diff --git a/MCLEN/MCLEN-IOC-01App/Db/mclen_motor_extra.db b/MCLEN/MCLEN-IOC-01App/Db/mclen_motor_extra.db
index 3c442725d..3953cdd9e 100644
--- a/MCLEN/MCLEN-IOC-01App/Db/mclen_motor_extra.db
+++ b/MCLEN/MCLEN-IOC-01App/Db/mclen_motor_extra.db
@@ -2,4 +2,5 @@ record(motor, "$(P)$(M)") {
   field(PCOF, "$(PCOF)")
   field(HVEL, "$(HVEL)")
   field(RDBD, "$(RDBD)")
+  field(ASG,  "WASL0")
 }
diff --git a/MCLEN/iocBoot/iocMCLEN-IOC-01/config.xml b/MCLEN/iocBoot/iocMCLEN-IOC-01/config.xml
index ac2387c9c..b52966db4 100644
--- a/MCLEN/iocBoot/iocMCLEN-IOC-01/config.xml
+++ b/MCLEN/iocBoot/iocMCLEN-IOC-01/config.xml
@@ -84,23 +84,23 @@
 <macro name="ERES7" pattern="^-?[0-9]+/[0-9]+$" description="Encoder ratio (default: 400/4096)" defaultValue="400/4096" hasDefault="YES" />
 <macro name="ERES8" pattern="^-?[0-9]+/[0-9]+$" description="Encoder ratio (default: 400/4096)" defaultValue="400/4096" hasDefault="YES" />
 
-<macro name="DHLM1" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-<macro name="DHLM2" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-<macro name="DHLM3" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-<macro name="DHLM4" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-<macro name="DHLM5" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-<macro name="DHLM6" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-<macro name="DHLM7" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-<macro name="DHLM8" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (default: 200)" defaultValue="200" hasDefault="YES" />
-
-<macro name="DLLM1" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
-<macro name="DLLM2" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
-<macro name="DLLM3" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
-<macro name="DLLM4" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
-<macro name="DLLM5" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
-<macro name="DLLM6" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
-<macro name="DLLM7" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
-<macro name="DLLM8" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DHLM1" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+<macro name="DHLM2" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+<macro name="DHLM3" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+<macro name="DHLM4" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+<macro name="DHLM5" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+<macro name="DHLM6" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+<macro name="DHLM7" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+<macro name="DHLM8" pattern="^-?[0-9]*\.?[0-9]*$" description="Position upper limit (units) (default: 200)" defaultValue="200" hasDefault="YES" />
+
+<macro name="DLLM1" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DLLM2" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DLLM3" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DLLM4" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DLLM5" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DLLM6" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DLLM7" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
+<macro name="DLLM8" pattern="^-?[0-9]*\.?[0-9]*$" description="Position lower limit (units) (default: -200)" defaultValue="-200" hasDefault="YES" />
 
 <macro name="CMOD1" pattern="^(OPEN|CLOSED)$" description="Loop control mode (default: CLOSED)" defaultValue="CLOSED" hasDefault="YES" />
 <macro name="CMOD2" pattern="^(OPEN|CLOSED)$" description="Loop control mode (default: CLOSED)" defaultValue="CLOSED" hasDefault="YES" />
@@ -111,14 +111,14 @@
 <macro name="CMOD7" pattern="^(OPEN|CLOSED)$" description="Loop control mode (default: CLOSED)" defaultValue="CLOSED" hasDefault="YES" />
 <macro name="CMOD8" pattern="^(OPEN|CLOSED)$" description="Loop control mode (default: CLOSED)" defaultValue="CLOSED" hasDefault="YES" />
 
-<macro name="HOME1" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
-<macro name="HOME2" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
-<macro name="HOME3" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
-<macro name="HOME4" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
-<macro name="HOME5" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
-<macro name="HOME6" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
-<macro name="HOME7" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
-<macro name="HOME8" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME1" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME2" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME3" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME4" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME5" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME6" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME7" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
+<macro name="HOME8" pattern="^([0-4])$" description="Homing mode [0: Hardware defined, 1: Constant velocity move, 2: Reverse home and zero, 3. Constant velocity move and zero, 4: Forward home and zero, 5: forward limit, reverse home and zero, 6: Reverse limit, forward home and zero] (default: 1)" defaultValue="1" hasDefault="YES" />
 
 <macro name="NAME1" pattern="^[\x20-\x7E]*$" description="Name used to identify the motor" hasDefault="NO"/>
 <macro name="NAME2" pattern="^[\x20-\x7E]*$" description="Name used to identify the motor" hasDefault="NO"/>
@@ -129,14 +129,41 @@
 <macro name="NAME7" pattern="^[\x20-\x7E]*$" description="Name used to identify the motor" hasDefault="NO"/>
 <macro name="NAME8" pattern="^[\x20-\x7E]*$" description="Name used to identify the motor" hasDefault="NO"/>
 
-<macro name="OFST1" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
-<macro name="OFST2" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
-<macro name="OFST3" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
-<macro name="OFST4" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
-<macro name="OFST5" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
-<macro name="OFST6" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
-<macro name="OFST7" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
-<macro name="OFST8" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST1" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST2" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST3" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST4" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST5" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST6" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST7" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="OFST8" pattern="-?[0-9]*\.?[0-9]*$" description="Motor offset (units) (default: 0)" defaultValue="0" hasDefault="YES" />
+
+<macro name="BOST1" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="BOST2" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="BOST3" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="BOST4" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="BOST5" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="BOST6" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="BOST7" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+<macro name="BOST8" pattern="-?[0-9]*$" description="Backoff steps (default: 0)" defaultValue="0" hasDefault="YES" />
+
+<macro name="CRST1" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+<macro name="CRST2" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+<macro name="CRST3" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+<macro name="CRST4" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+<macro name="CRST5" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+<macro name="CRST6" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+<macro name="CRST7" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+<macro name="CRST8" pattern="[0-9]*$" description="Creep steps (default: 10)" defaultValue="10" hasDefault="YES" />
+
+<macro name="SETL1" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
+<macro name="SETL2" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
+<macro name="SETL3" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
+<macro name="SETL4" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
+<macro name="SETL5" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
+<macro name="SETL6" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
+<macro name="SETL7" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
+<macro name="SETL8" pattern="[0-9]*$" description="Settle time (ms) (default: 100)" defaultValue="100" hasDefault="YES" />
 
 </macros>
 <pvsets>
diff --git a/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor-init.cmd b/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor-init.cmd
index d7450aa57..3904b270c 100644
--- a/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor-init.cmd
+++ b/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor-init.cmd
@@ -32,17 +32,16 @@ asynOctetWrite("MKINIT","$(MN)TR4000")
 asynOctetWrite("MKINIT","$(MN)SL0")
 
 ## backoff steps as 0
-#asynOctetWrite("MKINIT","$(MN)BO0")
+asynOctetWrite("MKINIT","$(MN)BO$(BOSTI)")
 
-## creep steps at end of move
-#asynOctetWrite("MKINIT","$(MN)CR10")
-#asynOctetWrite("MKINIT","$(MN)CR5")
+## creep steps at end of move, 10 is default for stepper
+asynOctetWrite("MKINIT","$(MN)CR$(CRSTI)")
 
 ## creep speed, 800 is default
-#asynOctetWrite("MKINIT","$(MN)CS250")
+asynOctetWrite("MKINIT","$(MN)SC$(CRSPI)")
 
-## settle time, how long must remain in Window at end of move
-#asynOctetWrite("MKINIT","$(MN)SE1000")
+## settle time, how long must remain in Window at end of move, 100 is default
+asynOctetWrite("MKINIT","$(MN)SE$(SETLI)")
 
 ## set abort mode, controller default is 00000000
 ## however passing 00111000 for example would make stall error, tracking error and timeout error not abort motion 
@@ -50,9 +49,10 @@ asynOctetWrite("MKINIT","$(MN)AM00000000")
 
 ## set datum mode, controller default is 00000000
 ## this also controls expected encoder index polarity, automatic direction search etc. on datum
-## not set at moment
+## so not set at moment in case mess up encoder? It is partly adjusted in the main
+## driver depending on homing mode
 #asynOctetWrite("MKINIT","$(MN)DM00000000")
 
 ## note: SH command generally not set here, if we chose appropriate hardware home
-## it will do a SH0 before himing to datum and applying it
+## main driver will do a SH0 before homing to datum if in appropriate mode
 #asynOctetWrite("MKINIT","$(MN)SH0")
diff --git a/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor.cmd b/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor.cmd
index 12944a5f1..a2ffec9c3 100644
--- a/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor.cmd
+++ b/MCLEN/iocBoot/iocMCLEN-IOC-01/st-motor.cmd
@@ -13,6 +13,13 @@ dcalc("MRESI", "1.0/$(MSTPI)", 1, 12)
 dcalc("JVELCALC", "0.1*$(VELOI)",1,3)
 dcalc("HVELCALC", "0.1*$(VELOI)",1,3)
 
+# 10 creep steps is hardware default for a stepper 
+epicsEnvSet("CRSTI",$(CRST$(MN)=10))
+
+epicsEnvSet("BOSTI",$(BOST$(MN)=0))
+epicsEnvSet("SETLI",$(SETL$(MN)=100))
+epicsEnvSet("CRSPI",$(CRSP$(MN)=800))
+
 ## calculate what the encoder resolution (in motor record terms) is just to get
 ## a correct retry deadband. We leave motor record ERES as 0 as not used by
 ## driver. we need an appropriate retry deadband in case retries are enabled