diff --git a/BrainATUMtome/mainwindow.cpp b/BrainATUMtome/mainwindow.cpp
index b535d35..4586e8a 100644
--- a/BrainATUMtome/mainwindow.cpp
+++ b/BrainATUMtome/mainwindow.cpp
@@ -9,7 +9,10 @@ MainWindow::MainWindow(QWidget *parent) :
     m_driverSyringe(nullptr),
     m_thread_driverEpos(nullptr),
     m_thread_driverMicrotome(nullptr),
-    m_thread_driverSyringe(nullptr)
+    m_thread_driverSyringe(nullptr),
+    m_epos_motors(0),
+    m_epos_velocity(1000)
+
 {
     ui->setupUi(this);
 
@@ -207,15 +210,66 @@ MainWindow::~MainWindow()
 
 void MainWindow::configure_controlEpos()
 {
-    connect(ui->pushButton_epos_lower_cw, &QPushButton::clicked, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->pushButton_epos_upper_cw->setChecked(true);});
-    connect(ui->pushButton_epos_lower_ccw, &QPushButton::clicked, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->pushButton_epos_upper_ccw->setChecked(true);});
-    connect(ui->pushButton_epos_lower_off, &QPushButton::clicked, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->pushButton_epos_upper_off->setChecked(true);});
-    connect(ui->lineEdit_epos_lower_rpm, &QLineEdit::returnPressed, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->lineEdit_epos_upper_rpm->setText(ui->lineEdit_epos_lower_rpm->text());});
+    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);
+                }
+            });
+    */
 
-    connect(ui->pushButton_epos_upper_cw, &QPushButton::clicked, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->pushButton_epos_lower_cw->setChecked(true);});
-    connect(ui->pushButton_epos_upper_ccw, &QPushButton::clicked, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->pushButton_epos_lower_ccw->setChecked(true);});
-    connect(ui->pushButton_epos_upper_off, &QPushButton::clicked, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->pushButton_epos_lower_off->setChecked(true);});
-    connect(ui->lineEdit_epos_upper_rpm, &QLineEdit::returnPressed, [this](){if (ui->pushButton_epos_sync_on->isChecked()) ui->lineEdit_epos_lower_rpm->setText(ui->lineEdit_epos_upper_rpm->text());});
 
 }
 
@@ -301,7 +355,8 @@ void MainWindow::on_lineEdit_dep_velocity_returnPressed()
 }
 
 
-void MainWindow::on_error_throw(const QString &errorSource, const QString &errorMessage)
+
+void MainWindow::on_radioButton_epos_clicked()
 {
-    qDebug() << errorSource << "::Error, " << errorMessage;
+
 }
diff --git a/BrainATUMtome/mainwindow.h b/BrainATUMtome/mainwindow.h
index 4162327..248766e 100644
--- a/BrainATUMtome/mainwindow.h
+++ b/BrainATUMtome/mainwindow.h
@@ -47,12 +47,15 @@ class MainWindow : public QMainWindow
 
     void configure_controlEpos();
 
+    qint8 m_epos_motors;
+    qint16 m_epos_velocity;
+
 
 private slots:
-    void on_error_throw(const QString &errorSource, const QString &errorMessage);
     void on_pushButton_dep_run_clicked();
     void on_pushButton_mtm_cut_clicked();
     void on_lineEdit_dep_velocity_returnPressed();
+    void on_radioButton_epos_clicked(int id);
 
 signals:
     void uirequest_mtm_setCuttingSpeed(quint32 value);
diff --git a/BrainATUMtome/mainwindow.ui b/BrainATUMtome/mainwindow.ui
index 1206cc7..cf77804 100644
--- a/BrainATUMtome/mainwindow.ui
+++ b/BrainATUMtome/mainwindow.ui
@@ -40,73 +40,46 @@
         <property name="title">
          <string>EPOS</string>
         </property>
-        <layout class="QGridLayout" name="gridLayout_6">
-         <item row="1" column="0" colspan="2">
-          <widget class="QGroupBox" name="groupBox_epos_lower">
+        <layout class="QGridLayout" name="gridLayout">
+         <item row="0" column="0" colspan="2">
+          <widget class="QGroupBox" name="groupBox_epos_upper">
            <property name="title">
-            <string>Lower</string>
+            <string>Upper</string>
            </property>
-           <layout class="QHBoxLayout" name="horizontalLayout_4">
+           <layout class="QHBoxLayout" name="horizontalLayout_5">
             <item>
-             <widget class="QPushButton" name="pushButton_epos_lower_cw">
+             <widget class="QRadioButton" name="radioButton_epos_upper_cw">
               <property name="text">
                <string>CW</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
             <item>
-             <widget class="QPushButton" name="pushButton_epos_lower_ccw">
+             <widget class="QRadioButton" name="radioButton_epos_upper_ccw">
               <property name="text">
                <string>CCW</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
             <item>
-             <widget class="QPushButton" name="pushButton_epos_lower_off">
+             <widget class="QRadioButton" name="radioButton_epos_upper_off">
               <property name="text">
                <string>OFF</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
               <property name="checked">
                <bool>true</bool>
               </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
             <item>
-             <widget class="QLineEdit" name="lineEdit_epos_lower_rpm">
+             <widget class="QLineEdit" name="lineEdit_epos_upper_rpm">
               <property name="text">
                <string>1000</string>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QLabel" name="label_epos_lower_rpm">
+             <widget class="QLabel" name="label_epos_upper_rpm">
               <property name="text">
                <string>[rpm]</string>
               </property>
@@ -115,72 +88,45 @@
            </layout>
           </widget>
          </item>
-         <item row="0" column="0" colspan="2">
-          <widget class="QGroupBox" name="groupBox_epos_upper">
+         <item row="1" column="0" colspan="2">
+          <widget class="QGroupBox" name="groupBox_epos_lower">
            <property name="title">
-            <string>Upper</string>
+            <string>Lower</string>
            </property>
-           <layout class="QHBoxLayout" name="horizontalLayout_5">
+           <layout class="QHBoxLayout" name="horizontalLayout_4">
             <item>
-             <widget class="QPushButton" name="pushButton_epos_upper_cw">
+             <widget class="QRadioButton" name="radioButton_epos_lower_cw">
               <property name="text">
                <string>CW</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
             <item>
-             <widget class="QPushButton" name="pushButton_epos_upper_ccw">
+             <widget class="QRadioButton" name="radioButton_epos_lower_ccw">
               <property name="text">
                <string>CCW</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
             <item>
-             <widget class="QPushButton" name="pushButton_epos_upper_off">
+             <widget class="QRadioButton" name="radioButton_epos_lower_off">
               <property name="text">
                <string>OFF</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
               <property name="checked">
                <bool>true</bool>
               </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
             <item>
-             <widget class="QLineEdit" name="lineEdit_epos_upper_rpm">
+             <widget class="QLineEdit" name="lineEdit_epos_lower_rpm">
               <property name="text">
                <string>1000</string>
               </property>
              </widget>
             </item>
             <item>
-             <widget class="QLabel" name="label_epos_upper_rpm">
+             <widget class="QLabel" name="label_epos_lower_rpm">
               <property name="text">
                <string>[rpm]</string>
               </property>
@@ -196,88 +142,30 @@
            </property>
            <layout class="QHBoxLayout" name="horizontalLayout">
             <item>
-             <widget class="QPushButton" name="pushButton_epos_tension_on">
+             <widget class="QRadioButton" name="radioButton_epos_tension_on">
               <property name="text">
                <string>ON</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
             <item>
-             <widget class="QPushButton" name="pushButton_epos_tension_off">
+             <widget class="QRadioButton" name="radioButton_epos_tension_off">
               <property name="text">
                <string>OFF</string>
               </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
               <property name="checked">
                <bool>true</bool>
               </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item row="2" column="1">
-          <widget class="QGroupBox" name="groupBox_epos_sync">
-           <property name="title">
-            <string>Sync</string>
+          <widget class="QCheckBox" name="checkBox_epos_sync">
+           <property name="text">
+            <string>SYNC</string>
            </property>
-           <layout class="QHBoxLayout" name="horizontalLayout_3">
-            <item>
-             <widget class="QPushButton" name="pushButton_epos_sync_on">
-              <property name="autoFillBackground">
-               <bool>false</bool>
-              </property>
-              <property name="text">
-               <string>ON</string>
-              </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QPushButton" name="pushButton_epos_sync_off">
-              <property name="text">
-               <string>OFF</string>
-              </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-              <property name="checked">
-               <bool>true</bool>
-              </property>
-              <property name="autoExclusive">
-               <bool>true</bool>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-           </layout>
           </widget>
          </item>
         </layout>