```
+
+The main plc file can then be loaded into ecmc with appropriate macros (also not the INC):
+```
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
+```
+NOTE: Macros cannot not be used in the include statement. The path to this module needs to set in the INC parameter to loadPLCFile.cmd
+
+## Examples
 See examples dir for usage:
-* slits
-* mirror
+* slits (equations, 2DoFs matrix)
+* mirror (matrix)
diff --git a/axis_sm.plc_inc b/axis_sm.plc_inc
index cbf859c..751efcc 100755
--- a/axis_sm.plc_inc
+++ b/axis_sm.plc_inc
@@ -12,7 +12,7 @@ if ( static.counter<0.105 ) {
   if ( static.counter>=0.105) { static.VMState:=0 };
 
   #- VMs in Internal mode, ready to listen
-  mc_grp_set_traj_src(${GRP_ID_VA},0);
+  mc_grp_set_traj_src(${GRP_ID_MA},0);
 };
 
 
@@ -26,19 +26,19 @@ if ( static.counter<0.105 ) {
 if(static.VMState==-1) {
   
   #- Trigg MR sync for all virt axes
-  mc_grp_sync_act_set(${GRP_ID_VA},1);
+  mc_grp_sync_act_set(${GRP_ID_MA},1);
 
   #- RM are no longer in motion
   #- -1 -> 0
   #- Trigger Condition:
   #-  - all RM are not busy
-  if( mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
+  if( mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
 
     #- disable real motors
-    mc_grp_set_enable(${GRP_ID_RA},0);
+    mc_grp_set_enable(${GRP_ID_SA},0);
 
     #- VMs in Internal mode, back to ground state
-    mc_grp_set_traj_src(${GRP_ID_VA},0);
+    mc_grp_set_traj_src(${GRP_ID_MA},0);
 
     #- state change
     println('-1 -> 0');
@@ -46,8 +46,8 @@ if(static.VMState==-1) {
   };
   
   #- If RM Motion is occuring, and user commands VM motion: simply disable the VMs to void the command.
-  if( mc_grp_get_any_enabled(${GRP_ID_VA})==1 and mc_grp_get_any_enable(${GRP_ID_VA})==1 ) {
-    mc_grp_set_enable(${GRP_ID_VA},0);
+  if( mc_grp_get_any_enabled(${GRP_ID_MA})==1 and mc_grp_get_any_enable(${GRP_ID_MA})==1 ) {
+    mc_grp_set_enable(${GRP_ID_MA},0);
   };
 }
 
@@ -60,10 +60,10 @@ else if(static.VMState==0) {
   #-  - all RM are in internal mode
   #-  - all VM are disabled
 
-  mc_grp_get_any_traj_src_ext(${GRP_ID_RA})==0
-  if( mc_grp_get_any_busy(${GRP_ID_RA})==1 and mc_grp_get_any_traj_src_ext(${GRP_ID_RA})==0 and mc_grp_get_any_enabled(${GRP_ID_VA})==0 ) {
+  mc_grp_get_any_traj_src_ext(${GRP_ID_SA})==0
+  if( mc_grp_get_any_busy(${GRP_ID_SA})==1 and mc_grp_get_any_traj_src_ext(${GRP_ID_SA})==0 and mc_grp_get_any_enabled(${GRP_ID_MA})==0 ) {
     #- VMs in PLC mode, so no following errors occur
-    mc_grp_set_traj_src(${GRP_ID_VA},0);
+    mc_grp_set_traj_src(${GRP_ID_MA},0);
 
     #- state change
     println('0 -> -1');
@@ -73,29 +73,29 @@ else if(static.VMState==0) {
   #- 0 -> 1
   #- Trigger Condition:
   #-  - at least 1 VM is enabled
-  else if( mc_grp_get_any_enabled(${GRP_ID_VA})==1 ) {
+  else if( mc_grp_get_any_enabled(${GRP_ID_MA})==1 ) {
 
     #- Exit Condition: all axes are on
-    if( mc_grp_get_enabled(${GRP_ID_RA})==1 and mc_grp_get_enabled(${GRP_ID_VA})==1 and mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
+    if( mc_grp_get_enabled(${GRP_ID_SA})==1 and mc_grp_get_enabled(${GRP_ID_MA})==1 and mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
 
-      if( mc_grp_get_any_busy(${GRP_ID_VA})==1 ) {
-        mc_grp_set_traj_src(${GRP_ID_RA},1);
+      if( mc_grp_get_any_busy(${GRP_ID_MA})==1 ) {
+        mc_grp_set_traj_src(${GRP_ID_SA},1);
         #- state change
         println('0 -> 1');
         static.VMState:=1;
         #- Disable MR sync for all virt axes
-        mc_grp_sync_act_set(${GRP_ID_VA},0);
+        mc_grp_sync_act_set(${GRP_ID_MA},0);
       };
     }
 
     #- Actions: If Exit Conditions not met
     else {
       #- enable motors
-      mc_grp_set_enable(${GRP_ID_VA},1);
-      mc_grp_set_enable(${GRP_ID_RA},1);
+      mc_grp_set_enable(${GRP_ID_MA},1);
+      mc_grp_set_enable(${GRP_ID_SA},1);
 
       #- halt real motors
-      mc_grp_halt(${GRP_ID_RA});
+      mc_grp_halt(${GRP_ID_SA});
     };
   };
 }
@@ -105,18 +105,18 @@ else if(static.VMState==1) {
 
   #- basically a done test
   #- 1 -> 0
-  if( mc_grp_get_any_busy(${GRP_ID_VA})==0 ) {
+  if( mc_grp_get_any_busy(${GRP_ID_MA})==0 ) {
 
     #- disable motors and set source
-    mc_grp_set_enable(${GRP_ID_VA},0);
-    mc_grp_set_enable(${GRP_ID_RA},0);
+    mc_grp_set_enable(${GRP_ID_MA},0);
+    mc_grp_set_enable(${GRP_ID_SA},0);
 
-    mc_grp_set_traj_src(${GRP_ID_RA},0);
+    mc_grp_set_traj_src(${GRP_ID_SA},0);
 
     #- once VMs are done, RMs need a bit longer to disable
-    if( mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
+    if( mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
       #- For some reason, an interlock is raised, but not sure why or what the implications are. It can be cleared this way.
-      mc_grp_reset_error(${GRP_ID_RA});
+      mc_grp_reset_error(${GRP_ID_SA});
 
       #- state change
       println('1 -> 0');
diff --git a/example/mirror/startup.script_X10SA-CPCL-ES1 b/example/mirror/startup.script_X10SA-CPCL-ES1
index e4e7387..3444a3e 100644
--- a/example/mirror/startup.script_X10SA-CPCL-ES1
+++ b/example/mirror/startup.script_X10SA-CPCL-ES1
@@ -63,7 +63,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,     "FILE=cfg/ax10_ROLL.yaml"
 ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,     "FILE=cfg/ax11_YAW.yaml"
 
 # load the VFM virtual axes PLC
-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCFile.cmd, "FILE=cfg/VFM.plc,PLC_ID=1,INC=.:${ecmc_master_slave_DIR},PLC_MACROS='PLC_ID=1,AX_Y1=1,AX_Y2=2,AX_Y3=3,AX_X1=4,AX_X2=5,AX_TRX=7,AX_TRY=8,AX_PITCH=9,AX_ROLL=10,AX_YAW=11,GRP_ID_RA=${GRP_VFM_REAL_ID=0},GRP_ID_VA=${GRP_VFM_VIRT_ID=0}'"
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCFile.cmd, "FILE=cfg/VFM.plc,PLC_ID=1,INC=.:${ecmc_master_slave_DIR},PLC_MACROS='PLC_ID=1,AX_Y1=1,AX_Y2=2,AX_Y3=3,AX_X1=4,AX_X2=5,AX_TRX=7,AX_TRY=8,AX_PITCH=9,AX_ROLL=10,AX_YAW=11,GRP_ID_SA=${GRP_VFM_REAL_ID=0},GRP_ID_MA=${GRP_VFM_VIRT_ID=0}'"
 
 #- #############################################################################
 #- Temporary test
diff --git a/example/slit/slit_equations/startup.script_ecmc b/example/slit/slit_equations/startup.script_ecmc
index 06c334e..6901c4e 100644
--- a/example/slit/slit_equations/startup.script_ecmc
+++ b/example/slit/slit_equations/startup.script_ecmc
@@ -18,7 +18,7 @@ asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
 #- #################################################################
 #- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
 #- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
-${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}'"
+${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_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
 
 #- #################################################################
 #- go active
diff --git a/example/slit/slit_matrix/startup.script_ecmc b/example/slit/slit_matrix/startup.script_ecmc
index bbcae2e..c0c7d9e 100644
--- a/example/slit/slit_matrix/startup.script_ecmc
+++ b/example/slit/slit_matrix/startup.script_ecmc
@@ -17,7 +17,7 @@ asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
 #- #################################################################
 #- PLCs with kinematics (note the INC var including dirs to search for include files)
 #- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
-${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_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_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
 
 #- #################################################################
 #- go active