diff --git a/Readme.md b/Readme.md
index b758b99..ebd8bdc 100644
--- a/Readme.md
+++ b/Readme.md
@@ -893,8 +893,71 @@ caput SAR-EXPMX3:ASYN.debug0 cpx call 16
 #1..5p
 -204709.6252433953 -242008.2092276345 -269883.2702626893 -124867.8588862641 -189315.0329582951
 
+-19000
+Motor[1].pLimits=PowerBrick[0].Chan[0].Status.a
+Motor[2].pLimits=PowerBrick[0].Chan[1].Status.a
 
+```
+
+29.5.18 Commissioning ESC
+-------------------------
+```
+[saresb-cons-01 ~]$ caqtdm -macro 'P=SAR-EXPMX' ESB_MX_exp
+
+
+SAR-EXPMX:MOT_CX       ok
+SAR-EXPMX:MOT_CZ       ok
+SAR-EXPMX:MOT_FX       encoder ok, failed phasing... cabeling issue. old cable ok.
+SAR-EXPMX:MOT_FY       encoder ok, failed phasing... cabeling issue. old cable ok.
+SAR-EXPMX:MOT_ROT_Y    ok
+
+SAR-EXPMX:MOT_BLGT     hotor ok, homing fails -> check if ho,ing switsch is on correct pins?
+SAR-EXPMX:MOT_CRYO     ok
+SAR-EXPMX:MOT_WEDGE1   motor ok, encoder cable issue. old incr. cable works
+SAR-EXPMX:MOT_WEDGE2   motor ok, encoder cable issue. old incr. cable works
+SAR-EXPMX:MOT_WEDGE3   motor ok, encoder cable issue. old incr. cable works
+SAR-EXPMX:MOT_WEDGE4   motor ok, encoder cable issue. old incr. cable works
+
+Backlight: check register Gate3[1].Chan[0].Status when pressing home button...
 
 ```
 
 
+```
+Wedge mover:
+#3,4
+#3,4j=-17000 up limit
+#3,4j=18000  down limit
+#3j=350;#4j=-350  left right
+#3j=-2900;#4j=2900  left right
+
+
+#1j=-13000;#2j=0   up limit
+#1j=1000;#2j=14000 down limit
+
+#1j=-6000;#2j=7000 start
+
+#1j=-8500;#2j=9500 left right
+#1j=-6000;#2j=7000 also limit ?
+
+
+
+do this multiple times until motor 2 is far enough
+> #1j-;#2j-
+> #1j+;#2j-
+then home motor 2
+#1j-;#2hm
+
+Measured distances schieblehre:
+m1:67.85
+m2:67:42
+m3:66.73
+m4:68.97
+
+
+Alles bündig bei je 67mm
+
+m3 -330
+m4 1900
+
+
diff --git a/cfg/MX2_home.cfg b/cfg/MX2_home.cfg
index 6f4e0ec..da9a1b5 100644
--- a/cfg/MX2_home.cfg
+++ b/cfg/MX2_home.cfg
@@ -20,10 +20,10 @@ open plc PLC_Homing
   
   while(1)
   {
-    if((Motor[1].MinusLimit==1 || Motor[1].FeFatal==1)){
-    if((Motor[2].MinusLimit==1 || Motor[2].FeFatal==1)){
-    if((Motor[3].MinusLimit==1 || Motor[3].FeFatal==1)){
-    if((Motor[4].MinusLimit==1 || Motor[4].FeFatal==1)){
+    if((Motor[1].LimitStop==1 || Motor[1].FeFatal==1)){
+    if((Motor[2].LimitStop==1 || Motor[2].FeFatal==1)){
+    if((Motor[3].LimitStop==1 || Motor[3].FeFatal==1)){
+    if((Motor[4].LimitStop==1 || Motor[4].FeFatal==1)){
     status=2
     break
     }}}}
diff --git a/cfg/MX3_setup.cfg b/cfg/MX3_setup.cfg
index 94f101f..71b131c 100644
--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -54,7 +54,7 @@ open subprog SP_RelBrk
   Motor[3].IdCmd=1000;Motor[3].InPosBand=2
   Motor[4].IdCmd=1000;Motor[4].InPosBand=2
   Motor[5].IdCmd=1000;Motor[5].InPosBand=2
-  PowerBrick[1].GpioData[0].16.5=$1f
+  PowerBrick[0].GpioData[0].16.5=$1f
   //send 1"wait\n"
   //EndTime = Sys.Time + .1; // time + 10 sec.
   //while (EndTime > Sys.Time){}
@@ -85,7 +85,7 @@ open subprog SP_LockBrk
   Motor[3].IdCmd=0;Motor[3].InPosBand=10
   Motor[4].IdCmd=0;Motor[4].InPosBand=10
   Motor[5].IdCmd=0;Motor[5].InPosBand=10
-  PowerBrick[1].GpioData[0].16.5=$0
+  PowerBrick[0].GpioData[0].16.5=$0
 close