diff --git a/BrainATUMtome/BrainATUMtome.pro b/BrainATUMtome/BrainATUMtome.pro
index 4fcf917..53ddb8e 100644
--- a/BrainATUMtome/BrainATUMtome.pro
+++ b/BrainATUMtome/BrainATUMtome.pro
@@ -27,11 +27,13 @@ CONFIG += c++11
 SOURCES += \
         main.cpp \
         mainwindow.cpp \
-    eventlog.cpp
+    eventlog.cpp \
+    epos.cpp
 
 HEADERS += \
         mainwindow.h \
-    eventlog.h
+    eventlog.h \
+    epos.h
 
 FORMS += \
         mainwindow.ui
diff --git a/BrainATUMtome/epos.cpp b/BrainATUMtome/epos.cpp
new file mode 100644
index 0000000..74676e6
--- /dev/null
+++ b/BrainATUMtome/epos.cpp
@@ -0,0 +1,28 @@
+#include "epos.h"
+
+Epos::Epos(QObject *parent) : QObject(parent)
+{
+
+}
+
+
+void Epos::on_uirequest_velocity(int motorid, int velocity)
+{
+    QString textMotor = (motorid == MOTORID_LOWER) ? "lower" : "upper";
+    QString textState = "off";
+    if (velocity > 0) {
+        textState = "is on, direction ccw, velocity " + QString::number(abs(velocity));
+    }
+    else if (velocity < 0) {
+        textState = "is on, direction cw, velocity " + QString::number(abs(velocity));
+    }
+
+    emit log(EventLogType::Notify, "EPOS :: " + textMotor + " motor " + textState);
+}
+
+
+void Epos::on_uirequest_tension(bool state)
+{
+    QString textState = (state) ? "on" : "off";
+    emit log(EventLogType::Notify, "EPOS :: tension motor is " + textState);
+}
diff --git a/BrainATUMtome/epos.h b/BrainATUMtome/epos.h
new file mode 100644
index 0000000..d0b3822
--- /dev/null
+++ b/BrainATUMtome/epos.h
@@ -0,0 +1,26 @@
+#ifndef EPOS_H
+#define EPOS_H
+
+#include <QObject>
+
+#include "eventlog.h"
+
+class Epos : public QObject
+{
+    Q_OBJECT
+public:
+    explicit Epos(QObject *parent = nullptr);
+
+private:
+    const int MOTORID_LOWER = 0;
+    const int MOTORID_UPPER = 1;
+
+public slots:
+    void on_uirequest_velocity(int motorid, int velocity);
+    void on_uirequest_tension(bool state);
+
+signals:
+    void log(EventLogType type, const QString &message);
+};
+
+#endif // EPOS_H
diff --git a/BrainATUMtome/mainwindow.cpp b/BrainATUMtome/mainwindow.cpp
index 84742c1..3d36b46 100644
--- a/BrainATUMtome/mainwindow.cpp
+++ b/BrainATUMtome/mainwindow.cpp
@@ -4,8 +4,9 @@
 MainWindow::MainWindow(QWidget *parent) :
     QMainWindow(parent),
     ui(new Ui::MainWindow),
-    m_epos_velocity_lower(0),
-    m_epos_velocity_upper(0),
+    m_driverEpos(nullptr),
+    m_epos_direction_lower(0),
+    m_epos_direction_upper(0),
     m_microtome_cuttingSpeed(0),
     m_microtome_returnSpeed(0),
     m_microtome_feedStep(0),
@@ -14,11 +15,7 @@ MainWindow::MainWindow(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    connect(ui->radioButton_epos_lower_off, &QRadioButton::toggled, this, &MainWindow::on_eposLowerToggled);
-    connect(ui->radioButton_epos_lower_ccw, &QRadioButton::toggled, this, &MainWindow::on_eposLowerToggled);
-    connect(ui->radioButton_epos_lower_cw, &QRadioButton::toggled, this, &MainWindow::on_eposLowerToggled);
-
-
+    configure_epos();
 }
 
 MainWindow::~MainWindow()
@@ -27,29 +24,164 @@ MainWindow::~MainWindow()
 }
 
 
-void MainWindow::on_eposLowerToggled(bool checked)
+void MainWindow::configure_epos()
+{
+    m_driverEpos = new Epos(this);
+    connect(m_driverEpos, &Epos::log, ui->widget_board, &EventLog::on_log);
+    connect(this, &MainWindow::uirequest_epos_velocity, m_driverEpos, &Epos::on_uirequest_velocity);
+    connect(this, &MainWindow::uirequest_epos_tension, m_driverEpos, &Epos::on_uirequest_tension);
+
+    connect(ui->radioButton_epos_lower_off, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposLowerToggled);
+    connect(ui->radioButton_epos_lower_ccw, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposLowerToggled);
+    connect(ui->radioButton_epos_lower_cw, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposLowerToggled);
+
+    connect(ui->radioButton_epos_upper_off, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposUpperToggled);
+    connect(ui->radioButton_epos_upper_ccw, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposUpperToggled);
+    connect(ui->radioButton_epos_upper_cw, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposUpperToggled);
+
+    connect(ui->radioButton_epos_tension_off, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposTensionToggled);
+    connect(ui->radioButton_epos_tension_on, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposTensionToggled);
+
+    connect(ui->radioButton_epos_sync_off, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposSyncToggled);
+    connect(ui->radioButton_epos_sync_on, &QRadioButton::toggled, this, &MainWindow::on_radioButtonsEposSyncToggled);
+}
+
+
+void MainWindow::on_radioButtonsEposLowerToggled(bool checked)
 {
     if (!checked)
         return;
 
-    emit ui->spinBox_epos_lower_velocity->editingFinished();
-
     if (ui->radioButton_epos_lower_off->isChecked()) {
-        ui->widget_board->on_log(EventLogType::Notify, "LOWER OFF");
-        m_epos_velocity_lower = 0;
+
+        m_epos_direction_lower = 0;
+
     }
     else if (ui->radioButton_epos_lower_ccw->isChecked()) {
-        ui->widget_board->on_log(EventLogType::Notify, "LOWER CCW");
+
+        m_epos_direction_lower = 1;
+
     }
     else if (ui->radioButton_epos_lower_cw->isChecked()) {
-        ui->widget_board->on_log(EventLogType::Notify, "LOWER CW");
-        m_epos_velocity_lower = -m_epos_velocity_lower;
+
+        m_epos_direction_lower = -1;
+
     }
 
-    ui->widget_board->on_log(EventLogType::Respond, "EPOS :: velocity lower " + QString::number(m_epos_velocity_lower));
+    emit ui->spinBox_epos_lower_velocity->editingFinished();
 }
 
+
 void MainWindow::on_spinBox_epos_lower_velocity_editingFinished()
 {
-    m_epos_velocity_lower = ui->spinBox_epos_lower_velocity->value();
+    int velocity_value = ui->spinBox_epos_lower_velocity->value() * m_epos_direction_lower;
+    emit uirequest_epos_velocity(0, velocity_value);
+
+    if (ui->radioButton_epos_sync_on->isChecked()) {
+        ui->spinBox_epos_upper_velocity->setValue(ui->spinBox_epos_lower_velocity->value());
+        emit uirequest_epos_velocity(1, velocity_value);
+    }
+}
+
+
+void MainWindow::on_radioButtonsEposUpperToggled(bool checked)
+{
+    if (!checked)
+        return;
+
+    if (ui->radioButton_epos_upper_off->isChecked()) {
+
+        m_epos_direction_upper = 0;
+
+    }
+    else if (ui->radioButton_epos_upper_ccw->isChecked()) {
+
+        m_epos_direction_upper = 1;
+
+    }
+    else if (ui->radioButton_epos_upper_cw->isChecked()) {
+
+        m_epos_direction_upper = -1;
+
+    }
+
+    emit ui->spinBox_epos_upper_velocity->editingFinished();
+}
+
+
+
+void MainWindow::on_spinBox_epos_upper_velocity_editingFinished()
+{
+    int velocity_value = ui->spinBox_epos_upper_velocity->value() * m_epos_direction_upper;
+    emit uirequest_epos_velocity(1, velocity_value);
+
+    if (ui->radioButton_epos_sync_on->isChecked()) {
+        ui->spinBox_epos_lower_velocity->setValue(ui->spinBox_epos_upper_velocity->value());
+        emit uirequest_epos_velocity(0, velocity_value);
+    }
+}
+
+
+void MainWindow::on_radioButtonsEposTensionToggled(bool checked)
+{
+    if (!checked)
+        return;
+
+    if (ui->radioButton_epos_tension_off->isChecked()) {
+        emit uirequest_epos_tension(false);
+    }
+    else if (ui->radioButton_epos_tension_on->isChecked()) {
+        emit uirequest_epos_tension(true);
+    }
+}
+
+
+void MainWindow::on_radioButtonsEposSyncToggled(bool checked)
+{
+    if (!checked)
+        return;
+
+    if (ui->radioButton_epos_sync_off->isChecked()) {
+
+        ui->widget_board->on_log(EventLogType::Notify, "EPOS :: sync mode is off");
+
+        // switch off motors
+        ui->radioButton_epos_lower_off->setChecked(true);
+        ui->radioButton_epos_upper_off->setChecked(true);
+        ui->radioButton_epos_tension_off->setChecked(true);
+
+        // enable async mode
+        enable_epos_radioButtons(true);
+    }
+    else if (ui->radioButton_epos_sync_on->isChecked()) {
+
+        ui->widget_board->on_log(EventLogType::Notify, "EPOS :: sync mode is on");
+
+        int velocity_min = qMin(ui->spinBox_epos_lower_velocity->value(), ui->spinBox_epos_upper_velocity->value());
+        ui->spinBox_epos_lower_velocity->setValue(velocity_min);
+        ui->spinBox_epos_upper_velocity->setValue(velocity_min);
+
+        // switch on motors
+        ui->radioButton_epos_lower_cw->setChecked(true);
+        ui->radioButton_epos_upper_cw->setChecked(true);
+        ui->radioButton_epos_tension_on->setChecked(true);
+
+        // enable sync mode
+        enable_epos_radioButtons(false);
+    }
+}
+
+
+void MainWindow::enable_epos_radioButtons(bool state)
+{
+    ui->radioButton_epos_lower_off->setEnabled(state);
+    ui->radioButton_epos_lower_ccw->setEnabled(state);
+    ui->radioButton_epos_lower_cw->setEnabled(state);
+
+    ui->radioButton_epos_upper_off->setEnabled(state);
+    ui->radioButton_epos_upper_ccw->setEnabled(state);
+    ui->radioButton_epos_upper_cw->setEnabled(state);
+
+    ui->radioButton_epos_tension_off->setEnabled(state);
+    ui->radioButton_epos_tension_on->setEnabled(state);
 }
diff --git a/BrainATUMtome/mainwindow.h b/BrainATUMtome/mainwindow.h
index 1f82b0d..dc56d78 100644
--- a/BrainATUMtome/mainwindow.h
+++ b/BrainATUMtome/mainwindow.h
@@ -5,6 +5,7 @@
 #include <QDebug>
 
 #include "eventlog.h"
+#include "epos.h"
 
 namespace Ui {
 class MainWindow;
@@ -20,18 +21,27 @@ class MainWindow : public QMainWindow
 
 private:
     Ui::MainWindow *ui;
-    int m_epos_velocity_lower;
-    int m_epos_velocity_upper;
+
+    Epos *m_driverEpos;
+
+    int m_epos_direction_lower;
+    int m_epos_direction_upper;
     int m_microtome_cuttingSpeed;
     int m_microtome_returnSpeed;
     int m_microtome_feedStep;
     int m_microtome_sections;
     int m_microtome_advanceRemaining;
 
-private slots:
-    void on_eposLowerToggled(bool checked);
+    void configure_epos();
+    void enable_epos_radioButtons(bool state);
 
+private slots:
+    void on_radioButtonsEposLowerToggled(bool checked);
+    void on_radioButtonsEposUpperToggled(bool checked);
+    void on_radioButtonsEposTensionToggled(bool checked);
+    void on_radioButtonsEposSyncToggled(bool checked);
     void on_spinBox_epos_lower_velocity_editingFinished();
+    void on_spinBox_epos_upper_velocity_editingFinished();
 
 signals:
     void uirequest_epos_velocity(int motorid, int velocity);