diff --git a/bam/settings/00-XFEL.py b/bam/settings/00-XFEL.py
index 6a831489f81d41aeb28d53a6f9aae008b8e673a5..81b8885638a2a9adc52db2f4cd10adeac8973834 100644
--- a/bam/settings/00-XFEL.py
+++ b/bam/settings/00-XFEL.py
@@ -1,4 +1,5 @@
 if ACCELERATOR == 'XFEL':
+    MOTOR_DEVNO='unis8'
     MOTOR_AVAILABLE = [(0,0), (0,1), None, (1,1)]
     if STATION == '1932M.TL':
         MOTOR_AVAILABLE = [(0,0), None, None, None]
diff --git a/bam/settings/99-XFEL.SURROGATE.py b/bam/settings/99-XFEL.SURROGATE.py
index 24f7a5cf7acec2d45dd4fca69bda2e3856f07f5c..7678378ca35c0070c1c5fc6d529329c36e8ef337 100644
--- a/bam/settings/99-XFEL.SURROGATE.py
+++ b/bam/settings/99-XFEL.SURROGATE.py
@@ -3,5 +3,5 @@ if ACCELERATOR == "XFEL" and STATION == "1932S.TL":
   SVR_LOCATION = HOSTNAME.upper()+"_2._SVR"
   RPC_NUMBER = 610589844
   BAM_DEVNO = 6
-  MOTOR_DEVNO = 'devs9'
+  MOTOR_DEVNO = 'unis9'
   CONTROLLER_NAME = "BAM_SURROGATE_CONTROLLER"
diff --git a/bam/settings/dynamic_setttings.py b/bam/settings/dynamic_setttings.py
index 6615be8a871d1a5150e7acac48eaa31259e9bb82..e040f045a41bcff4dad0da093dc1eedf813c23bc 100644
--- a/bam/settings/dynamic_setttings.py
+++ b/bam/settings/dynamic_setttings.py
@@ -1,3 +1,3 @@
 BAM_REVISION="r4018"
-MOTOR_REVISION="r2261"
+MOTOR_REVISION="r2536"
 
diff --git a/bam/templates/BAM.dmap b/bam/templates/BAM.dmap
index c751ecc4af1fdf1f04439547a53ec5640eb94399..475e49250f6a6e3e90e56eb36aaa0d1e07e495c7 100644
--- a/bam/templates/BAM.dmap
+++ b/bam/templates/BAM.dmap
@@ -1,6 +1,6 @@
 ##mako
 BAM_DEVICE    (pci:pcieunis${BAM_DEVNO}?map=sdiag_bam_fmc25_${BAM_REVISION}.mapp)
-MOTOR_DEVICE  (pci:pcie${MOTOR_DEVNO}?map=sync_pzt4_md22_md22_fmc20_6s45_${MOTOR_REVISION}.mapp)
+MOTOR_DEVICE  (pci:pcie${MOTOR_DEVNO}?map=controller_pzt4_md22_md22_fmc20_6s150_${MOTOR_REVISION}.mapp)
 TOROID_RAW    (doocs?facility=${ACCELERATOR}.DIAG&device=TOROID&location=${TOROID_LOCATION[STATION]})
 TOROID        (logicalNameMap?map=toroid.xlmap)
 MLO_RAW       (doocs?facility=${ACCELERATOR}.SYNC&device=${MLO_DEVICE[STATION]}&location=${MLO_LOCATION[STATION]})
diff --git a/bam/templates/controller_pzt4_md22_md22_fmc20_6s150_r2536.mapp b/bam/templates/controller_pzt4_md22_md22_fmc20_6s150_r2536.mapp
new file mode 100644
index 0000000000000000000000000000000000000000..7f08598c66cffe9a6bb64bf821741861669380ef
--- /dev/null
+++ b/bam/templates/controller_pzt4_md22_md22_fmc20_6s150_r2536.mapp
@@ -0,0 +1,271 @@
+@MAPFILE_REVISION 2536
+APP.0.WORD_FIRMWARE                                                   1          800            4      1     32      0    0   RO
+APP.0.WORD_REVISION                                                   1          804            4      1     32      0    0   RO
+APP.0.WORD_CAPABILITIES                                               1          808            4      1     32      0    0   RO
+APP.0.WORD_CLK_FREQ                                                   4            0           16      1     32      0    0   RW
+APP.0.WORD_TIMING_FREQ                                                9          160           36      1     32      0    0   RW
+APP.0.WORD_TIMING_INT_ENA                                             1          200            4      1      9      0    0   RW
+APP.0.WORD_TIMING_CNT                                                 9          204           36      1     32      0    0   RW
+APP.0.WORD_TIMING_TRG_SEL                                             1          244            4      1      4      0    0   RW
+APP.0.WORD_TIMING_USER_TRG                                            1          248            4      1      1      0    0   RW
+APP.0.WORD_DAQ_ENABLE                                                 1          260            4      1      2      0    0   RW
+APP.0.WORD_DAQ_STR_SEL                                                1          264            4      1      2      0    0   RW
+APP.0.WORD_DAQ_DBUF_DIS                                               1          268            4      1      2      0    0   RW
+APP.0.WORD_DAQ_CURR_BUF                                               2          272            8      1      2      0    0   RO
+APP.0.WORD_DAQ_CURR_OFFSET                                            2          280            8      1     32      0    0   RO
+APP.0.WORD_DAQ_CURR_CNT                                               2          284            8      1     32      0    0   RO
+APP.0.WORD_FMC_ID                                                     1          300            4      1     32      0    0   RO
+APP.0.WORD_DIAG_RESET                                                 1          396            4      1      1      0    0   RW
+APP.0.WORD_LLL_RX_CRC_ERR_CNT                                         4          400           16      1     32      0    0   RO
+APP.0.WORD_LLL_VALID_DATA_CNT                                         4          416           16      1     32      0    0   RO
+APP.0.WORD_PZT4_LLL_SRC                                               4          512           16      1      4      0    0   RO
+APP.0.VAR_CON_FMC_2                                                 512         2048         2048      1     32      0    0   RW
+MD22.0.WORD_FIRMWARE                                                  1         2448            4      1     32      0    0   RO
+MD22.0.WORD_REVISION                                                  1         2452            4      1     32      0    0   RO
+MD22.0.WORD_PROJ_ID                                                   1         2052            4      1     32      0    0   RO
+MD22.0.WORD_PROJ_VERSION                                              1         2056            4      1     32      0    0   RO
+MD22.0.WORD_PROJ_USER                                                 1         2064            4      1     32      0    0   RW
+MD22.0.WORD_CTRL_SPI_WRITE                                            1         2076            4      1     32      0    0   RW
+MD22.0.WORD_CTRL_SPI_READBACK                                         1         2080            4      1     32      0    0   RO
+MD22.0.WORD_CTRL_SPI_SYNC                                             1         2084            4      1      8      0    0   RW
+MD22.0.WORD_CTRL_STATUS_BITS                                          1         2088            4      1      8      0    0   RO
+MD22.0.WORD_M1_SPI_WRITE                                              1         2092            4      1     32      0    0   RW
+MD22.0.WORD_M1_SPI_SYNC                                               1         2096            4      1      8      0    0   RW
+MD22.0.WORD_M1_ACTUAL_POS                                             1         2100            4      1     24      0    0   RO
+MD22.0.WORD_M1_V_ACTUAL                                               1         2104            4      1     12      0    0   RO
+MD22.0.WORD_M1_ACT_ACCEL                                              1         2108            4      1     12      0    0   RO
+MD22.0.WORD_M1_MSTEP_VAL                                              1         2112            4      1     10      0    0   RO
+MD22.0.WORD_M1_SGUARD_VAL                                             1         2116            4      1     10      0    0   RO
+MD22.0.WORD_M1_CoolStep_VAL                                           1         2120            4      1      5      0    0   RO
+MD22.0.WORD_M1_STATUS                                                 1         2124            4      1      8      0    0   RO
+MD22.0.WORD_M1_ENABLE                                                 1         2128            4      1      1      0    0   RW
+MD22.0.WORD_M1_DEK_MUX                                                1         2132            4      1      1      0    0   RW
+MD22.0.WORD_M1_DEK_POS                                                1         2136            4      1     32      0    0   RO
+MD22.0.WORD_M2_SPI_WRITE                                              1         2140            4      1     32      0    0   RW
+MD22.0.WORD_M2_SPI_SYNC                                               1         2144            4      1      8      0    0   RW
+MD22.0.WORD_M2_ACTUAL_POS                                             1         2148            4      1     24      0    0   RO
+MD22.0.WORD_M2_V_ACTUAL                                               1         2152            4      1     12      0    0   RO
+MD22.0.WORD_M2_ACT_ACCEL                                              1         2156            4      1     12      0    0   RO
+MD22.0.WORD_M2_MSTEP_VAL                                              1         2160            4      1     10      0    0   RO
+MD22.0.WORD_M2_SGUARD_VAL                                             1         2164            4      1     10      0    0   RO
+MD22.0.WORD_M2_CoolStep_VAL                                           1         2168            4      1      5      0    0   RO
+MD22.0.WORD_M2_STATUS                                                 1         2172            4      1      8      0    0   RO
+MD22.0.WORD_M2_ENABLE                                                 1         2176            4      1      1      0    0   RW
+MD22.0.WORD_M2_DEK_MUX                                                1         2180            4      1      1      0    0   RW
+MD22.0.WORD_M2_DEK_POS                                                1         2184            4      1     32      0    0   RO
+MD22.0.WORD_I2C_FMC_TX                                                1         2188            4      1      8      0    0   RW
+MD22.0.WORD_I2C_FMC_RX                                                1         2192            4      1      8      0    0   RO
+MD22.0.WORD_I2C_FMC_ADR                                               1         2196            4      1     16      0    0   RW
+MD22.0.WORD_I2C_FMC_CMD                                               1         2200            4      1     16      0    0   RW
+MD22.0.WORD_M1_VOLTAGE_EN                                             1         2204            4      1      2      0    0   RW
+MD22.0.WORD_M2_VOLTAGE_EN                                             1         2208            4      1      2      0    0   RW
+MD22.0.WORD_LIMITER_FAULT                                             1         2212            4      1      2      0    0   RO
+MD22.0.WORD_M1_CAL_END_SW_POS                                         1         2216            4      1     32      0    1   RW
+MD22.0.WORD_M1_CAL_END_SW_NEG                                         1         2220            4      1     32      0    1   RW
+MD22.0.WORD_M1_CAL_TOL_POS                                            1         2224            4      1     32      0    1   RW
+MD22.0.WORD_M1_CAL_TOL_NEG                                            1         2228            4      1     32      0    1   RW
+MD22.0.WORD_M1_CAL_TIME                                               1         2232            4      1     32      0    0   RW
+MD22.0.WORD_M2_CAL_END_SW_POS                                         1         2236            4      1     32      0    1   RW
+MD22.0.WORD_M2_CAL_END_SW_NEG                                         1         2240            4      1     32      0    1   RW
+MD22.0.WORD_M2_CAL_TOL_POS                                            1         2244            4      1     32      0    1   RW
+MD22.0.WORD_M2_CAL_TOL_NEG                                            1         2248            4      1     32      0    1   RW
+MD22.0.WORD_M2_CAL_TIME                                               1         2252            4      1     32      0    0   RW
+APP.0.VAR_CON_FMC_1                                                 512         4096         2048      1     32      0    0   RW
+MD22.1.WORD_FIRMWARE                                                  1         4496            4      1     32      0    0   RO
+MD22.1.WORD_REVISION                                                  1         4500            4      1     32      0    0   RO
+MD22.1.WORD_PROJ_ID                                                   1         4100            4      1     32      0    0   RO
+MD22.1.WORD_PROJ_VERSION                                              1         4104            4      1     32      0    0   RO
+MD22.1.WORD_PROJ_USER                                                 1         4112            4      1     32      0    0   RW
+MD22.1.WORD_CTRL_SPI_WRITE                                            1         4124            4      1     32      0    0   RW
+MD22.1.WORD_CTRL_SPI_READBACK                                         1         4128            4      1     32      0    0   RO
+MD22.1.WORD_CTRL_SPI_SYNC                                             1         4132            4      1      8      0    0   RW
+MD22.1.WORD_CTRL_STATUS_BITS                                          1         4136            4      1      8      0    0   RO
+MD22.1.WORD_M1_SPI_WRITE                                              1         4140            4      1     32      0    0   RW
+MD22.1.WORD_M1_SPI_SYNC                                               1         4144            4      1      8      0    0   RW
+MD22.1.WORD_M1_ACTUAL_POS                                             1         4148            4      1     24      0    0   RO
+MD22.1.WORD_M1_V_ACTUAL                                               1         4152            4      1     12      0    0   RO
+MD22.1.WORD_M1_ACT_ACCEL                                              1         4156            4      1     12      0    0   RO
+MD22.1.WORD_M1_MSTEP_VAL                                              1         4160            4      1     10      0    0   RO
+MD22.1.WORD_M1_SGUARD_VAL                                             1         4164            4      1     10      0    0   RO
+MD22.1.WORD_M1_CoolStep_VAL                                           1         4168            4      1      5      0    0   RO
+MD22.1.WORD_M1_STATUS                                                 1         4172            4      1      8      0    0   RO
+MD22.1.WORD_M1_ENABLE                                                 1         4176            4      1      1      0    0   RW
+MD22.1.WORD_M1_DEK_MUX                                                1         4180            4      1      1      0    0   RW
+MD22.1.WORD_M1_DEK_POS                                                1         4184            4      1     32      0    0   RO
+MD22.1.WORD_M2_SPI_WRITE                                              1         4188            4      1     32      0    0   RW
+MD22.1.WORD_M2_SPI_SYNC                                               1         4192            4      1      8      0    0   RW
+MD22.1.WORD_M2_ACTUAL_POS                                             1         4196            4      1     24      0    0   RO
+MD22.1.WORD_M2_V_ACTUAL                                               1         4200            4      1     12      0    0   RO
+MD22.1.WORD_M2_ACT_ACCEL                                              1         4204            4      1     12      0    0   RO
+MD22.1.WORD_M2_MSTEP_VAL                                              1         4208            4      1     10      0    0   RO
+MD22.1.WORD_M2_SGUARD_VAL                                             1         4212            4      1     10      0    0   RO
+MD22.1.WORD_M2_CoolStep_VAL                                           1         4216            4      1      5      0    0   RO
+MD22.1.WORD_M2_STATUS                                                 1         4220            4      1      8      0    0   RO
+MD22.1.WORD_M2_ENABLE                                                 1         4224            4      1      1      0    0   RW
+MD22.1.WORD_M2_DEK_MUX                                                1         4228            4      1      1      0    0   RW
+MD22.1.WORD_M2_DEK_POS                                                1         4232            4      1     32      0    0   RO
+MD22.1.WORD_I2C_FMC_TX                                                1         4236            4      1      8      0    0   RW
+MD22.1.WORD_I2C_FMC_RX                                                1         4240            4      1      8      0    0   RO
+MD22.1.WORD_I2C_FMC_ADR                                               1         4244            4      1     16      0    0   RW
+MD22.1.WORD_I2C_FMC_CMD                                               1         4248            4      1     16      0    0   RW
+MD22.1.WORD_M1_VOLTAGE_EN                                             1         4252            4      1      2      0    0   RW
+MD22.1.WORD_M2_VOLTAGE_EN                                             1         4256            4      1      2      0    0   RW
+MD22.1.WORD_LIMITER_FAULT                                             1         4260            4      1      2      0    0   RO
+MD22.1.WORD_M1_CAL_END_SW_POS                                         1         4264            4      1     32      0    1   RW
+MD22.1.WORD_M1_CAL_END_SW_NEG                                         1         4268            4      1     32      0    1   RW
+MD22.1.WORD_M1_CAL_TOL_POS                                            1         4272            4      1     32      0    1   RW
+MD22.1.WORD_M1_CAL_TOL_NEG                                            1         4276            4      1     32      0    1   RW
+MD22.1.WORD_M1_CAL_TIME                                               1         4280            4      1     32      0    0   RW
+MD22.1.WORD_M2_CAL_END_SW_POS                                         1         4284            4      1     32      0    1   RW
+MD22.1.WORD_M2_CAL_END_SW_NEG                                         1         4288            4      1     32      0    1   RW
+MD22.1.WORD_M2_CAL_TOL_POS                                            1         4292            4      1     32      0    1   RW
+MD22.1.WORD_M2_CAL_TOL_NEG                                            1         4296            4      1     32      0    1   RW
+MD22.1.WORD_M2_CAL_TIME                                               1         4300            4      1     32      0    0   RW
+APP.0.ALG_INTER                                                     512         8192         2048      1     32      0    0   RW
+INTER.0.WORD_FIRMWARE                                                 1         8192            4      1     32      0    0   RO
+INTER.0.WORD_REVISION                                                 1         8196            4      1     32      0    0   RO
+INTER.0.WORD_STEP1                                                    1         8200            4      1     18      0    1   RW
+INTER.0.WORD_STEP2                                                    1         8204            4      1     18      0    1   RW
+INTER.0.WORD_STEP3                                                    1         8208            4      1     18      0    1   RW
+INTER.0.WORD_COEFF1                                                   1         8212            4      1     18      0    1   RW
+INTER.0.WORD_COEFF2                                                   1         8216            4      1     18      0    1   RW
+INTER.0.WORD_COEFF3                                                   1         8220            4      1     18      0    1   RW
+INTER.0.WORD_COEFF4                                                   1         8224            4      1     18      0    1   RW
+INTER.0.WORD_COEFF5                                                   1         8228            4      1     18      0    1   RW
+INTER.0.WORD_COEFF6                                                   1         8232            4      1     18      0    1   RW
+INTER.0.WORD_DBG_COUNTER                                              3         8236           12      1     25      0    1   RO
+INTER.0.WORD_DBG_POS                                                  2         8248            8      1     25      0    1   RO
+INTER.0.WORD_INTER_RESET                                              1         8256            4      1      4      0    0   RW
+APP.0.RTM_PZT4                                                    65536       262144       262144      1     32      0    0   RW
+PZT4.0.WORD_FIRMWARE                                                  1       262944            4      1     32      0    0   RO
+PZT4.0.WORD_REVISION                                                  1       262948            4      1     32      0    0   RO
+PZT4.0.WORD_DAC_RESET                                                 1       262144            4      1     32      0    0   RW
+PZT4.0.WORD_ADC_RESET                                                 1       262148            4      1     32      0    0   RW
+PZT4.0.WORD_RELAY_CTL                                                 1       262152            4      1     32      0    0   RW
+PZT4.0.WORD_EXP_DATA                                                  2       262800            8      1     32      0    0   RW
+PZT4.0.WORD_CHAN_ACTIVATE                                             1       262160            4      1     32      0    0   RW
+PZT4.0.WORD_CHAN_MODE                                                 1       262164            4      1     32      0    0   RW
+PZT4.0.WORD_CHAN_AREA_MAX_ADDR                                        4       262168           16      1     13      0    0   RW
+PZT4.0.WORD_CHAN_AREA_READ_NO                                         4       262184           16      1     32      0    0   RW
+PZT4.0.WORD_CHAN_AREA_READ_DONE                                       1       262200            4      1      4      0    0   RW
+PZT4.0.WORD_CHAN_CONST_VALUE                                          4       262220           16      1     18      0    1   RW
+PZT4.0.WORD_CHAN_CURRENT_VALUE                                        4       262236           16      1     18      0    0   RW
+PZT4.0.WORD_DAC_SPAN_CODE                                             1       262256            4      1     32      0    0   RW
+PZT4.0.WORD_DAC_SPAN_CODE_RB                                          1       262260            4      1     32      0    0   RW
+PZT4.0.WORD_ADC_CHAN_MUX                                              1       262264            4      1      4      0    0   RW
+PZT4.0.WORD_ADC_CONV_SYNCH_TO_TRIGER                                  1       262272            4      1      1      0    0   RW
+PZT4.0.WORD_PZT4_CLK_STATUS                                           5       262288           20      1     32      0    0   RO
+PZT4.0.WORD_PZT4_LLL_DATA_IGNORED                                     4       262308           16      1     32      0    0   RW
+PZT4.0.WORD_PZT4_ADC_MODE                                             1       262324            4      1      1      0    0   RW
+PZT4.0.WORD_PZT4_LLL_DATA_MONITOR                                     4       262328           16      1     18      0    1   RW
+PZT4.0.WORD_MANUAL_TRIGGER_EN                                         1       262344            4      1      4      0    0   RW
+PZT4.0.WORD_MANUAL_TRIGGER                                            4       262348           16      1      1      0    0   RW
+PZT4.0.WORD_IO_EX_I2C_DATA_SEND_CNT                                   1       262544            4      1     32      0    0   RW
+PZT4.0.WORD_PZT4_RESET                                                1       262548            4      1      1      0    0   RW
+PZT4.0.WORD_PZT4_V                                                    4       262552           16      1     18      0    1   RW
+PZT4.0.WORD_PZT4_C                                                    4       262568           16      1     18      0    1   RW
+PZT4.0.WORD_PZT4_S                                                    4       262584           16      1     18      0    1   RW
+PZT4.0.WORD_PZT4_HV                                                   4       262600           16      1     18      0    1   RW
+PZT4.0.WORD_PZT4_ERR_CNT                                              1       262616            4      1     32      0    0   RO
+PZT4.0.WORD_TIMING_DIV                                                4       262624           16      1     16      0    0   RW
+PZT4.0.WORD_TIMING_FREQ                                               3       262740           12      1     32      0    0   RW
+PZT4.0.WORD_TIMING_CNT                                                3       262648           12      1     32      0    0   RO
+PZT4.0.WORD_TIMING_INT_ENA                                            1       262660            4      1      3      0    0   RW
+PZT4.0.WORD_ADC_BUFF_BLOCK                                            1       262704            4      1      1      0    0   RW
+PZT4.0.WORD_ADC_BUFF_READY                                            1       262708            4      1      1      0    0   RO
+PZT4.0.WORD_ADC_BUFF_ACK                                              1       262712            4      1      1      0    0   RW
+PZT4.0.WORD_CHAN_ADD_EXT                                              1       262716            4      1      4      0    0   RW
+PZT4.0.WORD_PZT4_REV_ABC                                              1       262720            4      1      1      0    0   RO
+PZT4.0.WORD_PZT4_INTERLOCK                                            1       262724            4      1      4      0    0   RO
+PZT4.0.WORD_EXP_RD_DATA                                               1       262736            4      1     16      0    0   RO
+PZT4.0.WORD_EXP_RD_BUSY                                               1       262764            4      1      1      0    0   RO
+PZT4.0.AREA_PZT4_ADC_BUFF                                          8192       360448        32768      1     18      0    1   RW
+PZT4.0.AREA_PZT4_CHANNEL_0                                         8192       393216        32768      1     18      0    1   RW
+PZT4.0.AREA_PZT4_CHANNEL_1                                         8192       425984        32768      1     18      0    1   RW
+PZT4.0.AREA_PZT4_CHANNEL_2                                         8192       458752        32768      1     18      0    1   RW
+PZT4.0.AREA_PZT4_CHANNEL_3                                         8192       491520        32768      1     18      0    1   RW
+APP.0.BOARD_FMC20_6S150                                          524288            0      2097152      1     32      0    0   RW
+FMC20_6S150.0.WORD_FIRMWARE                                           1      2097152            4      1     32      0    0   RO
+FMC20_6S150.0.WORD_REVISION                                           1      2097156            4      1     32      0    0   RO
+FMC20_6S150.0.WORD_TIMESTAMP                                          1      2097160            4      1     32      0    0   RO
+FMC20_6S150.0.WORD_STATUS                                             1      2097164            4      1     32      0    0   RO
+FMC20_6S150.0.WORD_PSRAM_REV                                          1      2097168            4      1      1      0    0   RW
+FMC20_6S150.0.WORD_USER                                               1      2097216            4      1     32      0    0   RW
+FMC20_6S150.0.AREA_APP                                           524288            0      2097152      1     32      0    0   RW
+FMC20_6S150.0.AREA_PROGRAMMER                                     16384      2162688        65536      1     32      0    0   RW
+APP.0.AREA_MULTIPLEXED_SEQUENCE_DAQ0_BUF0                        262144            0      1048576     13     32      0    0   RW
+APP.0.SEQUENCE_DAQ0_BUF0_0                                            1            0            4     13     18      0    1   RW
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