diff --git a/cfg/MX1_home.cfg b/cfg/MX1_home.cfg
index 3012fef..fade213 100644
--- a/cfg/MX1_home.cfg
+++ b/cfg/MX1_home.cfg
@@ -1,4 +1,5 @@
 define(PLC_Homing='1')
+define(PLC_HomingCY='2')
 define(statusHoming='P100')
 statusHoming=0
 
@@ -133,3 +134,39 @@ N1: //ENDPLC
 
   disable plc PLC_Homing
 close
+
+
+open plc PLC_HomingCY
+  define(timer='L1')
+  statusHoming=0
+  if (Motor[3].PlusLimit==1){
+    jog3:-2000 // move out of limit switch
+    statusHoming|=16
+    while(Motor[3].DesVelZero!=0){}
+  }
+
+  Motor[3].pLimits=0
+  Motor[3].HomeVel=1
+  Motor[3].HomeOffset=-1000
+  timer = Sys.RunTime + 2. ;while (Sys.RunTime < timer){} //wait x sec
+  statusHoming|=1
+  home3 //homing to +lim, moving to relative position HomeOffset=-1000 and set this position to 0
+  timer = Sys.RunTime + .5 ;while (Sys.RunTime < timer){} //wait x sec
+  while(Motor[3].HomeInProgress){}
+  if(Motor[3].HomeComplete)
+    statusHoming=statusHoming|2
+  else
+  {
+    statusHoming|=256
+    send 1"CY_Achse home failed\n"
+  }
+
+  statusHoming|=4
+  timer = Sys.RunTime + 1.;while (Sys.RunTime < timer){} //wait x sec
+  Motor[3].pLimits=PowerBrick[0].Chan[2].Status.a //seset limit switches
+  Motor[3].HomePos-=14000 //set this position to 14000um
+  //timer = Sys.RunTime + 2.;while (Sys.RunTime < timer){} //wait x sec
+  //jog3:-1000 // move 1000um out of limit switch
+  statusHoming|=8
+  disable plc PLC_HomingCY
+close
\ No newline at end of file
diff --git a/cfg/MX1_setup.cfg b/cfg/MX1_setup.cfg
index 36d6996..a9cbd7f 100644
--- a/cfg/MX1_setup.cfg
+++ b/cfg/MX1_setup.cfg
@@ -106,13 +106,13 @@ Motor[2].pEncLoss=0
 //!encoder_inc(enc=3,tbl=11,mot=11,posSf=1)
 !encoder_inc(enc=3,tbl=3,mot=3,posSf=0.25)
 !motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=0,Ki=0.0,Kvff=0,Kaff=0,MaxInt=1000,Kfff=0)
-!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1,IpfGain=3,IpbGain=3,JogSpeed=12.,numPhase=2,invDir=False,servo=None,PhasePosSf=0,PhaseFindingDac=0,PhaseFindingTime=0,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10,homing='enc-index')
+!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1,IpfGain=3,IpbGain=3,JogSpeed=12.,numPhase=2,invDir=False,servo=None,PhasePosSf=0,PhaseFindingDac=0,PhaseFindingTime=0,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=50,homing='hi-limit',FaultMode=0)
 Motor[3].Servo.Kp=20
 Motor[3].Servo.BreakPosErr=1
 Motor[3].Servo.KBreak=10
 Motor[3].Servo.Ki=0
-Motor[3].Servo.OutDbOn=150
-Motor[3].Servo.OutDbOff=150
+Motor[3].Servo.OutDbOn=50
+Motor[3].Servo.OutDbOff=50
 
 //Motor[3].Servo.Kp=80
 //Motor[3].Servo.BreakPosErr=0
@@ -145,7 +145,7 @@ Motor[3].Servo.OutDbOff=150
 !encoder_inc(enc=6,tbl=6,mot=6 ,posSf=.01) //1 incr=10nm -> posSf=.01 to scale to um
 !encoder_inc(enc=7,tbl=7,mot=7 ,posSf=-.01) //1 incr=10nm,inverse direction -> posSf=.01 to scale to um
 
-#3,4,5hmz
+#4,5hmz
 
 //holding current
 !holding_current(m4=[0,240],m5=[0,240])
diff --git a/cfg/MX3_setup.cfg b/cfg/MX3_setup.cfg
index 4d4fab7..0ce890c 100644
--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -45,7 +45,7 @@ Motor[5].Servo.BreakPosErr=0
 //Closed loop
 !encoder_sim(enc=6,tbl=16,mot=16,posSf=2000./102400)
 !encoder_biss(enc=6,numBits=26,posSf=1./20)
-!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=1516405.)
+!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=1684405.)
 
 
 // break configuration
diff --git a/evr_PCIe-300DC.subs b/evr_PCIe-300DC.subs
index 10af1a9..a2c0e43 100644
--- a/evr_PCIe-300DC.subs
+++ b/evr_PCIe-300DC.subs
@@ -69,7 +69,7 @@ file "$(mrfioc2_TEMPLATES=db)/evr-pcie-300DC.db"
         Pul1-Name-I.DESC=""         #Secondary description of the pulser. Maximum 40 characters allowed!
         Pul1-Ena-Sel=1,             #0 = Disabled, 1 = Enabled
         Pul1-Polarity-Sel=1,        #0 = Active High, 1 = Active Low
-        Pul1-Delay-SP=1992.8,       #Pulser delay in us
+        Pul1-Delay-SP=750,          #Pulser delay in us
         Pul1-Width-SP=5000,         #Pulser width in us
         Pul1-Prescaler-SP=1,        #0-65535 : Pulser prescaler
 
@@ -404,7 +404,7 @@ pattern { EVT,   FUNC }
 #
 file "$(mrfioc2_TEMPLATES=db)/evr-pulserMap.template"{
 pattern {PID   F,      EVT, ID}
-        {0,    Trig,   254, 0 }  # ESB JF-Start
+        {0,    Trig,   214, 0 }  # ESB JF-Start
         {1,    Trig,   40,  0 }  # ESB JF-Acquire frame
         {2,    Trig,   22,  0 }  # ESA laser diag-1
         {3,    Trig,   0,   0 }
diff --git a/qt/ESB_MX_exp.ui b/qt/ESB_MX_exp.ui
index ffd1d01..4ef853b 100644
--- a/qt/ESB_MX_exp.ui
+++ b/qt/ESB_MX_exp.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>720</width>
-    <height>680</height>
+    <height>695</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -192,6 +192,28 @@
     <string>false;false;false;false;false;false;false;false;false;false;false;false;false;false;false;false</string>
    </property>
   </widget>
+  <widget class="caMessageButton" name="camessagebutton_4">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>660</y>
+     <width>120</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Homing CY stage</string>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(P):asyn1.AOUT</string>
+   </property>
+   <property name="label">
+    <string notr="true">Homing CY stage</string>
+   </property>
+   <property name="pressMessage">
+    <string notr="true">enable plc 2</string>
+   </property>
+  </widget>
  </widget>
  <customwidgets>
   <customwidget>