diff --git a/.gitignore b/.gitignore
index ca9ab00381a966fe90b2c017df6607cc1a488802..0e3c90d27700260d9debbf4ccba3684e44e69cb1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,4 +10,6 @@ savestate.*
 savestatemacro.*
 *.expanded
 *.halscope
+*.o
+mb2halv2/mb2halv2
 
diff --git a/lcec.hal b/lcec.hal
index 5531cf53c4b68dc51965ea0a11538da5d5ce032c..699e73d3f66c164db65b27c4c123e3fe23315b80 100755
--- a/lcec.hal
+++ b/lcec.hal
@@ -1,6 +1,7 @@
 loadrt trivkins
 loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 
+loadusr -W mb2hal config=mb2hal.ini
 loadusr -W lcec_conf maurice.xml
 loadrt lcec
 
diff --git a/maurice.clp b/maurice.clp
index 82848ab54a32d9398ed517f52d5caaea438d3652..13b62f65ed96b8190a2a956285891679d07c8f97 100644
--- a/maurice.clp
+++ b/maurice.clp
@@ -1,6 +1,7 @@
 _FILES_CLASSICLADDER
 _FILE-modbusioconf.csv
 #VER=1.0
+1,5,3240,1,0,0
 _/FILE-modbusioconf.csv
 _FILE-ioconf.csv
 #VER=1.0
@@ -9,7 +10,7 @@ _FILE-rung_5.csv
 #VER=2.0
 #LABEL=
 #COMMENT=
-#PREVRUNG=2
+#PREVRUNG=6
 #NEXTRUNG=3
 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
 1-0-50/8 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 52-0-0/2
@@ -39,10 +40,10 @@ _FILE-timers_iec.csv
 2,1,0
 1,1,0
 2,1,0
-1,1,1
-1,1,1
-1,0,0
-1,0,0
+1,3,1
+1,3,1
+2,5,2
+2,5,2
 1,0,0
 1,0,0
 _/FILE-timers_iec.csv
@@ -239,6 +240,19 @@ SIZE_NBR_ARITHM_EXPR=100
 SIZE_NBR_SECTIONS=10
 SIZE_NBR_SYMBOLS=160
 _/FILE-general.txt
+_FILE-rung_6.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=2
+#NEXTRUNG=5
+1-0-0/3 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+1-0-0/4 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+1-0-0/5 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+1-0-0/6 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+1-0-0/7 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+1-0-0/8 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_6.csv
 _FILE-counters.csv
 0
 0
@@ -256,7 +270,7 @@ _FILE-rung_2.csv
 #LABEL=
 #COMMENT=
 #PREVRUNG=-1
-#NEXTRUNG=5
+#NEXTRUNG=6
 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
@@ -274,21 +288,21 @@ _FILE-rung_0.csv
 9-0-0/0 , 1-0-0/0 , 9-0-0/0 , 2-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 13-0-0/4 , 50-0-60/4
 0-0-0/0 , 1-1-60/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-0/0 , 99-0-0/0 , 99-0-0/0 , 51-1-60/5
 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 9-1-0/0 , 9-0-0/0 , 50-0-60/8
-9-0-0/0 , 1-0-50/0 , 2-0-50/1 , 9-0-0/0 , 1-0-50/2 , 99-0-0/0 , 13-0-0/1 , 9-0-0/0 , 9-0-0/1 , 50-0-60/0
-0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+9-0-0/0 , 1-0-50/0 , 2-0-50/1 , 9-0-0/0 , 1-0-50/2 , 99-0-0/0 , 13-0-0/1 , 99-0-0/0 , 13-0-0/7 , 50-0-60/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
 _/FILE-rung_0.csv
 _FILE-com_params.txt
-MODBUS_MASTER_SERIAL_PORT=
+MODBUS_MASTER_SERIAL_PORT=/dev/ttyS0
 MODBUS_MASTER_SERIAL_SPEED=9600
 MODBUS_MASTER_SERIAL_DATABITS=8
 MODBUS_MASTER_SERIAL_STOPBITS=1
 MODBUS_MASTER_SERIAL_PARITY=0
 MODBUS_ELEMENT_OFFSET=0
 MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
-MODBUS_MASTER_TIME_INTER_FRAME=100
+MODBUS_MASTER_TIME_INTER_FRAME=10000
 MODBUS_MASTER_TIME_OUT_RECEIPT=500
-MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
-MODBUS_DEBUG_LEVEL=0
+MODBUS_MASTER_TIME_AFTER_TRANSMIT=10
+MODBUS_DEBUG_LEVEL=3
 MODBUS_MAP_COIL_READ=0
 MODBUS_MAP_COIL_WRITE=0
 MODBUS_MAP_INPUT=0
@@ -338,7 +352,7 @@ _FILE-rung_1.csv
 9-0-0/0 , 1-0-0/1 , 9-0-0/0 , 2-0-60/1 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 13-0-0/5 , 50-0-60/6
 0-0-0/0 , 1-1-60/3 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-50/2 , 99-0-0/0 , 99-0-0/0 , 51-1-60/7
 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 9-1-0/0 , 9-0-0/0 , 50-0-60/9
-9-0-0/0 , 1-0-50/4 , 2-0-50/5 , 9-0-0/0 , 1-0-50/6 , 99-0-0/0 , 13-0-0/3 , 9-0-0/0 , 9-0-0/0 , 50-0-60/1
-0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+9-0-0/0 , 1-0-50/4 , 2-0-50/5 , 9-0-0/0 , 1-0-50/6 , 99-0-0/0 , 13-0-0/3 , 99-0-0/0 , 13-0-0/6 , 50-0-60/1
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0
 _/FILE-rung_1.csv
 _/FILES_CLASSICLADDER
diff --git a/maurice.ini b/maurice.ini
index c8932f27271561bdfc643791c78755898cc73210..c77cb330c739206838f2166f4c269584926bf8af 100644
--- a/maurice.ini
+++ b/maurice.ini
@@ -4,4 +4,5 @@
 HALUI = halui
 HALFILE = lcec.hal
 HALFILE = maurice.hal
+HALFILE = mb2hal.hal
 POSTGUI_HALFILE = gmoccapy_postgui.hal
diff --git a/mb2hal.hal b/mb2hal.hal
new file mode 100644
index 0000000000000000000000000000000000000000..75d6b90f1d5d6d09bcb26ad15ba083b13a1e7aa8
--- /dev/null
+++ b/mb2hal.hal
@@ -0,0 +1,151 @@
+loadrt bitslice count=6 personality=16,16,6,6,6,2
+loadrt weighted_sum wsum_sizes=16,6,2,2
+loadrt conv_s32_float count=4
+loadrt conv_s32_u32 count=6
+
+#loadusr -W mb2hal config=mb2hal.ini
+
+addf conv-s32-u32.0 servo-thread
+addf conv-s32-u32.1 servo-thread
+addf conv-s32-u32.2 servo-thread
+addf conv-s32-u32.3 servo-thread
+addf conv-s32-u32.4 servo-thread
+addf conv-s32-u32.5 servo-thread
+addf bitslice.0 servo-thread
+addf bitslice.1 servo-thread
+addf bitslice.2 servo-thread
+addf bitslice.3 servo-thread
+addf bitslice.4 servo-thread
+addf bitslice.5 servo-thread
+addf process_wsums servo-thread
+addf conv-s32-float.0 servo-thread
+addf conv-s32-float.1 servo-thread
+addf conv-s32-float.2 servo-thread
+addf conv-s32-float.3 servo-thread
+
+
+#==================================================
+#Slicing Register Inputs
+#==================================================
+
+#			mb2hal.STBin.00.int			
+net ConvSU0		mb2hal.STBIn.00.int => conv-s32-u32.0.in
+net StbDDI3725-1	conv-s32-u32.0.out => bitslice.0.in
+net ConvSU1		mb2hal.STBIn.01.int => conv-s32-u32.1.in
+net StbDDI3725-2	conv-s32-u32.1.out => bitslice.1.in
+net ConvSU2             mb2hal.STBIn.02.int => conv-s32-u32.2.in
+net StbDDI3610-1	conv-s32-u32.2.out => bitslice.2.in
+net ConvSU3             mb2hal.STBIn.03.int => conv-s32-u32.3.in
+net StbDDO3610-2	conv-s32-u32.3.out => bitslice.3.in
+net ConvSU4             mb2hal.STBIn.04.int => conv-s32-u32.4.in
+net StbDDI3610-3	conv-s32-u32.4.out => bitslice.4.in
+net ConvSU5             mb2hal.STBIn.05.int => conv-s32-u32.5.in
+net StnDAI7220		conv-s32-u32.5.out => bitslice.5.in
+
+
+net PowerOnSwitch	bitslice.0.out-00
+net SpindleNormal	bitslice.0.out-01
+net SpindleOff		bitslice.0.out-02
+net SpindleReverse	bitslice.0.out-03
+net TurretShift		bitslice.0.out-04
+net CoolantReqOn	bitslice.0.out-05
+net CoolantReqOff	bitslice.0.out-06
+net CycleStart		bitslice.0.out-07
+net FeedHoldbtn		bitslice.0.out-08
+net EStop		bitslice.0.out-09
+net XaxisMPG		bitslice.0.out-10
+net YaxisMPG		bitslice.0.out-11
+net XplusJOG		bitslice.0.out-12
+net XminusJog		bitslice.0.out-13
+net ZplusJOG		bitslice.0.out-14
+net ZminusJOG		bitslice.0.out-15
+
+net ModeSelect-1	bitslice.1.out-00
+net ModeSelect-2	bitslice.1.out-01
+net ModeSelect-3	bitslice.1.out-02
+net ModeSelect-4	bitslice.1.out-03
+net TurretN-1		bitslice.1.out-04
+net TurretN-2		bitslice.1.out-05
+net TurretN-3		bitslice.1.out-06
+net TurretN-4		bitslice.1.out-07
+net FeedOv-1		bitslice.1.out-08
+net FeedOv-2		bitslice.1.out-09
+net FeedOv-3		bitslice.1.out-10
+net FeedOv-4		bitslice.1.out-11
+net RapidOv-1		bitslice.1.out-12
+net RapidOv-2		bitslice.1.out-13
+net MachineLock		bitslice.1.out-14
+net DryRun		bitslice.1.out-15
+
+net BlockDelete		bitslice.2.out-00
+net OptStop		bitslice.2.out-01
+net SingleBlock		bitslice.2.out-02
+net FootSwitch1		bitslice.2.out-03
+net FootSwitch2		bitslice.2.out-04
+net ChuckInside		bitslice.2.out-05
+
+net TurretLS9           bitslice.3.out-00
+net TurretLS10		bitslice.3.out-01
+net TurretLS11		bitslice.3.out-02
+net TurretLS12		bitslice.3.out-03
+net TurretLS13		bitslice.3.out-04
+net TurretIndex		bitslice.3.out-05
+
+net MachineError	bitslice.4.out-00
+net MachineReadyFin	bitslice.4.out-01
+net ChuckCloseFin	bitslice.4.out-02
+net FeedHoldFin		bitslice.4.out-03
+net SpindleIlk		bitslice.4.out-04
+net StartIlk		bitslice.4.out-05
+
+net ChuckLm1		bitslice.5.out-00
+net ChuckLm2		bitslice.5.out-01
+
+#==================================================
+#Summing Register Outputs
+#==================================================
+
+net PgmEnd		wsum.0.bit.0.in
+net SpindleAlarm	wsum.0.bit.1.in
+net XZeroReturnLamp	wsum.0.bit.2.in
+net ZZeroReturnLamp	wsum.0.bit.3.in
+net MachineReadyLamp	wsum.0.bit.4.in
+net OptionnalStop	wsum.0.bit.5.in
+net FeedHoldLamp	wsum.0.bit.6.in
+net CycleStartLamp	wsum.0.bit.7.in
+net TurretIndexLamp	wsum.0.bit.8.in
+net CoolantPumpOnLamp	wsum.0.bit.9.in
+net CoolantPumpOffLamp	wsum.0.bit.10.in
+net ChuckClampLamp	wsum.0.bit.11.in
+net ProgramEndLamp	wsum.0.bit.12.in
+net ProgramErrorLamp	wsum.0.bit.13.in
+net MachineErrorLamp	wsum.0.bit.14.in
+net ResetSignal		wsum.0.bit.15.in
+
+net TurretUnclamp	wsum.1.bit.0.in
+net TurretClamp		wsum.1.bit.1.in
+net TurretReverse	wsum.1.bit.2.in
+net TurretIndex		wsum.1.bit.3.in
+net ChuckClose		wsum.1.bit.4.in
+net ChuckOpen		wsum.1.bit.5.in
+
+net MachineReady	wsum.2.bit.0.in
+net ServoReady		wsum.2.bit.1.in
+
+net CoolantPump		wsum.3.bit.0.in
+
+
+
+net ConvWsum0		wsum.0.sum => conv-s32-float.0.in
+net StbDDO3705		mb2hal.STBOut.00 <= conv-s32-float.0.out
+
+net ConvWsum1           wsum.1.sum => conv-s32-float.1.in
+net StbDDO3600          mb2hal.STBOut.01 <= conv-s32-float.1.out
+
+net ConvWsum2           wsum.2.sum => conv-s32-float.2.in
+net StbDRC3210-1	mb2hal.STBOut.02 <= conv-s32-float.2.out
+
+net ConvWsum3           wsum.3.sum => conv-s32-float.3.in
+net StbDRC3210-2	mb2hal.STBOut.03 <= conv-s32-float.3.out
+
+#====================================================================
diff --git a/mb2hal.ini b/mb2hal.ini
new file mode 100644
index 0000000000000000000000000000000000000000..d098ae0e2808980b076fa5db590694b2dba17e79
--- /dev/null
+++ b/mb2hal.ini
@@ -0,0 +1,125 @@
+#This .INI file is also the HELP, MANUAL and HOW-TO file for mb2hal.
+
+#Load the modbus HAL userspace module as the examples below,
+#change to match your own HAL_MODULE_NAME and .ini file name
+#Using HAL_MODULE_NAME=mb2hal or nothing (default): 
+#Using HAL_MODULE_NAME=mymodule: loadusr -Wn mymodule mb2hal config=config_file.ini
+
+#Common section
+
+[MB2HAL_INIT]
+
+#OPTIONAL: Debug level of init and INI file parsing.
+# 0 = silent.
+# 1 = error messages (default).
+# 2 = OK confirmation messages.
+# 3 = debugging messages.
+
+INIT_DEBUG=3
+
+#OPTIONAL: HAL module (component) name. Defaults to "mb2hal".
+
+HAL_MODULE_NAME=mb2hal
+
+#OPTIONAL: Insert a delay of "FLOAT seconds" between transactions in order
+#to not to have a lot of logging and facilitate the debugging.
+#Useful when using DEBUG=3 (NOT INIT_DEBUG=3)
+#It affects ALL transactions.
+#Use "0.0" for normal activity.
+
+SLOWDOWN=0.0
+
+#REQUIRED: The number of total Modbus transactions. There is no maximum.
+
+TOTAL_TRANSACTIONS=2
+
+#One transaction section is required per transaction, starting at 00 and counting up sequentially.
+#If there is a new link (not transaction), you must provide the REQUIRED parameters 1st time.
+#Warning: Any OPTIONAL parameter not specified are copied from the previous transaction.
+
+[TRANSACTION_00]
+
+LINK_TYPE=tcp
+TCP_IP=192.168.16.55
+TCP_PORT=502
+MB_SLAVE_ID=1
+FIRST_ELEMENT=5391
+NELEMENTS=8
+
+#REQUIRED: Modbus transaction function code (see www.modbus.org specifications).
+#    fnct_02_read_discrete_inputs     (02 = 0x02)
+#    fnct_03_read_holding_registers   (03 = 0x03)
+#    fnct_04_read_input_registers     (04 = 0x04)
+#    fnct_15_write_multiple_coils     (15 = 0x0F)
+#    fnct_16_write_multiple_registers (16 = 0x10)
+
+#fnct_02_read_discrete_inputs: creates boolean output HAL pins.
+#fnct_03_read_holding_registers: creates a floating point output HAL pins.
+#                           also creates a u32 output HAL pins.
+#fnct_04_read_input_registers: creates a floating point output HAL pins.
+#                         also creates a u32 output HAL pins.
+#fnct_15_write_multiple_coils: creates boolean input HAL pins.
+#fnct_16_write_multiple_registers: creates a floating point input HAL pins.
+
+MB_TX_CODE=fnct_03_read_holding_registers
+
+#OPTIONAL: Response timeout for this transaction. In INTEGER ms. Defaults to 500 ms.
+#This is how much to wait for 1st byte before raise an error.
+
+MB_RESPONSE_TIMEOUT_MS=500
+
+#OPTIONAL: Byte timeout for this transaction. In INTEGER ms. Defaults to 500 ms.
+#This is how much to wait from byte to byte before raise an error.
+
+MB_BYTE_TIMEOUT_MS=500
+
+#OPTIONAL: Instead of giving the transaction number, use a name.
+#Example: mb2hal.00.01 could become mb2hal.plcin.01
+#The name must not exceed 32 characters.
+#NOTE: when using names be careful that you dont end up with two transactions
+#usign the same name.
+
+HAL_TX_NAME=STBIn
+
+#OPTIONAL: Maximum update rate in HZ. Defaults to 0.0 (0.0 = as soon as available = infinit).
+#NOTE: This is a maximum rate and the actual rate may be lower.
+#If you want to calculate it in ms use (1000 / required_ms).
+#Example: 100 ms = MAX_UPDATE_RATE=10.0, because 1000.0 ms / 100.0 ms = 10.0 Hz
+
+MAX_UPDATE_RATE=0.0
+
+#OPTIONAL: Debug level for this transaction only.
+#See INIT_DEBUG parameter above.
+
+DEBUG=1
+
+#While DEBUGGING transactions note the returned "ret[]" value correspond to:
+#/* Modbus protocol exceptions */
+#ILLEGAL_FUNCTION        -0x01 the FUNCTION code received in the query is not allowed or invalid.
+#ILLEGAL_DATA_ADDRESS    -0x02 the DATA ADDRESS received in the query is not an allowable address for the slave or is invalid.
+#ILLEGAL_DATA_VALUE      -0x03 a VALUE contained in the data query field is not an allowable value or is invalid.
+#SLAVE_DEVICE_FAILURE    -0x04 SLAVE (or MASTER) device unrecoverable FAILUER while attemping to perform the requested action.
+#SERVER_FAILURE          -0x04 (see above).
+#ACKNOWLEDGE             -0x05 This response is returned to PREVENT A TIMEOUT in the master.
+#                              A long duration of time is required to process the request in the slave.
+#SLAVE_DEVICE_BUSY       -0x06 The slave (or server) is BUSY. Retrasmit the request later.
+#SERVER_BUSY             -0x06 (see above).
+#NEGATIVE_ACKNOWLEDGE    -0x07 Unsuccessful programming request using function code 13 or 14.
+#MEMORY_PARITY_ERROR     -0x08 SLAVE parity error in MEMORY.
+#GATEWAY_PROBLEM_PATH    -0x0A (-10) Gateway path(s) not available.
+#GATEWAY_PROBLEM_TARGET  -0x0B (-11) The target device failed to repond (generated by master, not slave).
+#/* Program or connection */
+#COMM_TIME_OUT           -0x0C (-12)
+#PORT_SOCKET_FAILURE     -0x0D (-13)
+#SELECT_FAILURE          -0x0E (-14)
+#TOO_MANY_DATAS          -0x0F (-15)
+#INVALID_CRC             -0x10 (-16)
+#INVALID_EXCEPTION_CODE  -0x11 (-17)
+
+[TRANSACTION_01]
+MB_TX_CODE=fnct_16_write_multiple_registers
+FIRST_ELEMENT=0
+NELEMENTS=4
+HAL_TX_NAME=STBOut
+MAX_UPDATE_RATE=0.0
+DEBUG=1