diff --git a/Readme.md b/Readme.md
index dc280c6..8a8c471 100644
--- a/Readme.md
+++ b/Readme.md
@@ -363,3 +363,233 @@ $$$***
 !SAR-EXPMX3()
 ```
 
+5 CAM mover commissioning EH60 27.3.18
+--------------------------------------
+```
+PPMAC=SAROP11-CPPM-MOT6765
+PPMAC=MOTTEST-CPPM-CRM0515
+PBInspect --host $PPMAC
+
+gpasciiCommander --host $PPMAC -i
+$$$***
+!common()
+PowerBrick[0].GpioData[0].17=1
+16 fail
+17 ok
+18 fail
+19 ok
+20 fail
+21 fail on box
+22 fail on box
+23 fail on box
+21 fail on box
+
+Testing on motor 2
+
+$$$***
+!common()
+!encoder_sim(enc=2,tbl=2,mot=2)
+!motor(mot=2,dirCur=1000,JogSpeed=1024)
+!encoder_ssi(enc=2,tbl=10,mot=10,numBits=18)
+
+PowerBrick[0].GpioData[0].17=1
+#2j:102400
+PowerBrick[0].GpioData[0].17=0
+#2k
+
+#2j:10240000  == 360 deg = 262037.6288 inc = 360000mdeg
+
+
+//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
+//the ssi-encoder has 2**18=262144 steps per revolution
+
+
+//motor_u_steps/inc_enc_step=39.0625
+//the ssi-encoder has 2**18=262144 steps per revolution
+
+//10240000 ustep == 262144 encCnt == 360deg=360000mdeg
+//posSf = userUnits/encoder_steps=360000/262144=5625./4096.
+//servoSf=motor_u_steps/userUnits 10240000/360000=256./9.
+
+
+$$$***
+!common()
+!encoder_ssi(enc=2,numBits=18,posSf=5625./4096.)
+!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,HomeOffset=0)
+PowerBrick[0].GpioData[0].17=1
+#2j:360000
+PowerBrick[0].GpioData[0].17=0
+#2k
+!cm_brake(mot=2,curOn=1000,cs=1,delay=200,gpio=17)
+
+
+
+cpx r0=180000;call 20  //motor 2 180deg
+cpx r0=0     ;call 20  //motor 2 0 deg
+
+
+
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/
+gpasciiCommander --host $PPMAC -i
+$$$***
+!common()
+!SAR-EXPMX3()
+cpx call 15 //current on, open breaks
+#1..5j=180000
+#1..5j=0
+cpx call 16 //close breaks, current off
+&1
+cpx r0=180000;call 20  //motor 2 180deg
+
+open prog 10
+call15
+abslinear
+X(10) Y(0) U(0) V(0) W(0)
+call16
+close
+b10r
+
+open prog 11
+call15
+abslinear
+jog1=0
+jog2=0
+jog3=0
+jog4=0
+jog5=0
+call16
+close
+b11r
+
+open prog 12
+call15
+abslinear
+jog1=180000
+jog2=180000
+jog3=180000
+jog4=180000
+jog5=180000
+call16
+close
+b12r
+&1p
+```
+
+5 CAM coord trf EH60 27.3.18
+----------------------------
+```
+PPMAC=MOTTEST-CPPM-CRM0515
+ssh root@$PPMAC
+sendgetsends -1
+
+
+open prog 12
+call15
+abslinear
+jog1=180000
+jog2=180000
+jog3=180000
+jog4=180000
+jog5=180000
+call16
+close
+b12r
+&1p
+```
+
+5 CAM coord trf EH60 27.3.18
+----------------------------
+```
+PPMAC=MOTTEST-CPPM-CRM0515
+ssh root@$PPMAC
+sendgetsends -1
+
+$$$***
+!common()
+!SAR-EXPMX3()
+
+
+&1p -> execute forward kinematics
+
+cpx call 15
+#1..5j=0
+cpx abslinear X(0)Y(0)U(0)V(0)W(0)    ->executes inverse kinematic
+cpx call 16
+
+
+
+
+  L6=2000/3000
+  L7=1000/1.41421356237
+  L11=L7*sin(L1*1.74532925199e-05)
+  L12=L7*sin(L2*1.74532925199e-05)
+  L13=L7*sin(L3*1.74532925199e-05)
+  L14=L7*sin(L4*1.74532925199e-05)
+  L15=L7*sin(L5*1.74532925199e-05)
+
+
+$$$***
+!common()
+!SAR-EXPMX3()
+&1
+#1..5j/
+#1..5hmz
+
+open prog 1
+  //homez1..5
+  call 15
+  jog1..5=0
+  call 16
+  L0 = Sys.Time + 2
+  while (L0 > Sys.Time){}
+  call 15
+  jog1..5=180000
+  call 16
+  call 15
+  abslinear X(1000)Y(0)U(0)V(0)W(0)
+  dwell 100
+  abslinear X(0)Y(1000)U(0)V(0)W(0)
+  dwell 100
+  abslinear X(0)Y(0)U(0)V(0)W(0)
+  dwell 100
+  jog1..5=0
+  call 16
+close
+b1r
+cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16;
+cpx call15;jog1..5=0;call16;
+```
+
+
+
+towards IOC 29.3.18
+-------------------
+```
+PPMAC=MOTTEST-CPPM-CRM0515
+ssh root@$PPMAC
+cd /ioc/SAR-CPPM-EXPMX3
+iocsh startup.script
+dbl
+
+export EPICS_CA_ADDR_LIST="129.129.126.255"
+
+export EPICS_CA_ADDR_LIST=$PPMAC
+caQtDM -macro 'P=SAR-EXPMX' ESB_MX_exp
+caQtDM -macro 'P=SAR-EXPMX' ESB_MX_5cam
+
+
+
+
+PPMAC=SAR-CPPM-EXPMX2
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
+PBInspect --host $PPMAC --cfg PBInspect2.pbi
+
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
+gpasciiCommander --host $PPMAC -i
+$$$***
+!common()
+!SAR-EXPMX2()
+
+
+
+```
diff --git a/SAR-EXPMX3.subs b/SAR-EXPMX3.subs
index 1d484e0..6b8051b 100644
--- a/SAR-EXPMX3.subs
+++ b/SAR-EXPMX3.subs
@@ -16,10 +16,16 @@
 file asyn.template {{P="$(P_M)3", PORT=$(PORT_M)}}
 
 file PPMACMotor.template {
-pattern{ DESC      , P       , M            , PORT       , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES  , PREC, EGU , DHLM, DLLM}
-       { "Girder 1", "$(P_M)", "MOT_GIRDER1", "$(PORT_M)", 1   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
-       { "Girder 2", "$(P_M)", "MOT_GIRDER2", "$(PORT_M)", 2   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
-       { "Girder 3", "$(P_M)", "MOT_GIRDER3", "$(PORT_M)", 3   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
-       { "Girder 4", "$(P_M)", "MOT_GIRDER4", "$(PORT_M)", 4   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
-       { "Girder 5", "$(P_M)", "MOT_GIRDER5", "$(PORT_M)", 5   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+pattern
+{ DESC      , P       , M          , PORT       , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES  , PREC, EGU , DHLM, DLLM}
+{ "Girder 1", "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder 2", "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder 3", "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder 4", "$(P_M)", "MOT_GIR_4", "$(PORT_M)", 4   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder 5", "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder X", "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder Y", "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10  , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11  , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12  , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+{ "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13  , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
 }
diff --git a/add_EXPMX2.cmd b/add_EXPMX2.cmd
index 00dc0c7..44081c3 100644
--- a/add_EXPMX2.cmd
+++ b/add_EXPMX2.cmd
@@ -12,7 +12,7 @@ powerPmacCreateAxis($(PORT), 2)
 powerPmacCreateAxis($(PORT), 3)
 powerPmacCreateAxis($(PORT), 4)
 powerPmacCreateAxis($(PORT), 5)
-#powerPmacCreateAxis($(PORT), 6)
+powerPmacCreateAxis($(PORT), 6)
 #powerPmacCreateAxis($(PORT), 7)
 #powerPmacCreateAxis($(PORT), 8)
 
diff --git a/add_EXPMX3.cmd b/add_EXPMX3.cmd
index c974668..f30dadb 100644
--- a/add_EXPMX3.cmd
+++ b/add_EXPMX3.cmd
@@ -18,25 +18,35 @@ powerPmacCreateAxis($(PORT), 5)
 
 #powerPmacCreateVirtualAxis(<port_name>, <axis_index>, <coord_sys_index>, <axis_name>,<commaSeparatedMotorIndices)
 # !!! COMMENTS AFTER 'powerPmacCreateVirtualAxis("$(PORT)",  9, 1, "X",1)' IS NOT ALLOWED !!!
-#powerPmacCreateVirtualAxis("$(PORT)", 9 , 1, "X",1,2,3,4)
-#powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
-#powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "A",1,2,3,4)
-#powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "B",1,2,3,4)
-#powerPmacCreateVirtualAxis("$(PORT)", 13, 1, "C",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 9 , 1, "X",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "U",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "V",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 13, 1, "W",1,2,3,4)
 
 
-OX=1
-OY=1
-OP=1
-OYW=1
-OR=1
+powerPmacSetCustomMotion $(PORT) 1 1
+powerPmacSetCustomMotion $(PORT) 2 1
+powerPmacSetCustomMotion $(PORT) 3 1
+powerPmacSetCustomMotion $(PORT) 4 1
+powerPmacSetCustomMotion $(PORT) 5 1
+powerPmacSetCustomMotion $(PORT) 9 1
+powerPmacSetCustomMotion $(PORT) 10 1
+powerPmacSetCustomMotion $(PORT) 11 1
+powerPmacSetCustomMotion $(PORT) 12 1
+powerPmacSetCustomMotion $(PORT) 13 1
 
 # Load databse
 dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)")
 
-require "HEXGIR" alarcon_a
+#OX=1
+#OY=1
+#OP=1
+#OYW=1
+#OR=1
+#require "HEXGIR" alarcon_a
 
 # Load databse
-dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_motor.subs", "PORT_M=$(PORT),P_M=$(P),M1=1,M2=2,M3=3,M4=4,M5=5,E1=1,E2=2,E3=3,E4=4,E5=5")
+#dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_motor.subs", "PORT_M=$(PORT),P_M=$(P),M1=1,M2=2,M3=3,M4=4,M5=5,E1=1,E2=2,E3=3,E4=4,E5=5")
 #dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P)")
-dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P), X_OFFSET=$(OX),Y_OFFSET=$(OY),PITCH_OFFSET=$(OP),YAW_OFFSET=$(OYW),ROLL_OFFSET=$(OR)")
\ No newline at end of file
+#dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P), X_OFFSET=$(OX),Y_OFFSET=$(OY),PITCH_OFFSET=$(OP),YAW_OFFSET=$(OYW),ROLL_OFFSET=$(OR)")
\ No newline at end of file
diff --git a/cfg/MX3_setup.cfg b/cfg/MX3_setup.cfg
index f86580e..6cea136 100644
--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -1,50 +1,96 @@
-//5 simulated cam movers
+//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
+//the ssi-encoder has 2**18=262144 steps per revolution
+//calibration values such that 0 mdeg is the highest point (+5mm) and 180000mdeg = lowest point (-5mm)
+//#1: homeoffset: -20907.5928142
+//#2: homeoffset: 102320.329068
+//#3: homeoffset: 168946.772022
+//#4: homeoffset: -87830.7554146
+//#5: homeoffset: -47956.2759182
+
+!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
+!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-20907.)
+
+!encoder_ssi(enc=2,numBits=18,posSf=5625./4096.)
+!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=102320.)
+
+!encoder_ssi(enc=3,numBits=18,posSf=5625./4096.)
+!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=168946.)
+
+!encoder_ssi(enc=4,numBits=18,posSf=5625./4096.)
+!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-87830.)
+
+!encoder_ssi(enc=5,numBits=18,posSf=5625./4096.)
+!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-47956.)
 
 
-!encoder_sim(enc=1,tbl=1,mot=1)
-!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0
+define(SP_RelBrk='15',SP_LockBrk='16')
 
-!encoder_sim(enc=2,tbl=2,mot=2)
-!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0
+// ---------- Custom Motion Programs ----------
 
-!encoder_sim(enc=3,tbl=3,mot=3)
-!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0
+!cm_prem_post(ax=1,prem=15,post=16) //generates subprog 10,11,12,13
+!cm_prem_post(ax=2,prem=15,post=16) //generates subprog 20,21,22,23
+!cm_prem_post(ax=3,prem=15,post=16) //generates subprog 30,31,32,33
+!cm_prem_post(ax=4,prem=15,post=16) //generates subprog 40,41,42,43
+!cm_prem_post(ax=5,prem=15,post=16) //generates subprog 40,41,42,43
 
-!encoder_sim(enc=4,tbl=4,mot=4)
-!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0
+!cm_prem_post(ax='X',axid=9,prem=15,post=16) //generates subprog 90,91,92,93
+!cm_prem_post(ax='Y',axid=10,prem=15,post=16) //generates subprog 100,101,102,103
+!cm_prem_post(ax='U',axid=11,prem=15,post=16) //generates subprog 110,111,112,113
+!cm_prem_post(ax='V',axid=12,prem=15,post=16) //generates subprog 120,121,122,123
+!cm_prem_post(ax='W',axid=13,prem=15,post=16) //generates subprog 120,121,122,123
 
-!encoder_sim(enc=5,tbl=5,mot=5)
-!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0
+// ---------- PREM POST Programs ----------
+
+//prem
+open subprog SP_RelBrk
+  define(EndTime='L1'); // Local variable
+  Motor[1].IdCmd=1000;Motor[1].InPosBand=2
+  Motor[2].IdCmd=1000;Motor[2].InPosBand=2
+  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
+  //send 1"wait\n"
+  //EndTime = Sys.Time + .1; // time + 10 sec.
+  //while (EndTime > Sys.Time){}
+  //send 1"wait done\n"
+close
+
+//post
+open subprog SP_LockBrk
+  define(EndTime='L1'); // Local variable
+  //wait until all motors are in pos
+  EndTime = Sys.Time + 10; // time + 10 sec.
+  //send 1"wait."
+  while (EndTime > Sys.Time)
+  {
+    if(Coord[1].InPos)
+    {
+      send 1"inPos\n"
+      break
+    }
+    //if(Motor[1].InPos && Motor[2].InPos&& Motor[3].InPos&& Motor[4].InPos&& Motor[5].InPos)
+    //  break
+    //send 1"."
+  }
+  //send 1"done\n"
+
+  Motor[1].IdCmd=0;Motor[1].InPosBand=10
+  Motor[2].IdCmd=0;Motor[2].InPosBand=10
+  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
+close
 
 
-//  //NEW:
-//  //the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
-//  //the ssi-encoder has 2**18=262144 steps per revolution
-//  //motor_u_steps/inc_enc_step=39.0625
-//  //JogSpeed=102.4 ustep/ms=102400ustep/s = 512*200= 1 rev/sec
-//    posSf        : position scale factor: encoder position to motor u-steps,  1 motor step is 512 motor u-steps
-//                   motor_u_steps=posSf*encoder_steps -> posSf = motor_u_steps/encoder_steps
-//                   default is 1.0 (1 motor_u_steps = 1 encoder_steps)
+//for motor #2
+//PowerBrick[0].GpioData[0].17=1
+//#2j:360000
+//PowerBrick[0].GpioData[0].17=0
+//#2k
+//!cm_brake(mot=2,curOn=1000,cs=1,delay=200,gpio=17)
+
 
-//  !encoder_ssi(enc=1,numBits=18,posSf=39.0625)
-//  !encoder_ssi(enc=2,numBits=18,posSf=39.0625)
-//  !encoder_ssi(enc=3,numBits=18,posSf=39.0625)
-//  !encoder_ssi(enc=4,numBits=18,posSf=39.0625)
-//  !encoder_ssi(enc=5,numBits=18,posSf=39.0625)
 
-//  !motor(mot=1,dirCur=600,JogSpeed=102.4)
-//  !motor(mot=2,dirCur=600,JogSpeed=102.4)
-//  !motor(mot=3,dirCur=600,JogSpeed=102.4)
-//  !motor(mot=4,dirCur=600,JogSpeed=102.4)
-//  !motor(mot=5,dirCur=600,JogSpeed=102.4)
 
-//  !cm_brake(mot=1,curOn=600,cs=1,delay=200,gpio=16)
-//  !cm_brake(mot=2,curOn=600,cs=1,delay=200,gpio=17)
-//  !cm_brake(mot=3,curOn=600,cs=1,delay=200,gpio=18)
-//  !cm_brake(mot=4,curOn=600,cs=1,delay=200,gpio=19)
-//  !cm_brake(mot=5,curOn=600,cs=1,delay=200,gpio=20)
diff --git a/cfg/MX3_setup_sim.cfg b/cfg/MX3_setup_sim.cfg
new file mode 100644
index 0000000..3aff032
--- /dev/null
+++ b/cfg/MX3_setup_sim.cfg
@@ -0,0 +1,19 @@
+!encoder_sim(enc=1,tbl=1,mot=1)
+!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True)
+Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0
+
+!encoder_sim(enc=2,tbl=2,mot=2)
+!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True)
+Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0
+
+!encoder_sim(enc=3,tbl=3,mot=3)
+!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True)
+Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0
+
+!encoder_sim(enc=4,tbl=4,mot=4)
+!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True)
+Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0
+
+!encoder_sim(enc=5,tbl=5,mot=5)
+!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True)
+Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0
diff --git a/cfg/SAR-EXPMX3.cfg b/cfg/SAR-EXPMX3.cfg
index e965fc6..cc0a7e3 100644
--- a/cfg/SAR-EXPMX3.cfg
+++ b/cfg/SAR-EXPMX3.cfg
@@ -1,5 +1,32 @@
 
 !MX3_setup()
+//!MX3_setup_sim() // comment out !MX3_setup() when this is active
 //!MX3_home()
 //using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
-!MX3_coordTrf(exc=1000,height=2000,width=3000,length=4000,camSf=1.7453292519943296e-05)
\ No newline at end of file
+//excentricity= 5mm
+//height      = 2mm ?
+//width       = 50cm ?
+//length      = 100cm ?
+!MX3_coordTrf(exc=5000,height=2000,width=500000,length=1000000,camSf=1.7453292519943296e-05)
+
+
+Coord[1].Ta=10
+Coord[1].Td=10
+Coord[1].AltFeedRate=1000
+Coord[1].Tm=-10000  //1000um/FeedTime -> 1mm/sec
+Coord[1].FeedTime=1000 //default value 1000um
+
+
+Motor[1].InPosBand=10
+Motor[2].InPosBand=10
+Motor[3].InPosBand=10
+Motor[4].InPosBand=10
+Motor[5].InPosBand=10
+
+#1..5hmz
+#1..5j/
+&1
+cpx call 16 //lock brakes, motor current off
+
+
+
diff --git a/cfg/sim_8_motors.cfg b/cfg/sim_8_motors.cfg
index 765bbdd..5444aee 100644
--- a/cfg/sim_8_motors.cfg
+++ b/cfg/sim_8_motors.cfg
@@ -1,6 +1,6 @@
 //simulated 8 motors without needing real ones
-$$$***
-!common()
+//$$$***
+//!common()
 
 //use some step and direction lines to setup simulate motors
 // /afs/psi.ch/user/h/humar_t/public/Modules/XMI/cfg/xmi.cfg
diff --git a/python/5camMeas.py b/python/5camMeas.py
new file mode 100755
index 0000000..6b7ed23
--- /dev/null
+++ b/python/5camMeas.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python
+# *-----------------------------------------------------------------------*
+# |                                                                       |
+# |  Copyright (c) 2017 by Paul Scherrer Institute (http://www.psi.ch)    |
+# |                                                                       |
+# |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
+# *-----------------------------------------------------------------------*
+'''
+generate code to find HomeOffset for the 5cam systems
+
+the results are:
+amplitude: 5mm
+#1: homeoffset: -20907.5928142
+#2: homeoffset: 102320.329068
+#3: homeoffset: 168946.772022
+#4: homeoffset: -87830.7554146
+#5: homeoffset: -47956.2759182
+'''
+import numpy as np
+import matplotlib.pyplot as plt
+
+def meas_rot_ctr(y,per=1):
+  # find the amplitude bias and phase of an equidistant sampled sinus
+  # it needs at least 3 measurements e.g. at 0,120 240 deg or 0 90 180 270 deg
+  # per is the number of persiods, default is 1 period =360 deg
+  n=len(y)
+  f = np.fft.fft(y)
+  idx=int(per)
+  bias=np.absolute(f[0]/n)
+  phase=np.angle(f[idx])
+  ampl=np.absolute(f[idx])*2/n
+  print('len: '+str(n))
+  print('bias: '+str(bias))
+  print('amplitude: '+str(ampl))
+  print('phase: '+str(phase*360./2/np.pi))
+  print('homeoffset: '+str(-phase*360./2/np.pi*1000))
+
+def gen_code():
+  pos=np.arange(0,360000,12000)
+  mot=range(1,6)
+  #mot=range(1,2)
+  for m in mot:
+    print('''open prog %i
+  call15
+  abslinear
+  '''%(10+m))
+    for p in pos:
+      print("""  jog%i=%i
+  dwell 5000"""%(m,p))
+    print("""  jog%i=0
+  call16
+close
+"""%(m,))
+  for m in mot:
+    print("&1;b%ir"%(10+m))
+
+def plot():
+  '''
+  &1;b11r
+  &1;b12r
+  &1;b13r
+  &1;b14r
+  &1;b15r
+  '''
+  data1=[0,-.475,-1.123,-1.916,-2.819,-3.797,-4.799,-5.786,-6.708,-7.531,-8.219,-8.746,-9.085,-9.229,-9.176,-8.929,-8.499,-7.895,-7.142,-6.271,-5.320,-4.325,-3.329,-2.377,-1.513,-.780,-.216,.151,.305,.241]
+  data2=[0,1.04,2.092,3.108,4.041,4.847,5.496,5.946,6.184,6.196,5.976,5.540,4.907,4.110,3.181,2.162,1.103,0.051,-.953,-1.859,-2.639,-3.252,-3.677,-3.892,-3.893,-3.677,-3.256,-2.648,-1.878,-.980]
+  data3=[0,.296,0.785,1.445,2.248,3.160,4.146,5.165,6.170,7.120,7.968,8.676,9.210,9.541,9.660,9.564,9.274,8.807,8.154,7.340,6.398,5.378,4.318,3.271,2.310,1.485,.790,.282,-.028,-.130,]
+  data4=[0,-1.035,-2.021,-2.930,-3.713,-4.333,-4.777,-5.018,-5.057,-4.888,-4.522,-3.967,-3.249,-2.393,-1.430,-0.402,.650,1.678,2.633,3.470,4.146,4.626,4.887,4.916,4.711,4.297,3.69,2.917,2.010,1.021]
+  data5=[0,-.847,-1.786,-2.794,-3.815,-4.808,-5.727,-6.537,-7.194,-7.681,-7.987,-8.089,-7.990,-7.688,-7.204,-6.547,-5.745,-4.831,-3.840,-2.814,-1.799,-.844,0.015,.726,1.257,1.58,1.683,1.562,1.223,.685]
+  data=[data1,data2,data3,data4,data5]
+  for d in data:
+    meas_rot_ctr(d,1)
+    plt.plot(d)
+    plt.show()
+gen_code()
+plot()
+  
+
diff --git a/qt/ESB_MX_5cam.ui b/qt/ESB_MX_5cam.ui
new file mode 100644
index 0000000..3737f41
--- /dev/null
+++ b/qt/ESB_MX_5cam.ui
@@ -0,0 +1,219 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>776</width>
+    <height>342</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="caLabel" name="calabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>721</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>18</pointsize>
+     <weight>75</weight>
+     <bold>true</bold>
+    </font>
+   </property>
+   <property name="text">
+    <string>ESB MX 5 cam girder $(P)</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+   <property name="background">
+    <color alpha="0">
+     <red>160</red>
+     <green>160</green>
+     <blue>164</blue>
+    </color>
+   </property>
+  </widget>
+  <widget class="caInclude" name="cainclude">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>70</y>
+     <width>725</width>
+     <height>240</height>
+    </rect>
+   </property>
+   <property name="macro">
+    <string>
+P=$(P),M=MOT_GIR_1;
+P=$(P),M=MOT_GIR_2;
+P=$(P),M=MOT_GIR_3;
+P=$(P),M=MOT_GIR_4;
+P=$(P),M=MOT_GIR_5;
+P=$(P),M=MOT_GIR_X;
+P=$(P),M=MOT_GIR_Y;
+P=$(P),M=MOT_GIR_U;
+P=$(P),M=MOT_GIR_V;
+P=$(P),M=MOT_GIR_W</string>
+   </property>
+   <property name="filename" stdset="0">
+    <string notr="true">ESB_MX_motor.ui</string>
+   </property>
+   <property name="numberOfItems" stdset="0">
+    <number>10</number>
+   </property>
+  </widget>
+  <widget class="QWidget" name="horizontalLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>50</y>
+     <width>731</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,3,4,0,0,3">
+    <property name="spacing">
+     <number>2</number>
+    </property>
+    <item>
+     <widget class="QLabel" name="lbl_DESC_1">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>DESC</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="lbl_VAL_1">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>VAL</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="lbl_RBV_1">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>RBV</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="lbl_LLS_1">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>25</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>20</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="text">
+       <string>LLS</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="lbl_HLS_1">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>25</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>20</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="text">
+       <string>HLS</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="MotPan_1">
+      <property name="text">
+       <string>Motors Panels</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caLabel</class>
+   <extends>QLabel</extends>
+   <header>caLabel</header>
+  </customwidget>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/qt/ESB_MX_exp.ui b/qt/ESB_MX_exp.ui
index abd0bca..9113de1 100644
--- a/qt/ESB_MX_exp.ui
+++ b/qt/ESB_MX_exp.ui
@@ -354,6 +354,48 @@ P=$(P),M=MOT_GIRDER5</string>
    <property name="labels">
     <string>HEXGIR</string>
    </property>
+   <property name="files">
+    <string>ESB_MX_5cam.ui</string>
+   </property>
+   <property name="args">
+    <string>NAME=$(P), NAME1=$(P)</string>
+   </property>
+   <property name="stackingMode" stdset="0">
+    <enum>caRowColMenu::Menu</enum>
+   </property>
+   <property name="removeParent" stdset="0">
+    <string>false;false;false;false;false;false;false;false;false;false;false;false;false;false;false;false</string>
+   </property>
+  </widget>
+  <widget class="caRelatedDisplay" name="caRelatedDisplay_10">
+   <property name="geometry">
+    <rect>
+     <x>340</x>
+     <y>620</y>
+     <width>151</width>
+     <height>30</height>
+    </rect>
+   </property>
+   <property name="label">
+    <string notr="true">-ESB_MX Girder(old)</string>
+   </property>
+   <property name="foreground">
+    <color>
+     <red>0</red>
+     <green>0</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="background">
+    <color>
+     <red>89</red>
+     <green>126</green>
+     <blue>225</blue>
+    </color>
+   </property>
+   <property name="labels">
+    <string>HEXGIR</string>
+   </property>
    <property name="files">
     <string>S_CS_HEXGIR_5Dbasic.ui</string>
    </property>