diff --git a/cia402.hal b/cia402.hal
new file mode 100644
index 0000000000000000000000000000000000000000..57e9dc6d03f454fa38a1da5a0c4a35cc15627286
--- /dev/null
+++ b/cia402.hal
@@ -0,0 +1,60 @@
+#===cia402 config for Altivar 71===
+
+loadrt cia402
+loadrt conv_s32_u32
+loadrt conv_u32_float
+
+addf cia402.0.read-all servo-thread
+addf cia402.0.write-all servo-thread
+addf conv-s32-u32.0 servo-thread
+addf conv-u32-float.0 servo-thread
+addf conv-s32-float.3 servo-thread
+
+#config
+setp cia402.0.csp-mode 0
+#setp cia402.0.pos-scale 3600
+setp cia402.0.auto-fault-reset 1
+setp cia402.0.spindle-mode 1
+
+net PowerOnSw				cia402.0.fault-reset
+
+
+#from atv to cia402
+net spindle-statusword-u32      	cia402.0.statusword		<= conv-s32-u32.0.out
+net spindle-statusword-s32		conv-s32-u32.0.in
+#net x-opmode-display  			lcec.0.0.opmode-display 	=> cia402.0.opmode-display
+#net x-drv-act-pos     			lcec.0.0.actual-position 	=> cia402.0.drv-actual-position
+net spindle-drv-act-velo    		cia402.0.drv-actual-velocity
+
+#from cia402 to atv 
+net spindle-controlword-u32         	cia402.0.controlword		=> conv-u32-float.0.in
+net spindle-controlword-float		conv-u32-float.0.out
+#net x-modes-of-operation  		cia402.0.opmode 		=> lcec.0.0.opmode
+#net x-drv-target-pos      		cia402.0.drv-target-position 	=> lcec.0.0.target-position
+net spindle-drv-target-velo-s32		cia402.0.drv-target-velocity	=> conv-s32-float.3.in
+net spindle-drv-target-velo-float	conv-s32-float.3.out
+
+#from motion to cia
+net MachineIsOn				cia402.0.enable
+net spindle-fault			cia402.0.drv-fault
+net spindle-vel-cmd-rpm			cia402.0.velocity-cmd
+net spindle-vel-act-rpm			cia402.0.pos-fb
+net Estop				cia402.0.quick-stop
+net spindle-enable			cia402.0.run
+
+#homing
+#net x-home-index <= joint.0.index-enable  => cia402.0.home
+
+net spindle-vel-cmd-rps			spindle.0.speed-out-rps
+net spindle-vel-cmd-rps-abs		spindle.0.speed-out-rps-abs
+net spindle-vel-cmd-rpm			spindle.0.speed-out
+net spindle-vel-cmd-rpm-abs		spindle.0.speed-out-abs
+net spindle-enable			spindle.0.on
+net spindle-cw				spindle.0.forward
+net spindle-ccw				spindle.0.reverse
+net spindle-brake			spindle.0.brake
+net spindle-revs			spindle.0.revs
+net spindle-at-speed			spindle.0.at-speed
+net spindle-vel-fb-rps			spindle.0.speed-in
+net spindle-index-enable		spindle.0.index-enable
+net spindle-fault			spindle.0.amp-fault-in
\ No newline at end of file
diff --git a/classicladder.hal b/classicladder.hal
index 3ea96aeb685c4431e734c04536991bb81c07cb83..dd830eae26928973cb449b1972f5faf29edc2b68 100644
--- a/classicladder.hal
+++ b/classicladder.hal
@@ -99,7 +99,7 @@ net ProgramIsPaused	classicladder.0.in-72
 net X-homed		classicladder.0.out-00
 net Z-homed		classicladder.0.out-01
 net X-inhibit		classicladder.0.out-02
-net Y-Homed		classicladder.0.out-03
+#net Y-Homed		classicladder.0.out-03
 net X-ctrl-home		classicladder.0.out-04
 net X-ctrl-pos		classicladder.0.out-05
 net Z-ctrl-home		classicladder.0.out-06
diff --git a/gmoccapy_postgui.hal b/gmoccapy_postgui.hal
old mode 100755
new mode 100644
index 89b4ab5cd8a019ae64bf458c95b7449c7cfe4740..d2b851ac6078f0941bc271d447f8913cd632e31f
--- a/gmoccapy_postgui.hal
+++ b/gmoccapy_postgui.hal
@@ -1,6 +1,7 @@
 net X-homed     => halui.joint.0.home
 net Z-homed     => halui.joint.2.home
-net Y-Homed	=> halui.joint.1.home
+#net Y-Homed	=> halui.joint.1.home
+setp halui.joint.1.home	1
 
 net Home-All    <= gmoccapy.joint.all.home
 net Home-X      <= gmoccapy.joint.0.home
@@ -50,6 +51,10 @@ net ManualTC		halui.mdi-command-00
 #net ManualTC7       => halui.mdi−command−07
 #net ManualTC8       => halui.mdi−command−08
 
+net ProgramIsRunning	halui.program.is-running
+net ProgramIsIdle	halui.program.is-idle
+net ProgramIsPaused	halui.program.is-paused
+
 setp 			gmoccapy.feed.feed-override.analog-enable true
 net FeedOverride	gmoccapy.feed.feed-override.direct-value
 setp			gmoccapy.jog.jog-velocity.analog-enable true
diff --git a/lathemacro-en-numpad.ui b/lathemacro-en-numpad.ui
old mode 100755
new mode 100644
diff --git a/lathemacro.ini b/lathemacro.ini
old mode 100755
new mode 100644
diff --git a/lathemacro.ui b/lathemacro.ui
old mode 100755
new mode 100644
diff --git a/lcec.hal b/lcec.hal
old mode 100755
new mode 100644
diff --git a/lcec_simu.hal b/lcec_simu.hal
old mode 100755
new mode 100644
diff --git a/lcec_simu/lcec_simu.comp b/lcec_simu/lcec_simu.comp
old mode 100755
new mode 100644
diff --git a/lcec_simu/lcec_simu.so b/lcec_simu/lcec_simu.so
old mode 100755
new mode 100644
diff --git a/maurice-common.ini b/maurice-common.ini
old mode 100755
new mode 100644
index 5d1c4f9b54ec358ccdd91545cce1f959e16d78c9..32417aea3c16d1b745eddb781a01753ea882c2ec
--- a/maurice-common.ini
+++ b/maurice-common.ini
@@ -10,6 +10,7 @@ DEBUG = 1
 
 [DISPLAY]
 DISPLAY = ./maurice_gmoccapy.py 
+#DISPLAY = gmoccapy
 #-logo logo.jpg
 
 #EMBED_TAB_NAME = right_side_panel
@@ -69,7 +70,7 @@ LINEAR_UNITS = mm
 ANGULAR_UNITS = deg
 DEFAULT_LINEAR_VELOCITY = 15
 MAX_LINEAR_VELOCITY = 150
-NO_FORCE_HOMING = 1
+# NO_FORCE_HOMING = 1
 
 [EMCIO]
 EMCIO = io
@@ -151,4 +152,4 @@ FF1 = 0.0
 FF2 = 0.0
 BIAS = 0.0
 DEADBAND = 0.0
-MAX_OUTPUT = 6000
+MAX_OUTPUT = 6000
\ No newline at end of file
diff --git a/maurice-simu.ini b/maurice-simu.ini
old mode 100755
new mode 100644
diff --git a/maurice.clp b/maurice.clp
index a51df384cf39fe4896531bad657dc021bb88b0b3..43f5574335ae1aac84ff321556da487cd101f6a4 100644
--- a/maurice.clp
+++ b/maurice.clp
@@ -1,257 +1,4 @@
 _FILES_CLASSICLADDER
-_FILE-rung_20.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=-1
-#NEXTRUNG=5
-1-0-0/1 , 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 , 53-0-0/2
-1-0-0/14 , 9-0-0/0 , 9-0-0/0 , 1-0-50/31 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 52-0-0/2
-1-0-0/19 , 0-0-0/0 , 0-0-0/0 , 0-0-50/32 , 0-0-0/0 , 0-0-0/2 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
-1-0-0/18 , 0-1-0/0 , 0-0-0/0 , 0-0-50/33 , 0-0-0/0 , 0-0-0/2 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/1
-1-0-0/2 , 0-1-0/0 , 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 , 0-0-60/43
-1-0-0/14 , 9-1-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2
-_/FILE-rung_20.csv
-_FILE-rung_17.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=4
-#NEXTRUNG=18
-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
-1-0-50/35 , 9-0-0/0 , 2-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-0/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/11
-1-0-50/35 , 9-0-50/0 , 1-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-50/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/12
-2-0-50/35 , 9-0-0/0 , 1-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-0/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/13
-2-0-50/35 , 9-0-0/0 , 1-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-0/0 , 1-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/14
-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
-_/FILE-rung_17.csv
-_FILE-rung_13.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=14
-#NEXTRUNG=12
-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
-9-0-0/0 , 1-0-50/53 , 9-0-0/0 , 99-0-0/0 , 13-0-0/11 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/4
-0-0-0/0 , 0-0-0/0 , 0-0-0/11 , 99-0-0/0 , 99-0-0/11 , 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 , 0-0-0/11 , 0-0-0/11 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
-1-0-50/17 , 9-0-0/0 , 1-0-0/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/5
-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 , 0-0-0/0
-_/FILE-rung_13.csv
-_FILE-rung_21.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=25
-#NEXTRUNG=2
-1-0-50/18 , 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 , 9-1-50/0 , 9-0-0/0 , 2-0-0/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/60
-0-0-0/0 , 9-1-50/0 , 9-0-0/0 , 2-0-50/17 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/65
-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
-_/FILE-rung_21.csv
-_FILE-modbusioconf.csv
-#VER=1.0
-1,5,3240,1,0,0
-_/FILE-modbusioconf.csv
-_FILE-rung_7.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=8
-#NEXTRUNG=-1
-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
-1-0-50/20 , 9-0-0/0 , 1-0-50/21 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/0
-1-0-50/23 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/1
-1-0-50/22 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/2
-1-0-50/21 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/3
-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 , 0-0-0/0
-_/FILE-rung_7.csv
-_FILE-ioconf.csv
-#VER=1.0
-_/FILE-ioconf.csv
-_FILE-rung_5.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=20
-#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
-1-0-0/1 , 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 , 53-0-0/2
-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
-_/FILE-rung_5.csv
-_FILE-rung_15.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=19
-#NEXTRUNG=-1
-9-0-0/0 , 1-0-50/39 , 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 , 50-0-60/48
-9-0-0/0 , 1-0-50/39 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 0-0-60/48
-0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/14 , 99-0-0/0 , 13-0-0/15 , 9-1-0/0 , 53-0-60/49
-0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0 , 99-0-0/0 , 99-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0
-9-0-0/0 , 1-0-50/40 , 9-0-0/0 , 9-1-0/0 , 9-0-0/0 , 9-0-0/14 , 9-0-0/0 , 9-0-0/15 , 9-0-0/0 , 52-0-60/49
-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
-_/FILE-rung_15.csv
-_FILE-rung_28.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=2
-#NEXTRUNG=-1
-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
-9-0-50/18 , 2-0-50/18 , 9-0-0/0 , 2-0-0/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/64
-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 , 0-1-0/0
-9-0-0/0 , 1-0-50/18 , 9-0-0/0 , 1-0-60/69 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0
-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
-_/FILE-rung_28.csv
-_FILE-rung_22.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=12
-#NEXTRUNG=-1
-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 , 53-0-60/51
-1-0-50/50 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/17 , 9-0-0/0 , 1-0-50/52 , 9-0-0/0 , 9-0-0/0 , 52-1-60/50
-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
-1-0-50/51 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/18 , 9-0-0/0 , 1-0-50/52 , 9-0-0/0 , 9-0-0/0 , 52-0-60/51
-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 , 53-1-60/50
-_/FILE-rung_22.csv
-_FILE-rung_4.csv
-#VER=2.0
-#LABEL=
-#COMMENT=
-#PREVRUNG=16
-#NEXTRUNG=17
-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
-1-0-50/35 , 9-0-0/0 , 1-0-50/36 , 9-0-0/0 , 2-0-50/37 , 9-0-0/0 , 2-0-50/38 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
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+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
+9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 1-0-50/47 , 9-0-0/0 , 1-0-50/31 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/73
+9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-50/34 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 3-0-50/47 , 9-0-0/0 , 9-1-0/0 , 9-0-0/0 , 50-0-60/74
+_/FILE-rung_26.csv
+_FILE-rung_25.csv
 #VER=2.0
 #LABEL=
 #COMMENT=
-#PREVRUNG=11
-#NEXTRUNG=9
-1-0-60/24 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-60/21 , 9-0-0/0 , 52-0-60/20
-1-0-50/30 , 0-0-60/26 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/21 , 0-0-0/0 , 0-0-60/23
-1-0-60/20 , 2-1-60/21 , 2-0-60/26 , 1-0-60/24 , 99-0-0/0 , 13-0-0/8 , 9-0-0/0 , 2-0-0/3 , 9-0-0/0 , 50-0-60/23
-0-0-60/20 , 0-0-0/0 , 0-0-0/0 , 0-0-0/8 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/23
-4-0-60/23 , 9-0-0/0 , 99-0-0/0 , 13-0-0/9 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-60/0 , 9-0-0/0 , 50-0-60/21
-0-0-60/23 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 53-1-60/20
-_/FILE-rung_10.csv
+#PREVRUNG=23
+#NEXTRUNG=21
+9-0-0/0 , 9-0-0/0 , 1-0-50/56 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 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 , 50-1-60/66
+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 , 0-0-60/0
+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 , 0-0-0/0
+_/FILE-rung_25.csv
+_FILE-rung_7.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=8
+#NEXTRUNG=-1
+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
+1-0-50/20 , 9-0-0/0 , 1-0-50/21 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/0
+1-0-50/23 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/1
+1-0-50/22 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/2
+1-0-50/21 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/3
+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 , 0-0-0/0
+_/FILE-rung_7.csv
 _FILE-rung_8.csv
 #VER=2.0
 #LABEL=
@@ -836,4 +816,37 @@ _FILE-rung_8.csv
 1-0-50/21 , 9-0-0/0 , 1-0-50/22 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/7
 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 , 0-0-0/0
 _/FILE-rung_8.csv
+_FILE-arithmetic_expressions.csv
+#VER=2.0
+0000,@200/0@=1
+0001,@200/0@=2
+0002,@200/0@=3
+0003,@200/0@=4
+0004,@200/0@=5
+0005,@200/0@=6
+0006,@200/0@=7
+0007,@200/0@=8
+0008,@200/0@=@270/0@
+0009,@270/0@-@200/0@>4
+0010,@270/0@-@200/0@<0
+0011,@270/0@-@200/0@>-4
+0012,@270/0@=0
+0013,@300/1@<1
+0014,@300/1@<1
+0017,@300/1@<1
+0018,@300/1@<1
+_/FILE-arithmetic_expressions.csv
+_FILE-rung_24.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=-1
+#NEXTRUNG=23
+9-0-0/0 , 9-0-0/0 , 1-0-60/63 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0
+9-0-0/0 , 9-0-0/0 , 1-0-50/49 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0
+9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0
+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 , 50-1-60/67
+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 , 0-1-0/0
+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 , 0-1-0/0
+_/FILE-rung_24.csv
 _/FILES_CLASSICLADDER
diff --git a/maurice.hal b/maurice.hal
index 22c44f98ac7a26b8e89396a742f6c7d45406b222..f18d9e5e70694c387a7fa4f7aa450a977db6c3e2 100644
--- a/maurice.hal
+++ b/maurice.hal
@@ -10,12 +10,12 @@
 #loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 loadrt weighted_sum wsum_sizes=4,4,2
 #loadrt sum2 count=3
-loadrt conv_s32_float count=3
+loadrt conv_s32_float count=5
 loadrt scale names=FeedScale,RapidScale,SpindleScale
 loadrt and2 names=EstopAnd
 loadrt not names=EstopNot
 
-loadusr atv_vfd -r 38400 -p even
+#loadusr atv_vfd -r 38400 -p even
 
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
diff --git a/maurice.ini b/maurice.ini
index 73cf029a6f1244d76ac73f2a4d615e4424640ad1..fa42cf6aa2f5e105218a68e0714245c0c60c1c7b 100644
--- a/maurice.ini
+++ b/maurice.ini
@@ -7,7 +7,7 @@ HALFILE = maurice.hal
 HALFILE = mb2hal.hal
 HALFILE = classicladder.hal
 HALFILE = mesa.hal
-HALFILE = atv_vfd.hal
+HALFILE = cia402.hal
 POSTGUI_HALFILE = gmoccapy_postgui.hal
 POSTGUI_HALFILE = lathemacro_postgui.hal
 
diff --git a/maurice.xml b/maurice.xml
index 8ffb2d96761a76b41bc185d629f2e89534cc270e..6db9f0dbe46238e1f0165dbac1d6800ffb0a7438 100644
--- a/maurice.xml
+++ b/maurice.xml
@@ -2,7 +2,7 @@
     <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
       <slave idx="0" type="generic" vid="0000060A" pid="00000001" configPdos="true">
         <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="02"/></sdoConfig>
-        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="E8 03 00 00"/></sdoConfig>
+        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="A0 0F 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
         <syncManager idx="0" dir="out"></syncManager>
@@ -27,7 +27,7 @@
       </slave>
       <slave idx="1" type="generic" vid="0000060A" pid="00000001" configPdos="true">
         <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="02"/></sdoConfig>
-        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="E8 03 00 00"/></sdoConfig>
+        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="A0 0F 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
         <syncManager idx="0" dir="out"></syncManager>
diff --git a/mb2hal.hal b/mb2hal.hal
index cf32cfd36f8e7e2f628decfdf187a637c8bd5dbd..5bc2d6563ff49cb517628d0b3dfe38db21bc3a4b 100644
--- a/mb2hal.hal
+++ b/mb2hal.hal
@@ -97,3 +97,12 @@ net ServoPower		mb2hal.STBOut.ServoPower
 
 #mb2hal.STBOut.CoolantPump
 
+#net spindle-statusword-s32     	mb2hal.ATVIn.StatusWord
+#net spindle-drv-act-velo    		mb2hal.ATVIn.ActualSpeed
+net spindle-statusword-s32     		mb2hal.ATVIn.00.int
+net spindle-drv-act-velo    		mb2hal.ATVIn.01.int
+
+#net spindle-controlword-s32         	mb2hal.ATVOut.ControlWord
+#net spindle-drv-target-velo    		mb2hal.ATVOut.TargetSpeed
+net spindle-controlword-float         	mb2hal.ATVOut.00
+net spindle-drv-target-velo-float 	mb2hal.ATVOut.01
diff --git a/mb2hal.ini b/mb2hal.ini
index 31caf779e9f2ecd16ef3248fdca6453297760def..66c79bf71c1287d8ba2b01306864ec335b4050fb 100644
--- a/mb2hal.ini
+++ b/mb2hal.ini
@@ -31,7 +31,7 @@ SLOWDOWN=0.0
 
 #REQUIRED: The number of total Modbus transactions. There is no maximum.
 
-TOTAL_TRANSACTIONS=2
+TOTAL_TRANSACTIONS=4
 
 #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.
@@ -207,7 +207,57 @@ HAL_MAP_PIN=MachineReady, 2, bit, 0
 HAL_MAP_PIN=ServoPower, 2, bit, 1
 
 HAL_MAP_PIN=HydraulicPump, 3, bit, 0
-HAL_MAP_PIN=LubricationPump, 3, bit, 0
+HAL_MAP_PIN=LubricationPump, 3, bit, 1
+
+MAX_UPDATE_RATE=0.0
+DEBUG=1
+
+[TRANSACTION_02]
+LINK_TYPE=serial
+SERIAL_PORT=/dev/ttyS0
+SERIAL_BAUD=38400
+SERIAL_BITS=8
+SERIAL_PARITY=even
+SERIAL_STOP=1
+SERIAL_DELAY_MS=0
+MB_SLAVE_ID=1
+
+MB_RESPONSE_TIMEOUT_MS=500
+MB_BYTE_TIMEOUT_MS=500
+
+FIRST_ELEMENT=8603
+NELEMENTS=2
+
+MB_TX_CODE=fnct_03_read_holding_registers
+
+HAL_TX_NAME=ATVIn
+
+#HAL_MAP_PIN=StatusWord, 8603, s32
+#HAL_MAP_PIN=ActualSpeed, 8604, s32
+
+MAX_UPDATE_RATE=0.0
+DEBUG=1
+
+[TRANSACTION_03]
+LINK_TYPE=serial
+SERIAL_PORT=/dev/ttyS0
+SERIAL_BAUD=38400
+SERIAL_BITS=8
+SERIAL_PARITY=even
+SERIAL_STOP=1
+SERIAL_DELAY_MS=0
+MB_SLAVE_ID=1
+
+FIRST_ELEMENT=8601
+NELEMENTS=2
+
+MB_TX_CODE=fnct_16_write_multiple_registers
+
+HAL_TX_NAME=ATVOut
+
+
+#HAL_MAP_PIN=ControlWord, 8601, s32
+#HAL_MAP_PIN=TargetSpeed, 8602, s32
 
 MAX_UPDATE_RATE=0.0
 DEBUG=1
diff --git a/mb2halv2/Makefile b/mb2halv2/Makefile
old mode 100755
new mode 100644
diff --git a/mb2halv2/mb2hal.c b/mb2halv2/mb2hal.c
old mode 100755
new mode 100644
diff --git a/mb2halv2/mb2hal.h b/mb2halv2/mb2hal.h
old mode 100755
new mode 100644
diff --git a/mb2halv2/mb2hal_HOWTO.ini b/mb2halv2/mb2hal_HOWTO.ini
old mode 100755
new mode 100644
diff --git a/mb2halv2/mb2hal_hal.c b/mb2halv2/mb2hal_hal.c
old mode 100755
new mode 100644
diff --git a/mb2halv2/mb2hal_init.c b/mb2halv2/mb2hal_init.c
old mode 100755
new mode 100644
diff --git a/mb2halv2/mb2hal_modbus.c b/mb2halv2/mb2hal_modbus.c
old mode 100755
new mode 100644
diff --git a/mb2halv2/tests/mb2hal_test_01.ini b/mb2halv2/tests/mb2hal_test_01.ini
old mode 100755
new mode 100644
diff --git a/mb2halv2/tests/mb2hal_test_02.ini b/mb2halv2/tests/mb2hal_test_02.ini
old mode 100755
new mode 100644
diff --git a/mb2halv2/tests/mb2hal_test_03.ini b/mb2halv2/tests/mb2hal_test_03.ini
old mode 100755
new mode 100644
diff --git a/mb2halv2/tests/mb2hal_test_04.ini b/mb2halv2/tests/mb2hal_test_04.ini
old mode 100755
new mode 100644
diff --git a/mb2halv2/tests/test05.hal b/mb2halv2/tests/test05.hal
old mode 100755
new mode 100644
diff --git a/mb2halv2/tests/test05.ini b/mb2halv2/tests/test05.ini
old mode 100755
new mode 100644
diff --git a/mb2halv2/tests/test05.py b/mb2halv2/tests/test05.py
old mode 100755
new mode 100644
diff --git a/mesa.hal b/mesa.hal
index 653feb6f402298825a7d47cf468e139760dd81bd..8e55c9e3c2e1c4b4d99bb53c212f523293d63e43 100644
--- a/mesa.hal
+++ b/mesa.hal
@@ -56,12 +56,12 @@ setp				atspeed.scale 1.05
 #Jog Handling
 ####################################################################
 
-net XSelect			joint.0.jog-enable
-net ZSelect			joint.2.jog-enable
+net XSelect			joint.0.jog-enable axis.x.jog-enable
+net ZSelect			joint.2.jog-enable axis.z.jog-enable
 
-net ModeX1			mpg.sel2
+net ModeJ			mpg.sel2
 net ModeX10			mpg.sel1
-net ModeJ			mpg.sel0
+net ModeX1			mpg.sel0
 
 setp				mpg.in1 0.00025
 setp				mpg.in2 0.0025
@@ -72,5 +72,5 @@ net JogScale			mpg.out
 
 setp				hm2_5i24.0.encoder.01.scale 4
 net JogCount			hm2_5i24.0.encoder.01.count
-net JogScale			joint.0.jog-scale joint.2.jog-scale
-net JogCount			joint.0.jog-counts joint.2.jog-counts
+net JogScale			joint.0.jog-scale joint.2.jog-scale axis.x.jog-scale axis.z.jog-scale
+net JogCount			joint.0.jog-counts joint.2.jog-counts axis.x.jog-counts axis.z.jog-counts
diff --git a/vcp_box.glade b/vcp_box.glade
old mode 100755
new mode 100644
diff --git a/vcp_box.hal b/vcp_box.hal
old mode 100755
new mode 100644