diff --git a/catkin_ws/src/smargon/config/smargonparameters.txt b/catkin_ws/src/smargon/config/smargonparameters.txt
deleted file mode 100644
index e60de14..0000000
--- a/catkin_ws/src/smargon/config/smargonparameters.txt
+++ /dev/null
@@ -1,88 +0,0 @@
-l01	50.500000
-l11	16.500000
-l12	16.500000
-l21	16.500000
-l22	16.500000
-l23	13.500000
-l31	11.500000
-l32	28.500000
-l33	11.500000
-l34	28.500000
-l41	76.500000
-l42	25.500000
-l51	10.000000
-l52	2.500000
-l61	64.422000
-l71	5.000000
-l72	17.670000
-l73	5.200000
-l74	9.000000
-offsetQ1	1.800000
-offsetQ2	-0.500000
-offsetQ3	0.000000
-offsetQ4	-0.198000
-offsetQ5	0.000000
-offsetQ6	0.000000
-
-q1_start	0.000000
-q1_limpos	10.000000
-q1_limneg	-10.000000
-q2_start	0.000000
-q2_limpos	10.000000
-q2_limneg	-10.000000
-q3_start	0.000000
-q3_limpos	10.000000
-q3_limneg	-10.000000
-q4_start	0.000000
-q4_limpos	10.000000
-q4_limneg	-10.000000
-q5_start	0.000000
-q5_limpos	10.000000
-q5_limneg	-10.000000
-q6_start	0.000000
-q6_limpos	10.000000
-q6_limneg	-10.000000
-
-SHX_start	0.000000
-SHX_limpos	2.5000000
-SHX_limneg	-2.500000
-SHY_start	0.000000
-SHY_limpos	2.500000
-SHY_limneg	-2.500000
-SHZ_start	18.000000
-SHZ_limpos	25.000000
-SHZ_limneg	10.000000
-OMEGA_start	0.000000
-OMEGA_limpos	3600.000000
-OMEGA_limneg	-3600.000000
-CHI_start	0.000000
-CHI_limpos	90.000000
-CHI_limneg	0.000000
-PHI_start	0.000000
-PHI_limpos	3600.000000
-PHI_limneg	-3600.000000
-OX_start	0.000000
-OX_limpos	10.000000
-OX_limneg	-10.000000
-OY_start	0.000000
-OY_limpos	10.000000
-OY_limneg	-10.000000
-OZ_start	190.000000
-OZ_limpos	200.000000
-OZ_limneg	180.000000
-
-BX_start	0.000000
-BX_limpos	0.000000
-BX_limneg	0.000000
-BY_start	0.000000
-BY_limpos	0.000000
-BY_limneg	0.000000
-BOMEGA_start	0.000000
-BOMEGA_limpos	0.000000
-BOMEGA_limneg	0.000000
-BCHI_start	0.000000
-BCHI_limpos	0.000000
-BCHI_limneg	0.000000
-BPHI_start	0.000000
-BPHI_limpos	0.000000
-BPHI_limneg	0.000000
diff --git a/catkin_ws/src/smargon/config/smargonparameters.yaml b/catkin_ws/src/smargon/config/smargonparameters.yaml
index d90ec71..3486ae1 100644
--- a/catkin_ws/src/smargon/config/smargonparameters.yaml
+++ b/catkin_ws/src/smargon/config/smargonparameters.yaml
@@ -32,7 +32,7 @@ length: {
 axis: {
     SHX: {
 #Kalibrier PIN
-        start : -0.164,
+        start : -0.000,
         limpos:  2.500,
         limneg: -2.500,
         vmax  : 10.000,
@@ -40,7 +40,7 @@ axis: {
     },
     SHY: {
 #Kalibrier PIN
-        start : -0.0799,
+        start : -0.000,
         limpos:  2.500,
         limneg: -2.500,
         vmax  : 10.000,
@@ -48,7 +48,7 @@ axis: {
     },
     SHZ: {
 #Kalibrier PIN
-        start : 17.496,
+        start : 18.000,
         limpos: 25.000,
         limneg: 10.000,
         vmax  : 10.000,
@@ -64,7 +64,7 @@ axis: {
     },
     CHI: {
         start :  0.000,
-        limpos: 90.000,
+        limpos: 40.000,
         limneg:  0.000,
         vmax  :  5.000,
         amax  : 30.000,
@@ -78,14 +78,14 @@ axis: {
     },
 
     OX: {
-        start : -0.686,
+        start : -0.7141,
         limpos:  2.500,
         limneg: -2.500,
         vmax  : 0.500,
         amax  : 0.500,
     },
     OY: {
-        start :  -0.2724,
+        start :  -0.0134,
         limpos:  2.500,
         limneg: -2.500,
         vmax  : 0.500,
diff --git a/catkin_ws/src/smargon/html/index.html b/catkin_ws/src/smargon/html/index.html
index 8ff9062..29479ee 100644
--- a/catkin_ws/src/smargon/html/index.html
+++ b/catkin_ws/src/smargon/html/index.html
@@ -478,7 +478,8 @@
 <script>
     function setPoseHome() {
        let xhr = new XMLHttpRequest(); 
-       let url = "http://"+SERVERNAME+"/targetSCS?SHX=0&SHY=0&SHZ=18&OMEGA=0&CHI=0&PHI=0&OX=0&OY=0&OZ=190"; 
+       //let url = "http://"+SERVERNAME+"/targetSCS?SHX=0&SHY=0&SHZ=18&OMEGA=0&CHI=0&PHI=0&OX=0&OY=0&OZ=190"; 
+       let url = "http://"+SERVERNAME+"/targetSCS?SHX=0&SHY=0&SHZ=18&OMEGA=0&CHI=0&PHI=0"; 
        xhr.open("PUT", url); 
        xhr.send(); 
     }
diff --git a/catkin_ws/src/smargon/src/AeroBasic.txt b/catkin_ws/src/smargon/scripts/AeroBasic.txt
similarity index 100%
rename from catkin_ws/src/smargon/src/AeroBasic.txt
rename to catkin_ws/src/smargon/scripts/AeroBasic.txt
diff --git a/catkin_ws/src/smargon/src/AerotechMoveBack.py b/catkin_ws/src/smargon/scripts/AerotechMoveBack.py
similarity index 100%
rename from catkin_ws/src/smargon/src/AerotechMoveBack.py
rename to catkin_ws/src/smargon/scripts/AerotechMoveBack.py
diff --git a/catkin_ws/src/smargon/scripts/restful.py b/catkin_ws/src/smargon/scripts/restful.py
index abe6243..26c7b00 100755
--- a/catkin_ws/src/smargon/scripts/restful.py
+++ b/catkin_ws/src/smargon/scripts/restful.py
@@ -136,9 +136,9 @@ except:
 
 #Redis setup
 try:
-    redis_handle = redis.Redis(host="x06sa-cons-705.psi.ch")
+    redis_handle = redis.Redis(host="x06sa-cons-705.psi.ch", db=3)
 except:
-    pass
+    print("unable to connect to redis")
 
 #ROS related libraries
 import rospy
@@ -154,9 +154,9 @@ import math
 from datetime import datetime
 import time
 
-#Remove werkzeug Logging
+#Limit werkzeug Logging
 import logging
-logger = logging.getLogger('werkzeutg')
+logger = logging.getLogger('werkzeug')
 logger.setLevel(logging.ERROR)
 
 
@@ -169,10 +169,13 @@ mode_request = 0
 corr_type = rospy.get_param('default_active_correction')
 
 #targets: (upon loading, read from ROS param server)
-targetSCS = {
-    "BX"  : 0.,
-    "BY"  : 0.,
-    "BZ"  : 0.,
+targetBCS = {
+    "BX"   : 0.,
+    "BY"   : 0.,
+    "BZ"   : 0.,
+    "OMEGA": 0.,
+    "CHI"  : 0.,
+    "PHI"  : 0.,
 }
 targetSCS = {
     "SHX"  :rospy.get_param('/axis/SHX/start'),
@@ -220,6 +223,9 @@ readbackBCS = {
     "BX":0.0,
     "BY":0.0,
     "BZ":0.0,
+    "OMEGA": 0.,
+    "CHI"  : 0.,
+    "PHI"  : 0.,
     "seq":0.0,
     "secs":0.0,
     "nsecs":0.0
@@ -289,15 +295,19 @@ def corr_typeCallback(msg):
 
 #ROS Callback functions for the /readback subscribers:
 def readbackBCSCallback(msg):
-    readbackSCS['BX']   = msg.position[0]
-    readbackSCS['BY']   = msg.position[1]
-    readbackSCS['BZ']   = msg.position[2]
-    readbackSCS['seq']   = msg.header.seq
-    readbackSCS['secs']  = msg.header.stamp.secs
-    readbackSCS['nsecs'] = msg.header.stamp.nsecs
+    readbackBCS['BX']   = msg.position[0]
+    readbackBCS['BY']   = msg.position[1]
+    readbackBCS['BZ']   = msg.position[2]
+    readbackBCS['OMEGA'] = msg.position[3]
+    readbackBCS['CHI']   = msg.position[4]
+    readbackBCS['PHI']   = msg.position[5]
+    readbackBCS['seq']   = msg.header.seq
+    readbackBCS['secs']  = msg.header.stamp.secs
+    readbackBCS['nsecs'] = msg.header.stamp.nsecs
     try:
         redis_handle.hset("readbackBCS", mapping=readbackBCS)
     except:
+        print("unable to update readck BCS")
         pass
 
 def readbackSCSCallback(msg):
@@ -501,6 +511,10 @@ class TargetBCS(Resource):
                  help="BY: value cannot be converted")
          parser.add_argument("BZ", type=float, 
                  help="BZ: value cannot be converted")
+         parser.add_argument("CHI", type=float, 
+                 help="CHI: value cannot be converted")
+         parser.add_argument("PHI", type=float, 
+                 help="PHI: value cannot be converted")
          args = parser.parse_args()
   
          for k, v in args.items():
@@ -509,8 +523,8 @@ class TargetBCS(Resource):
 
          #Post Message on ROS topic
          msg = JointState()
-         msg.name = ['BX', 'BY', 'BZ']
-         msg.position = [targetSCS['BX'],   targetSCS['BY'], targetSCS['BZ']] 
+         msg.name = ['BX', 'BY', 'BZ', 'OMEGA', 'CHI', 'PHI']
+         msg.position = [targetBCS['BX'], targetBCS['BY'], targetBCS['BZ'], targetBCS['OMEGA'], targetBCS['CHI'], targetBCS['PHI']] 
          pub_targetBCS.publish(msg)
 
          return targetBCS, 202 #200:OK, #202:Accepted for processing 
@@ -530,6 +544,11 @@ class TargetBCS_Rel(Resource):
                  help="BY: value cannot be converted")
          parser.add_argument("BZ", type=float, 
                  help="BY: value cannot be converted")
+         parser.add_argument("CHI", type=float, 
+                 help="CHI: value cannot be converted")
+         parser.add_argument("PHI", type=float, 
+                 help="PHI: value cannot be converted")
+         args = parser.parse_args()
   
          for k, v in args.items():
              if v is not None:
@@ -537,11 +556,9 @@ class TargetBCS_Rel(Resource):
          
          #Post Message on ROS topic
          msg = JointState()
-         msg.name = ['SHX', 'SHY', 'SHZ', 'OMEGA', 'CHI', 'PHI', 'OX', 'OY', 'OZ']
-         msg.position = [targetSCS['SHX'],   targetSCS['SHY'], targetSCS['SHZ'], 
-                         targetSCS['OMEGA'], targetSCS['CHI'], targetSCS['PHI'],
-                         targetSCS['OX'],    targetSCS['OY'],  targetSCS['OZ']]
-         pub_targetSCS.publish(msg)
+         msg.name = ['BX', 'BY', 'BZ', 'OMEGA', 'CHI', 'PHI']
+         msg.position = [targetBCS['BX'], targetBCS['BY'], targetBCS['BZ'], targetBCS['OMEGA'], targetBCS['CHI'], targetBCS['PHI']] 
+         pub_targetBCS.publish(msg)
 
          return targetBCS, 202 #200:OK, #202:Accepted for processing 
                                         #        (not yet processed)
diff --git a/catkin_ws/src/smargon/src/BCS2SCS.cpp b/catkin_ws/src/smargon/src/BCS2SCS.cpp
index 5ea7633..de0e5c9 100644
--- a/catkin_ws/src/smargon/src/BCS2SCS.cpp
+++ b/catkin_ws/src/smargon/src/BCS2SCS.cpp
@@ -77,15 +77,21 @@ int calculateSCS2BCS () {
 void publishReadbackBCS ()  {
         sensor_msgs::JointState msg;
         msg.header.stamp = ros::Time::now();
-        msg.name.resize(3);
+        msg.name.resize(6);
         msg.name[0] = "BX";
         msg.name[1] = "BY";
         msg.name[2] = "BZ";
+        msg.name[3] = "OMEGA";
+        msg.name[4] = "CHI";
+        msg.name[5] = "PHI";
 
-        msg.position.resize(3);
+        msg.position.resize(6);
         msg.position[0] = BX;
         msg.position[1] = BY;
         msg.position[2] = BZ;
+        msg.position[3] = OMEGA;
+        msg.position[4] = CHI;
+        msg.position[5] = PHI;
 
         readbackBCS_pub.publish(msg);
 }
@@ -151,6 +157,9 @@ void targetBCS_requestCallback(const sensor_msgs::JointState::ConstPtr& msg)
     BX   = msg->position[0];
     BY   = msg->position[1];
     BZ   = msg->position[2];
+    OMEGA = msg->position[3];
+    CHI   = msg->position[4];
+    PHI   = msg->position[5];
 
     calculateBCS2SCS();
 
diff --git a/catkin_ws/src/smargon/src/smargonCalibrator.cpp b/catkin_ws/src/smargon/src/smargonCalibrator.cpp
index 5273842..9a2bb17 100644
--- a/catkin_ws/src/smargon/src/smargonCalibrator.cpp
+++ b/catkin_ws/src/smargon/src/smargonCalibrator.cpp
@@ -132,9 +132,9 @@ int transform(void) {
     y =  ch2 * sin(RZ) + ch1 * sin(RX) * cos(RZ) - ch0 * cos(RX) * cos(RZ);
     z = -ch0 * sin(RX) - ch1 * cos(RX);
 
-    RX = (0.156) *(M_PI/180);
-    y = y*cos(RX)-z*sin(RX);
-    z = y*sin(RX)+z*cos(RX);
+    //RX = (0.156) *(M_PI/180);
+    //y = y*cos(RX)-z*sin(RX);
+    //z = y*sin(RX)+z*cos(RX);
 
     return 0;
 }
@@ -280,18 +280,18 @@ int main(int argc, char **argv)
        //_set control loop gains
        
        // TODO tune to best performance
-       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_PID_SHIFT, 1);
-       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 1000);
-       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 100);
-       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_I_GAIN, 0);
-       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_ANTI_WINDUP,0);
-       
-       //for accurate measurement with low force
        result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_PID_SHIFT, 1);
-       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 500);
-       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 10);
+       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 1000);
+       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 100);
        result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_I_GAIN, 0);
        result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_ANTI_WINDUP,0);
+       
+       //for accurate measurement with low force
+       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_PID_SHIFT, 1);
+       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 500);
+       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 10);
+       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_I_GAIN, 0);
+       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_ANTI_WINDUP,0);
 
        // note: setting the position refers to the position calculation for the build-in sensors
        result = SA_CTL_SetProperty_i64(dHandle, channel, SA_CTL_PKEY_POSITION, 0);
@@ -318,8 +318,8 @@ int main(int argc, char **argv)
         // If enableCAL was changed (transition=true), start or stop control loop:
         if (transition) {
             if (enableCAL) { //start control loop
-		//int32_t target =32000; //int(131071 / 4); # ca 25% of the (positive) control range to 'press' against the sensors
-	        int32_t target =3000; //for accurate measurements with low force on smargon
+		int32_t target =32000; //int(131071 / 4); # ca 25% of the (positive) control range to 'press' against the sensors
+	        //int32_t target =3000; //for accurate measurements with low force on smargon
                     for (int channel=0; channel<3; channel++){
                     result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_MOVE_MODE, SA_CTL_MOVE_MODE_CL_ABSOLUTE);
                     result = SA_CTL_Move(dHandle, channel, target,0); // enable control loop;
diff --git a/python_algorithms/Dominik/3_get_Smargon_centeredToOmega_OX&OY/measure_Smargon_Error_OXOY_CHI0.py b/python_algorithms/Dominik/3_get_Smargon_centeredToOmega_OX&OY/measure_Smargon_Error_OXOY_CHI0.py
index a3980a8..ed6338a 100755
--- a/python_algorithms/Dominik/3_get_Smargon_centeredToOmega_OX&OY/measure_Smargon_Error_OXOY_CHI0.py
+++ b/python_algorithms/Dominik/3_get_Smargon_centeredToOmega_OX&OY/measure_Smargon_Error_OXOY_CHI0.py
@@ -131,8 +131,8 @@ def calculate_correction_OY(VECT):
 ### START SCRIPT HERE #########################################################
 
 # Labor oder Beamline Anwendung
-AEROTECH_EPICS_RECORD = "X06MX-ES-DF1"
-#AEROTECH_EPICS_RECORD = "X06SA-ES-DF1"
+#AEROTECH_EPICS_RECORD = "X06MX-ES-DF1"
+AEROTECH_EPICS_RECORD = "X06SA-ES-DF1"
 
 print ("Dieses Script verfaehrt die OMEGA Achse um 360 Grad,")
 print ("und zeichnet den Fehler mittels des DMS Instrumentes auf")