diff --git a/ESB_MX.subs b/ESB_MX.subs
index 4ddef1f..6d8a8e1 100644
--- a/ESB_MX.subs
+++ b/ESB_MX.subs
@@ -23,4 +23,6 @@ pattern {DESC ,P ,M ,PORT ,ADDR ,DIR,VMAX,VELO,JVEL
{ "Rotation Y" ,"$(P_M)","MOTOR_ROT_Y1","$(PORT_M)","$(M1)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"deg",0 ,0}
{ "Translation X","$(P_M)","MOTOR_X1" ,"$(PORT_M)","$(M2)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
{ "Translation Y","$(P_M)","MOTOR_Y1" ,"$(PORT_M)","$(M3)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
+{ "TransBase X", "$(P_M)","MOTOR_AX" ,"$(PORT_M)","$(M7)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
+{ "TransBase Z", "$(P_M)","MOTOR_AZ" ,"$(PORT_M)","$(M8)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
}
diff --git a/add_device.cmd b/add_device.cmd
index ae4248f..15e7567 100644
--- a/add_device.cmd
+++ b/add_device.cmd
@@ -13,11 +13,17 @@ M1=1
M2=$(M1)+1
M3=$(M1)+2
#M4=$(M1)+3
+M7=$(M1)+6
+M8=$(M1)+7
powerPmacCreateAxis($(PORT), $(M1))
powerPmacCreateAxis($(PORT), $(M2))
powerPmacCreateAxis($(PORT), $(M3))
#powerPmacCreateAxis($(PORT), $(M4))
+powerPmacCreateAxis($(PORT), $(M7))
+powerPmacCreateAxis($(PORT), $(M8))
+
+
# Load databse
-dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3)")
+dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3),M7=$(M7),M8=$(M8)")
diff --git a/cfg/mx-stage.cfg b/cfg/mx-stage.cfg
index d653d92..15f87ef 100644
--- a/cfg/mx-stage.cfg
+++ b/cfg/mx-stage.cfg
@@ -30,11 +30,11 @@
//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
-//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
+//Mot 7: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 7: Renishaw absolute BiSS
-//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
+//Mot 8: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 8: Renishaw absolute BiSS
//$$$***
//!common()
diff --git a/cfg/torqueCtrl.cfg b/cfg/torqueCtrl.cfg
index 3713fef..b72e6e3 100644
--- a/cfg/torqueCtrl.cfg
+++ b/cfg/torqueCtrl.cfg
@@ -77,3 +77,22 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)
+//Stada stage
+//----------------------------------------------------
+//512000 ustep == 50000 encCnt == 2500um
+//posSf = userUnits/encoder_steps
+//servoSf=motor_u_steps/userUnits
+
+!encoder_biss(enc=7,numBits=32,posSf=1./20)
+!encoder_biss(enc=8,numBits=32,posSf=1./20)
+!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
+!motor(mot=8,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
+
+//turn off servon and inpos below ... user units (here 1um)
+Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
+Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand
+
+//holding current
+!holding_current(m7=[0,200],m8=[0,200])
+
+
diff --git a/logbook.md b/logbook.md
index 584cc33..19b2ab1 100644
--- a/logbook.md
+++ b/logbook.md
@@ -921,9 +921,70 @@ caput SAR-ESB_MX:ASYN.AOUT 'enable plc 1'
tweak param 13.6.2017
---------------------
+
+with stada stage 21.7.2017
+--------------------------
telnet SAR-CPPM-EXPMX1 50001
ctrl-T
-ctrl-R
+ctrl-X
+
+$$$***
+!common()
+!mx-stage()
+
+#7j:512000
+511999.9988954368 49999
+
+Motor8:#8,16p
+511999.9922968491 49976
+
+RL32-BAS050C15...
+512000 ustep == 50000 encCnt == 2.5mm -> 50nm/encCnt
+
+OpenLoop:
+!encoder_sim(enc=7)
+!encoder_sim(enc=8)
+!encoder_biss(enc=7,tbl=15,mot=15)
+!encoder_biss(enc=8,tbl=16,mot=16)
+!motor(mot=7,current=200,JogSpeed=102.4*1,invDir=1,HomeOffset=39263)
+!motor(mot=8,current=200,JogSpeed=102.4*1,invDir=1)//,HomeOffset=39762)
+
+!encoder_biss(enc=7,tbl=15,mot=15)
+!encoder_biss(enc=8,tbl=16,mot=16)
+!motor(mot=7,current=200,JogSpeed=102.4*1,invDir=1)
+!motor(mot=8,current=200,JogSpeed=102.4*1,invDir=1)
+
+
+
+
+Status Review 2.8.2017
+----------------------
+
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --host SAR-CPPM-EXPMX1 -i
+$$$***
+!common()
+!mx-stage()
+enable plc 1 //homing
+
+#1j:1000 //rotate 1 deg
+#2j:1000 //x-stage parker 1000um
+#3j:1000 //y-stage parker 1000um
+#4,5p //position of interferometer (if connected)
+#7,8j/
+#7j:1000 //x-stage stada 1000um
+#8j:1000 //z-stage stada 1000um
+
+
+telnet SAR-CPPM-EXPMX1 50001
+ctrl-T
+ctrl-X
+
+ssh x06mx-cons-1
+cd /scratch/ESB_MX/ESB_MX/qt
+caqtdm -macro 'P=SAR-ESB_MX' ESB_MX_exp.ui
+Press homing or following line:
+caput SAR-ESB_MX:ASYN.AOUT 'enable plc 1'
diff --git a/qt/ESB_MX_exp.ui b/qt/ESB_MX_exp.ui
index 243cb9b..350b016 100644
--- a/qt/ESB_MX_exp.ui
+++ b/qt/ESB_MX_exp.ui
@@ -47,13 +47,15 @@
20
- 80
+ 70
725
- 72
+ 120
+P=$(P),M=MOTOR_AX;
+P=$(P),M=MOTOR_AZ;
P=$(P),M=MOTOR_ROT_Y1;
P=$(P),M=MOTOR_X1;
P=$(P),M=MOTOR_Y1
@@ -62,7 +64,7 @@ P=$(P),M=MOTOR_Y1
ESB_MX_motor.ui
- 3
+ 5
@@ -197,8 +199,8 @@ P=$(P),M=MOTOR_Y1
- 640
- 160
+ 620
+ 20
100
22