diff --git a/cfg/MX1_setup.cfg b/cfg/MX1_setup.cfg
index 6f46587..1243832 100644
--- a/cfg/MX1_setup.cfg
+++ b/cfg/MX1_setup.cfg
@@ -78,7 +78,7 @@
 !encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576)
 Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
 !motor_servo(mot=3,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
-!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
+!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=False,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
 
 
 //Stada stage
diff --git a/python/PBTuning.py b/python/PBTuning.py
index af05d36..7bc7dc2 100755
--- a/python/PBTuning.py
+++ b/python/PBTuning.py
@@ -33,6 +33,7 @@ Modes:
   2: chirp bode open loop
   3: sine bode closed loop
   4: chirp bode closed loop
+  5: full bode open loop record of both motors (including init_stage
 
 TODO:
 use openloopsine to create a bode diagram of the 'strecke'
@@ -88,12 +89,12 @@ class PBTuning:
       p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
       retval = p.wait()
       print(p.stderr.read());print(p.stdout.read())
-      time.sleep(5)
-      cmd=(gpasciiCommander ,'--host',host,'--cmd','#1..2j=10000')
-      p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
-      retval = p.wait()
-      print(p.stderr.read());print(p.stdout.read())
-      time.sleep(5)
+      time.sleep(10)
+      #cmd=(gpasciiCommander ,'--host',host,'--cmd','#1..2j=10000')
+      #p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
+      #retval = p.wait()
+      #print(p.stderr.read());print(p.stdout.read())
+      #time.sleep(5)