diff --git a/example/slit_equations/cfg/axis_main_matrix.plc b/example/slit_equations/cfg/axis_main_matrix.plc
deleted file mode 100644
index c503e95..0000000
--- a/example/slit_equations/cfg/axis_main_matrix.plc
+++ /dev/null
@@ -1,31 +0,0 @@
-/* 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_equations/startup_matrix.script_ecmc b/example/slit_equations/startup_matrix.script_ecmc
deleted file mode 100644
index 96d718b..0000000
--- a/example/slit_equations/startup_matrix.script_ecmc
+++ /dev/null
@@ -1,85 +0,0 @@
-#- 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/axis_main.plc b/example/slit_matrix/cfg/axis_main.plc
old mode 100755
new mode 100644
index b241a07..74d1c3a
--- a/example/slit_matrix/cfg/axis_main.plc
+++ b/example/slit_matrix/cfg/axis_main.plc
@@ -1,7 +1,30 @@
+/* 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_slit.plc_inc"
+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)
diff --git a/example/slit_matrix/cfg/axis_main_matrix.plc b/example/slit_matrix/cfg/axis_main_matrix.plc
deleted file mode 100644
index c503e95..0000000
--- a/example/slit_matrix/cfg/axis_main_matrix.plc
+++ /dev/null
@@ -1,31 +0,0 @@
-/* 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/startup.script_ecmc b/example/slit_matrix/startup.script_ecmc
index 2c94811..2cdab38 100644
--- a/example/slit_matrix/startup.script_ecmc
+++ b/example/slit_matrix/startup.script_ecmc
@@ -5,7 +5,7 @@ require ecmccfg,"ENG_MODE=1,EC_RATE=100"
 require ecmccomp
 
 #- Syncronization configs
-require ecmc_master_slave
+require ecmc_master_slave sandst_a
 
 #- Only output errors
 asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
@@ -73,7 +73,7 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax6_YGAP.yaml
 #- #################################################################
 #- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
 #- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
-${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_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
diff --git a/example/slit_matrix/startup_matrix.script_ecmc b/example/slit_matrix/startup_matrix.script_ecmc
deleted file mode 100644
index 96d718b..0000000
--- a/example/slit_matrix/startup_matrix.script_ecmc
+++ /dev/null
@@ -1,85 +0,0 @@
-#- 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()'")