diff --git a/iocsh/cfg/axis.yaml b/iocsh/cfg/axis.yaml
index d97d627..0212a33 100644
--- a/iocsh/cfg/axis.yaml
+++ b/iocsh/cfg/axis.yaml
@@ -21,10 +21,10 @@ epics:
   precision: 3                                        # Decimal count
   description: very important motor axis              # Axis description
   unit: mm                                            # Unit
-  # motorRecord:
-  #   enable: true
-  #   description: This is MR
-  #   fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
+  motorRecord:
+    enable: true
+    description: This is MR
+    fieldInit: 'TWV=1000' # Extra config for Motor record
 
 drive:
   numerator: 3600                                     # Fastest speed in engineering units
@@ -35,31 +35,31 @@ drive:
   enabled: 1                                          # Enabled bit index in status word (not used if DS402)
   status: ec0.s$(DRV_SLAVE).driveStatus01             # Status word ethercat entry
   setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01      # Velocity setpoint if CSV. Position setpoint if CSP
-#  reduceTorque: 2                                    # Reduce torque bit in drive control word
-#  reduceTorqueEnable: True                           # Enable reduce torque functionality
+  reduceTorque: 2                                    # Reduce torque bit in drive control word
+  reduceTorqueEnable: True                           # Enable reduce torque functionality
 #  brake:
 #    enable: true                                     # Enable brake
 #    output: ec0...                                   # Ethercat link to brake output
 #    openDelay: 0                                     # Brake timing parameter in cycles (default 1kHz)
 #    closeAhead: 0                                    # Brake timing parameter in cycles (default 1kHz)
-#  reset: 1                                           # Reset   (if no drive reset bit then leave empty)
-#  warning: 2                                         # Warning (if no drive warning bit then leave empty)
-#  error:                                             # max 3
-#    - 3                                              # Error 0 (if no drive error bit then leave empty)
-#    - 7                                              # Error 1 (if no drive error bit then leave empty)
-#    - 14                                             # Error 2 (if no drive error bit then leave empty)
+  reset: 1                                           # Reset   (if no drive reset bit then leave empty)
+  warning: 2                                         # Warning (if no drive warning bit then leave empty)
+  error:                                             # max 3
+    - 3                                              # Error 0 (if no drive error bit then leave empty)
+    - 7                                              # Error 1 (if no drive error bit then leave empty)
+    - 14                                             # Error 2 (if no drive error bit then leave empty)
 
 encoder:
-  numerator: 360                                      # Scaling numerator example 360 deg/rev
-  denominator: 12800                                  # Scaling denominator example 4096 ticks per 360 degree
+  numerator: 720                                      # Scaling numerator example 360 deg/rev
+  denominator: 8192                                   # Scaling denominator example 4096 ticks per 360 degree
   # type: 0                                           # Type: 0=Incremental, 1=Absolute
   bits: 16                                            # Total bit count of encoder raw data
   # absBits: 0                                        # Absolute bit count (for absolute encoders) always least significant part of 'bits'
   # absOffset: 0                                      # Encoder offset in eng units (for absolute encoders)
   # mask: '0xFFF00'                                   # Mask applied to raw encoder value
-  position: ec0.s$(DRV_SLAVE).positionActual01        # Ethercat entry for actual position input (encoder)
-  control: ec0.s$(DRV_SLAVE).encoderControl01         # mandatory only if 'reset' is used
-  status: ec0.s$(DRV_SLAVE).encoderStatus01           # mandatory only if 'warning' or 'error' are used
+  position: ec0.s$(ENC_SLAVE).positionActual01        # Ethercat entry for actual position input (encoder)
+  control: ec0.s$(ENC_SLAVE).encoderControl01         # mandatory only if 'reset' is used
+  status: ec0.s$(ENC_SLAVE).encoderStatus01           # mandatory only if 'warning' or 'error' are used
   # ready: 10                                         # Bit in encoder status word for encoder ready
   # source: 0                                         # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
   # reset: 1                                          # Reset   (optional)
@@ -165,11 +165,11 @@ softlimits:
 monitoring:
   lag:
     enable: true                                      # Enable position lag monitoring (following error)
-    tolerance: 2                                      # Allowed tolerance
+    tolerance: 10                                      # Allowed tolerance
     time: 10                                          # Allowed time outside tolerance  target:
   target:
     enable: true                                     # Enable at target monitoring (needs to be enabled if using motor record)
-    tolerance: 0.5                                    # Allowed tolerance
+    tolerance: 0.1                                    # Allowed tolerance
     time: 10                                          # Filter time inside tolerance to be at target
   velocity:
     enable: true                                     # Enable velocity monitoring
diff --git a/iocsh/test_4ax_box.script b/iocsh/test_4ax_box.script
index 640da35..e6f6af2 100644
--- a/iocsh/test_4ax_box.script
+++ b/iocsh/test_4ax_box.script
@@ -12,7 +12,7 @@
 ##
 
 #epicsEnvSet(IOC,c6025a)
-require ecmccfg safety3,"ECMC_VER=safety3,ENG_MODE=1,MASTER_ID=1"
+require ecmccfg sandst_a,"ECMC_VER=safety3,ENG_MODE=1,MASTER_ID=1"
 
 ##############################################################################
 ## Load components lib
@@ -51,7 +51,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
 ##############################################################################
 ## Load safety plugin
 #
-require ecmc_plugin_safety safety3
+require ecmc_plugin_safety sandst_a
 
 # Create SS1 group
 #-   EC_RAMP_DOWN       :   Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)