diff --git a/BrainATUMtome/mainwindow.cpp b/BrainATUMtome/mainwindow.cpp
index 4586e8a..78ce57a 100644
--- a/BrainATUMtome/mainwindow.cpp
+++ b/BrainATUMtome/mainwindow.cpp
@@ -210,67 +210,28 @@ MainWindow::~MainWindow()
 
 void MainWindow::configure_controlEpos()
 {
-    QButtonGroup *buttonGroup_epos_off = new QButtonGroup(this);
-    buttonGroup_epos_off->addButton(ui->radioButton_epos_lower_off);
-    buttonGroup_epos_off->addButton(ui->radioButton_epos_upper_off);
-    buttonGroup_epos_off->addButton(ui->radioButton_epos_tension_off);
-
-    //connect(ui->checkBox_epos_sync, &QCheckBox::clicked, buttonGroup_epos_off, &QButtonGroup::buttonClicked);
-    connect(buttonGroup_epos_off, qOverload<int>(&QButtonGroup::buttonClicked), this, &MainWindow::on_radioButton_epos_clicked);
-
-    /*
-    connect(ui->radioButton_epos_lower_off, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    connect(ui->radioButton_epos_upper_off, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    connect(ui->radioButton_epos_tension_off, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    connect(ui->radioButton_epos_lower_cw, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    connect(ui->radioButton_epos_upper_cw, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    connect(ui->radioButton_epos_tension_on, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    connect(ui->radioButton_epos_lower_ccw, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    connect(ui->radioButton_epos_upper_ccw, &QRadioButton::clicked, this, &MainWindow::on_radioButton_epos_clicked);
-    */
-
-    /*
-    connect(ui->radioButton_epos_lower_cw, &QRadioButton::clicked,
-            [this]()
-            {
-                if (ui->checkBox_epos_sync->isChecked())
-                {
-                    ui->radioButton_epos_upper_cw->setChecked(true);
-                    ui->radioButton_epos_tension_on->setChecked(true);
-                }
-            });
-
-    connect(ui->radioButton_epos_lower_off, &QRadioButton::clicked,
-            [this]()
-            {
-                if (ui->checkBox_epos_sync->isChecked())
-                {
-                    ui->radioButton_epos_upper_off->setChecked(true);
-
-                }
-            });
-
-    connect(ui->radioButton_epos_upper_cw, &QRadioButton::clicked, [this](){if (ui->checkBox_epos_sync->isChecked()) ui->radioButton_epos_lower_cw->setChecked(true);});
-    connect(ui->radioButton_epos_upper_off, &QRadioButton::clicked, [this](){if (ui->checkBox_epos_sync->isChecked()) ui->radioButton_epos_lower_off->setChecked(true);});
-
-    connect(ui->lineEdit_epos_lower_rpm, &QLineEdit::returnPressed, [this](){if (ui->checkBox_epos_sync->isChecked()) ui->lineEdit_epos_upper_rpm->setText(ui->lineEdit_epos_lower_rpm->text());});
-    connect(ui->lineEdit_epos_upper_rpm, &QLineEdit::returnPressed, [this](){if (ui->checkBox_epos_sync->isChecked()) ui->lineEdit_epos_lower_rpm->setText(ui->lineEdit_epos_upper_rpm->text());});
-
-    connect(ui->checkBox_epos_sync, &QCheckBox::clicked,
-            [this](bool state)
-            {
-                ui->radioButton_epos_lower_ccw->setEnabled(!state);
-                ui->radioButton_epos_upper_ccw->setEnabled(!state);
-                if (state)
-                {
-                    ui->radioButton_epos_lower_off->setChecked(true);
-                    ui->radioButton_epos_upper_off->setChecked(true);
-                    ui->radioButton_epos_tension_off->setChecked(true);
-                }
-            });
-    */
-
-
+    QButtonGroup *radioButtonGroup_epos_tension = new QButtonGroup(this);
+    radioButtonGroup_epos_tension->addButton(ui->radioButton_epos_tension_off, RADIOBUTTON_EPOS_TENSION_OFF);
+    radioButtonGroup_epos_tension->addButton(ui->radioButton_epos_tension_on, RADIOBUTTON_EPOS_TENSION_ON);
+    connect(radioButtonGroup_epos_tension, QOverload<int>::of(&QButtonGroup::buttonClicked), this, &MainWindow::on_radioButton_epos_clicked);
+
+    QButtonGroup *radioButtonGroup_epos_lower = new QButtonGroup(this);
+    radioButtonGroup_epos_lower->addButton(ui->radioButton_epos_lower_off, RADIOBUTTON_EPOS_LOWER_OFF);
+    radioButtonGroup_epos_lower->addButton(ui->radioButton_epos_lower_cw, RADIOBUTTON_EPOS_LOWER_CW);
+    radioButtonGroup_epos_lower->addButton(ui->radioButton_epos_lower_ccw, RADIOBUTTON_EPOS_LOWER_CCW);
+    connect(radioButtonGroup_epos_lower, QOverload<int>::of(&QButtonGroup::buttonClicked), this, &MainWindow::on_radioButton_epos_clicked);
+
+    QButtonGroup *radioButtonGroup_epos_uppser = new QButtonGroup(this);
+    radioButtonGroup_epos_uppser->addButton(ui->radioButton_epos_upper_off, RADIOBUTTON_EPOS_UPPER_OFF);
+    radioButtonGroup_epos_uppser->addButton(ui->radioButton_epos_upper_cw, RADIOBUTTON_EPOS_UPPER_CW);
+    radioButtonGroup_epos_uppser->addButton(ui->radioButton_epos_upper_ccw, RADIOBUTTON_EPOS_UPPER_CCW);
+    connect(radioButtonGroup_epos_uppser, QOverload<int>::of(&QButtonGroup::buttonClicked), this, &MainWindow::on_radioButton_epos_clicked);
+
+    QValidator *eposVelocity = new QIntValidator(100, 10000, this);
+    ui->lineEdit_epos_lower_rpm->setValidator(eposVelocity);
+    ui->lineEdit_epos_upper_rpm->setValidator(eposVelocity);
+    connect(ui->lineEdit_epos_lower_rpm, &QLineEdit::returnPressed, this, &MainWindow::on_lineEdit_epos_lower_returnPressed);
+    connect(ui->lineEdit_epos_upper_rpm, &QLineEdit::returnPressed, this, &MainWindow::on_lineEdit_epos_upper_returnPressed);
 }
 
 
@@ -344,19 +305,90 @@ void MainWindow::command_DriverEpos(bool state)
     */
 }
 
-void MainWindow::on_lineEdit_dep_velocity_returnPressed()
-{
-    /*
-    if (QString::compare(ui->pushButton_dep_run->text(), "Stop") != 0)
-        return;
 
-    command_DriverEpos(true);
-    */
+
+void MainWindow::on_radioButton_epos_clicked(int id)
+{
+   if (ui->checkBox_epos_sync->isChecked()) {
+       switch (id)
+       {
+           case RADIOBUTTON_EPOS_LOWER_OFF:
+                ui->radioButton_epos_upper_off->setChecked(true);
+                ui->radioButton_epos_tension_off->setChecked(true);
+                break;
+           case RADIOBUTTON_EPOS_UPPER_OFF:
+                ui->radioButton_epos_lower_off->setChecked(true);
+                ui->radioButton_epos_tension_off->setChecked(true);
+                break;
+           case RADIOBUTTON_EPOS_TENSION_OFF :
+                ui->radioButton_epos_lower_off->setChecked(true);
+                ui->radioButton_epos_upper_off->setChecked(true);
+                break;
+           case RADIOBUTTON_EPOS_LOWER_CW:
+                ui->radioButton_epos_upper_cw->setChecked(true);
+                ui->radioButton_epos_tension_on->setChecked(true);
+                break;
+           case RADIOBUTTON_EPOS_UPPER_CW:
+                ui->radioButton_epos_lower_cw->setChecked(true);
+                ui->radioButton_epos_tension_on->setChecked(true);
+                break;
+           case RADIOBUTTON_EPOS_TENSION_ON :
+                ui->radioButton_epos_lower_cw->setChecked(true);
+                ui->radioButton_epos_upper_cw->setChecked(true);
+                break;
+       }
+   }
 }
 
+void MainWindow::on_checkBox_epos_sync_clicked(bool checked)
+{
+    if (checked) {
+        ui->widget_logger->on_notify("EPOS :: sync mode is on.");
+        ui->radioButton_epos_lower_ccw->setEnabled(false);
+        ui->radioButton_epos_upper_ccw->setEnabled(false);
+
+        int velocity_lower = ui->lineEdit_epos_lower_rpm->text().toInt();
+        int velocity_upper = ui->lineEdit_epos_upper_rpm->text().toInt();
+        if (velocity_lower != velocity_upper) {
+            int velocity_min = (velocity_lower < velocity_upper) ? velocity_lower : velocity_upper;
+            ui->lineEdit_epos_lower_rpm->setText(QString::number(velocity_min));
+            ui->lineEdit_epos_upper_rpm->setText(QString::number(velocity_min));
+            ui->widget_logger->on_notify("EPOS :: motors speed changed to " + QString::number(velocity_min) + " rpm.");
+        }
+    }
+    else {
+        ui->widget_logger->on_notify("EPOS :: async mode is on.");
+        ui->radioButton_epos_lower_ccw->setEnabled(true);
+        ui->radioButton_epos_upper_ccw->setEnabled(true);
+    }
+
+    ui->radioButton_epos_lower_off->setChecked(true);
+    ui->radioButton_epos_upper_off->setChecked(true);
+    ui->radioButton_epos_tension_off->setChecked(true);
+}
 
 
-void MainWindow::on_radioButton_epos_clicked()
+void MainWindow::on_lineEdit_epos_lower_returnPressed()
 {
+    int velocity_lower = ui->lineEdit_epos_lower_rpm->text().toInt();
+    if (ui->checkBox_epos_sync->isChecked()) {
+        ui->lineEdit_epos_upper_rpm->setText(QString::number(velocity_lower));
+        ui->widget_logger->on_notify("EPOS :: motors speed changed to " + QString::number(velocity_lower) + " rpm.");
+    }
+    else {
+        ui->widget_logger->on_notify("EPOS :: lower motor speed changed to " + QString::number(velocity_lower) + " rpm.");
+    }
+}
 
+
+void MainWindow::on_lineEdit_epos_upper_returnPressed()
+{
+    int velocity_upper = ui->lineEdit_epos_upper_rpm->text().toInt();
+    if (ui->checkBox_epos_sync->isChecked()) {
+        ui->lineEdit_epos_lower_rpm->setText(QString::number(velocity_upper));
+        ui->widget_logger->on_notify("EPOS :: motors speed changed to " + QString::number(velocity_upper) + " rpm.");
+    }
+    else {
+        ui->widget_logger->on_notify("EPOS :: upper motor speed changed to " + QString::number(velocity_upper) + " rpm.");
+    }
 }
diff --git a/BrainATUMtome/mainwindow.h b/BrainATUMtome/mainwindow.h
index 248766e..d9d46f6 100644
--- a/BrainATUMtome/mainwindow.h
+++ b/BrainATUMtome/mainwindow.h
@@ -4,6 +4,7 @@
 #include <QMainWindow>
 #include <QValidator>
 #include <QThread>
+#include <QButtonGroup>
 #include <QDebug>
 
 #include "driverepos.h"
@@ -43,19 +44,30 @@ class MainWindow : public QMainWindow
     //QThread *m_thread_videoConverter;
     //sQThread *m_thread_videoWriter;
 
-    void command_DriverEpos(bool state);
+    quint8 m_epos_motors;
+    qint16 m_epos_velocity;
 
-    void configure_controlEpos();
+    static const int RADIOBUTTON_EPOS_TENSION_OFF = 1;
+    static const int RADIOBUTTON_EPOS_TENSION_ON = 2;
+    static const int RADIOBUTTON_EPOS_LOWER_OFF = 3;
+    static const int RADIOBUTTON_EPOS_LOWER_CCW = 4;
+    static const int RADIOBUTTON_EPOS_LOWER_CW = 5;
+    static const int RADIOBUTTON_EPOS_UPPER_OFF = 6;
+    static const int RADIOBUTTON_EPOS_UPPER_CCW = 7;
+    static const int RADIOBUTTON_EPOS_UPPER_CW = 8;
 
-    qint8 m_epos_motors;
-    qint16 m_epos_velocity;
+    void command_DriverEpos(bool state);
+    void configure_controlEpos();
 
 
 private slots:
     void on_pushButton_dep_run_clicked();
     void on_pushButton_mtm_cut_clicked();
-    void on_lineEdit_dep_velocity_returnPressed();
+
+    void on_checkBox_epos_sync_clicked(bool checked);
     void on_radioButton_epos_clicked(int id);
+    void on_lineEdit_epos_upper_returnPressed();
+    void on_lineEdit_epos_lower_returnPressed();
 
 signals:
     void uirequest_mtm_setCuttingSpeed(quint32 value);